Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers

• US 20140276944A1
• Filed: 03/13/2014
• Published: 09/18/2014
• 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
• Granted Patent: US 9,743,987 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 base;

(b) a body operably coupled to the base;

(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; and

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

2. The gross positioning system of claim 1, wherein an axis of rotation of the first rotational joint is perpendicular to at least one of an axis of rotation of the second rotational joint and an axis of rotation of the third rotational joint.

3. The gross positioning system of claim 1, wherein an axis of rotation of the second rotational joint is perpendicular to at least one of an axis of rotation of the first rotational joint and an axis of rotation of the third rotational joint.

4. The gross positioning system of claim 1, wherein an axis of rotation of the third rotational joint is perpendicular to at least one of an axis of rotation of the first rotational joint and an axis of rotation of the second rotational joint.

5. The gross positioning system of claim 1, wherein 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 intersect at a spherical joint.

6. 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.

7. 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.

8. An arm component for a robotic device configured to be positioned within a cavity of a patient, the arm component comprising:

(a) an arm body;

(b) a grasper end effector disposed at a distal end of the arm body, wherein the grasper end effector comprises an open configuration and a closed configuration;

(c) a first actuator operably coupled to the grasper end effector, wherein the first actuator is configured to actuate the grasper end effector to rotate; and

(d) a second actuator operably coupled to the grasper end effector, wherein the second actuator is configured to actuate the grasper end effector to move between the open and closed configurations.

9. The arm component of claim 8, further comprising:

(a) a yoke operably coupled to the grasper end effector, the yoke comprising a lumen defined within the yoke, wherein the yoke is operably coupled at a proximal end to the first actuator, wherein the first actuator is configured to actuate the yoke to rotate; and

(b) a drive rod slidably disposed within the lumen of the yoke, wherein the drive rod is operably coupled at a distal end to the grasper end effector and at a proximal end to the second actuator, wherein the second actuator is configured to actuate the drive rod to slide between a distal and proximal position.

10. The arm component of claim 9, wherein the second actuator comprises a hydraulic actuator.

11. The arm component of claim 10, wherein the hydraulic actuator comprises:

(a) an input port defined in the hydraulic actuator; and

(b) a piston rod slidably disposed within the hydraulic actuator, wherein the piston rod is operably coupled to the drive rod,

wherein the piston rod is configured to slide proximally when hydraulic fluid is added to the hydraulic actuator through the input port, thereby urging the drive rod proximally.

12. The arm component of claim 9, wherein the second actuator comprises a pneumatic actuator.

13. The arm component of claim 9, wherein the second actuator comprises a shape memory alloy (“

SMA”

) actuator.

14. The arm component of claim 13, wherein the SMA actuator comprises:

(a) a distal end component and a proximal end component;

(b) at least one elongate SMA component disposed within the SMA actuator, wherein the at least one elongate SMA component is operaby coupled to the distal and proximal end components; and

(c) a tensioned spring disposed within a lumen defined in the SMA actuator,

wherein the SMA component is configured to contract due to application of heat and thereby urge the distal component toward the proximal component, thereby urging the drive rod in a proximal direction.

15. The arm component of claim 14, wherein the distal component is configured to move in a distal direction when the SMA component is allowed to contract due to removal of the heat, whereby the tensioned spring is configured to urge the distal component in a distal direction, thereby urging the drive rod in a distal direction.

16. A robotic surgical system comprising:

(a) a console comprising;

(i) a configurable user interface comprising;

(1) a visual display of the target surgical space;

(2) at least one overlay disposed on the user interface, wherein the at least one overlay is configured to provide information about a surgical procedure being performed; and

(3) at least one deployable menu configured to appear on the user interface upon command; and

(b) a processor operably coupled to the console;

(c) a first software application operably coupled to the processor, the software application configured to generate the at least one overlay and the at least one deployable menu on the user interface; and

(d) a robotic surgical device configured to be positioned into a body cavity of a patient.

17. The robotic surgical system of claim 16, further comprising a second software application configured to provide feedback relating to a surgical performance of the user.

18. The robotic surgical system of claim 16, further comprising a second software application configured to generate warm-up or practice exercises at the console for the user.

19. The robotic surgical system of claim 16, further comprising

(a) at least one biometric sensor disposed on the console, the at least one biometric sensor configured to collect biometric information relating to a user;

and

(b) a second software application configured to utilize the biometric information to track the physiological state of the user.

20. The robotic surgical system of claim 16, wherein the first software application is further configured to provide personalized settings for each unique user upon identification of the unique user.