Robotic devices with agent delivery components and related methods

• US 7,772,796 B2
• Filed: 11/29/2007
• Issued: 08/10/2010
• Est. Priority Date: 07/08/2003
• Status: Expired due to Fees

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Rentschler, Mark, Platt, Stephen R., Oleynikov, Dmitry, Hadzialic, Adnan, Dumpert, Jason, Wood, Nathan A., Farritor, Shane M.
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US11/947,097
• Publication Number:
  US 20090069821A1
• Time in Patent Office: 985 Days
• Field of Search: 318/568.12, 318/568.11, 318/587, 128/899, 104/138.2, 600/102, 600/114
• US Class Current: 318/568.12
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 18/00 Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/22082 after introduction of a substance
• CPC Class Codes: A61B 2018/00595 Cauterization
• CPC Class Codes: A61B 2018/00994 combining two or more different kinds of non-mechanical energy or combining one or more non-mechanical energies with ultrasound
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2560/0462 Apparatus with built-in sensors
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• 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 5/062 : using magnetic field
• CPC Class Codes: A61B 5/073 : Intestinal transmitters
• CPC Class Codes: A61B 5/416 : the spleen
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 2205/3523 : using telemetric means
• CPC Class Codes: A61M 2205/3569 : sublocal, e.g. between console and disposable
• CPC Class Codes: A61M 31/00 : Devices for introducing or retaining media, e.g. remedies, in cavities of the body A61M25/00 takes precedence ; introducing or retaining ophthalmic products into the ocular cavities A61F9/0008
• CPC Class Codes: A61M 5/14276 : specially adapted for implantation
• CPC Class Codes: A61M 5/1452 : pressurised by means of pistons
• CPC Class Codes: A61M 5/16827 : controlling delivery of multiple fluids, e.g. sequencing, mixing or via separate flow-paths infusion of multiple fluids without using a controller A61M5/1407
• 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: B33Y 80/00 : Products made by additive manufacturing
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/15 : Jointed arm
• CPC Class Codes: Y10S 901/19 : Drive system for arm

Abstract

Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices have an agent delivery component. The devices include mobile robotic devices and fixed base robotic devices as disclosed herein. The agent delivery component can have at least one agent reservoir and a discharge component in fluidic communication with the at least one reservoir.

Claims

1. A mobile robotic device, comprising:

(a) a body configured to be disposed within a patient cavity;

(b) a translational mobility component coupled with the body;

(c) an actuator coupled with the translational mobility component;

(d) a power source coupled with the actuator;

(e) a controller component coupled with the actuator;

(f) an agent delivery component associated with the body,

wherein the mobility component is configured to apply translational pressure on a surface for purposes of mobility or immobility.

2. The device of claim 1, wherein the agent delivery component is disposed within the body.

3. The device of claim 1, wherein the agent delivery component is configured to deliver an agent, wherein the agent is a hemostatic agent.

4. The device of claim 1, wherein the agent delivery component comprises:

(a) at least one agent reservoir; and

(b) a discharge component in fluidic communication with the at least one reservoir.

5. The device of claim 4, wherein the discharge component is a mixing and discharge component comprising:

(a) at least one delivery tube in fluidic communication with the at least one reservoir;

(b) a manifold in fluidic communication with the at least one delivery tube; and

(c) a cannula in fluidic communication with the manifold.

6. The device of claim 1, further comprising at least one imaging component associated with the body.

7. The device of claim 1, wherein the controller component is wirelessly coupled with the actuator.

8. The device of claim 1, wherein the controller component is coupled with the actuator via a flexible connection component.

9. The device of claim 1, further comprising an operational component operably associated with the body.

10. The device of claim 9, wherein the operational component is a biopsy tool.

11. The device of claim 9, wherein the operational component is a sensor.

12. A method of performing a procedure inside a patient, the method comprising:

positioning a robotic device in a cavity inside the patient, wherein the robotic device comprises;

(a) a body configured to be disposed within a patient cavity;

(b) a mobility component coupled with the body;

(c) an actuator coupled with the mobility component;

(d) a power source coupled with the actuator;

(e) a controller component coupled with the actuator; and

(f) an agent delivery component associated with the body, the agent delivery component comprising;

(i) at least one agent reservoir; and

(ii) a mixing and discharge component in fluidic communication with the at least one reservoir;

operating the controller component to cause the mobility component to move the robotic device to a desired location within the cavity; and

delivering an agent to the desired location with the agent delivery component.

13. The method of claim 12, wherein delivering the agent to the desired location further comprises operating the controller component to cause the agent delivery component to deliver the agent.

14. The method of claim 12, wherein the robotic device further comprises an operational component operably coupled with the body.

15. The method of claim 14, wherein the operational component is a biopsy tool.

16. The method of claim 15, further comprising using the biopsy tool to obtain a biopsy sample from the desired location prior to delivering the agent.