Single site robotic device and related systems and methods

• US 9,498,292 B2
• Filed: 03/15/2013
• Issued: 11/22/2016
• Est. Priority Date: 05/01/2012
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Mondry, Jack, Farritor, Shane, Markvicka, Eric, Frederick, Thomas, Bartels, Joseph
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): Nganga, Boniface N
• Application Number:
  US13/839,422
• Publication Number:
  US 20140039515A1
• Time in Patent Office: 1,348 Days
• Field of Search: 606/1, 606/53, 606/108, 606/130, 606/138, 606/139, 700245-263
• US Class Current: 1/1
• 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 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/20 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043

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 medical devices for in vivo medical procedures.

Claims

1. A surgical robotic system, comprising:

a. an insertion tube adapted for traversing the body of a patient into a body cavity;

b. a robotic device configured to be completely disposed within the body cavity, comprising;

i. an elongate device body comprising;

A. first and second ends defining a longitudinal axis;

B. at least one housing;

C. a plurality of motors disposed within the at least one housing; and

D. a first shoulder joint and a second shoulder joint,

wherein the first and second shoulder joints are operably coupled to the plurality of motors;

wherein the elongate body defines a horizontal plane through the first and second shoulder joints and the longitudinal axis; and

further wherein the elongate body is configured so as to be capable of traversing the insertion tube from the exterior to interior of the patient;

ii. a first movable segmented robotic arm operationally connected to the first shoulder joint, wherein the first moveable segmented robotic arm comprises a first link and second link joined by an elbow joint;

iii. a second movable segmented robotic arm operationally connected to the second shoulder joint, wherein the second moveable segmented robotic arm comprises a first link and second link joined by an elbow joint;

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

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

c. an operations system for control of the robotic device from outside the patient by way of the insertion tube and device body, the operations system in electrical communication with the robotic device,

wherein the first and second segmented robotic arms are configured to be positioned in at least;

i. a first fully extended position coplanar with the horizontal plane defined by the body and the first and second shoulder joints and coaxial with the longitudinal axis; and

ii. a second offset position, non-coplanar with the horizontal plane defined by the body and shoulders, wherein the segmented robotic arms are substantially parallel with the longitudinal axis.

2. The surgical robotic system of claim 1, wherein the first and second shoulder joints are operationally coupled to device body motors so as to be capable of inducing yaw and pitch.

3. The surgical robotic system of claim 2, wherein the first and second segmented arm elbow joints are operationally configured to be capable of yaw.

4. The surgical robotic system of claim 3, further comprising a plurality of position sensors.

5. The surgical robotic system of claim 4, wherein the at least one position sensor is a 3-axis sensor.

6. The surgical robotic system of claim 4, wherein first and second operational components are end effectors operationally connected to the segmented arm.

7. The surgical robotic system of claim 6, wherein at least one of the end effectors is selected from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.

8. The surgical robotic system of claim 4, wherein at least one of the end effectors is in operational communication with the operations system so as to be actuated by a user located outside the body of the patient.

9. The surgical robotic system of claim 2, wherein the device body motors further comprise a plurality of proximal motors operationally coupled with the first and second shoulder joints to actuate shoulder yaw and a plurality of distal motors operationally coupled with the first and second shoulder joints to actuate shoulder pitch.

10. The surgical robotic system of claim 3, wherein the first and second segmented robotic arms further comprise upper arm motors operationally coupled with the first and second elbow joints to actuate elbow yaw.

11. The surgical robotic system of claim 10, further comprising a plurality of bevel gears operationally coupled to the upper arm motors and elbow joints.

12. A surgical robotic system, comprising:

a. a insertion tube;

b. a robotic device comprising;

i. an elongate body component defining at least one housing, first and second ends, and first and second sides, the device body comprising;

A. at least one first side motor disposed within the at least one housing; and

B. at least one second side motor disposed within the at least one housing,

wherein the first end and second end define a longitudinal axis and a length between the first end and second end, and

wherein the first side and second sides define a width;

ii. a first shoulder joint adjacent and operably coupled to the at least one first side motor;

iii. a second shoulder joint adjacent and operably coupled to the at least one second side motor;

iv. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder joint and further comprising a first elbow joint;

v. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder joint and further comprising a second elbow joint;

vi. a first operational component operationally connected to the first movable segmented robotic arm; and

vii. a second operational component operationally connected to the second movable segmented robotic arm; and

c. an operations system for control of the robotic device from outside the patient by way of the insertion tube and body, the operations system in electrical communication with the robotic device,

wherein the first and second segmented robotic arms are configured to be positionable in;

i. a first fully extended position wherein the arms are coaxial with the longitudinal axis and coplanar with the body width; and

ii. a second position wherein the arms are substantially parallel to the longitudinal axis and non-coplanar with the width.

13. The surgical robotic system of claim 12, wherein the robotic device comprises a plurality of motors configured to actuate the segmented robotic arms.

14. The surgical robotic system of claim 13, wherein first shoulder joint is configured to be capable of driving yaw and pitch rotation of the first movable segmented robotic arm relative to the elongate body and the second shoulder joint is configured to be capable of driving yaw and pitch rotation of the second movable segmented robotic arm relative to the elongate body.

15. The surgical robotic system of claim 14, wherein the first and second segmented arm elbow joints are configured to be capable of yaw.

16. The surgical robotic system of claim 15, wherein the first and second operational components are end effectors chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.

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

a. providing an insertion tube;

b. providing a robotic device comprising;

i. an elongate device body comprising at least one housing, first and second ends, and first and second sides and further comprising a plurality of motors disposed within the at least one housing, the device body being configured for traversing the insertion tube from the exterior to interior of the patient so as to be completely inserted within the patient,

ii. a first shoulder joint in operable communication with the plurality of motors disposed within the housing and configured to be capable of yaw and pitch rotation;

iii. a second shoulder joint in operable communication with the plurality of motors disposed within the housing and configured to be capable yaw and pitch rotation;

iv. a first movable segmented robotic arm operationally connected to the first shoulder joint further comprising an elbow joint configured for yaw;

v. a second movable segmented robotic arm operationally connected to the second shoulder joint further comprising an elbow joint configured for yaw;

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

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

c. providing an operations system for control of the robotic device from outside the patient by way of the insertion tube and device body, the operations system in electrical communication with the robotic device,

wherein the ends and sides of the device body define a horizontal body plane, and further wherein the first and second segmented robotic arms are configured to be selectively positionable in at least;

i. a first substantially parallel, fully extended position coplanar with the horizontal body plane; and

ii. a second substantial parallel, non-coplanar position with the horizontal body plane.

18. The method of performing minimally invasive surgery of claim 17, wherein the first and second operational components are end effectors chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.

19. The method of performing minimally invasive surgery of claim 18, further comprising adjusting and tracking the position of the end effectors by way of the operations system, robotic arms and at least one position sensor.

20. The method of performing minimally invasive surgery of claim 19, wherein the position sensor is a 3-axis sensor.