Methods, systems, and devices for surgical visualization and device manipulation

Patent metadata

Field	Value
Publication number	US-9579088-B2
Application number	US-96674107-A
Country	US
Kind code	B2
Filing date	Dec 28, 2007
Priority date	Feb 20, 2007
Publication date	Feb 28, 2017
Grant date	Feb 28, 2017

Abstract

A surgical device includes a console having a visual display and a manipulator arm, a robotic device having a camera and a connection component. The robotic device is configured to be positioned completely within a body cavity. The camera is configured to transmit visual images to the visual display. The connection component operably couples the console and the robotic device. The manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

First claim

What is claimed is:

1. A surgical system comprising:
(a) a console positioned outside a patient's body comprising a visual display and at least one manipulator arm;
(b) a robotic device comprising:
(i) a device body;
(ii) a camera configured to transmit visual images to the visual display;
(iii) a first robotic arm comprising a first end effector, wherein the first robotic arm is coupled to a first end of the device body;
(iv) a second robotic arm comprising a second end effector,
wherein the second robotic arm is coupled to a second end of the device body,

wherein the robotic device is sized to be inserted through a standard laparoscopic port and configured to be positioned completely within a body cavity of a patient, and
wherein the first and second robotic arms are configured such that the first and second robotic arms are not positionable in any enclosure of the robotic device; and

(c) a connection component operably coupling the console and the robotic device,
wherein the console is further configured to be positioned in direct physical contact with the patient's body during use.

2. The system of claim 1 , wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

3. The system of claim 1 , wherein the manipulator arm is operably coupled to the robotic device via the connection component.

4. The system of claim 1 , wherein the connection component is a wireless connection component.

5. The system of claim 1 , wherein the manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

6. The system of claim 1 , further comprising a stabilization component coupled to the console.

7. A surgical system comprising:
(a) a robotic device sized to be inserted through a standard laparoscopic port, the device comprising:
(i) a device body;
(ii) first and second robotic arms operably coupled with the device body, wherein each of the first and second robotic arms comprises an end effector, wherein the first robotic arm is coupled to a first end of the device body and the second robotic arm is coupled to a second end of the device body, and wherein the first and second robotic arms are configured such that the first and second robotic arms are not positionable in any enclosure of the robotic device; and
(iii) a camera associated with the device body;

(b) a console positioned outside a patient's body, wherein the console is configured to be positioned in direct physical contact with the patient's body during use, the console comprising:
(i) at least one manipulator arm operably coupled with the console, wherein the at least one manipulator arm is configured to be in communication with at least one of the first and second robotic arms; and
(ii) a visual display disposed on the console, the visual display configured to receive images from the camera; and

(c) a connection component operably coupling the console and the robotic device.

8. The system of claim 7 , wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

9. The system of claim 7 , wherein the at least one manipulator arm is operably coupled to the robotic device via the connection component.

10. The system of claim 7 , wherein the at least one manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

11. A surgical system comprising:
(a) a robotic device sized to be inserted through a standard laparoscopic port, the device comprising:
(i) an elongate device body configured to be positioned within a cavity of a patient;
(ii) a first robotic arm operably coupled with a first end of the device body, the first robotic arm comprising a first end effector;
(iii) a second robotic arm operably coupled with a second end of the device body, the second robotic arm comprising a second end effector; and
(iv) a camera associated with the device body, wherein the first and second robotic arms are configured such that the first and second robotic arms are not positionable in any enclosure of the robotic device;

(b) a console positioned outside the patient's body, the console comprising:
(i) first and second manipulator arms operably coupled with the console, wherein the first and second manipulator arms are configured to be in communication with the first and second robotic arms; and
(ii) a visual display disposed on the console, the visual display configured to receive images from the camera; and

(c) a connection component operably coupling the console and the robotic device.

12. The system of claim 11 , wherein the robotic device is configured such that it is not constrained by any entry incision.

13. The system of claim 11 , wherein the console is configured to be positioned in contact with the patient's body during use.

14. The system of claim 11 , wherein the console is configured to be disposed at a location remote from the patient.

15. The system of claim 11 , wherein the console further comprises a console magnet and the robotic device further comprises a device magnet capable of magnetic communication with the console magnet.

16. A surgical system comprising:
(a) a robotic device sized to be inserted through a standard laparoscopic port and configured to be positioned in a body cavity of a patient, wherein the robotic device comprises:
(i) a device body;
(ii) a first robotic arm operably coupled with a first end of the device body, the first robotic arm comprising a first end effector;
(iii) a second robotic arm operably coupled with a second end of the device body, the second robotic arm comprising a second end effector; and
(iv) a camera associated with the device body, wherein the camera is positioned between the first and second robotic arms,
wherein the first and second robotic arms are configured such that the first and second robotic arms cannot be positioned into any enclosure of the robotic device;

(b) a console positioned outside the patient's body, the console comprising:
(i) first and second manipulator arms operably coupled with the console, wherein the first and second manipulator arms are configured to be in communication with the first and second robotic arms; and
(ii) a visual display disposed on the console, the visual display configured to receive images from the camera; and

(c) a connection component operably coupling the console and the robotic device.

17. The system of claim 16 , wherein the console is configured to be disposed at a location remote from the patient.

18. The system of claim 16 , wherein the first and second manipulator arms are operably coupled to the robotic device via the connection component.

19. The system of claim 16 , wherein the connection component is a wired connection component.

20. The system of claim 16 , wherein the manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.

Assignees

• Farritor Shane M
• Rentschler Mark
• Lehman Amy
• Wood Nathan A
• Bock Adam
• Prior Reed
• Univ Nebraska

Inventors

• Farritor Shane M
• Rentschler Mark
• Lehman Amy
• Wood Nathan A
• Bock Adam
• Prior Reed

Classifications

• A61B2034/742

  Joysticks · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B90/37

  Surgical systems with images on a monitor during operation · CPC title

• A61B2090/373

  using light, e.g. by using optical scanners · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title