Local control robotic surgical devices and related methods

• US 10,470,828 B2
• Filed: 03/12/2015
• Issued: 11/12/2019
• Est. Priority Date: 06/22/2012
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Markvicka, Eric, Frederick, Tom, Mondry, Jack, Bartels, Joe, Farritor, Shane
• Primary Examiner(s): Joyce, William C
• Application Number:
  US14/656,109
• Publication Number:
  US 20160256227A1
• Time in Patent Office: 1,706 Days
• Field of Search: 7449001, 7449003, 7449005, 7449006, 606130, 294106, 294198, 600102, 600204
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2018/00595 Cauterization
• CPC Class Codes: A61B 2018/00982 combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
• 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: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: Y10T 74/20317 including electric motor
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices.

Claims

1. A robotic device, comprising:

(a) an elongate device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising;

(i) a motor housing comprising a first motor and a second motor;

(ii) a gear housing disposed at a distal end of the device body, the gear housing comprising;

(A) a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor; and

(B) a second gear positioned at a distal end of the gear housing, the second gear operably coupled to the second motor; and

(iii) a coupling mechanism disposed at a proximal end of the device body, the coupling mechanism constructed and arranged to be coupleable with an external positioning component;

(b) a first arm operably coupled to the first gear, wherein the first arm is positioned substantially within a longitudinal cross-section of the device body when the first arm is extended in a straight configuration, the first arm comprising;

(i) a first upper arm segment comprising a first arm motor;

(ii) a first forearm segment; and

(iii) a first end effector; and

(c) a second arm operably coupled to the second gear, wherein the second arm is positioned substantially within the longitudinal cross-section of the device body when the second arm is extended in a straight configuration, the second arm comprising;

(i) a second upper arm segment comprising a second arm motor;

(ii) a second forearm segment; and

(iii) a second end effector.

2. The robotic device of claim 1, wherein the gear housing comprises first, second, and third housing protrusions disposed at the distal end of the gear housing, wherein the first gear is disposed between the first and second housing protrusions and the second gear is disposed between the second and third housing protrusions.

3. The robotic device of claim 1, wherein the first arm is operably coupled to the first gear at a first shoulder joint, wherein the first shoulder joint is positioned substantially within the longitudinal cross-section of the device body.

4. The robotic device of claim 3, wherein the second arm is operably coupled to the second gear at a second shoulder joint, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body.

5. The robotic device of claim 1, wherein the first gear is configured to rotate around a first axis parallel to a length of the device body.

6. The robotic device of claim 5, wherein the second gear is configured to rotate around a second axis parallel to the length of the device body.

7. The robotic device of claim 1, wherein the first upper arm segment and the first forearm segment are collinear when the first arm is extended in the straight configuration.

8. The robotic device of claim 7, wherein the second upper arm segment and the second forearm segment are collinear when the second arm is extended in the straight configuration.

9. The robotic device of claim 1, wherein the external positioning component is a support rod.

10. The robotic device of claim 1, wherein the first arm motor is operably coupled to a first local control board and the second arm motor is operably coupled to a second local control board.

11. The robotic device of claim 1, wherein the first gear comprises a tooth-free portion and the second gear comprises a tooth-free portion.

12. A robotic device, comprising:

(a) an elongate device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising;

(i) a first gear positioned at a distal end of the device body, the first gear configured to rotate around a first axis parallel to a length of the device body;

(ii) a second gear positioned at the distal end of the device body, the second gear configured to rotate around a second axis parallel to the length of the device body; and

(iii) a coupling mechanism disposed at a proximal end of the device body, the coupling mechanism constructed and arranged to be coupleable with an external positioning component;

(b) a first arm operably coupled to the first gear at a first shoulder joint, wherein the first shoulder joint is positioned substantially within a longitudinal cross-section of the device body, the first arm comprising;

(i) a first upper arm segment comprising a first arm motor;

(ii) a first forearm segment; and

(iii) a first end effector; and

(c) a second arm operably coupled to the second gear at a second shoulder joint, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body, the second arm comprising;

(i) a second upper arm segment comprising a second arm motor;

(ii) a second forearm segment; and

(iii) a second end effector.

13. The robotic device of claim 12, wherein the first arm is positioned substantially within the longitudinal cross-section of the device body when the first arm is extended in a straight configuration.

14. The robotic device of claim 12, wherein the second arm is positioned substantially within the longitudinal cross-section of the device body when the second arm is extended in a straight configuration.

15. The robotic device of claim 12, wherein the first upper arm segment and the first forearm segment are collinear when the first arm is extended in a straight configuration.

16. The robotic device of claim 12, wherein the second upper arm segment and the second forearm segment are collinear when the second arm is extended in a straight configuration.

17. The robotic device of claim 12, wherein the first gear comprises a tooth-free portion and the second gear comprises a tooth-free portion.

18. A robotic device, comprising:

(a) an elongate device body configured to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising;

(i) a motor housing comprising a first motor and a second motor;

(ii) a gear housing disposed at a distal end of the device body, the gear housing comprising;

(A) a first gear positioned at a distal end of the gear housing, the first gear operably coupled to the first motor, wherein the first gear is positioned to rotate around a first axis parallel to a length of the device body, wherein the first gear comprises a first tooth-free portion; and

(B) a second gear positioned at a distal end of the gear housing, the second gear operably coupled to the second motor, wherein the second gear is positioned to rotate around a second axis parallel to the length of the device body, wherein the second gear comprises a second tooth-free portion; and

(iii) an external positioning structure coupling mechanism disposed at a proximal end of the device body;

(b) a first arm operably coupled to the first gear, the first arm comprising a first upper arm, a first forearm, and a first end effector, wherein the first arm is positioned substantially within a longitudinal cross-section of the device body when the first arm is extended in a straight configuration such that the first upper arm and the first forearm are collinear, the first upper arm comprising a first arm motor; and

(c) a second arm operably coupled to the second gear, the second arm comprising a second upper arm, a second forearm, and a second end effector, wherein the second arm is positioned substantially within the longitudinal cross-section of the device body when the second arm is extended in a straight configuration such that the second upper arm and the second forearm are collinear, the second upper arm comprising a second arm motor.

19. The robotic device of claim 18, wherein the first arm is operably coupled to the first gear at a first shoulder joint, wherein the first shoulder joint is positioned substantially within the longitudinal cross-section of the device body.

20. The robotic device of claim 19, wherein the second arm is operably coupled to the second gear at a second shoulder joint, wherein the second shoulder joint is positioned substantially within the longitudinal cross-section of the device body.