Single site robotic device and related systems and methods

• US 10,219,870 B2
• Filed: 11/21/2016
• Issued: 03/05/2019
• 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, Joe
• Primary Examiner(s): Nganga, Boniface
• Application Number:
  US15/357,663
• Publication Number:
  US 20170119482A1
• Time in Patent Office: 834 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 2017/2906 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

Disclosed herein are various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Also disclosed are various medical devices for in vivo medical procedures. Included herein, for example, is a surgical robotic device having an elongate device body, a right robotic arm coupled to a right shoulder assembly, and a left robotic arm coupled to a left shoulder assembly.

Claims

1. A surgical robotic device, comprising:

a) an elongate device body comprising a body housing;

b) a right shoulder assembly comprising a right output bevel gear;

c) a first right motor disposed within the body housing;

d) a first right bevel gear rotationally coupled to the first right motor, wherein the first right bevel gear is operably coupled to the right output bevel gear;

e) a second right motor disposed within the body housing;

f) a second right bevel gear rotationally coupled to the second right motor, wherein the second right bevel gear is operably coupled to the right output bevel gear;

g) a right robotic arm operably coupled to the right shoulder assembly;

h) a left shoulder assembly comprising a left output bevel gear;

i) a first left motor disposed within the body housing;

j) a first left bevel gear rotationally coupled to the first left motor, wherein the first left bevel gear is operably coupled to the left output bevel gear;

k) a second left motor disposed within the body housing;

l) a second left bevel gear rotationally coupled to the second left motor, wherein the second left bevel gear is operably coupled to the left output bevel gear; and

m) a left robotic arm operably coupled to the left shoulder assembly.

2. The surgical robotic device of claim 1, further comprising

a) a right spur gear rotationally coupled at a first end to the first right motor and at a second end to the first right bevel gear;

and

b) a left spur gear rotationally coupled at a first end to the first left motor and at a second end to the first left bevel gear.

3. The surgical robotic device of claim 1, wherein the first right bevel gear is disposed proximally of the right output bevel gear and the second right bevel gear is disposed distally of the right output bevel gear.

4. The surgical robotic device of claim 1, wherein the first left bevel gear is disposed proximally of the left output bevel gear and the second left bevel gear is disposed distally of the left output bevel gear.

5. The surgical robotic device of claim 1, wherein rotation of the first and second right bevel gears causes the right output bevel gear to rotate around at least one of an axis parallel to a longitudinal axis of the first right motor and an axis transverse to the longitudinal axis of the first right motor.

6. The surgical robotic device of claim 1, wherein rotation of the first and second left bevel gears causes the left output bevel gear to rotate around at least one of an axis parallel to a longitudinal axis of the first left motor and an axis transverse to the longitudinal axis of the first left motor.

7. The surgical robotic device of claim 1, wherein rotation of the first and second right bevel gears at a same speed causes the right output bevel gear to rotate around an axis parallel to a longitudinal axis of the first right motor such that the right robotic arm moves between a right arm insertion position and a right arm operational position.

8. The surgical robotic device of claim 7, wherein the right arm insertion position comprises the right robotic arm disposed such that the right robotic arm is not coplanar with a horizontal plane of the device body, and wherein the right arm operational position comprises the right robotic arm disposed such that the right robotic arm is coplanar with a horizontal plane of the device body.

9. The surgical robotic device of claim 1, wherein rotation of the first and second left bevel gears at a same speed causes the left output bevel gear to rotate around an axis parallel to a longitudinal axis of the first left motor such that the left robotic arm moves between a left arm insertion position and a left arm operational position.

10. The surgical robotic device of claim 9, wherein the left arm insertion position comprises the left robotic arm disposed such that the left robotic arm is not coplanar with a horizontal plane of the device body, and wherein the left arm operational position comprises the left robotic arm disposed such that the left robotic arm is coplanar with a horizontal plane of the device body.

11. A surgical robotic device, comprising:

a) an elongate device body comprising a body housing;

b) a right shoulder assembly comprising a right output bevel gear;

c) a proximal right motor disposed within the body housing;

d) a proximal right bevel gear rotationally coupled to the proximal right motor, wherein the proximal right bevel gear is disposed proximally to and is operably coupled to the right output bevel gear;

e) a distal right motor disposed within the body housing;

f) a distal right bevel gear rotationally coupled to the distal right motor, wherein the distal right bevel gear is disposed distally to and is operably coupled to the right output bevel gear;

g) a right robotic arm comprising;

i) a right upper arm link operably coupled to the right shoulder assembly; and

ii) a right forearm link operably coupled to the right upper arm link;

h) a left shoulder assembly comprising a left output bevel gear;

i) a proximal left motor disposed within the body housing;

j) a proximal left bevel gear rotationally coupled to the proximal left motor, wherein the proximal left bevel gear is disposed proximally to and is operably coupled to the left output bevel gear;

k) a distal left motor disposed within the body housing;

l) a distal left bevel gear rotationally coupled to the distal left motor, wherein the distal left bevel gear is disposed distally to and is operably coupled to the left output bevel gear; and

m) a left robotic arm comprising;

i) a left upper arm link operably coupled to the left shoulder assembly; and

ii) a left forearm link operably coupled to the left upper arm link.

