Robotic surgical devices, systems, and related methods

• US 9,089,353 B2
• Filed: 07/11/2012
• Issued: 07/28/2015
• Est. Priority Date: 07/11/2011
• Status: Expired due to Fees

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane, Wortman, Tyler, Strabala, Kyle, McCormick, Ryan, Lehman, Amy, Oleynikov, Dmitry
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US13/546,831
• Publication Number:
  US 20130178867A1
• Time in Patent Office: 1,112 Days
• Field of Search: 700/245, 700/264, 600/102, 600/228, 600/229, 606/1, 606/130
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: G05B 2219/40418 Presurgical planning, on screen indicate regions to be operated on
• CPC Class Codes: H04L 41/0631 using root cause analysis; using analysis of correlation between notifications, alarms or events based on decision criteria, e.g. hierarchy, tree or time analysis
• CPC Class Codes: H04L 43/08 Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/19 Drive system for arm

Abstract

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Claims

1. A surgical robotic system, comprising:

a. a support beam;

b. a robotic device sized to be positioned completely within a patient further comprising;

i. a first body component;

ii. a first rotating shoulder component;

iii. a first movable segmented robotic arm operationally connected to the first base unit by way of the first shoulder component, the first movable segmented robotic arm comprising;

A. an upper first arm link;

B. a lower first arm link;

C. a first operational component; and

D. at least one first arm motor; and

iv. a second body component;

v. a second rotating shoulder component;

vi. a second movable segmented robotic arm operationally connected to the second base unit by way of the second shoulder component, the second movable segmented robotic arm comprising;

A. an upper second arm link;

B. a lower second arm link;

C. a second operational component; and

D. at least one second arm motor;

c. a first support rod for connection to the first base unit, further comprising a connection component; and

d. a second support rod for connection to the second base unit, further comprising a connection component, wherein the first and second connection components are operationally coupled with the first and second base units within the body cavity of the patient, said first and second support rods coupled with the support beam to extend to the exterior of the patient.

2. The surgical robotic system of claim 1, wherein the modular robotic device may be assembled within the body cavity of the patient.

3. The surgical robotic system of claim 1, further comprising a fluidly sealed port disposed across the body cavity wall of a patient and transversed by the support beam and support rods.

4. The surgical robotic system of claim 1, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

5. The surgical robotic system of claim 1, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

6. The surgical robotic system of claim 1 wherein the at least one first arm motor is configured for operation, rotation or movement of at least one of the first shoulder, the first segmented arm, and the first operational component.

7. The modular surgical robotic system of claim 1, wherein the at least one second arm motor is configured for operation, rotation or movement of at least one of the second shoulder, the second segmented arm, and the second operational component.

8. The surgical robotic system of claim 1, wherein the first and second operational components rotate relative to the first and second segmented arms.

9. The surgical robotic system of claim 1, wherein the first and second segmented arms are capable of jointed movement.

10. The surgical robotic system of claim 1, further comprising at least one lumen disposed within at least one of the support rods for housing the connection components.

11. The surgical robotic system of claim 1, further comprising an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to at least one of the first and second modular components via a connection component.

12. The surgical robotic system of claim 1, further comprising one or more external support components affixed to at least one of the support rods chosen from the group consisting of a pins, rods, columns, iron interns, joints, and legs.

13. A surgical robotic system, comprising:

a. a robotic device sized to be positioned completely within a patient further comprising;

i. a first base unit;

ii. a first rotating shoulder component;

iii. a first movable segmented robotic arm operationally connected to the first base unit by way of the first shoulder component;

iv. a first operational component operationally connected to the first robotic arm;

v. a second base unit;

vi. a second rotating shoulder component;

vii. a second movable segmented robotic arm operationally connected to the second base unit by way of the second shoulder component;

viii. a second operational component operationally connected to the second robotic arm; and

ix. at least one actuator housed within the robotic device;

b. a support beam further comprising a lumen;

c. a fluidly sealed port disposed across the body cavity wall of a patient and transversed by the support beam;

d. at least one support rod coupled to the support beam to extend to an exterior of the patient; and

e. at least one connection component disposed through the support beam lumen, comprising a distal end operably coupled to at least one of the first and second base units.

14. The surgical robotic system of claim 13, wherein the modular robotic device may be assembled within the body cavity of the patient.

15. The surgical robotic system of claim 14 wherein the actuators are capable of operation, rotation or movement of at least one of the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, and the second operational component.

16. The surgical robotic system of claim 14, wherein the at least one actuator is housed within the group consisting of the first base unit, the second base unit, the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, the second operational component, and the support beam.

17. The surgical robotic system of claim 14, wherein the first and second operational components are chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

18. The surgical robotic system of claim 14, wherein the first and second segmented arms are capable of jointed movement.

19. The surgical robotic system of claim 14, further comprising an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to at least one of the first and second modular components via a connection component.

20. A method of performing minimally invasive surgery, comprising:

a. providing a surgical robot system sized to be inserted within a patient, comprising;

i. a first base unit;

ii. a first robotic arm having one or more segments;

iii. a first shoulder joint disposed between the body and the first robotic arm;

iv. a first operational component operably coupled with the first arm;

v. a second base unit;

vi. a second robotic arm having one or more segments;

vii. a second shoulder joint disposed between the body and the second robotic arm;

viii. a second operational component operably coupled with the second arm; and

ix. at least one motor housed within the surgical robot;

b. providing a support beam;

c. providing at least one support rod comprising a distal end operably coupled to the body and further comprising at least one connection component disposed through at least one support rod;

d. inserting the modular surgical robotic system components into the body of the patient;

e. assembling the modular surgical robotic system inside the body of the patient and attaching said system to said support rod and support beam for use; and

f. providing a fluidly sealed port disposed across the body cavity wall of a patient and transversed by the support beam and support rods.