Robotic devices with arms and related methods

• US 9,403,281 B2
• Filed: 11/07/2013
• Issued: 08/02/2016
• 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: Farritor, Shane M., Oleynikov, Dmitry, Platt, Stephen R., Rentschler, Mark, Dumpert, Jason, Hadzialic, Adnan, Wood, Nathan A.
• Primary Examiner(s): Ip, Paul
• Application Number:
  US14/074,078
• Publication Number:
  US 20140066955A1
• Time in Patent Office: 999 Days
• Field of Search: 318/568.12, 318/568.11, 600/106, 600/217, 600/107, 600/130, 600/139
• US Class Current: 1/1
• 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 has an arm. The arm can have two arm components coupled at a joint.

Claims

1. A robotic device, comprising:

(a) a medical device body configured to be disposed through a port or incision in a cavity wall of a patient, the body comprising an actuator;

(b) a controller disposed at an external location in relation to the patient;

(b) a connection component coupled to the medical device body and the controller, the connection component comprising a wired connection component;

(c) an arm comprising;

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

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

wherein the arm is configured to be positionably disposed entirely within the cavity of the patient; and

(d) an operational component operably coupled to the second arm.

2. The robotic device of claim 1, wherein the operational component comprises a clamp, scalpel, biopsy tool, grasper, forceps, stapler, cutting component, cauterizing component, or ultrasonic burning component.

3. The 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.

4. The 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.

5. The robotic device of claim 4, wherein the first, second, third, and fourth gears are bevel gears.

6. The robotic device of claim 4, wherein the first gear is connected to a first gear shaft associated with the body and wherein the second gear is connected to a second gear shaft associated with the first arm component.

7. The robotic device of claim 4, wherein the third gear is connected to a third gear shaft associated with the first arm component and wherein the fourth gear is connected to a fourth gear shaft associated with the second arm component.

8. The robotic device of claim 1, further comprising an imaging device associated with the body.

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

10. The robotic device of claim 1, further comprising an imaging device associated with the body and a sensor associated with the body.

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

12. The robotic device of claim 1, wherein the cavity of the patient is an insufflated cavity.

13. A robotic device, comprising:

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

(b) a controller positioned outside the cavity of the patient;

(c) a wired connection component coupled to the medical device body and the controller;

(d) an imaging device operably coupled to the controller;

(e) 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; and

(f) an operational component operably coupled to the second arm.

14. The robotic device of claim 13, wherein the operational component comprises a clamp, scalpel, biopsy tool, grasper, forceps, stapler, cutting component, cauterizing component, or ultrasonic burning component.

15. The robotic device of claim 13, wherein the imaging device is positioned on the body.

16. The robotic device of claim 13, wherein the imaging device is positioned on the arm.

17. The robotic device of claim 13, wherein the controller is operably coupled to the first and second actuators via the wired connection component.

18. The robotic device of claim 13, further comprising a sensor associated with the body.

19. The robotic device of claim 13, wherein the cavity of the patient is a peritoneal cavity.

20. The robotic device of claim 13, wherein the cavity of the patient is an insufflated cavity.