Multifunctional operational component for robotic devices
First Claim
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1. A modular medical device system, the system comprising:
- (a) a first modular component configured to be disposed through a cavity of a patient, the first modular component comprising;
(i) a first body;
(ii) a first operational component associated with the first body; and
(iii) at least one first coupling component associated with the first body;
(b) a second modular component configured to be disposed inside the cavity of the patient, the second modular component comprising;
(i) a second body;
(ii) a first arm operably coupled to the second body;
(iii) a first end effector operably coupled to the first arm;
(iv) at least one actuator disposed within the second body or the first arm, wherein the at least one actuator is configured to actuate the first arm; and
(v) at least one second coupling component associated with the second body, the at least one second coupling component configured to be coupleable with the at least one first coupling component;
(c) a third modular component configured to be disposed inside the cavity of the patient, the third modular component comprising;
(i) a third body;
(ii) a second arm operably coupled to the third body;
(iii) a second end effector operably coupled to the second arm;
(iv) at least one actuator disposed within the third body or the second arm, wherein the at least one actuator is configured to actuate the second arm; and
(v) at least one third coupling component associated with the third body, the at least one third coupling component configured to be coupleable with the at least one first coupling component and the at least one second coupling component; and
(d) an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to at least one of the first, second, and third modular components via a connection component.
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Abstract
The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.
463 Citations
19 Claims
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1. A modular medical device system, the system comprising:
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(a) a first modular component configured to be disposed through a cavity of a patient, the first modular component comprising; (i) a first body; (ii) a first operational component associated with the first body; and (iii) at least one first coupling component associated with the first body; (b) a second modular component configured to be disposed inside the cavity of the patient, the second modular component comprising; (i) a second body; (ii) a first arm operably coupled to the second body; (iii) a first end effector operably coupled to the first arm; (iv) at least one actuator disposed within the second body or the first arm, wherein the at least one actuator is configured to actuate the first arm; and (v) at least one second coupling component associated with the second body, the at least one second coupling component configured to be coupleable with the at least one first coupling component; (c) a third modular component configured to be disposed inside the cavity of the patient, the third modular component comprising; (i) a third body; (ii) a second arm operably coupled to the third body; (iii) a second end effector operably coupled to the second arm; (iv) at least one actuator disposed within the third body or the second arm, wherein the at least one actuator is configured to actuate the second arm; and (v) at least one third coupling component associated with the third body, the at least one third coupling component configured to be coupleable with the at least one first coupling component and the at least one second coupling component; and (d) an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to at least one of the first, second, and third modular components via a connection component. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A modular medical device system, the system comprising:
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(a) a first modular component configured to be disposed inside a cavity of a patient, the first modular component comprising; (i) a first body; (ii) a first arm operably coupled with the first body; (iii) a first end effector operably coupled with the first arm; (iv) at least one actuator disposed within the first body or the first arm, wherein the at least one actuator is configured to actuate the first arm; and (v) at least one first coupling component associated with the first body; (b) a second modular component configured to be disposed inside a cavity of a patient, the second modular component comprising; (i) a second body; (ii) a second arm operably coupled with the second body; (iii) a second end effector operably coupled with the second arm; (iv) at least one actuator disposed within the second body or the second arm, wherein the at least one actuator is configured to actuate the second arm; and (v) at least one second coupling component associated with the second body, the at least one second coupling component configured to be coupleable with the at least one first coupling component; (c) a third modular component positioned between the first and second modular components, the third modular component comprising; (i) a third body; and (iii) at least one third coupling component associated with the third body, the at least one third coupling component configured to be coupleable with the at least one first coupling component and the at least one second coupling component; and (d) an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to at least one of the first, second, and third modular components via a connection component. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method of performing a medical procedure with a modular medical device system, the method comprising:
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forming an incision accessing a cavity of a patient; inserting a first modular component into the cavity through the incision, the first modular component comprising; (a) a first body; (b) a first arm operably coupled with the first body; (c) a first end effector operably coupled with the first arm; (d) at least one actuator disposed within the first body or the first arm, wherein the at least one actuator is configured to actuate the first arm; and (e) at least one first coupling component associated with the first body; inserting a second modular component into the cavity through the incision, the second modular component comprising; (a) a second body; (b) a second arm operably coupled with the second body; (c) a second end effector operably coupled with the second arm; (d) at least one actuator disposed within the second body or the second arm, wherein the at least one actuator is configured to actuate the second arm; and (e) at least one second coupling component associated with the second body, the at least one second coupling component configured to be coupleable with the at least one first coupling component; positioning a third modular component through the incision, the third modular component comprising; (a) a third body; and (b) at least one third coupling component associated with the third body, the at least one third coupling component configured to be coupleable with the at least one first coupling component and the at least one second coupling component; coupling the at least one first coupling component and the at least one second coupling component to the at least one third coupling component; and controlling the modular medical device system with an external controller operably coupled to at least one of the first, second, or third modular components via a connection component. - View Dependent Claims (16, 17, 18, 19)
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Specification