US20210236216A1 - Multifunctional operational component for robotic devices - Google Patents
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Definitions
- No. 12/324,364 is a continuation-in-part of U.S. application Ser. No. 11/966,741, filed Dec. 28, 2007 and entitled “Methods, Systems, and Deveices for Surgical Visualization and Device Manipulation,” which claims priority to U.S. Application 60/890,691, filed Feb. 20, 2007, U.S. Application 60/956,032, filed Aug. 15, 2007, and U.S. Application 60/983,445, filed Oct. 29, 2007, all of which are hereby incorporated herein by reference in their entireties.
- inventions disclosed herein relate to various medical devices and related components, including robotic and/or in vivo medical devices and related components.
- Certain embodiments include various modular medical devices, including modular in vivo and/or robotic devices.
- certain embodiments relate to modular medical devices including various functional and/or multifunctional operational components.
- Further embodiments relate to methods of operating the above devices, including methods of using various of the devices cooperatively.
- Invasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred.
- One embodiment disclosed herein relates to a modular medical device or system having at least one modular component configured to be disposed inside a cavity of a patient.
- the modular component has a body, an operational component, and a coupling component.
- the modular component can be coupled at the coupling component to a second modular component.
- a third modular component can be coupled to the first and second modular components.
- a modular medical device or system having a body configured to be disposed inside a cavity of a patient.
- the device also has at least a first modular component coupleable to the body, the first modular component having a first operational component.
- the device also has a second modular component coupleable to the body, the second modular component having a second operational component.
- the device can also have third and fourth modular components or more.
- the operational component can be a multi-functional operational component. If more than one multi-functional operational component is provided, the multi-functional operational components can be the same as or different from one another.
- a multi-functional operational embodiment includes a first arm having any one of an irrigation component, a suction component, a cautery component, a biopsy component, a sensor component, or a treatment module and a second arm.
- the second arm can also include any one of an irrigation component, a suction component, a cautery component, a biopsy component, a sensor component, or a treatment module.
- each of the modular components has an inner body and an outer body, wherein the inner body is rotatable in relation to the outer body.
- each modular component has an operational component associated with the inner body.
- each of the inner and outer bodies comprise an opening, and each of the inner bodies is rotatable to position the inner and outer openings in communication, whereby the operational components are accessible.
- each pivotal connection of the device or system has a mechanism configured to urge the mating or coupling connections at the ends of the first and third components into contact.
- the device has four modular components that are pivotally connected to each other in a quadrangular configuration.
- additional modular components can be pivotally connected to each other.
- FIG. 1A is a perspective view of a modular medical device, according to one embodiment.
- FIG. 1B is a side view of the modular medical device of FIG. 1A .
- FIG. 1C is a front view of the modular medical device of FIG. 1A .
- FIG. 2A depicts a perspective view of a modular component, according to one embodiment.
- FIG. 2B depicts a close-up perspective view of a portion of the modular component of FIG. 2A .
- FIG. 3 is a perspective view of another modular component, according to another embodiment.
- FIG. 4 is a front cutaway view of another modular component, according to a further embodiment.
- FIG. 5A is a perspective view of a modular medical device control system, according to one embodiment.
- FIG. 5B is a front cutaway view of the system of FIG. 5A .
- FIG. 6A is a perspective view of a modular medical device control and visualization system, according to one embodiment.
- FIG. 6B is a front cutaway view of the system of FIG. 6A .
- FIG. 7A is a perspective cutaway view of a modular medical device control and visualization system, according to another embodiment.
- FIG. 7B is a front cutaway view of the system of FIG. 7A .
- FIG. 8A is a perspective view of a modular medical device, according to another embodiment.
- FIG. 8B is another perspective view of the device of FIG. 8A .
- FIG. 9 is a perspective view of another modular medical device, according to a further embodiment.
- FIG. 10 is a perspective view of a further modular medical device, according to another embodiment.
- FIG. 11 is a perspective view of another modular medical device, according to one embodiment.
- FIG. 12A is a perspective view of another modular medical device, according to a further embodiment.
- FIG. 12B is a close-up perspective view of a part of the device of FIG. 12A .
- FIG. 12C is another perspective view of the device of FIG. 12A .
- FIG. 13 is a perspective view of a further modular medical device, according to another embodiment.
- FIG. 14 is a perspective view of the disassembled components of another modular medical device, according to one embodiment.
- FIG. 15 is a perspective view of the disassembled components of a further modular medical device, according to another embodiment.
- FIG. 16 is a perspective view of the disassembled components of a further modular medical device, according to another embodiment.
- FIG. 17 is a perspective view of an assembled modular medical device, according to a further embodiment.
- FIG. 18A is a close-up, schematic view of an operational component according to one embodiment.
- FIG. 18B is a schematic view of a robotic device including the operational component shown in FIG. 18A .
- FIG. 19A is a close-up, schematic view of an operational component according to one embodiment.
- FIG. 19B is a schematic view of a robotic device including the operational component shown in FIG. 19A .
- FIG. 20A is a close-up, schematic view of an operational component according to one embodiment.
- FIG. 20B is a schematic view of a robotic device including the operational component shown in FIG. 20A .
- FIG. 20C is a close-up schematic view of an operational component according to an embodiment.
- FIGS. 21A-21C are close-up, schematic views of an operational component according to various embodiments.
- FIG. 22 is a close-up, schematic view of an operational component according to an embodiment.
- FIG. 23 is a close-up, schematic view of an operational component according to one embodiment.
- FIG. 24 is a close-up, schematic view of an operational component according to one embodiment.
- FIG. 25 is a close-up, schematic view of an operational component according to one embodiment.
- FIG. 26A is a front view of a modular medical device with a payload space, according to one embodiment.
- FIG. 26B is another front view of the device of FIG. 26A .
- FIG. 27A is a perspective view of a modular medical device, according to another embodiment.
- FIG. 27B is a perspective bottom view of the device of FIG. 27A .
- FIG. 28A is a perspective top view of the device of FIG. 27A .
- FIG. 28B is a perspective side view of the device of FIG. 27A .
- FIG. 28C is a perspective close-up view of a portion of the device of FIG. 27A .
- FIG. 29 is a perspective bottom view of the device of FIG. 27A .
- FIG. 30 is a perspective side view of the device of FIG. 27A .
- FIG. 31 is a top view of the device of FIG. 27A .
- FIG. 32 is a perspective view of modular medical device control and visualization system, according to one embodiment.
- FIG. 33 is a perspective view of a modular medical device, according to one embodiment.
- FIG. 34 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to one embodiment.
- FIG. 35 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to another embodiment.
- FIG. 36 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to a further embodiment.
- various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, various embodiments relate to various modular or combination medical devices, including modular in vivo and robotic devices and related methods and systems, while other embodiments relate to various cooperative medical devices, including cooperative in vivo and robotic devices and related methods and systems.
