Soft robotic retractors

Patent metadata

Field	Value
Publication number	US-10172602-B2
Application number	US-201816034677-A
Country	US
Kind code	B2
Filing date	Jul 13, 2018
Priority date	Nov 13, 2014
Publication date	Jan 8, 2019
Grant date	Jan 8, 2019

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 retractor 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 method comprising:
placing a soft robotic actuator in an uninflated state at a target location proximal to a target incision or wound, the soft robotic actuator comprising a plurality of accordion extensions extending outwards in a radial direction, wherein the soft robotic actuator is sized and configured based on a size and configuration of the target incision or wound, such that in the uninflated state the soft robotic actuator is insertable into the target incision or wound;
actuating the soft robotic actuator by providing inflation fluid to the soft robotic actuator to exert a force on a periphery of the target incision in the radial direction to hold the target incision or wound in an open state; and
performing tissue manipulation through the target incision or wound.

2. The method of claim 1 , further comprising folding or bending the soft robotic actuator for insertion into the target incision or wound.

3. The method of claim 1 , wherein actuating the soft robotic actuator comprises operating a hand-operated inflation bulb, catheter balloon inflator, or syringe.

4. The method of claim 1 , wherein actuating the soft robotic actuator comprises triggering a control signal to instruct a control device to inflate the soft robotic actuator.

5. The method of claim 4 , wherein the control device comprises one or more pumps, compressors, or regulators for supplying the inflation fluid from a reservoir or an ambient environment, and the control signal causes the one or more pumps, compressors, or regulators to activate.

6. The method of claim 1 , further comprising stopping inflation of the soft robotic actuator when the soft robotic actuator is exerting a force of about 1 to 3 pounds on the periphery of the incision or wound.

7. The method of claim 1 , further comprising stopping inflation when the soft robotic actuator is in a fully inflated state.

8. The method of claim 1 , further comprising stopping inflation when the soft robotic actuator is in a partially inflated state.

9. The method of claim 1 , further comprising disconnecting the actuator from an interface, the interface allowing the actuator to be releasably coupled to flexible tubing for supplying the inflation fluid.

10. The method of claim 1 , further comprising triggering the actuator to vibrate or pulse intermittently to stimulate tissue perfusion.

11. A method comprising:
inserting a soft robotic actuator in an uninflated state into a target incision or wound, the soft robotic actuator comprising a plurality of accordion extensions extending outwards in a radial direction, wherein the soft robotic actuator is sized and configured so that, in the uninflated state, the soft robotic actuator is insertable into a target incision;
actuating the soft robotic actuator to transition the soft robotic actuator into an inflated state after the soft robotic actuator is inserted into the target incision or wound, wherein in the inflated state the soft robotic actuator becomes relatively more rigid, the rigidity of the soft robotic actuator configured to allow body tissue to be manipulated in the inflated state; and
manipulating the body tissue with the soft robotic actuator.

12. The method of claim 1 , further comprising feeding the actuator through a trocar before actuating the soft robotic actuator.

13. The method of claim 11 , further comprising stopping inflation of the soft robotic actuator when the soft robotic actuator exerts a force of about 0.2 to 2 pounds on the body tissue.

14. The method of claim 11 , wherein actuating the soft robotic actuator comprises operating a hand-operated inflation bulb, catheter balloon inflator, or syringe.

15. The method of claim 11 , wherein actuating the soft robotic actuator comprises operating a foot-operated inflator.

16. The method of claim 11 , wherein actuating the soft robotic actuator comprises triggering a control signal to instruct a control device to inflate the soft robotic actuator.

17. The method of claim 16 , wherein the control device comprises one or more pumps, compressors, or regulators for supplying the inflation fluid from a reservoir or an ambient environment, and the control signal causes the one or more pumps, compressors, or regulators to activate.

18. The method of claim 11 , further comprising providing haptic feedback for controlling an amount of force exerted by the soft robotic actuator.

19. The method of claim 11 , wherein manipulating the body tissue comprises moving subcutaneous material to provide access to a blocked physical space.

20. The method of claim 11 , further comprising de-actuating the actuator by removing some of the inflation fluid after manipulating the tissue, and removing the actuator from the target incision or wound when the actuator is in the uninflated state.

Assignees

• Soft Robotics Inc

Inventors

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

Classifications

• A61B17/02 Primary

  for holding wounds open, e.g. retractors; Tractors · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B2017/00017

  Electrical control of surgical instruments · CPC title

• A61B2017/00557

  inflatable (A61B2017/22051 takes precedence) · CPC title

• A61B2017/0225

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