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

• US 10,603,121 B2
• Filed: 08/28/2017
• Issued: 03/31/2020
• 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 L
• Application Number:
  US15/687,787
• Publication Number:
  US 20170354471A1
• Time in Patent Office: 946 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 body;

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

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

(d) 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 mechanism at a distal end of the third arm link, wherein the connection mechanism is configured to be coupleable to the robotic surgical device,

wherein at least two 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 substantially 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 mechanism 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 body;

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

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

(d) 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 mechanism at a distal end of the third arm link, wherein the connection mechanism is configured to be coupleable to the robotic surgical device,

wherein at least one 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 is substantially perpendicular to at least one other of the axis of rotation of the first rotational joint, the axis of rotation of the second rotational joint, and the axis of rotation of the third rotational joint.

7. 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.

8. The gross positioning system of claim 6, wherein the connection mechanism is positionable in a body cavity of the patient.

9. The gross positioning system of claim 6, wherein at least two of the axis of rotation of the first rotational joint, the axis of rotation of the second rotational joint, and the axis of rotation of the third rotational joint substantially intersect at a spherical joint.

10. The gross positioning system of claim 9, wherein the spherical joint is disposed at the incision of the 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 body;

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

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

(d) 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 mechanism at a distal end of the third arm link, wherein the connection mechanism is configured to be coupleable to the robotic surgical device; and

(e) a spherical joint disposed substantially at an intersection of at least two 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 substantially at an insertion point of a patient, wherein the third arm link is disposed substantially through the spherical joint.

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

13. 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.

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

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

(a) a body;

(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 mechanism at a distal end of the third arm link; and

(f) the robotic surgical device operably coupled to the connection mechanism, 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 at least two 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 substantially intersect at a spherical joint.

16. The gross positioning system of claim 15, wherein at least one 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 is substantially perpendicular to at least one other of the axis of rotation of the first rotational joint, the axis of rotation of the second rotational joint, and the axis of rotation of the third rotational joint.

17. The gross positioning system of claim 15, 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.

18. The gross positioning system of claim 15, wherein the third arm link is configured to be positionable through an incision in a patient.

19. The gross positioning system of claim 15, wherein the spherical joint is disposed substantially at an insertion point of a patient, wherein the third arm link is disposed substantially through the spherical joint.

20. The gross positioning system of claim 15, wherein the connection mechanism is positionable in a body cavity of the patient.