- an “in vivo device” as used herein means any device that can be positioned, operated, or controlled at least in part by a user while being positioned within a body cavity of a patient, including any device that is positioned substantially against or adjacent to a wall of a body cavity of a patient, further including any such device that is internally actuated (having no external source of motive force), and additionally including any device that may be used laparoscopically or endoscopically during a surgical procedure.
- the terms “robot,” and “robotic device” shall refer to any device that can perform a task either automatically or in response to a command.
- Certain implementations disclosed herein relate to modular medical devices that can be assembled in a variety of configurations.
- FIGS. 1A-1C depict an exemplary “combination” or “modular” medical device 10 , according to one embodiment.
- both “combination device” and “modular device” shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations.
- the combination device 10 shown in FIGS. 1A-1C has three modular components 12 , 14 , 16 coupled or attached to each other. More specifically, the device 10 has two robotic arm modular components 12 , 14 and one robotic camera modular component 16 disposed between the other two components 12 , 14 .
- the modular component 16 contains an imaging component (not shown) and one or more lighting components (not shown), while each of the other modular components 12 , 14 have an arm 24 , 26 respectively and do not contain any lighting or imaging components. That is, in this embodiment, the modular component 16 is a modular imaging and lighting component 16 while the two modular components 12 , 14 are modular arm components 12 , 14 . In the resulting configuration, the components 12 , 14 , 16 are coupled or attached to each such that the camera component 16 is disposed between the two modular arm components 12 , 14 . As will be discussed in further detail below, this configuration of the components 12 , 14 , 16 is merely one of several possible configurations of such modular components.
- the strategic positioning of various operational components in the combination device 10 in FIGS. 1A-1C results in an optimization of the volume in each of the individual components 12 , 14 , 16 . That is, the space in modular components 12 , 14 that would have been required for an imaging component and/or a lighting component is instead utilized for larger and/or more complex actuators or other components. If larger or more complex actuators are utilized in both modular components 12 , 14 , greater force can be applied to each arm 24 , 26 , thereby making it possible for the combination device 10 to perform additional procedures that require greater force.
- a non-combination device In comparison to the space optimization advantage of the combination device 10 , a non-combination device must have all the necessary components such as imaging and illumination components in the device body along with the actuators, thereby reducing the space available and requiring that the actuators and other components be small enough such that they all fit in the device together.
- the additional space available in the combination device 10 created by the space optimization described above could be used to provide for more sophisticated components such as more complex camera focusing mechanisms or mechanisms to provide zoom capabilities.
- the various components could be distributed across the modular components 12 , 14 , 16 of the combination device 10 in any fashion.
- the illumination and imaging components could be both positioned in either modular component 12 or 14 .
- one of the illumination and imaging components could be disposed in any one of the three modular components 12 , 14 , 16 and the other component could be disposed in one of the other three components 12 , 14 , 16 .
- any possible combination of various components such as illumination, actuation, imaging, and any other known components for a medical device can be distributed in any combination across the modular components of any combination device.
- Another advantage of the combination devices such as that shown in FIGS. 1A-1C is the capacity to increase the number of a particular type of component in the device.
- a combination device similar to the device 10 in FIGS. 1A-1C could have lighting components on more than one of the modular components 12 , 14 , 16 , and further could have more than one lighting component on any given modular component.
- the combination device could have a number of lighting components ranging from one to any number of lighting components that could reasonably be included on the device. The same is true for any other component that can be included in two or more of the modular components.
- another possible advantage of the various combination device embodiments disclosed herein relates to the fact that the various separable modular components (instead of one larger device) simplifies insertion because each component separately is shorter and less complex.
- each component individually has a smaller cross-section and can be inserted into a body cavity through a smaller incision, port, or any other known delivery device than the larger, non-combination device.
- a combination device such as the device 10 depicted in FIGS. 1A-1C could have additional modular components coupled thereto.
- the device could have additional arms or other modular components such as, for example, one or more of a sensing modular component, an illumination modular component, and/or a suction/irrigation modular component.
- modular components such as, for example, components 12 , 14 , 16 of FIGS. 1A, 1B, and 1C ) are each separately inserted into the target cavity of a patient.
- each of the components are inserted through a laparoscopic port, an incision, or a natural orifice.
- the components are inserted by any known method, procedure, or device.
- the components can be assembled into a combination device such as, for example, the combination device 10 depicted in FIGS. 1A-1C , by coupling the components together in a desired configuration.
- the components of the combination device can be decoupled and each separately removed.
- one or more of the components can be decoupled and removed from the cavity and one or more additional components can be inserted into the cavity and coupled to the combination device for one or more additional procedures for which the component replacement was necessary.
- the various modular component embodiments disclosed herein can be coupled to create a combination device in a variety of ways.
- the exemplary modular components 12 , 14 , 16 each have four mating or coupling components as best shown in FIGS. 2A, 2B, and 3 .
- the modular component 16 provides one example of an attachment mechanism for coupling modular components together. That is, the device 16 has four mating or coupling components 34 A, 34 B, 35 A, (and 35 B, which is not shown) for coupling to other devices or modular components. In this embodiment as best shown in FIG. 2A , there are two coupling components 34 , 35 at each end of the device 30 , with two components 34 A, 34 B at one end and two more at the other end (depicted as 35 A and another such component on the opposite side of the component 16 that is not visible in the figure). Alternatively, the modular component 16 can have one coupling component, two coupling components, or more than two coupling components.
- FIG. 2B provides an enlarged view of one end of the device 16 , depicting the male coupling component 34 A and female coupling component 34 B.
- the male component 34 A in this embodiment is configured to be coupleable with a corresponding female component on any corresponding modular component, while the female component 34 B is configured to be coupleable with a corresponding male component on any corresponding modular component.
- the mechanical male/female coupling components discussed above are merely exemplary coupling mechanisms.
- the components can be any known mechanical coupling components.
- the coupling components can also be magnets that can magnetically couple with other magnetic coupling components in other modular components.
- the coupling components can be a combination of magnets to help with initial positioning and mechanical coupling components to more permanently couple the two modules.
- FIG. 3 depicts component 12 , but it is understood that the following discussion relating to modular component 12 applies equally to component 14 .
- Modular component 12 as shown in FIG. 3 has male/female coupling components 44 , 45 that can be coupled to component 16 as discussed above. Alternatively, as discussed above, any known coupling components can be incorporated into this component 12 for coupling with other modular components.
- the arm 24 in the embodiment of FIG. 3 provides the four degrees of freedom (“DOF”). These four degrees of freedom include three rotations and one extension. Two rotations occur about the joint 42 . The third rotation occurs along the axis of the arm 24 . The extension also occurs along the axis of the arm 24 .
- any known arm implementation for use in a medical device can be used.
- FIG. 4 depicts an alternative exemplary embodiment of modular component 12 .
- the actuator components 54 A, 54 B, 56 A, 56 B are depicted in the component 12 . That is, two actuators 54 A, 54 B are provided in the body of the device 12 , while two additional actuators 56 A, 56 B are provided in the arm 24 .
