Robotic retractor system

• US 9,486,227 B2
• Filed: 07/25/2013
• Issued: 11/08/2016
• Est. Priority Date: 03/20/2002
• Status: Expired due to Term

• Current Assignee: P TECH, LLC
• Original Assignee: P TECH, LLC
• Inventors: Bonutti, Peter M
• Primary Examiner(s): Robert, Eduardo C
• Assistant Examiner(s): ECKMAN, MICHELLE CHRISTINE
• Application Number:
  US13/951,073
• Publication Number:
  US 20130317308A1
• Time in Patent Office: 1,202 Days
• Field of Search: 600201-249
• US Class Current: 1/1
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/0401 Suture anchors, buttons or pledgets, i.e. means for attaching sutures to bone, cartilage or soft tissue; Instruments for applying or removing suture anchors A61B17/0642 takes precedence; fixation devices for tendons or ligaments A61F2/0811
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• CPC Class Codes: A61B 17/14 Surgical saws A61B17/1637 takes precedence; tooth saws A61C3/12 ; Accessories therefor
• CPC Class Codes: A61B 17/154 for preparing bone for knee prosthesis
• CPC Class Codes: A61B 17/1626 Control means; Display units
• CPC Class Codes: A61B 17/88 Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices A61B17/7074 takes precedence
• CPC Class Codes: A61B 17/8802 Equipment for handling bone cement or other fluid fillers
• CPC Class Codes: A61B 17/8805 for introducing fluid filler into bone or extracting it A61B17/7097, A61B17/8833 take precedence
• CPC Class Codes: A61B 17/885 Tools for expanding or compacting bones or discs or cavities therein A61B17/8805, A61B17/7097 take precedence
• CPC Class Codes: A61B 17/8852 capable of being assembled or enlarged, or changing shape, inside the bone or disc
• CPC Class Codes: A61B 17/8855 inflatable, e.g. kyphoplasty balloons
• CPC Class Codes: A61B 17/8858 laterally or radially expansible inflatable A61B17/8855
• CPC Class Codes: A61B 17/8875 Screwdrivers, spanners or wrenches
• CPC Class Codes: A61B 2017/00557 inflatable A61B2017/22051 takes precedence
• CPC Class Codes: A61B 2017/0256 for the spine
• CPC Class Codes: A61B 2017/0648 threaded, e.g. tacks with a screw thread
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/3916 : Bone tissue
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0071 : by measuring fluorescence emission
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61F 2/0063 : Implantable repair or support meshes, e.g. hernia meshes
• CPC Class Codes: A61F 2/389 : Tibial components A61F2/3868 takes precedence
• CPC Class Codes: A61F 2002/30133 : kidney-shaped or bean-shaped

Abstract

The robotic mechanism may be used to position a tissue retractor assembly relative to body tissue. Once the tissue retractor assembly has been positioned relative to the body tissue by the robotic mechanism, the robotic mechanism effects operation of the tissue retractor assembly from a contracted condition to an expanded condition to move body tissue. This movement of body tissue may advantageously create a space for the performance of a surgical procedure by the robotic mechanism. Embodiments may facilitate the insertion of one or more surgical instruments through a cannula to a working space created by expansion of a balloon or bladder from the contracted condition to the expanded condition. As the bladder or balloon expands, portions of body tissue are deflected under the influence of force applied to the body tissue by the bladder or balloon.

Claims

1. A robotic retractor system comprising:

a robotic mechanism including a robotic arm;

a retractor assembly coupled to the robotic arm, the retractor assembly having a contracted configuration and an expanded configuration, the retractor assembly comprising;

a lumen extending through the retractor assembly; and

a toroidal balloon having a central passage and configured to expand a working space to access a portion of a body by inflating the balloon to deflect at least a portion of body tissue, wherein the central passage enables surgical instruments to be inserted through the central passage; and

a robotic arm interface coupled to a computer and connected to the robotic mechanism, the robotic arm interface configured to position the retractor assembly relative to a portion of a body and control flow of a fluid into the balloon to inflate the balloon from the contracted configuration to the expanded configuration,

wherein the expanded configuration of the retractor assembly is configured to provide a working space to access the portion of the body.

2. The system of claim 1, wherein the robotic mechanism is configured to perform at least a portion of a surgical procedure through the working space.

3. The system of claim 1, wherein the retractor assembly is configured to receive a surgical instrument.

4. The system of claim 3, wherein the retractor assembly is configured to receive an endoscope.

5. The system of claim 1, wherein the retractor assembly is configured to expand a working space to provide access to at least a portion of a joint.

6. The system of claim 1, wherein the retractor assembly is configured to expand a working space to provide access to at least a portion of a shoulder.

7. The system of claim 1, wherein the retractor assembly is configured to expand a working space to provide access to at least a portion of a knee.

8. The system of claim 1, wherein the retractor assembly is configured to expand a working space to provide access to at least a portion of a spine.

9. The system of claim 1, wherein the retractor assembly includes at least a biodegradable portion.

10. The system of claim 1, wherein the retractor assembly is configured to decouple from the robotic arm.

11. The system of claim 1, wherein at least a portion of the retractor assembly is configured to sequentially contract and expand.

12. The system of claim 1, wherein the fluid is a gas.

13. The system of claim 1, wherein the fluid is a liquid.

14. A robotic retractor system comprising:

a robotic mechanism coupled to a robotic arm, the robotic arm configured to couple to a surgical instrument;

a balloon retractor assembly configured to enable a surgical instrument coupled to the robotic arm to be positioned through the retractor assembly, the balloon retractor assembly having a contracted configuration and an expanded configuration, the retractor assembly comprising;

a lumen extending through the retractor assembly; and

a toroidal balloon having a central passage and configured to expand a working space to access a portion of a body by inflating the balloon to deflect at least a portion of body tissue, wherein the central passage enables a surgical instrument coupled to the robotic arm to be inserted through the central passage; and

a robotic arm interface coupled to a computer and connected to the robotic mechanism, the robotic arm interface configured to position the surgical instrument coupled to the robotic arm through the balloon retractor assembly and relative to a portion of a body and control a force applied to the surgical instrument positioned through the balloon in at least one of the contracted and expanded configurations,

wherein the expanded configuration of the balloon retractor assembly is configured to provide a working space to access the portion of the body.

15. The system of claim 14, wherein the robotic arm interface is configured to enable a surgeon to perform at least a portion of a surgical procedure through the working space via the robotic arm interface.

16. The system of claim 14, wherein the balloon retractor assembly is configured to expand a working space to provide access to at least a portion of a joint.

17. The system of claim 14, wherein the balloon retractor assembly is configured to expand a working space to provide access to at least a portion of a spine.

18. The system of claim 14, wherein the balloon retractor assembly includes at least a biodegradable portion.

19. The system of claim 14, wherein the fluid is a gas.

20. The system of claim 14, wherein the fluid is a liquid.