Magnetically coupleable robotic surgical devices and related methods

• US 8,834,488 B2
• Filed: 06/21/2007
• Issued: 09/16/2014
• Est. Priority Date: 06/22/2006
• Status: Active Grant

• Current Assignee: Virtual Incision Corporation
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane, Rentschler, Mark, Dumpert, Jason, Platt, Stephen, Oleynikov, Dmitry
• Primary Examiner(s): Erezo, Darwin
• Assistant Examiner(s): STRANSKY, KATRINA MARIE
• Application Number:
  US11/766,720
• Publication Number:
  US 20080058835A1
• Time in Patent Office: 2,644 Days
• Field of Search: 600/102, 600/117, 600/160, 600/109, 600/114, 600/173, 600/407, 600/424, 128/899, 606/1, 606/130, 318/568.12
• US Class Current: 606/130
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 18/00 Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/22082 after introduction of a substance
• CPC Class Codes: A61B 2018/00595 Cauterization
• CPC Class Codes: A61B 2018/00994 combining two or more different kinds of non-mechanical energy or combining one or more non-mechanical energies with ultrasound
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2560/0462 Apparatus with built-in sensors
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 5/05 : Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/062 : using magnetic field
• CPC Class Codes: A61B 5/073 : Intestinal transmitters
• CPC Class Codes: A61B 5/416 : the spleen
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 2205/3523 : using telemetric means
• CPC Class Codes: A61M 2205/3569 : sublocal, e.g. between console and disposable
• CPC Class Codes: A61M 31/00 : Devices for introducing or retaining media, e.g. remedies, in cavities of the body A61M25/00 takes precedence ; introducing or retaining ophthalmic products into the ocular cavities A61F9/0008
• CPC Class Codes: A61M 5/14276 : specially adapted for implantation
• CPC Class Codes: A61M 5/1452 : pressurised by means of pistons
• CPC Class Codes: A61M 5/16827 : controlling delivery of multiple fluids, e.g. sequencing, mixing or via separate flow-paths infusion of multiple fluids without using a controller A61M5/1407
• CPC Class Codes: B25J 5/00 : Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 7/00 : Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: B33Y 80/00 : Products made by additive manufacturing
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/15 : Jointed arm
• CPC Class Codes: Y10S 901/19 : Drive system for arm

Abstract

The present invention relates to magnetically coupleable robotic surgical devices. More specifically, the present invention relates to robotic surgical devices that can be inserted into a patient'"'"'s body and can be positioned within the patient'"'"'s body using an external magnet.

Claims

1. A robotic system for viewing a laparoscopic surgical procedure, the system comprising:

(a) a robotic device, comprising;

(i) an elongate device body having first and second ends, the device body configured to be disposed within a body cavity of a patient undergoing a surgical procedure, the device body comprising an inner cylindrical component and an outer cylindrical component, wherein the inner cylindrical component is coaxially rotatable relative to the outer cylindrical component;

(ii) a positionable sensor for the observation of the surgical procedure disposed within an interior portion of the inner cylindrical component, wherein the device body is fluidically sealed whereby no exterior fluids can enter the interior portion, and further wherein the inner cylindrical component comprises a transparent component adjacent to the sensor;

(iii) a motor disposed within the device body, the motor being operably coupled to at least one of the inner cylindrical component and the outer cylindrical component, wherein the motor is configured to actuate relative rotation between the inner cylindrical component and the outer cylindrical component, and further wherein the positionable sensor is configured to be variously positioned relative to the outer cylindrical component;

(iv) a connection component operably coupled with the device body; and

(v) a first attachment component operably coupled with the device body, wherein the first attachment comprises at least two internal magnetic components having opposite polarities, wherein the at least two magnetic components having opposite polarities are positioned at the first and second ends of the elongate device body, respectively; and

(b) a detached handle comprising at least a second attachment component comprising an elongate body further comprising at least two external magnetic components disposed at opposite ends of the elongate body and having opposite polarities, the external magnetic components configured to be operably coupleable with the internal magnetic components, wherein the detached handle is configured to be caudally and rostrally moveably located against the patient'"'"'s body such that the external magnetic components create sufficient magnetic force wherein the robotic device is urged toward the detached handle such that the robotic device is directionally and stationarily positioned against an interior cavity wall of the patient for the optimal observation of the patient throughout surgery, further wherein the handle is rotatably coupled to the surgical device and configured to rotate the surgical device within the cavity.