- actuators 54 A, 54 B are configured to actuate movement of the arm 24 at the shoulder joint 58
- actuators 56 A, 56 B are configured to actuate movement at the arm 24 .
- any configuration of one or more actuators can be incorporated into a modular component to actuate one or more portions of the component or device.
- the various modular components discussed herein can contain any known operational components contained in any non-modular medical device.
- the modular component 16 has a camera 32 and further can have all of the associated components and/or features of the modular components or medical devices discussed above, including the medical devices and components disclosed in the applications incorporated above.
- the modular component 16 has a connection component or “cable” 22 that can be connected at the other end of the cable 22 to a controller (not shown).
- each of modular components 12 , 14 also can have a connection component ( 18 , 20 respectively).
- the combination device 10 could have a single cable connected to one of the modular components.
- the coupling components also provide for communication connections among the modular components such that power, control signals or commands, video, and any other form of communication can be transported or communicated among the modular components.
- a combination device or modular component 60 can be utilized with an external magnetic controller 62 .
- the device 60 has magnetic components (not shown) that allow the device 60 to be in magnetic communication with the external controller 62 . It is understood that the device 60 can operate in conjunction with the external controller 62 in the same fashion described in the applications incorporated above.
- any of the individual modular components can operate as an independent device as well. That is, it is understood that any individual component can be inserted into a body cavity and operated without coupling it to any other modular components. As such, each modular component can also be considered a separate device.
- a combination device or modular component 70 can be utilized with an external controller and visualization component 72 .
- the device 70 has magnetic components (not shown) that allow the device 70 to be in magnetic communication with the external controller 72 and further has arms 74 A, 74 B that can be operated using the controller 72 . It is understood that the device 70 can operate in conjunction with the external component 72 in the same fashion described in the applications incorporated above.
- a modular device can be used for a variety of surgical procedures and tasks including, but not limited to, tissue biopsy and tissue retraction.
- tissue biopsy and tissue retraction For example, as shown in FIGS. 7A and 7B in accordance with one embodiment, a device 80 having a grasper 82 can be used to retract the gall bladder 84 during a cholecystectomy procedure.
- any of the modular components disclosed herein can be assembled into the combination device prior to insertion into the patient's cavity.
- FIGS. 8A and 8B depict a combination device 120 having modular components 122 A, 122 B, 122 C, 122 D, 122 E that are coupled to each other using hinge or rotational joints 124 A, 124 B, 124 C, 124 D, 124 E (as best shown in FIG. 8B ).
- This device 120 as shown can fold together or otherwise be configured after insertion as shown in FIG. 8A .
- One advantage of this embodiment, in which the modular components 122 A- 122 E are coupled to each other, is that in vivo assembly of the combination device 120 is simplified.
- any of the modular components disclosed or contemplated herein are inserted separately into the target cavity and subsequently assembled with the modular components being connected end-to-end (in contrast to a side-by-side configuration similar to that depicted in FIGS. 1A-1C ).
- the combination device 130 in FIG. 9 has three modular components 132 , 134 , 136 .
- One of the components is a camera modular component 132
- the other two are robotic arm modular components 134 , 136 .
- These three components 132 , 134 , 136 are connected to form the tripod-like combination device 130 as shown.
- FIG. 10 depicts another combination device 140 having a generally triangular configuration. That is, the device 140 has three arm modular components 142 , 144 , 146 that are coupled together end-to-end, with each component 142 , 144 , 146 having an arm 148 , 147 , 149 , respectively.
- the three-armed robot could be assembled using three one-arm segments as shown in FIG. 10 .
- the three-armed robot could be assembled by linking three modular bodies end-to-end and coupling an arm component to each linkage of the modular bodies.
- additional modular components could be added to a tripod-like combination device such as the devices of FIGS. 9 and 10 .
- one or more additional modular components could be positioned adjacent and parallel to one or more of the three previously-coupled modular components such that one or more sides of the three sides have a “stacked” configuration with at least two modular components stacked next to each other.
- a particularly useful aspect of using modular medical devices during medical procedures is the ability to insert multiple modular components, such as any of the modular components described or contemplated herein, into a patient's body and subsequently assemble these into a more complex combination device in vivo.
- more than one modular component is inserted or positioned in the patient's body (through a natural orifice or more conventional methods) and then the components are either surgically assembled or self-assembled once inside the patient's body, in a location such as the peritoneal cavity, for example.
- Surgical (or procedural) assembly can involve the surgeon attaching the modular components by using standard laparoscopic or endoscopic tools, or could involve the surgeon using specifically developed tools for this purpose.
- surgical assembly could instead or further include the surgeon controlling a robotic device disposed within the patient's body or exterior to the body to assemble the modular components.
- Self assembly can involve the modular components identifying each other and autonomously assembling themselves.
- the modular components have infrared transmitters and receivers that allow each component to locate attachment points on other components.
- each modular component has a system that utilizes imaging to identify patterns on other modular components to locate attachment points on those other components.
- assembly could also include both surgical and self-assembly capabilities.
- the robotic device or system can be configurable or reconfigurable in vivo to provide different surgical features during different portions of the procedure. That is, for example, the components of the device or devices can be coupled together in one configuration for one procedure and then disassembled and re-coupled in another configuration for another procedure.
- FIGS. 11-17 One further exemplary embodiment of a suite of modular components is set forth in FIGS. 11-17 . It is understood that such a suite of components can be made available to a surgeon or user, and the surgeon or user can utilize those components she or he desires or needs to create the combination device desired to perform a particular procedure. In one embodiment, since the devices and components are modular, the user (or team) can assemble the procedure-specific robotic device or devices in vivo at the onset of the procedure.
- the modular components can include any known procedural or operational component, including any component discussed elsewhere herein (such as those depicted in FIGS. 1A-4 , and/or 8 A- 10 ) or any component disclosed in the applications incorporated above that can be used as modular component.
- the various modular components depicted in FIGS. 11-17 include a variety of different operational components or other types of components, as will be described in further detail below.
- FIGS. 11-13 depict various modular combination device embodiments having a body that is coupled to at least one arm component and a lockable tube.
- FIG. 11 shows a combination device 150 having a body 152 coupled to three operational arm components 154 A, 154 B, 154 C, and a lockable tube 156 .
- the body 152 can also have at least one magnet 158 (or two magnets as depicted in the figure) that can be used to position the device within the patient's cavity. That is, according to one implementation similar to those described above in relation to other devices, the magnet(s) 158 can be magnetically coupled to an external magnet controller or visualization component to position the device 150 .
- the lockable tube 156 can be a reversibly lockable tube as disclosed in U.S. application Ser. No. 12/171,413, filed on Jul. 11, 2008, which is incorporated by reference above.
- the tube 156 and device 150 can be operated in any fashion as described in that application.
