ROBOT FOR SURGICAL APPLICATIONS

• US 20070241714A1
• Filed: 04/03/2007
• Published: 10/18/2007
• Est. Priority Date: 07/08/2003
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska, Virtual Incision Corporation
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Hadzialic, Adnan, Farritor, Shane, Platt, Stephen, Okeynikov, Dmitry
• Granted Patent: US 7,492,116 B2
• Time in Patent Office: Days
• US Class Current: 318/568.120
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 5/05 Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/416 the spleen
• CPC Class Codes: B08B 9/045 the cleaning devices being rotated while moved , e.g. flexible rotating shaft or "snake"B08B9/047 takes precedence
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 7/00 Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing
• CPC Class Codes: Y10T 74/20317 including electric motor

Abstract

The present invention provides a robot for use inside an open abdominal cavity during minimally-invasive surgery. The robot may include various sensors, imaging devices or manipulators.

Claims

1. A mobile robot for use inside an open abdominal cavity of an animal in minimally invasive surgery, comprising:

a body;

mobilization means for moving the robot;

controller means for controlling remotely the mobilization means;

an actuator;

a power supply; and

at least one device selected from a manipulator or a sensor.

2. The mobile robot of claim 1, wherein the body is shaped like a cylinder, sphere, snake or small vehicle.

3. The mobile robot of claim 2, wherein the body is shaped like a cylinder.

4. The mobile robot of claim 1, wherein the mobilization means comprises wheels, tracks, walking means, hopping means, rotation means, contortion of the body or a combination thereof.

5. The mobile robot of claim 4, wherein the mobilization means is one or more wheels.

6. The mobile robot of claim 5, wherein the one or more wheels have treads.

7. The mobile robot of claim 1, further comprising a transmitter.

8. The mobile robot of claim 1, further comprising a receiver.

9. The mobile robot of claim 1, further comprising a transmitter and a receiver.

10. The mobile robot of claim 1, wherein the actuator is a brushless direct current actuator, a magnetic direct current actuator, an electromagnet actuator, a permanent magnet direct current motor, a shape memory alloy, a piezoelectric-based actuator, a pneumatic actuator or a hydraulic actuator.

11. The mobile robot of claim 1, wherein the micro-robot is attached to and powered by an external power supply.

12. The mobile robot of claim 1, wherein the power supply in an internal power supply.

13. The mobile robot of claim 12, wherein the internal power supply is one or more batteries.

14. The mobile robot of claim 1, wherein the at least one device is a manipulator device that comprises an arm.

15. The mobile robot of claim 1, wherein the at least one device is a sensor device selected from a camera, an imaging device, a pH sensor, a temperature sensor, a sensor to detect gasses, a sensor to detect electrical potential, a sensor to detect heart rate, a sensor to detect respiration rate, a sensor to detect humidity, or a sensor to detect blood.

16. The mobile robot of claim 1, wherein the at least one device comprises a manipulator and an imaging device.

17. The mobile robot of claim 1, wherein the mobile robot is wireless.

18. The mobile robot of claim 17, wherein the actuator is a brushless direct current motor, the power supply is a battery, and the mobile robot further comprises a receiver and a transmitter.

19. A method for performing minimally invasive surgery inside an open abdominal cavity of an animal comprising using the device of claim 1 for at least one of detection or manipulation.

20. A mobile robot for use inside an open abdominal cavity of an animal in minimally invasive surgery, comprising:

a body;

wheels;

a controller means for controlling remotely the wheels;

a brushless direct current motor;

a battery; and

at least one device selected from a manipulator or a sensor.

21. A mobile micro-robot for use inside an open abdominal cavity of an animal in minimally invasive surgery, comprising:

a body;

a sensor;

mobilization means for moving the sensor;

controller means for controlling remotely the mobilization means;

an actuator; and

a power supply.

22. The mobile micro-robot of claim 21, wherein the sensor in an imaging device.

23. The mobile micro-robot of claim 22, wherein the positioning is pan, tilt or combinations thereof.