2. The device of claim 1, further comprising a light component operably coupled with the device body.

3. The device of claim 1, wherein the transparent component comprises a lens.

4. The device of claim 1, wherein the connection component comprises a wire electrically coupled to the robot and extending out of the patient.

5. The device of claim 1, wherein the connection component comprises a wireless connection component.

6. The device of claim 1, wherein the sensor is an imaging component.

7. A robotic system for viewing a surgical procedure, the system comprising:

(a) a robotic device, comprising;

(i) a non-swallowable elongate device body having first and second ends configured to be disposed within a patient undergoing a laparoscopic surgical procedure and configured to positioned against the peritoneum of the patient, the device body comprising;

(i) an inner cylindrical body; and

(ii) an outer cylindrical sleeve, wherein the inner cylindrical body is rotatable relative to the outer cylindrical sleeve and further wherein the device body is fluidically sealed whereby no exterior fluids can enter an interior portion of the inner cylindrical body;

(ii) a camera component disposed within the interior portion of the inner cylindrical body, wherein the inner cylindrical component comprises a transparent component adjacent to the camera component;

(iii) a lighting component coupled to the inner cylindrical body;

(iv) a camera opening defined in the outer cylindrical sleeve adjacent to the camera component;

(v) a lighting opening defined in the outer cylindrical sleeve adjacent to the lighting component;

(vi) a motor disposed within the device body, the motor being operably coupled to at least one of the inner cylindrical component and the outer cylindrical component, wherein the motor is configured to be capable of actuating relative rotation between the inner cylindrical component and the outer cylindrical component, further wherein the lighting component and the camera component are configured to be selectively positionable to illuminate and record the surgical procedure;

(vii) a connection component operably coupled with the device body; and

(viii) at least two internal body magnets of opposite polarities operably coupled with the device body and disposed at the first and second ends of the device body; and

(b) a detached handle comprising an elongate body and further comprising at least two external magnets of opposite polarities disposed at opposite ends of the elongate body and configured to urge the at least two internal magnets and the at least two external magnets together, wherein the detached handle and external magnets are configured such that the external magnets are configured to create magnetic force sufficient whereby the device is stationarily and directionally positioned against an interior cavity wall of the patient and configured for the rotation and movement of the device both caudally and rostrally inside the patient for optimal observation of the patient throughout surgery by way of the camera component.

8. The device of claim 7, wherein the transparent component comprises a lens.

9. The device of claim 7, wherein the connection component comprises a wire electrically coupled to the robot and extending out of the patient.

10. The device of claim 7, wherein the connection component comprises a wireless connection component.

11. A method of viewing a surgical procedure in a patient undergoing surgery, the method comprising:

(a) inserting an elongate robotic device through an opening in the patient undergoing laparoscopic surgery and into the abdominal cavity of the patient, wherein the robotic device comprises;

(i) an elongate device body comprising first and second ends, and further comprising an inner cylindrical component and an outer cylindrical component, wherein the inner cylindrical component is rotatable relative to the outer cylindrical component;

(ii) a positionable sensor disposed within an interior portion of the inner cylindrical component, wherein the device body is fluidically sealed whereby no exterior fluids can enter the interior portion, and further wherein the inner cylindrical component comprises a transparent component adjacent to the sensor;

(iii) a motor disposed within the device body, the motor being operably coupled to at least one of the inner cylindrical component and the outer cylindrical component, wherein the motor is configured to be capable of actuating relative rotation between the inner cylindrical component and the outer cylindrical component;

(iv) a connection component operably coupled with the device body; and

(v) a first attachment component operably coupled with the device body, the first attachment component comprising at least two internal magnets of opposing polarities, wherein the at least two magnets are individually positioned at the first and second ends of the elongate device body;

(b) placing a detached handle comprising an elongate body and further comprising at least two external magnetic components of opposing polarities disposed at opposite ends of the elongate body and on an outer surface of the patient, whereby the robotic device is urged toward the detached handle by way of the internal attachment system such that the robotic device is directionally positioned against an inner wall of the cavity and is configured to be freely moved caudally and rostrally and rotated in the abdoininal cavity; and

(c) positioning the detached handle against the patient whereby sufficient magnetic force is created between the internal attachment system'"'"'s magnets and the corresponding external magnetic components such that the robotic device is stationarily and directionally held against against an interior cavity wall of the patient for the optimal observation of the patient throughout surgery;

(d) monitoring with the robotic device a surgical procedure being performed in the cavity of the patient.