- the tube 156 can be a flexible tube that can be stabilized or held in place using a series of magnets adjacent to or near the flexible tube or a series of needles inserted through the external wall of the patient's body.
- magnets can be positioned in one or more of the modular components of the flexible tube. In use, one or more magnets are positioned externally with respect to the target cavity in such a fashion as to position the tube and/or robotic device into the desired location.
- a reversibly lockable tube and robotic device can be used together to accomplish various tasks. That is, the tube can be operably coupled to the device (as shown in FIG. 11 , for example) and contain any required connection components such as connections for hydraulic, pneumatic, drive train, electrical, fiber optic, suction, or irrigation systems, or any other systems or connections that require physical linkages between the device positioned in the patient's body and some external component or device.
- the robotic device is first positioned at the desired location in the patient's body and then the tube is inserted and connected to the device.
- the robotic device can be coupled to the tube prior to insertion, and then both the device and the tube are inserted into the patient's body and the device is then positioned at the desired location.
- FIGS. 12A-12C depict another embodiment of a combination device coupled to a lockable tube. More specifically, FIGS. 12A, 12B, and 12C depict a combination device 160 having a body 162 coupled to one operational arm component 164 and a lockable tube 166 . As with the device in FIG. 11 , the body 162 has two magnets 168 that can be used in conjunction with an external magnet controller to position the device 160 and tube 166 as desired by the user. Alternatively, the body 162 can have one magnet or more than two magnets. In addition, according to one embodiment as best shown in FIG. 12A , the device 160 and the tube 166 can be initially unattached. Prior to use, the body 162 and tube 166 can be coupled as best shown in FIG. 12B . In one embodiment, the body 162 and tube 166 can be coupled prior to insertion or alternatively can be coupled after the device 160 and tube 166 have been positioned in the desired location in the patient's body.
- FIG. 13 shows another embodiment of another combination device 170 similar to those depicted in FIGS. 11-12C except that the body 172 is coupled to the tube 174 at a location along the body 172 rather than at an end of the body 172 . It is further understood that a tube as disclosed herein can be coupled to any of these combination devices at any point along the body or any of the modular components.
- the combination device 180 has an imaging modular component 182 (also referred to as a “module”), two cautery arms or modules 184 A, 184 B, and two grasper arms or modules 186 A, 186 B. It is understood that the imaging module 182 in this embodiment is the body 182 of the device 180 , but could also be an arm in another implementation. It is further understood that the various modules 184 , 186 coupled to the device 180 could be configured in any configuration.
- FIG. 15 An alternative combination device embodiment utilizing various modules from a suite of modular components is depicted in FIG. 15 .
- This device 190 has an imaging module 192 , a cautery module 194 , a grasper module 196 , and a lighting module 198 .
- FIG. 16 depicts yet another alternative combination device 200 having an imaging module 202 , a lighting module 204 , a cautery module 206 , and two grasper modules 208 .
- FIG. 17 depicts a further alternative implementation of a fully assembled combination device 210 having a body 212 , two cautery modules 214 A, 214 B, and two grasper modules 216 A, 216 B.
- each of the modules is coupled to the body via a hinge coupling 218 A, 218 B, 218 C, 218 D.
- the coupling can be any known coupling, including, for example, a pivotal coupling.
- the non-arm modules can be substantially or removably fixed to the body component, such as the lighting module 204 depicted in FIG. 16 .
- any number of additional exemplary modular components could be included in the suite of modular components available for use with these devices.
- various additional exemplary modules include, but are not limited to, an imaging module, a sensor module (including a pH, humidity, temperature, and/or pressure sensor), a stapler module, a UV light module, an X-ray module, a biopsy module, or a tissue collection module.
- module is intended to encompass any modular component, including an arm or a body as discussed above.
- An operational component as described herein, is generally associated with a robotic device, and may have one or more subcomponents or functionalities.
- An operational component may also be referred to as an “end effector.” It is generally understood that any one of the exemplary operational components and modules described below can be included in a suite of modular components used to form the robotic devices as described herein according to the various embodiments. In a further embodiment, any of the operational components described herein can be used in conjunction with any non-modular versions of these devices or systems. Additionally, the exemplary operational components and modules can be used with other surgical robotic devices as are known to those of skill in the art.
- FIGS. 18A and 18B depict a robotic device 300 according to one embodiment.
- the device 300 has two arms 312 , 314 each having a first link 312 a, 314 a and a second link 312 b, 314 b.
- Each arm 312 , 314 also includes operational components 316 , 318 operably coupled at distal end 320 , 322 of each arm 312 , 314 .
- the operational components 316 , 318 can be the same or different from one another.
- at least one of operational components 316 , 318 is a multi-functional operational component as described herein.
- both of the operational components 316 , 318 are multifunctional operational components as described herein. “Multi-functional operational components” are operational components capable of performing more than one function.
- the robotic device 300 can also include a body 324 that is a viewing module having appropriate lighting and/or a camera to assist in viewing the procedure. As shown in FIGS. 18A and 18B , the body 324 is disposed between and is coupled to the two arms 312 , 314 .
- FIG. 19A is a close-up schematic view of an operational component 330 according to one embodiment.
- the operational component 330 is a grasper (also referred to herein as “forceps”) operably coupled to a distal end 332 of an arm 334 of an exemplary robotic device 340 .
- the forceps 330 are commercially-available forceps 330 , such as the forceps available from U.S. Surgical, a subsidiary of Covidien, located in North Haven, Conn.
- the grasper 330 includes a first arm 336 and a second arm 338 .
- the first arm 336 includes an irrigation component 342 coupled to the arm 336 including a nozzle 344 and providing for irrigation with a liquid by ejecting the liquid from the nozzle 344 .
- the second arm 338 includes a suction component 346 .
- the irrigation component 342 and suction component 346 are both thin-walled conduits made of a polymer.
- the conduit also referred to herein as “tubing”
- the conduit can be commercially available extruded tubing of various sizes depending on the specific application.
- Methods or techniques for attaching the conduit 342 , 346 to the grasper 330 can include any appropriate fasteners or adhesives.
- the nozzle 344 can be a commercially available nozzle, or alternatively can be a specifically designed nozzle that directs the fluid flow as needed.
- each of the suction 346 and irrigation 342 components are manufactured as part of the grasper arms 336 , 338 .
- the suction component 346 is an integral component of and/or is manufactured as a part of the grasper arm 338
- the irrigation component 342 is an integral component of and/or is manufactured as a part of the grasper arm 336 .
- the conduits could be formed in the structure of the grasper arms 336 , 338 such that the conduits do not protrude from the side of the arms 336 , 338 .
- the grasper arms 336 , 338 could be molded such that the conduits are disposed within the arms 336 , 338 .
- the arm and conduit can be manufactured using stainless steel through a metal injection molding process.
- the conduits could be machined into the arms 336 , 338 by any traditional machining techniques.
- the grasper arm 336 , 338 and conduit are manufactured using a polymer-based rapid prototyping method such as stereolithography.
