Soft robotic retractors

Patent metadata

Field	Value
Publication number	US-10028734-B2
Application number	US-201514937554-A
Country	US
Kind code	B2
Filing date	Nov 10, 2015
Priority date	Nov 13, 2014
Publication date	Jul 24, 2018
Grant date	Jul 24, 2018

Abstract

Exemplary embodiments describe soft robotic actuators for medical use, such as during surgeries and other medical procedures. According to one embodiment, a soft robotic incision retractor is provided. According to another embodiment, a soft robotic body tissue retractor is provided. The incision retractor and body tissue refractor may be used together, for example by using the incision retractor to hold open an incision while the body tissue retractor manipulates biological matter or an object accessible through the incision. Described embodiments offer the ability to conform to a given space, reduced risk of damage to surrounding structures as compared to traditional retractors, the ability to deliver varying amounts of force, the ability to be made from medically safe materials, and the potential for re-use or disposability.

First claim

The invention claimed is:

1. A soft robotic device comprising:
a soft robotic actuator comprising a plurality of accordion extensions extending outwards in a radial direction, the soft robotic actuator capable of being in an inflated state or an uninflated state; and
tubing configured to provide an inflation fluid to the soft robotic actuator;
wherein the soft robotic actuator is sized and configured based on a size and configuration of a target incision or wound, such that in the uninflated state the soft robotic actuator is insertable into the target incision or wound, and in the inflated state the soft robotic actuator exerts a force on the periphery of the target incision in the radial direction to hold the target incision in an open state.

2. The soft robotic device of claim 1 , wherein the soft robotic actuator exerts a force of about 1 to 3 pounds on the periphery of the incision or wound when in the inflated state.

3. The soft robotic device of claim 1 , further comprising an inflation device for supplying the inflation fluid to the soft robotic actuator, wherein the inflation device comprises a hand-operated inflation bulb, catheter balloon inflator, or syringe.

4. The soft robotic device of claim 1 , further comprising an inflation device for supplying the inflation fluid to the soft robotic actuator, wherein the inflation device comprises one or more pumps, compressors, or regulators for supplying the inflation fluid from a reservoir or an ambient environment.

5. The soft robotic device of claim 4 , further comprising a control device for controlling the inflation device, wherein the control device comprises a controller programmed to inflate or deflate the soft robotic actuator in response to receiving a control signal.

6. The soft robotic device of claim 1 , further comprising a substantially flat base disposed on a radially inner surface of the soft robotic actuator.

7. The soft robotic device of claim 1 , wherein the inflation fluid comprises at least one of air or saline.

8. The soft robotic device of claim 1 , wherein transitioning the soft robotic actuator from the uninflated state to the inflated state causes the soft robotic actuator to extend in the radial direction and take on a shape of a partial ellipse.

9. The soft robotic device of claim 1 , wherein the soft robotic actuator is configured to enter a partially inflated state, and placing the actuator in the partially inflated state varies the amount of force exerted by the soft robotic actuator on the target wound or incision as compared to the inflated state.

10. The soft robotic device of claim 1 , further comprising an interface for releasably connecting the actuator to the tubing.

11. A soft robotic device comprising:
a soft robotic actuator comprising a plurality of accordion extensions extending outwards in a radial direction, the soft robotic actuator capable of being in an inflated state or an uninflated state;
a handle connecting the soft robotic actuator to an inflation device for supplying an inflation fluid to the soft robotic actuator; and
a shaft for connecting the handle to the soft robotic actuator;
wherein the soft robotic actuator is sized and configured to manipulate a body tissue, such that in the uninflated state the soft robotic actuator is insertable into a target incision, and in the inflated state the soft robotic actuator becomes relatively more rigid to allow the body tissue to be manipulated.

12. The soft robotic device of claim 11 , wherein the soft robotic actuator exerts a force of about 0.2 to 2 pounds when in the inflated state.

13. The soft robotic device of claim 11 , further comprising the inflation device for supplying the inflation fluid to the soft robotic actuator, wherein the inflation device comprises a hand-operated inflation bulb.

14. The soft robotic device of claim 11 , further comprising the inflation device for supplying the inflation fluid to the soft robotic actuator, wherein the inflation device comprises a foot-operated inflator.

15. The soft robotic device of claim 11 , further comprising a control device for controlling the inflation device, wherein the control device comprises a controller programmed to inflate or deflate the soft robotic actuator in response to receiving a control signal.

16. The soft robotic device of claim 11 , further comprising a substantially flat base disposed on a radially inner surface of the soft robotic actuator.

17. The soft robotic device of claim 11 , wherein the inflation fluid comprises at least one of air or saline.

18. The soft robotic device of claim 11 , wherein the soft robotic device provides haptic feedback for controlling an amount of force exerted by the soft robotic actuator.

19. The soft robotic device of claim 11 , further comprising an interface for releasably connecting the actuator to the shaft.

20. A soft robotic device comprising:
a soft robotic actuator comprising a body and a base, the body of the soft robotic actuator capable of being in an inflated state or an uninflated state, the base being substantially flat when the body is in the uninflated state, and that bends and becomes a perimeter of a working area formed radially interior to the base when the body is in the inflated state;
a handle connecting the soft robotic actuator to an inflation device for supplying an inflation fluid to the soft robotic actuator; and
a shaft for connecting the handle to the soft robotic actuator;
wherein the soft robotic actuator is sized and configured to manipulate a body tissue, such that in the uninflated state the soft robotic actuator is insertable into a target incision, and in the inflated state the soft robotic actuator becomes relatively more rigid to allow the body tissue to be manipulated.

Assignees

• Soft Robotics Inc

Inventors

• Lessing Joshua Aaron
• Knopf Ryan Richard
• Graham Marc
• Vause Carl

Classifications

• A61B2017/00557

  inflatable (A61B2017/22051 takes precedence) · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B2017/00017

  Electrical control of surgical instruments · CPC title

• A61B17/0218 Primary

  for minimally invasive surgery (A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence) · CPC title

• A61B2017/0225

  flexible, e.g. fabrics, meshes, or membranes · CPC title