Magnetically coupleable robotic surgical devices and related methods

• US 8,968,332 B2
• Filed: 06/21/2007
• Issued: 03/03/2015
• 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, Lehman, Amy, Wood, Nathan A., Rentschler, Mark, Dumpert, Jason, Oleynikov, Dmitry
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): Nganga, Boniface N
• Application Number:
  US11/766,683
• Publication Number:
  US 20080004634A1
• Time in Patent Office: 2,812 Days
• Field of Search: 606/1, 901 1- 15
• 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 device, comprising:

(a) a device body configured to be disposed within a patient;

(b) an attachment component operably coupled with the device body;

(c) a connection component operably coupled with the device body, wherein the connection component comprises a tether;

(d) an external power source operably coupled to the tether;

(e) a first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via a first shoulder joint;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first operational component operably coupled with the first outer arm segment;

(f) a second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via a second shoulder joint;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second operational component operably coupled with the second outer arm segment, wherein the first and second operational arms are configured such that the first and second operational arms are not positionable within an enclosure of the robotic device;

(g) at least one actuator disposed within each arm, the at least one actuator operably coupled to the tether and the arm, wherein the actuator is configured to actuate movement of the arm; and

(h) at least one imaging component operably coupled with the device body, wherein the at least one imaging component is positioned between the first and second operational arms such that the first and second operational arms are viewable by a user via the at least one imaging component during operation of the first and second operational arms.

2. The robotic device of claim 1, wherein each of the first and second operational arms has at least four degrees of freedom.

3. The robotic device of claim 1, further comprising an external controller operably coupled to the tether, the external controller comprising:

(a) an image display component operably coupled to the at least one imaging component via the tether, the image display component configured to display images acquired by the at least one imaging component; and

(b) at least one joystick operably coupled to at least one of the first and second operational arms via the tether, the at least one joystick configured to control the at least one of the first and second operational arms.

4. The robotic device of claim 1, wherein each of the first and second operational arms has at least three degrees of freedom.

5. The robotic device of claim 1, wherein the first and second operational components are each chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.

6. A robotic device, comprising:

(a) a device body configured to be disposed within a patient, the device body comprising a first joint and a second joint;

(b) an attachment component operably coupled with the device body;

(c) a tether operably coupled with the device body;

(d) an external power source operably coupled to the tether;

(e) a first operational arm comprising;

(i) a first inner arm segment operably coupled with the first joint;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a third joint; and

(iii) a first operational component operably coupled with the first outer arm segment;

(f) a second operational arm comprising;

(i) a second inner arm segment operably coupled with the second joint;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a fourth joint; and

(iii) a second operational component operably coupled with the second outer arm segment, wherein the first and second operational arms are configured such that the first and second operational arms are not positionable within an enclosure of the robotic device;

(g) at least one actuator disposed within each arm, the at least one actuator operably coupled to the tether and the arm, wherein the actuator is configured to actuate movement of the arm; and

(h) at least one imaging component operably coupled with the device body, wherein the at least one imaging component is positioned between the first and second operational arms such that the at least one imaging component is configured to provide a field of view comprising at least a portion of the first and second operational components.

7. The robotic device of claim 6, wherein each of the first and second operational arms has at least three degrees of freedom.

8. The robotic device of claim 6, wherein each of the first and second operational arms has at least four degrees of freedom.

9. The robotic device of claim 6, further comprising an external controller operably coupled to the tether, the external controller comprising:

(a) an image display component operably coupled to the at least one imaging component via the tether, the image display component configured to display images acquired by the at least one imaging component; and

(b) at least one joystick operably coupled to at least one of the first and second operational arms via the tether, the at least one joystick configured to control at least one of the first and second operational arms.

10. The robotic device of claim 6, wherein the first and second operational components are each chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.

11. A method of surgery comprising:

making an incision in a patient, wherein the incision provides access to a target cavity in the patient;

inserting a robotic device through the incision and into the target cavity in the patient, the robotic device comprising;

(a) a device body configured to be disposed within a patient;

(b) an attachment component operably coupled with the device body;

(c) a connection component operably coupled with the device body, wherein the connection component comprises a tether;

(d) an external power source operably coupled to the tether;

(e) a first operational arm comprising;

(i) a first inner arm segment operably coupled with the device body via a first shoulder joint;

(ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint; and

(iii) a first operational component operably coupled with the first outer arm segment;

(f) a second operational arm comprising;

(i) a second inner arm segment operably coupled with the device body via a second shoulder joint;

(ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint; and

(iii) a second operational component operably coupled with the second outer arm segment, wherein the first and second operational arms are configured such that the first and second operational arms are not positionable within an enclosure of the robotic device;

(g) at least one actuator disposed within each arm, the at least one actuator operably coupled to the tether and the arm, wherein the actuator is configured to actuate movement of the arm; and

(h) at least one imaging component operably coupled with the device body, wherein the at least one imaging component is positioned between the first and second operational arms such that the first and second operational arms are viewable by a user via the at least one imaging component during operation of the first and second operational arms; and

performing a procedure in the target cavity of the patient using at least the robotic device.

12. The method of claim 11, wherein making the incision in the patient comprises making no more than two incisions in the patient.

13. The method of claim 11, wherein making the incision in the patient comprises making only a single incision in a patient.

14. The method of claim 11, further comprising positioning the robotic device against or near a wall within the target cavity using the attachment component prior to performing the procedure.

15. The method of claim 11, wherein performing the procedure further comprises performing the procedure using the robotic device and at least one additional device.

16. The method of claim 11, wherein performing the procedure further comprises operating an external controller operably coupled to the at least one actuator via the tether, wherein the external controller is configured to transmit instructions via the tether to the at least one actuator for actuating movement of the arms.

17. The method of claim 16, wherein the external controller comprises:

(a) an image display component operably coupled to the at least one imaging component via the tether, the image display component configured to display images acquired by the at least one imaging component; and

(b) at least one joystick operably coupled to at least one of the first and second operational arms via the tether, the at least one joystick configured to control at least one of the first and second operational arms.

18. The method of claim 11, wherein each of the first and second operational arms has at least three degrees of freedom.

19. The method of claim 11, wherein each of the first and second operational arms has at least four degrees of freedom.

20. The method of claim 11, wherein the first and second operational components are each chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.