- the conduits could be formed in the structure of the arms 336 , 338 by any known technique.
- FIG. 19B provides a complete view of the robotic device 340 to which the operational component 300 is coupled.
- the irrigation component 342 has an irrigation connection component 352 (also referred to as an “irrigation line” or “irrigation tube”) that is connected at one end to the component 342 and at the other end to a liquid source 354 .
- the irrigation connection component 352 is a thin-walled conduit made of a polymer.
- the polymer conduit of the connection component 352 connects or couples to the irrigation component 342 at a proximal end 356 of the grasper arm 26 .
- the liquid source 354 is an external liquid source 354 and is disposed at a location or position that is external to the robotic device 340 .
- a pump (not shown) is also provided to power the irrigation component 342 .
- the pump can be a commercially-available surgical irrigation pump such as those available from Nellcor (a subsidiary of Covidien) or KMC Systems which is located in Merrimack, N.H.
- the pump, and thus the irrigation component 342 can be controlled by a controller (not shown) or microprocessor, which can be associated with or coupled to the pump.
- the controller or microprocessor may be associated with or connected to the pump via a wired or wireless connection.
- the liquid source 354 can be associated with, incorporated into, or disposed within the robotic device 340 .
- a pump can be operatively coupled to the liquid source 354 .
- the pump can be a mechanical bellow, a mechanical pump, or any known pump suitable for use with an irrigation system such as any of the irrigation embodiments disclosed herein.
- the liquid source 354 is a pressurized reservoir that does not require an auxiliary pump.
- the irrigation component 354 can be used to deliver a drug or combination of drugs to the procedure site or other site within a patient's body as designated by the clinician.
- the drugs or any other type of treatment composition can be provided in fluid or gel form or any other form that can be injected via a delivery device. In one embodiment, these drugs could include chemotherapy drugs.
- the suction component 346 has a suction connection component 362 connected to the component 346 and further connected to a suction source 364 .
- the suction connection component 362 is a thin-walled conduit made of a polymer.
- the polymer conduit of the connection component 362 connects or couples to the suction component 346 at a proximal end 366 of the grasper arm 28 .
- the suction source 364 is an external suction source 364 and is disposed at a location or position that is external to the robotic device 340 .
- a pump (not shown) is also provided to power the suction source 364 .
- the pump is a commercially-available aspiration suction unit such as the devices available from Paragon Medical, located in Pierceton, Ind.
- the pump, and thus the suction component 346 can be controlled by a controller or microprocessor (not shown), which can be associated with or coupled to the pump by a wired or a wireless connection.
- the suction source 64 can be associated with, incorporated into, or disposed within the robotic device 340 .
- a pump is coupled to the suction source.
- the pump can be a mechanical bellow, a mechanical pump, or any known pump for use with a suction system such as any of the suction embodiments disclosed herein.
- the suction source is a vacuumed reservoir that does not require an additional pump.
- FIGS. 20A and 20B depict another embodiment of a grasper 400 of a robotic device 410 in which the first arm 412 includes a cautery component 414 coupled with or integrated into the first arm 412 .
- the cautery component 414 is a wire 414 coupled to the first arm 412 .
- the cautery component 414 can be any wire 414 having a large electrical resistance such that it is heated by passing an electrical current through the wire 414 .
- the cautery wire 414 is composed of a metal alloy that provides a very high electrical resistance.
- One example of the composition of the wire 414 is commercially-available 80/20 Nickel-Chrome alloy (80% Nickel, and 20% Chrome).
- the second arm 416 of the grasper 400 can also include a cautery component 418 .
- the cautery component 418 only one of the two arms 412 , 416 has a cautery component.
- the cautery wire 414 and/or 418 is secured to the grasper arm 412 and/or 416 using high-temperature adhesives or mechanical fasteners.
- the arms 412 , 416 of the grasper 400 are metal injection molded and the cautery wire 414 and/or 416 is molded into the arm 52 .
- the cautery component 414 and/or 416 can be attached to the inside of the arm 412 and/or 416 , or along the side or bottom of the grasper arm 412 and/or 416 , depending on the specific application.
- the cautery component 414 and/or 416 can be attached to a distal tip 420 and/or 422 of the arm 412 and/or 414 .
- An insulation component (not shown) is provided in certain embodiments between the cautery component 414 and the first arm 412 , thereby electrically isolating the cautery component 414 from the first arm 412 and preventing the arm 412 from acting as a heat sink or otherwise reducing the effectiveness of the cautery component 414 .
- a similar configuration can also be provided for the cautery component 418 on the second arm 416 when such a cautery component 418 is provided.
- FIG. 20B provides a complete view of the robotic device 410 to which the operational component 400 is coupled.
- the cautery component 414 is coupled to an external power source 424 via an electrical connection 426 that runs through the robotic device 410 .
- the cautery component 414 can be a high resistance wire 414
- the electrical connection 426 connecting the component 400 to the power source 424 is not a high resistance wire.
- the external power source 424 can be any power source that is positioned at a location external to the robotic device 410 .
- the power source 424 is a battery.
- the power source 424 can be associated with, incorporated into, or disposed within the robotic device 410 .
- a controller or microprocessor (not shown), is provided for control of the cautery component 414 .
- the controller can be a switch that is positioned on the external power source 424 .
- the controller can be a separate component that is coupled to the power source 424 via a wired or a wireless connection.
- the power source 424 is an internal power source, the controller is provided as a separate component.
- the cautery component 414 depicted in FIG. 20C is actuated when the grasper arms 412 , 416 are positioned within a certain proximity of each other.
- the cautery component 414 is actuated.
- this functionality is accomplished with a sensor 430 .
- the sensor 430 senses the positioning of the arms 412 , 416 and actuates the power source (not shown) when the arms 412 , 416 pass a predetermined location or position.
- the senor 430 is positioned in the robotic arm 432 and operatively coupled to the grasper arms 412 , 416 as depicted.
- the sensor 730 can also be positioned on one of the grasper arms 412 , 416 .
- the senor 430 is a commercially-available infrared sensor.
- the sensor 430 could be a sensor such as the sensors manufactured by Fairchild Semiconductor, located in South Portland, Me.
- the sensor 430 is a commercially-available rotational or translational variable resistance potentiometer.
- the multifunctional operational component can be a biopsy component.
- FIGS. 21A, 21B, and 21C depict a grasper 450 including a first arm 452 and a second arm 454 .
- the first arm 452 includes a biopsy component 456 .
- both grasper arms 452 , 454 include a biopsy component such that more than one tissue sample can be taken.
- one or both of the arms 452 , 454 can include more than one biopsy component.
- the biopsy component includes a reservoir 458 and a cutting tool 460 .
- the cutting tool can be a knife blade, a rotary cutter, or other cutting instrument.
