Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers

• US 9,743,987 B2
• Filed: 03/13/2014
• Issued: 08/29/2017
• Est. Priority Date: 03/14/2013
• 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, Frederick, Thomas, Bartels, Joe, Markvicka, Eric, Mondry, Jack
• Primary Examiner(s): Fishback, Ashley
• Application Number:
  US14/208,515
• Publication Number:
  US 20140276944A1
• Time in Patent Office: 1,265 Days
• 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: Y10S 901/28 Joint

Abstract

The various embodiments disclosed herein relate to improved robotic surgical systems, including robotic surgical devices having improved arm components and/or biometric sensors, contact detection systems for robotic surgical devices, gross positioning systems and devices for use in robotic surgical systems, and improved external controllers and consoles.

Claims

1. A gross positioning system for use with a robotic surgical device, the system comprising:

(a) a base;

(b) a body operably coupled to the base;

(c) a first arm link operably coupled to the body at a first rotational joint;

(d) a second arm link operably coupled to the first arm link at a second rotational joint; and

(e) an extendable third arm link operably coupled to the second arm link, wherein at least a portion of the third arm link is rotatable about a third rotational joint, wherein the third arm link is configured to be positionable through an incision in a patient, the third arm link comprising a connection component at a distal end of the third arm link, wherein the connection component is configured to be coupleable to the robotic surgical device,

wherein an axis of rotation of the first rotational joint, an axis of rotation of the second rotational joint, and an axis of rotation of the third rotational joint intersect at a spherical joint.

2. The gross positioning system of claim 1, wherein the robotic surgical device comprises at least one arm, wherein the gross positioning system and robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of a patient.

3. The gross positioning system of claim 1, wherein the extendable third arm link comprises an extender body and an extendable rod slidably coupled to the extender body, wherein the extendable rod is configured to move between an extended position and a retracted position.

4. The gross positioning system of claim 1, wherein the spherical joint is disposed at the incision of the patient, wherein the third arm link is disposed through the spherical joint.

5. The gross positioning system of claim 1, wherein the connection component is positionable in a body cavity of the patient.

6. A gross positioning system for use with a robotic surgical device, the system comprising:

(a) a base;

(b) a body operably coupled to the base;

(c) a first arm link operably coupled to the body at a first rotational joint;

(d) a second arm link operably coupled to the first arm link at a second rotational joint;

(e) an extendable third arm link operably coupled to the second arm link, wherein at least a portion of the third arm link is rotatable about a third rotational joint, the third arm link comprising a connection component at a distal end of the third arm link; and

(f) the robotic surgical device operably coupled to the connection component, the robotic surgical device comprising;

(i) a device body;

(ii) a first arm operably coupled to the device body, the first arm comprising at least one first actuator; and

iii) a second arm operably coupled to the device body, the second arm comprising at least one second actuator,

wherein an axis of rotation of the first rotational joint, an axis of rotation of the second rotational joint, and an axis of rotation of the third rotational joint intersect at a spherical joint.

7. The gross positioning system of claim 6, wherein an axis of rotation of the first rotational joint is perpendicular to at least one of an axis of rotation of the second rotational joint and an axis of rotation of the third rotational joint.

8. The gross positioning system of claim 6, wherein the extendable third arm link comprises an extender body and an extendable rod slidably coupled to the extender body, wherein the extendable rod is configured to move between an extended position and a retracted position.

9. The gross positioning system of claim 6, wherein the third arm link is configured to be positionable through an incision in a patient.

10. The gross positioning system of claim 6, wherein the spherical joint is disposed at an insertion point of a patient, wherein the third arm link is disposed through the spherical joint.

11. An external gross positioning system for use with an internal robotic surgical device, the system comprising:

(a) a base;

(b) a body operably coupled to the base;

(c) a first arm link operably coupled to the body at a first rotational joint;

(d) a second arm link operably coupled to the first arm link at a second rotational joint;

(e) an extendable third arm link operably coupled to the second arm link, wherein at least a portion of the third arm link is rotatable about a third rotational joint, the third arm link comprising a connection component at a distal end of the third arm link, wherein the connection component is configured to be coupleable to the robotic surgical device; and

(f) a spherical joint at an intersection of an axis of rotation of the first rotational joint, an axis of rotation of the second rotational joint, and an axis of rotation of the third rotational joint, wherein the spherical joint is disposed at an insertion point of a patient, wherein the third arm link is disposed through the spherical joint.

12. The gross positioning system of claim 11, wherein an axis of rotation of the first rotational joint is perpendicular to at least one of an axis of rotation of the second rotational joint and an axis of rotation of the third rotational joint.

13. The gross positioning system of claim 11, wherein an axis of rotation of the second rotational joint is perpendicular to at least one of an axis of rotation of the first rotational joint and an axis of rotation of the third rotational joint.

14. The gross positioning system of claim 11, wherein an axis of rotation of the third rotational joint is perpendicular to at least one of an axis of rotation of the first rotational joint and an axis of rotation of the second rotational joint.

15. The gross positioning system of claim 11, wherein the extendable third arm link comprises an extender body and an extendable rod slidably coupled to the extender body, wherein the extendable rod is configured to move between an extended position and a retracted position.

16. The gross positioning system of claim 11, wherein the robotic surgical device comprises at least one arm, wherein the gross positioning system and robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of the patient.

17. The gross positioning system of claim 11, wherein the connection component is positionable in a body cavity of the patient.