Methods, systems, and devices for surgical visualization and device manipulation

• US 9,579,088 B2
• Filed: 12/28/2007
• Issued: 02/28/2017
• Est. Priority Date: 02/20/2007
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane M., Rentschler, Mark, Lehman, Amy, Wood, Nathan A., Bock, Adam, Prior, Reed
• Primary Examiner(s): NEAL, TIMOTHY JAY
• Application Number:
  US11/966,741
• Publication Number:
  US 20080221591A1
• Time in Patent Office: 3,350 Days
• Field of Search: 600/103, 600/104, 600/106, 600/109, 600/110, 600/112, 600/113, 600/114, 600/118, 600/160, 600101-102, 434/262, 385/65, 700/249, 700/259, 700/262, 606/1, 606/130
• US Class Current: 1/1
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• CPC Class Codes: A61B 1/3132 for laparoscopy
• 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 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2919 details of linkages or pivot points
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A surgical device includes a console having a visual display and a manipulator arm, a robotic device having a camera and a connection component. The robotic device is configured to be positioned completely within a body cavity. The camera is configured to transmit visual images to the visual display. The connection component operably couples the console and the robotic device. The manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

Claims

1. A surgical system comprising:

(a) a console positioned outside a patient'"'"'s body comprising a visual display and at least one manipulator arm;

(b) a robotic device comprising;

(i) a device body;

(ii) a camera configured to transmit visual images to the visual display;

(iii) a first robotic arm comprising a first end effector, wherein the first robotic arm is coupled to a first end of the device body;

(iv) a second robotic arm comprising a second end effector,

wherein the second robotic arm is coupled to a second end of the device body,

wherein the robotic device is sized to be inserted through a standard laparoscopic port and configured to be positioned completely within a body cavity of a patient, and

wherein the first and second robotic arms are configured such that the first and second robotic arms are not positionable in any enclosure of the robotic device; and

(c) a connection component operably coupling the console and the robotic device,

wherein the console is further configured to be positioned in direct physical contact with the patient'"'"'s body during use.

2. The system of claim 1, wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

3. The system of claim 1, wherein the manipulator arm is operably coupled to the robotic device via the connection component.

4. The system of claim 1, wherein the connection component is a wireless connection component.

5. The system of claim 1, wherein the manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

6. The system of claim 1, further comprising a stabilization component coupled to the console.

7. A surgical system comprising:

(a) a robotic device sized to be inserted through a standard laparoscopic port, the device comprising;

(i) a device body;

(ii) first and second robotic arms operably coupled with the device body, wherein each of the first and second robotic arms comprises an end effector, wherein the first robotic arm is coupled to a first end of the device body and the second robotic arm is coupled to a second end of the device body, and wherein the first and second robotic arms are configured such that the first and second robotic arms are not positionable in any enclosure of the robotic device; and

(iii) a camera associated with the device body;

(b) a console positioned outside a patient'"'"'s body, wherein the console is configured to be positioned in direct physical contact with the patient'"'"'s body during use, the console comprising;

(i) at least one manipulator arm operably coupled with the console, wherein the at least one manipulator arm is configured to be in communication with at least one of the first and second robotic arms; and

(ii) a visual display disposed on the console, the visual display configured to receive images from the camera; and

(c) a connection component operably coupling the console and the robotic device.

8. The system of claim 7, wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

9. The system of claim 7, wherein the at least one manipulator arm is operably coupled to the robotic device via the connection component.

10. The system of claim 7, wherein the at least one manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

11. A surgical system comprising:

(a) a robotic device sized to be inserted through a standard laparoscopic port, the device comprising;

(i) an elongate device body configured to be positioned within a cavity of a patient;

(ii) a first robotic arm operably coupled with a first end of the device body, the first robotic arm comprising a first end effector;

(iii) a second robotic arm operably coupled with a second end of the device body, the second robotic arm comprising a second end effector; and

(iv) a camera associated with the device body, wherein the first and second robotic arms are configured such that the first and second robotic arms are not positionable in any enclosure of the robotic device;

(b) a console positioned outside the patient'"'"'s body, the console comprising;

(i) first and second manipulator arms operably coupled with the console, wherein the first and second manipulator arms are configured to be in communication with the first and second robotic arms; and

(ii) a visual display disposed on the console, the visual display configured to receive images from the camera; and

(c) a connection component operably coupling the console and the robotic device.

12. The system of claim 11, wherein the robotic device is configured such that it is not constrained by any entry incision.

13. The system of claim 11, wherein the console is configured to be positioned in contact with the patient'"'"'s body during use.

14. The system of claim 11, wherein the console is configured to be disposed at a location remote from the patient.

15. The system of claim 11, wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

16. A surgical system comprising:

(a) a robotic device sized to be inserted through a standard laparoscopic port and configured to be positioned in a body cavity of a patient, wherein the robotic device comprises;

(i) a device body;

(ii) a first robotic arm operably coupled with a first end of the device body, the first robotic arm comprising a first end effector;

(iii) a second robotic arm operably coupled with a second end of the device body, the second robotic arm comprising a second end effector; and

(iv) a camera associated with the device body, wherein the camera is positioned between the first and second robotic arms,

wherein the first and second robotic arms are configured such that the first and second robotic arms cannot be positioned into any enclosure of the robotic device;

(b) a console positioned outside the patient'"'"'s body, the console comprising;

(i) first and second manipulator arms operably coupled with the console, wherein the first and second manipulator arms are configured to be in communication with the first and second robotic arms; and

(ii) a visual display disposed on the console, the visual display configured to receive images from the camera; and

(c) a connection component operably coupling the console and the robotic device.

17. The system of claim 16, wherein the console is configured to be disposed at a location remote from the patient.

18. The system of claim 16, wherein the first and second manipulator arms are operably coupled to the robotic device via the connection component.

19. The system of claim 16, wherein the connection component is a wired connection component.

20. The system of claim 16, wherein the manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.