Magnetic-anchored robotic system

• US 8,891,924 B2
• Filed: 03/15/2013
• Issued: 11/18/2014
• Est. Priority Date: 04/26/2012
• Status: Active Grant

• Current Assignee: Iemis Limited
• Original Assignee: Bio-medical Engineering (HK) Limited
• Inventors: Yung, Kai Leung, Yeung, Chung Kwong
• Primary Examiner(s): Connelly, Michelle R
• Application Number:
  US13/835,680
• Publication Number:
  US 20130289580A1
• Time in Patent Office: 613 Days
• Field of Search: 385/121, 385136-138, 385/134, 385/135, 362/556, 362/581
• US Class Current: 385/117
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2017/00283 with a device releasably connected to an inner wall of the abdomen during surgery, e.g. an illumination source
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/3484 Anchoring means, e.g. spreading-out umbrella-like structure
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/34 force feedback
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10T 428/13 Hollow or container type article [e.g., tube, vase, etc.]

Abstract

A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes.

Claims

1. A surgical entrance port, comprising:

an outer portion at a first end of the surgical entrance port, the outer portion having a first maximum outer dimension, the outer portion disposed adjacent to an abdominal wall;

an in vivo portion at a second end of the surgical entrance port, the in vivo portion having a second maximum outer dimension that is smaller than the first maximum outer dimension, the in vivo portion extending into a cavity in the abdominal wall, wherein

an inner surface is defined along a through-hole of the surgical entrance port, and the inner surface comprises a plurality of recesses directed towards an outer surface of the surgical entrance port;

wherein each of the plurality of recesses is operable to receive a cable therethrough;

wherein the through-hole is operable to receive a surgical anchor therethrough when a cable is received within one or more of the plurality of recesses;

wherein a diameter of the surgical entrance port is about 1.5 cm to about 2 cm; and

wherein a length of the entrance port is greater than the diameter of the surgical entrance port.

2. The entrance port of claim 1, wherein the recess includes a substantially flat surface.

3. The entrance port of claim 1, wherein the recess is slot shape.

4. The entrance port of claim 3, wherein the slot shape corresponds with a cross-sectional shape of a flat cable.

5. The entrance port of claim 4, wherein the slot shape is complementary to the cross-sectional shape of the flat cable.

6. The entrance port of claim 3, wherein the slot shape accommodates at least a portion of a flat cable.

7. The entrance port of claim 6, wherein the flat cable comprises a flexible body.

8. The entrance port of claim 1, wherein the recess has a rounded shape.

9. The entrance port of claim 8, wherein the rounded shape corresponds with a cross-sectional shape of a round cable.

10. The entrance port of claim 9, wherein the rounded shape is complementary to the cross-sectional shape of the round cable.

11. The entrance port of claim 10, wherein the rounded shape recess allows the round cable to rotate about its own axis or the axis of the entrance port.

12. The entrance port of claim 8, wherein the rounded shape corresponds with a cross-sectional shape of a round cable.

13. The entrance port of claim 9, wherein the round cable comprises a flexible body.