Methods, systems, and devices for surgical access and procedures

• US 9,956,043 B2
• Filed: 08/07/2014
• Issued: 05/01/2018
• Est. Priority Date: 07/12/2007
• 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 Michael, Rentschler, Mark, Lehman, Amy, Platt, Stephen R., Hawks, Jeff
• Primary Examiner(s): Wieland, Robert N
• Application Number:
  US14/454,035
• Publication Number:
  US 20140350574A1
• Time in Patent Office: 1,363 Days
• 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 2017/00278 Transorgan operations, e.g. transgastric
• CPC Class Codes: A61B 2017/00539 hydraulically
• CPC Class Codes: A61B 2017/00544 pneumatically
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• 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 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery

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 actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient'"'"'s cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms.

Claims

1. A robotic surgical system, comprising:

(a) a robotic device sized to be positioned completely within a patient, the device comprising;

(i) a device body;

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

(1) a first arm first link operably coupled to the device body via a first shoulder joint;

(2) a first arm second link operably coupled to the first arm first link via a first elbow joint; and

(3) a first operational component operably coupled to the first arm second link; and

(iii) a second robotic arm operably coupled with the device body;

(1) a second arm first link operably coupled to the device body via a second shoulder joint;

(2) a second arm second link operably coupled to the second arm first link via a second elbow joint; and

(3) a second operational component operably coupled to the second arm second link;

(b) a tubular component comprising a distal end operably coupled to the device body, the tubular component comprising a first lumen; and

(c) at least one connection component disposed through the first lumen of the tubular component, the at least one connection component comprising a distal end operably coupled to the robotic device.

2. The robotic surgical system of claim 1, wherein the tubular component comprises at least one modular tube component.

3. The robotic surgical system of claim 1, wherein the tubular component comprises a plurality of modular tube components.

4. The robotic surgical system of claim 3, wherein the tubular component is a reversibly lockable tube.

5. The robotic surgical system of claim 1, further comprising a power source operably coupled to a proximal end of the at least one connection component.

14. The robotic surgical system of claim 1, wherein the at least one connection component comprises an electrical connection component.

15. The robotic surgical system of claim 1, wherein the at least one connection component comprises a hydraulic tube or a pneumatic tube.

19. The robotic surgical system of claim 1, further comprising an external controller operably coupled to a proximal end of the at least one connection component.

6. A robotic surgical system, comprising:

(a) a tubular component comprising a first lumen, the tubular component configured to be positioned through an incision formed in a cavity wall of a patient;

(b) a robotic device comprising;

(i) a device body;

(ii) a first robotic arm operably coupled to the device body and sized to be positioned in the cavity of the patient through the tubular component, the first robotic arm comprising;

(1) a first arm first link operably coupled to the device body at a first shoulder joint at a first end of the first arm first link;

(2) a first arm second link operably coupled to a second end of the first arm first link via a first elbow joint; and

(3) a first operational component operably coupled to the first arm second link; and

(iii) a second robotic arm operably coupled to the device body and sized to be positioned in the cavity of the patient through the tubular component, the second robotic arm comprising;

(1) a second arm first link operably coupled to the device body at a second shoulder joint at a first end of the second arm first link;

(2) a second arm second link operably coupled to a second end of the second arm first link via a second elbow joint; and

(3) a second operational component operably coupled to the second arm second link; and

(c) at least one connection component disposed through the first lumen of the tubular component, the at least one connection component comprising a distal end operably coupled to the robotic device.

7. The robotic surgical system of claim 6, further comprising a power source operably coupled to a proximal end of the at least one connection component.

8. The robotic surgical system of claim 6, wherein the at least one connection component comprises an electrical connection component.

9. The robotic surgical system of claim 6, wherein the at least one connection component comprises a hydraulic tube or a pneumatic tube.

16. The robotic surgical system of claim 6, wherein the tubular component comprises at least one modular tube component.

17. The robotic surgical system of claim 6, wherein the tubular component comprises a plurality of modular tube components.

18. The robotic surgical system of claim 17, wherein the tubular component is a reversibly lockable tube.

20. The robotic surgical system of claim 6, further comprising an external controller operably coupled to a proximal end of the at least one connection component.

10. A method of surgery comprising:

providing a robotic device comprising;

(a) a device body;

(b) a first robotic arm operably coupled with the device body, the first robotic arm comprising;

(i) a first arm first link operably coupled to the device body via a first shoulder joint;

(ii) a first arm second link operably coupled to the first arm first link via a first elbow joint; and

(iii) a first operational component operably coupled to the first arm second link; and

(c) a second robotic arm operably coupled with the device body;

(i) a second arm first link operably coupled to the device body via a second shoulder joint;

(ii) a second arm second link operably coupled to the second arm first link via a second elbow joint; and

(iii) a second operational component operably coupled to the second arm second link;

inserting the robotic device into a body cavity through an incision in a wall of the body cavity such that the first and second robotic arms are positioned within the body cavity;

coupling an external controller to the robotic device via a connection component disposed through a tubular component and operably coupled to the robotic device; and

actuating the robotic device via the external controller and thereby performing a procedure with the first and second robotic arms within the body cavity.

11. The method of claim 10, further comprising adjusting the tubular component between a flexible configuration and a substantially rigid configuration.

12. The method of claim 10, further comprising placing the tubular component into a flexible configuration prior to inserting the robotic device into the body cavity.

13. The method of claim 10, further comprising placing the tubular component into a substantially rigid configuration when the robotic device is positioned within the body cavity.