MAGNETIC-ANCHORED ROBOTIC SYSTEM

• US 20130289581A1
• Filed: 04/26/2013
• Published: 10/31/2013
• Est. Priority Date: 04/26/2012
• Status: Active Grant

• Current Assignee: Iemis Limited
• Original Assignee: Bio-medical Engineering (HK) Limited
• Inventors: YEUNG, Chung Kwong, YUNG, Kai Leung
• Granted Patent: US 10,065,323 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• 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 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2017/00283 with a device releasably connected to an inner wall of the abdomen during surgery, e.g. an illumination source
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/3484 Anchoring means, e.g. spreading-out umbrella-like structure
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/34 force feedback
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10T 428/13 Hollow or container type article [e.g., tube, vase, etc.]

Abstract

A robotic actuator includes an internal anchor and an instrument. The internal anchor is adapted to be inserted into a body via an entrance port, positioned inside the body, and magnetically coupled with an external anchor positioned outside the body. The instrument is adapted to be inserted into the body via the entrance port and secured to the internal anchor. The instrument includes an end-effector having multiple degrees of movement via multiple axes, and a plurality of actuators that provide the multiple degrees of movement.

Claims

1. A robotic actuator, comprising:

an internal anchor that is adapted to be inserted into a body via an entrance port, positioned inside the body, and magnetically coupled with an external anchor positioned outside the body; and

an instrument that is adapted to be inserted into the body via the entrance port and secured to the internal anchor, the instrument including an end-effector having multiple degrees of movement via multiple axes, the instrument including a plurality of actuators that provide the multiple degrees of movement.

2. The robotic actuator of claim 1, wherein the actuators each have a rotation axis oriented in a same direction.

3. The robotic actuator of claim 2, wherein the actuators are distributed along the rotation axis.

4. The robotic actuator of claim 3, wherein the plurality of actuators includes a first actuator proximal to internal anchor, a second actuator proximal to the end-effector, and a third actuator disposed between the first and second actuators.

5. The robotic actuator of claim 4, wherein

the first actuator provides movement about an axis of the instrument with respect to the internal anchor,

the second actuator provides movement about an axis of the end-effector with respect to a body of the instrument, and

the third actuator provides movement about an axis of extension/retraction of the body of the instrument.

6. The robotic actuator of claim 5, further comprising a fourth actuator that provides movement about a second axis of the instrument with respect to the internal anchor.

7. The robotic actuator of claim 6, wherein the first and fourth actuators are adjacent to each other.

8. The robotic actuator of claim 5, further comprising a fifth actuator that provides movement about a second axis of the end-effector with respect to the body of the instrument.

9. The robotic actuator of claim 7, further comprising a sixth actuator that provides movement about a third axis of the end-effector with respect to the body of the instrument.

10. The robotic actuator of claim 9, wherein the second, fifth and sixth actuators are adjacent to each other.

11. The robotic actuator of claim 9, wherein

the sixth actuator is coupled to a bevel gear, and

the second and fifth actuators are each coupled to a worm gear.

12. The robotic actuator of claim 5, further comprising mechanical element coupled between the second actuator and the end-effector, the mechanical element providing a speed reduction or force multiplication to the second actuator.

13. The robotic actuator of claim 12, wherein the mechanical element is a planetary gear.

14. The robotic actuator of claim 12, further comprising a pulley coupled between the mechanical element and the end-effector.

15. The robotic actuator of claim 14, further comprising second mechanical element coupled between the pulley and the end-effector, the second mechanical element including a gear ratio that increases torque applied to the end-effector by the second actuator.

16. The robotic actuator of claim 5, wherein the third actuator is coupled to a threaded rod having a carrier engaged thereon, the carrier travelling along the threaded rod when an output of the third actuator rotates.

17. The robotic actuator of claim 16, wherein the third actuator includes one or more linear actuators.

18. The robotic actuator of claim 5, wherein the first actuator is coupled to a worm gear.

19. The robotic actuator of claim 18, wherein the worm gear is coupled to a gear.

20. The robotic actuator of claim 19, wherein the worm gear and the gear are coupled via an approximately 90 degree intersection.

21. The robotic actuator of claim 1, wherein the robotic actuator is generally cylindrical in shape.

22. The robotic actuator of claim 21, wherein a diameter of the cylinder is 21 mm or less.

23. The robotic actuator of claim 22, wherein a length of the cylinder is 200 mm or less.

24. The robotic actuator of claim 1, wherein the instrument and the internal anchor are adapted to be coupled together before insertion into the body via the entrance port.

25. The robotic actuator of claim 24, wherein the instrument is fixed to the internal anchor before insertion into the body via the entrance port.

26. The robotic actuator of claim 1, further comprising a circuit board.

27. The robotic actuator of claim 26, wherein the circuit board includes driver circuitry.

28. The robotic actuator of claim 26, wherein the circuit board includes a network interface.

29. The robotic actuator of claim 26, wherein the circuit board is flexible.

30. The robotic actuator of claim 26, wherein the circuit board is disposed adjacent to an inner wall of a housing of the instrument.