- the knife 460 is slidable between a closed and an open position. In the closed position, the cutting tool 460 is positioned to cover the reservoir 458 and thereby act as a lid or cover for the reservoir 458 . In the open position, the cutting tool 460 is positioned adjacent to the reservoir 458 with the cutting edge 462 adjacent to the reservoir 458 .
- the cutting tool 460 can be used to obtain a biopsy sample in the following manner.
- the cutting tool 460 is positioned or urged into the open position (position A as shown in FIG. 21A ). In this position, the reservoir 458 is exposed or open.
- the arms 452 , 454 can then be used to grasp or otherwise be positioned with respect to a specimen of interest such that the cutting tool 460 can then be urged or otherwise moved toward the closed position B.
- the cutting edge 462 contacts the specimen of interest and cuts the specimen.
- the cutting tool 460 reaches the closed position B (shown in FIG. 21B )
- the cut portion of the specimen is positioned in the reservoir 458 and the cutting tool 460 is positioned in the closed position B, thereby closing the opening of the reservoir 458 and retaining the cut specimen in the reservoir 458 .
- the cutting tool 460 and the reservoir cover or lid are separate components in which the cutting tool 460 is used to cut the specimen and the cover or lid is used to cover or close the reservoir 448 .
- the cutting tool 90 travels between position A and position B along a track (not shown) that is formed into or associated with the grasper arm 452 .
- the cutting tool 460 can operate by rotating in a plane parallel with the grasper face as shown in FIG. 21C .
- the biopsy component 456 can include a cutting tool actuation component (not shown).
- the cutting tool actuation component can be a pre-loaded spring or series of pre-loaded springs that move between a coiled or tensioned position and an uncoiled or released position to actuate the cutting tool to slide shut over the reservoir.
- the pre-loaded spring is operably coupled to a switch (not shown) positioned either in the grasper 450 or the robotic arm to which the grasper 450 is coupled.
- the switch releases the spring from its coiled or tensioned position.
- actuating the switch releases the spring and urges the cutting tool 460 to slide shut over the reservoir.
- This switch can be an SMA (shape memory alloy) or solenoid coil. Actuation of the switch allows the pre-loaded springs to push against the cutting tool 460 , thereby urging the cutting tool 460 to move between the open and closed positions.
- the pre-loaded spring or springs could be mechanically triggered when the grasper arms are sufficiently closed.
- the cutting tool actuation component could be coupled to the grasper 450 . In this embodiment, when the biopsy component 450 is engaged, the cutting tool is actuated as the grasper arms 452 , 454 are closed. In still other embodiments, the cutting tool 460 could be actuated by a small onboard motor and lead screw.
- FIG. 22 depicts yet another embodiment of a grasper 470 in which the first arm 472 is equipped with at least one sensor 474 .
- the sensor 474 A is positioned on the back side 476 (away from the other grasper arm 478 ) of the grasper arm 472 .
- a second sensor 474 B is positioned on the front side 480 (toward the other arm) of the grasper arm 472 .
- the first and second sensors 474 A and 474 B can be the same or different type of sensor.
- a single sensor can be provided and positioned on either side of the arm 472 .
- another sensor 475 can be positioned on or otherwise coupled to the robotic arm 484 .
- each sensor 474 A, 474 B comprises an electronics package that includes a commercially-available sensor solid state chip (pH, humidity, pressure, temperature, etc.) and supporting capacitors and resistors.
- This electronics package is electrically connected to the main circuit board (not shown) in the robotic device base and the sensor readings are transmitted to an external display either in a wireless or wired fashion.
- This package can be placed in the robot arm 484 or in the grasper 470 so that each sensor 474 A, 474 B is exposed to the environment around the robotic device.
- FIG. 23 is a close-up schematic view of an operational component 490 according to yet another embodiment.
- the operational component 490 is a sensor 490 and is coupled to a distal end 492 of an arm 494 of a robotic device (not shown).
- the sensor 490 can be any sensor capable of detecting a physiological parameter within a patient's body including, but not limited to pH, humidity, pressure, or temperature. In some embodiments, the sensor 490 is capable of detecting all or some combination of those parameters.
- the sensor can be configured in any known fashion using known components.
- the supporting electronics can include resistors, capacitors, and oscillators that are used to drive the sensors. Output from these sensors will be a data stream transmitted to the external console either wirelessly, or through the tether cable connected to the robot.
- the power can be supplied by a battery.
- the power and non-essential supporting electronics can be provided in a location external to the patient so that only the sensor is onboard.
- power requirements for the various sensors can be met with power supplied from a standard wall outlet. Such power can be down-regulated through power regulators in the console that connect with the robotic device.
- the senor 490 can be an ultrasound transducer including a transmitter and receiver, or an infrared transducer including a transmitter and receiver.
- the ultrasound transducer 490 can be a commercially-available system that is routinely used at the tip of an endoscope, which is commonly referred to as Endoscopic Ultrasound (“EUS”).
- EUS Endoscopic Ultrasound
- placing the transducer on the tip of an endoscope allows the transducer to get close to the organs inside the body. Because of the proximity of the EUS transducer to the organ(s) of interest, the images obtained are frequently more accurate and more detailed than the ones obtained by traditional ultrasounds.
- the supporting electronics can be positioned inside the robotic arm 494 or elsewhere in the robotic device.
- the supporting sensor electrics may be located external to the patient, while only the ultrasonic transducer 490 is provided onboard the robotic device.
- FIG. 24 depicts another embodiment of a grasper 500 including at least a first arm 502 equipped with at least one treatment module 504 .
- the treatment module 504 can be provided either on the front side 506 or the back side 508 of the grasper arm 502 or both, as shown. Alternatively, more than one treatment module 504 can be provided in any configuration. If more than one treatment module is provided, the treatment modules 504 can have the same or different functions as one another.
- an operational module 510 that is a treatment module can be coupled directly to a distal end 512 of the robotic device arm 514 .
- the treatment module 510 can provide, but is not limited to providing, treatment at the site of interest through the use of RF (radio frequency) ablation, microwave ablation, and ultrasonic ablation.
- the treatment module 510 is a commercially-available microware or ultrasonic ablation transducer used commonly in catheter-based systems.
- any one of the robotic devices discussed herein can have a power source and/or a processing unit to operate any embodiment of a treatment module such as the treatment module described above.
- the power source and/or processing unit are disposed within, attached to, or otherwise associated with the device.
- the power source is a battery.
- the power source and data processing can be positioned in a location external to the robotic device so that only the treatment module, and any essential supporting electronics, is coupled to the robotic device.
- the mechanical and electrical couplings between the modular robotic sections are universal to help facilitate ease of assembly. That is, the couplings or connections are universal such that the various modules can be easily and quickly attached or removed and replaced with other modules. Connections can include friction fits, magnets, screws, locking mechanisms and sliding fitting. Alternatively, the connections can be any known connections for use in medical devices. In use, the couplings can be established by the surgeon or user according to one implementation. Alternatively, the couplings can be semi-automated such that the components are semi-self-assembling to improve timeliness.
