Robotic surgical devices, systems, and related methods

• US 9,770,305 B2
• Filed: 10/09/2012
• Issued: 09/26/2017
• Est. Priority Date: 08/08/2012
• 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, Mumm, Erik, Chu, Philip, Kumar, Nishant, Dumpert, Jason, Tsutano, Yutaka
• Primary Examiner(s): Templeton, Christopher L
• Assistant Examiner(s): Paez, Lucas
• Application Number:
  US13/573,849
• Publication Number:
  US 20140100587A1
• Time in Patent Office: 1,813 Days
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2906 Multiple forceps
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2217/005 with suction drainage system
• CPC Class Codes: A61B 2217/007 with irrigation system
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• 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

Abstract

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Claims

1. A surgical robotic system, comprising:

a. a robotic device sized to be positioned completely within a patient comprising;

i. a body component comprising a first shoulder component housing a first shoulder motor and a second shoulder component housing a second shoulder motor;

ii. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder component, the first movable segmented robotic arm comprising;

A. an upper first arm segment comprising at least one actuator configured to move the upper first arm segment;

B. a lower first arm segment comprising at least one actuator configured to move the lower first arm segment; and

C. a first operational component,

wherein the first shoulder motor is configured to rotate the first movable segmented robotic arm relative to the body component;

iii. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component, the second movable segmented robotic arm comprising;

A. an upper second arm segment comprising at least one actuator configured to move the upper second arm segment;

B. a lower second arm segment comprising at least one actuator configured to move the lower second arm segment; and

C. a second operational component,

wherein the second shoulder motor is configured to rotate the second movable segmented robotic arm relative to the body component;

b. a port configured to traverse the body of the patient, the port being configured to create an insufflation seal in the body;

c. a support rod for crossing the port from the interior to exterior of the patient and connecting to the body component; and

d. an operations system for control of the robotic device from outside the patient by way of the port and support rod, the operations system in electrical communication with the robotic device.

2. The surgical robotic system of claim 1, wherein the first shoulder component and second shoulder component are coupleable such that the body component may be assembled within the body cavity of the patient.

3. The surgical robotic system of claim 2, wherein the support rod comprises a first support rod segment and a second support rod segment.

4. The surgical robotic system of claim 3, wherein the first support rod segment and second support rod segment are rotationally coupled to the first shoulder component and second shoulder component, respectively.

5. The surgical robotic system of claim 4, wherein the support rod is substantially enclosed in an overtube.

6. The surgical robotic system of claim 2, wherein the body component is cylindrical.

7. The surgical robotic system of claim 1, wherein the first shoulder component and second shoulder component are set at an obtuse angle from one another.

8. The surgical robotic system of claim 1, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

9. The surgical robotic system of claim 1, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

10. The surgical robotic system of claim 1, wherein the robotic device further comprises at least one printed circuit board and at least one connective electrical cable, wherein the at least one printed circuit board and at least one cable are disposed within the robotic device and configured to provide electrical power and control to the robotic device.

11. The surgical robotic system of claim 1, wherein the robotic device further comprises at least one position sensor.

12. A surgical robotic system, comprising:

a. a robotic device sized to be positioned completely within a patient comprising;

i. a first shoulder component housing a first shoulder motor;

ii. a second shoulder component housing a second shoulder motor;

iii. a body component, formed by a connection of the first shoulder component to the second shoulder component;

iv. a support rod comprising;

A. a first support rod component rotationally coupled to the first shoulder component; and

B. a second support rod component rotationally coupled to the second shoulder component, wherein the first support rod component and second support rod component are configured to be joined after insertion into the patient;

iv. an overtube capable of enclosing the support rod;

v. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder component, the first movable segmented robotic arm comprising;

A. an upper first arm segment comprising at least one motor configured to move the upper first arm segment; and

B. a lower first arm segment comprising at least one motor configured to move the lower first arm segment,

wherein the first shoulder motor is configured to rotate the first movable segmented robotic arm relative to the body component;

vi. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component, the second movable segmented robotic arm comprising;

A. an upper second arm segment comprising at least one motor configured to move the upper second arm segment; and

B. a lower second arm segment comprising at least one motor configured to move the lower second arm segment,

wherein the second shoulder motor is configured to rotate the second movable segmented robotic arm relative to the body component;

vii. a first operational component operationally connected to the first movable segmented robotic arm; and

viii. a second operational component operationally connected to the second movable segmented robotic arm;

b. a port configured to traverse the body of a patient, the port being configured to create an insufflation seal in the body; and

c. an operations system for control of the robotic device from outside the patient by way of the port and support rod, the operations system in electrical communication with the robotic device.

13. The surgical robotic system of claim 12, wherein the robotic device may be assembled within the body cavity of the patient.

14. The surgical robotic system of claim 12, wherein the body component is cylindrical.

15. The surgical robotic system of claim 12, wherein the first shoulder component and second shoulder component are set at an obtuse angle from one another.

16. The surgical robotic system of claim 12, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

17. The surgical robotic system of claim 12, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an operational arm component, a sensor component, and a lighting component.

18. The surgical robotic system of claim 12, further comprising one or more motors disposed within the device and configured for the operation, rotation or movement of at least one of the first shoulder component, the second shoulder component, the first movable segmented arm, the second movable segmented arm, the first operational component, and the second operational component.

19. A surgical robotic system, comprising:

a. a robotic device sized to be positioned completely within a patient comprising;

i. a body component comprising;

A. a first shoulder component housing a first shoulder motor; and

B. a second shoulder component housing a second shoulder motor;

ii. a first movable segmented robotic arm operationally connected to the first shoulder component, the first movable segmented robotic arm comprising;

A. an upper first arm segment comprising at least one motor configured to move the upper first arm segment relative to the body component;

B. a lower first arm segment; and

C. a first arm operational component,

wherein the first shoulder motor is configured to rotate the first movable segmented robotic arm relative to the body component;

iii. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component, the second movable segmented robotic arm comprising;

A. an upper second arm segment comprising at least one motor configured to move the upper second arm segment relative to the body component;

B. a lower second arm segment; and

C. a second operational component,

wherein the second shoulder motor is configured to rotate the second movable segmented robotic arm relative to the body component;

b. a port configured to traverse the body of the patient, the port being configured to create an insufflation seal in the body;

c. a support rod for crossing the port from the interior to exterior of the patient and connecting to the body component; and

d. an operations system for control of the robotic device from outside the patient, the operations system in electrical communication with the robotic device.