Robotic devices with agent delivery components and related methods

• US 7,960,935 B2
• Filed: 06/16/2010
• Issued: 06/14/2011
• Est. Priority Date: 07/08/2003
• Status: Expired due to Term

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Oleynikov, Dmitry, Hadzialic, Adnan, Dumpert, Jason, Rentschler, Mark, Platt, Stephen R., Wood, Nathan A., Farritor, Shane M.
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US12/816,909
• Publication Number:
  US 20100318059A1
• Time in Patent Office: 363 Days
• Field of Search: 318/568.12, 318/568.11, 318/587, 600/114, 600/424, 500/101, 700/253
• US Class Current: 318/568.12
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/00188 with focusing or zooming features
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 10/06 Biopsy forceps , e.g. with cup-shaped jaws
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00044 Sensing electrocardiography, i.e. ECG
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 5/19 having more than one chamber , e.g. including a manifold coupling two parallelly aligned syringes through separate channels to a common discharge assembly surgical glue applicators A61B17/00491
• CPC Class Codes: A61M 5/20 Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically A61M5/142 , A61M5/46 take precedence; hypodermic projectiles F42B12/54
• CPC Class Codes: A61M 5/2066 comprising means for injection of two or more media, e.g. by mixing
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B33Y 80/00 : Products made by additive manufacturing
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/28 : Joint
• CPC Class Codes: Y10S 901/30 : End effector

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 mobile positionable medical device body configured to be inserted through a port or incision;

(b) an arm comprising;

(i) a first arm component pivotally connected to the body at a first pivotal joint; and

(ii) a second arm component pivotally connected to the first arm component at a second pivotal joint; and

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

wherein the body, the arm, and agent delivery component are configured to be positionably disposed entirely within a cavity of a patient.

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

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

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

7. The mobile robotic device of claim 1, further comprising a first actuator operably coupled to the first pivotal joint, and a second actuator operably coupled to the second pivotal joint.

8. The mobile robotic device of claim 1, wherein the first pivotal joint comprises first and second operably coupled gears and the second pivotal joint comprises third and fourth operably coupled gears.

9. The mobile robotic device of claim 1, further comprising a sensor associated with the body.

10. The mobile robotic device of claim 1, wherein the patient is a human patient.

11. The robotic device of claim 1, wherein the cavity of the patient is a peritoneal cavity.

12. A mobile robotic device, comprising:

(a) a positionable medical device body configured to be positionable within a cavity of a patient and configured to be inserted through a port or incision;

(b) an arm comprising;

(i) a first arm component pivotally connected to the body at a first pivotal joint, the first arm component comprising a first actuator operably coupled to the first pivotal joint; and

(ii) a second arm component pivotally connected to the first arm component at a second pivotal joint, the second arm component comprising a second actuator operably coupled to the second pivotal joint;

(c) an imaging device associated with the device; and

(d) an agent delivery component associated with the body.

13. The mobile robotic device of claim 12, further comprising a controller operably coupled to the first and second actuators.

14. The mobile robotic device of claim 12, further comprising a sensor associated with the body.

15. The mobile robotic device of claim 12, wherein the agent delivery component is configured to deliver an agent, wherein the agent is a hemostatic agent.

16. The mobile robotic device of claim 12, 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.

17. The device of claim 16, 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.

18. A method of performing a medical procedure with a robotic mobile device, the method comprising:

inserting the mobile robotic device into a patient cavity, the mobile robotic device comprising;

(a) a mobile positionable medical device body sized to fit within a cavity of an animal and configured to be inserted through a port or incision;

(b) an arm comprising;

(i) a first arm component pivotally connected to the body at a first pivotal joint; and

(ii) a second arm component pivotally connected to the first arm component at a second pivotal joint; and

(c) an agent delivery component associated with the body;

manipulating a tissue within the patient cavity with the arm; and

delivering an agent within the patient cavity with the agent delivery component.

19. The method of claim 18, wherein the manipulating the tissue with the arm means further comprises moving the tissue with the arm means to provide access to a target site in the patient cavity.

20. The method of claim 18, wherein the delivering the agent further comprises delivering a hemostatic agent.