- Modular components need not be arms or other types of components having operational components or end effectors.
- the modular components can be modular mechanical and electrical payload packages that can be used together in various combinations to provide capabilities such as obtaining multiple tissue samples, monitoring physiological parameters, and wireless command, control, and data telemetry. It is understood that the modular payload components can be incorporated into all types of medical devices, including the various medical devices discussed and incorporated herein, such as magnetically controllable devices and/or wheeled devices similar to those disclosed in the applications incorporated above.
- FIG. 26A shows one embodiment of a device 520 having a payload area 522 that can accommodate various modular components such as environmental sensors, biopsy actuator systems, and/or camera systems. More specifically, the payload area 522 is configured to receive any one of several modular components, including such components as the sensor, controller, and biopsy components discussed herein. It is understood that in addition to the specific modular components disclosed herein, the payload areas of the various embodiments could receive any known component to be added to a medical procedural device.
- the robotic device having the payload area can be any known robotic device, including any device that is positioned substantially adjacent to or against a patient cavity wall (such as via magnetic forces), and is not limited to the robotic devices described in detail herein.
- the robotic device embodiments depicted in FIGS. 26A and 26B are mobile devices having wheels, the various modular components described herein could just as readily be positioned or associated with a payload area in any other kind of robotic device or can further be used in other medical devices and applications that don't relate to robotic devices.
- the device is not tethered and is powered by an onboard battery 524 .
- Commands can be sent to and from the device using an RF transceiver placed on a circuit board 526 .
- the device 520 can be tethered and commands and power can be transmitted via the tether.
- the wheels 528 A and 528 B are powered by onboard motors 530 A and 530 B.
- the wheels 528 A, 528 B and other components can be actuated by any onboard or external actuation components.
- the wheels 528 in this implementation are connected to the motors 530 through a bearing 532 and a set of spur gears 534 and 536 .
- any known connection can be used.
- the use of independent wheels allows for forward, reverse, and turning capabilities.
- a small retraction ball 538 is attached to the outside of each wheel for retraction using a surgical grasper.
- no retraction component is provided.
- any known retraction component can be included.
- FIG. 26B shows yet another embodiment of a device 540 having a payload area 542 .
- the modular component in the payload area 542 is a sensor component. It is further understood that, according to various other implementations, more than one modular component can be positioned in the payload area 542 of this device 540 or any other device having a payload area.
- the payload area 542 could include both a biopsy component and a sensor component, or both a biopsy component and a controller component.
- the payload area 542 could include any combination of any known functional components for use in procedural devices.
- one component that can be included in the payload area 542 is a sensor package or component.
- the sensor package can include any sensor that collects and/or monitors data relating to any characteristic or information of interest.
- the sensor package includes a temperature sensor.
- the package includes an ambient pressure sensor that senses the pressure inside the body cavity where the device is positioned.
- the package can include any one or more of a relative humidity sensor, a pH sensor, or any other known type of sensor for use in medical procedures.
- the modular components and combination devices disclosed herein also include segmented triangular or quadrangular-shaped combination devices. These devices, which are made up of modular components (also referred to herein as “segments”) that are connected to create the triangular or quadrangular configuration, can provide leverage and/or stability during use while also providing for substantial payload space within the device that can be used for larger components or more operational components. As with the various combination devices disclosed and discussed above, according to one embodiment these triangular or quadrangular devices can be positioned inside the body cavity of a patient in the same fashion as those devices discussed and disclosed above.
- FIGS. 27A-32 depict a multi-segmented medical device 550 , in accordance with one implementation.
- the device 550 is a robotic device 550 and further can be an in vivo device 550 .
- This device embodiment 550 as shown includes three segments 552 A, 552 B, 554 . Segments 552 A and 552 B are manipulator segments, while segment 554 is a command and imaging segment.
- the three segments can be any combination of segments with any combination of components and capabilities.
- the device could have one manipulator segment, one command and imaging segment, and a sensor segment.
- the various segments can be any type of module, including any of those modules described above with respect to other modular components discussed herein.
- segments 552 A, 552 B are rotatably coupled with the segment 554 via joints or hinges 556 A, 556 B. More specifically, segment 552 A is rotatable relative to segment 554 about joint 556 A around an axis as indicated by arrow B in FIG. 27B , while segment 552 B is rotatable relative to segment 554 about joint 556 B around an axis as indicated by arrow C in FIG. 27B .
- the device 550 has at least two configurations.
- One configuration is an extended or insertion configuration as shown in FIG. 27A in which the three segments 552 A, 552 B, 554 are aligned along the same axis.
- the other configuration is a triangle configuration as shown in FIG. 27B in which the manipulator segments 552 A, 552 B are each coupled to the segment 554 via the joints 556 A, 556 B and further are coupled to each other at a coupleable connection 558 at the ends of the segments 552 A, 552 B opposite the joints 556 A, 556 B.
- each of the manipulator segments 552 A, 552 B in this particular embodiment has an operational arm 560 , 562 (respectively).
- Each arm 560 , 562 is moveably coupled to its respective segment 552 A, 552 B at a joint 564 A, 564 B (respectively) (as best shown in FIG. 30 ).
- segment 554 has a pair of imaging components (each also referred to herein as a “camera”) 566 A, 566 B (as best shown in FIG. 29 ).
- each arm 560 , 562 is configured to rotate at its joint 564 A, 564 B in relation to its segment 552 A, 552 B to move between an undeployed position in which it is disposed within its segment 552 A, 552 B as shown in FIG. 27B and a deployed position as shown in FIG. 28A .
- arm 560 is rotatable relative to segment 552 A about joint 564 A in the direction shown by G in FIG. 30
- arm 562 is rotatable relative to segment 552 B about joint 564 B in the direction shown by H in FIG. 30
- the arms 560 , 562 are moveable in relation to the segments 552 A, 552 B in any known fashion and by any known mechanism.
- each arm 560 , 562 has three components: a proximal portion 560 A, 562 A, a distal portion 560 B, 562 B, and an operational component 560 C, 562 C coupled with the distal portion 560 B, 562 B, respectively.
- the distal portion 560 B, 562 B of each arm 560 , 562 extends and retracts along the arm axis in relation to the proximal portion 560 A, 562 A while also rotating around that axis in relation to the proximal portion 560 A, 562 A. That is, distal portion 560 B of arm 560 can move back and forth laterally as shown by the letter Kin FIG.
- distal portion 562 B of arm 562 can move back and forth laterally as shown by the letter L in FIG. 30 and further can rotate relative to the proximal portion 562 A as indicated by the letter I.
- the operational components 560 C, 562 C depicted in FIG. 28A are a grasper 560 C and a cautery hook 562 C.
- the operational component(s) used with the device 550 or any embodiment herein can be any known operational component for use with a medical device, including any of the operational components discussed above with other medical device embodiments and further including any operational components described in the applications incorporated above.
- only one of the two arms 560 , 562 has an operational component.
- neither arm has an operational component.