12. The surgical robotic device of claim 11, further comprising

a) a right spur gear rotationally coupled at a first end to the proximal right motor and at a second end to the proximal right bevel gear;

and

b) a left spur gear rotationally coupled at a first end to the proximal left motor and at a second end to the proximal left bevel gear.

13. The surgical robotic device of claim 11, wherein rotation of the first and second right bevel gears causes the right output bevel gear to rotate around at least one of an axis parallel to a longitudinal axis of the first right motor and an axis transverse to the longitudinal axis of the first right motor, and wherein rotation of the first and second left bevel gears causes the left output bevel gear to rotate around at least one of an axis parallel to a longitudinal axis of the first left motor and an axis transverse to the longitudinal axis of the first left motor.

14. The surgical robotic device of claim 11, wherein rotation of the first and second right bevel gears at a same speed causes the right output bevel gear to rotate around an axis parallel to a longitudinal axis of the first right motor such that the right robotic arm moves between a right arm insertion position and a right arm operational position, and wherein rotation of the first and second left bevel gears at a same speed causes the left output bevel gear to rotate around an axis parallel to a longitudinal axis of the first left motor such that the left robotic arm moves between a left arm insertion position and a left arm operational position.

15. The surgical robotic device of claim 14, wherein the right arm insertion position comprises the right robotic arm disposed such that the right robotic arm is not coplanar with a horizontal plane of the device body, and wherein the right arm operational position comprises the right robotic arm disposed such that the right robotic arm is coplanar with a horizontal plane of the device body, and wherein the left arm insertion position comprises the left robotic arm disposed such that the left robotic arm is not coplanar with a horizontal plane of the device body, and wherein the left arm operational position comprises the left robotic arm disposed such that the left robotic arm is coplanar with a horizontal plane of the device body.

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

positioning a robotic device through an incision into a cavity of a patient, the robotic device comprising;

i) an elongate device body comprising a body housing;

ii) a right shoulder assembly comprising a right output bevel gear;

iii) a first right motor disposed within the body housing;

iv) a first right bevel gear rotationally coupled to the first right motor, wherein the first right bevel gear is operably coupled to the right output bevel gear;

v) a second right motor disposed within the body housing;

vi) a second right bevel gear rotationally coupled to the second right motor, wherein the second right bevel gear is operably coupled to the right output bevel gear;

vii) a right robotic arm operably coupled to the right shoulder assembly;

viii) a left shoulder assembly comprising a left output bevel gear;

ix) a first left motor disposed within the body housing;

x) a first left bevel gear rotationally coupled to the first left motor, wherein the first left bevel gear is operably coupled to the left output bevel gear;

xi) a second left motor disposed within the body housing;

xii) a second left bevel gear rotationally coupled to the second left motor, wherein the second left bevel gear is operably coupled to the left output bevel gear; and

xiii) a left robotic arm operably coupled to the left shoulder assembly; and

actuating the first and second robotic arms to perform a procedure within the cavity of the patient.

17. The method of claim 16, further comprising

rotating the right output bevel gear around at least one of an axis parallel to a longitudinal axis of the first right motor and an axis transverse to the longitudinal axis of the first right motor by rotating the first and second right bevel gears;

and

rotating the left output bevel gear around at least one of an axis parallel to a longitudinal axis of the first left motor and an axis transverse to the longitudinal axis of the first left motor by rotating the first and second left bevel gears.

18. The method of claim 16, further comprising:

rotating the right output bevel gear between a right arm insertion position and a right arm operational position; and

rotating the left output bevel gear between a left arm insertion position and a left arm operational position.

19. The method of claim 18, wherein

the rotating the right output bevel gear between a right arm insertion position and a right arm operational position comprises rotating the right output bevel gear around an axis parallel to a longitudinal axis of the first right motor by rotating the first and second right bevel gears at a same speed;

and

the rotating the left output bevel gear between a left arm insertion position and a left arm operational position comprises rotating the left output bevel gear around an axis parallel to a longitudinal axis of the first left motor by rotating the first and second left bevel gears at a same speed.

20. The method of claim 19, wherein the right arm insertion position comprises the right robotic arm disposed such that the right robotic arm is not coplanar with a horizontal plane of the device body, wherein the right arm operational position comprises the right robotic arm disposed such that the right robotic arm is coplanar with a horizontal plane of the device body, wherein the left arm insertion position comprises the left robotic arm disposed such that the left robotic arm is not coplanar with a horizontal plane of the device body, and wherein the left arm operational position comprises the left robotic arm disposed such that the left robotic arm is coplanar with a horizontal plane of the device body.