Magnetic-anchored robotic system

• US 9,789,613 B2
• Filed: 03/15/2013
• Issued: 10/17/2017
• Est. Priority Date: 04/26/2012
• Status: Active Grant

• Current Assignee: Iemis Limited
• Original Assignee: Bio-medical Engineering (HK) Limited
• Inventors: Yeung, Chung Kwong, Yung, Kai Leung
• Primary Examiner(s): TANNER, JOCELIN C
• Application Number:
  US13/835,653
• Publication Number:
  US 20130289579A1
• Time in Patent Office: 1,677 Days
• Field of Search: 606130, 901 46, 901 9, 901 15, 901 28, 31856811, 318560, 31856821, 31856822, 600427, 600104, 600118, 600117, 600 12, 600184, 600114, 600145, 600201, 607 1
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• 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 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2017/00283 with a device releasably connected to an inner wall of the abdomen during surgery, e.g. an illumination source
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/3484 Anchoring means, e.g. spreading-out umbrella-like structure
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/34 force feedback
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10T 428/13 Hollow or container type article [e.g., tube, vase, etc.]

Abstract

A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes.

Claims

1. A surgical system, comprising:

an external anchor adapted to be positioned outside a body and adapted to generate a selectively controllable magnetic field;

an entrance port adapted to be secured through an abdominal cavity of the body; and

an internal anchor comprising an instrument and a foldable flap, the internal anchor adapted to be inserted into the body via the entrance port, the internal anchor positioned inside the body, the foldable flap transitionable between a normally folded position and an unfolded position by selectively controlling an application of the magnetic field generated by the external anchor, the foldable flap configurable to transition to the unfolded position to magnetically couple the internal anchor with the external anchor based on the selective controlling of the magnetic field generated by the external anchor;

wherein the magnetic field of the external anchor is configured to facilitate repositioning of the internal anchor;

wherein the external anchor is adapted to selectively control the generated magnetic field based in part upon a repelling force provided between the internal anchor and external anchor to increase a separation distance between the internal anchor and the external anchor prior to repositioning of the internal anchor;

wherein the instrument comprises an elongated structure having a first end and a second end;

wherein the first end comprises an end-effector and a wrist securing the end-effector to the first end, the end-effector having multiple degrees of movement via multiple axes, the wrist allowing the end-effector to rotate about an axis independent from the multiple axes; and

wherein the second end is secured to the internal anchor by a rotatable joint.

2. The surgical system of claim 1, further comprising a flexible magnetic sheet adapted for insertion into the body via the single entrance port, wherein the magnetic sheet is adapted to unfold or unroll and refold or roll in the presence of a magnetic field.

3. The surgical system of claim 2, wherein the magnetic sheet is adapted to unfold or unroll and refold or roll by heating or cooling.

4. The surgical system of claim 2, wherein positioning the magnetic sheet between the external anchor and the internal anchor concentrates magnetic flux between the external anchor and the internal anchor thereby increasing a coupling force between the external anchor and the internal anchor.

5. The surgical system of claim 2, further comprising a second flexible magnetic sheet adapted for insertion into the body via the single entrance port, wherein the two flexible magnetic sheets are linkable with extendable bars to form an intra-body mechanical frame.