- each arm 560 , 562 comprises one unitary component or more than two components. It is further understood that the arms 560 , 562 can be any kind of pivotal or moveable arm for use with a medical device which may or may not have operational components coupled or otherwise associated with them.
- the arms 260 , 262 can have a structure or configuration similar to those additional arm embodiments discussed elsewhere herein or in any of the applications incorporated above.
- the device 550 has only one arm.
- the device 550 has no arms.
- the segment(s) not having an arm can have other components associated with or coupled with the segment(s) such as sensors or other types of components that do not require an arm for operation.
- the segment 554 of the embodiment depicted in FIG. 29 has a pair of cameras 566 A, 566 B.
- the segment 554 can have a single camera or two or more cameras.
- any known imaging component for medical devices including in vivo devices, can be used with the devices disclosed herein and further can be positioned anywhere on any of the segments or on the arms of the devices.
- the segment 554 as best shown in FIG. 29 can also include a lighting component 568 .
- the segment 554 has four lighting components 568 .
- the segment 554 can have any number of lighting components 568 or no lighting components.
- the device 550 can have one or more lighting components positioned elsewhere on the device, such as one or both of segments 552 A, 552 B or one or more of the arms, etc.
- each of the segments 552 A, 552 B, 554 has two cylindrical components—an outer cylindrical component and an inner cylindrical component—that are rotatable in relation to each other. More specifically, the segment 552 A has an outer cylindrical component 570 A and an inner cylindrical component 570 B that rotates relative to the outer component 570 A around an axis indicated by arrow F in FIG. 21 . Similarly, the segment 552 B has an outer cylindrical component 572 A and an inner cylindrical component 572 B that rotates relative to the outer component 572 A around an axis indicated by arrow E in FIG. 29 . Further, the segment 554 has an outer cylindrical component 574 A and an inner cylindrical component 574 B that rotates relative to the outer component 574 A around an axis indicated by arrow D in FIG. 29 .
- any segment having such rotatable components can provide for enclosing any arms, cameras, or any other operational components within any of the segments.
- any segment having such rotatable components provide for two segment configurations: an open configuration and a closed configuration. More specifically, segment 552 A has an outer cylindrical component 570 A with an opening 576 as shown in FIG. 29 through which the arm 560 can move between its deployed and undeployed positions. Similarly, segment 552 B has an outer cylindrical component 572 A with an opening 578 as shown in FIG. 29 through which the arm 562 can move between its deployed and undeployed positions. Further, segment 554 has an outer cylindrical component 574 A with an opening 580 as shown in FIG. 29 through which the imaging component(s) 566 A, 566 B can capture images of a procedural or target area adjacent to or near the device 550 .
- FIG. 27B depicts the segments 552 A, 552 B, 554 in their closed configurations. That is, each of the inner cylindrical components 570 B, 572 B, 574 B are positioned in relation to the respective outer cylindrical component 570 A, 572 A, 574 A such that each opening 576 , 578 , 580 , respectively, is at least partially closed by the inner component 570 B, 572 B, 574 B such that the interior of each segment 552 A, 552 B, 554 is at least partially inaccessible from outside the segment.
- inner cylindrical component 570 B of segment 552 A is positioned in relation to outer cylindrical component 570 A such that the arm 560 is at least partially enclosed within the segment 552 A.
- the inner cylindrical component 570 B is configured such that when it is in the closed position as shown in FIG. 27B , it closes off the opening 576 entirely.
- the inner cylindrical component 570 B in the closed position fluidically seals the interior of the segment 552 A from the exterior.
- inner cylindrical component 572 B of segment 552 B is positioned in relation to the outer cylindrical component 572 A such that the arm 562 is at least partially enclosed within the segment 552 B.
- the inner cylindrical component 572 B is configured such that when it is in the closed position as shown in FIG. 27B , it closes off the opening 578 entirely.
- the inner cylindrical component 572 B in the closed position fluidically seals the interior of the segment 552 B from the exterior.
- inner cylindrical component 574 B of segment 554 is positioned in relation to the outer cylindrical component 574 A such that the imaging component(s) is not positioned within the opening 580 .
- the inner cylindrical component 574 B is configured such that when it is in the closed position as shown in FIG. 27B , the imaging component(s) and any lighting component(s) are completely hidden from view and not exposed to the exterior of the segment 554 .
- the inner cylindrical component 574 B in the closed position fluidically seals the interior of the segment 554 from the exterior.
- FIGS. 28A and 29 depict the segments 552 A, 552 B, 554 in their open configurations.
- each of the inner cylindrical components 570 B, 572 B, 574 B are positioned such that the openings 576 , 578 , 580 are open.
- the inner cylindrical components 570 B, 572 B, 574 B can thus be actuated to move between their closed and their open positions and thereby convert the device 550 between a closed or non-operational configuration (in which the operational components such as the arms 560 , 562 and/or the imaging components 566 and/or the lighting components 568 are inoperably disposed within the segments 552 A, 552 B, 554 ) and an open or operational configuration (in which the operational components are accessible through the openings 576 , 578 , 580 and thus capable of operating).
- a closed or non-operational configuration in which the operational components such as the arms 560 , 562 and/or the imaging components 566 and/or the lighting components 568 are inoperably disposed within the segments 552 A, 552 B, 554
- an open or operational configuration in which the operational components are accessible through the openings 576 , 578 , 580 and thus capable of operating.
- the device 550 can be in its closed or non-operational configuration during insertion into a patient's body and/or to a target area and then can be converted into the open or operational configuration by causing the inner cylindrical components 570 B, 572 B, 574 B to rotate into the open configurations.
- one or more or all of the segments do not have inner and outer components that rotate in relation to each other.
- the various embodiments of the device 550 disclosed herein include appropriate actuation components to generate the force necessary to operate the arms and/or the rotatable cylinders in the segments.
- the actuation components are motors.
- segment 552 A has a motor (not shown) operably coupled with the arm 560 and configured to power the movements of the arm 560 .
- segment 552 B also has a motor (not shown) operably coupled with the arm 562 and configured to power the movements of the arm 560 .
- each of the segments 552 A, 552 B, 554 also have motors (not shown) operably coupled to one or both of the inner and outer cylinder of each segment to power the rotation of the cylinders in relation to each other.
- each segment can have one motor to power all drivable elements (arms, cylinders, etc.) associated with that segment. Alternatively, a separate motor can be provided for each drivable element.
- the joints 556 A, 556 B are configured to urge the segments 552 A, 552 B from the insertion configuration of FIG. 27A into the triangular configuration of FIG. 27B . That is, the joints 556 A, 556 B have torsion springs or some other known mechanism for urging the segments 552 A, 552 B to rotate around their joints 556 A, 556 B.
- FIG. 28C depicts one embodiment in which the joint 556 A has torsion springs 582 that are configured to urge segment 552 A toward the triangular configuration.
- the device 550 in the insertion configuration as shown in FIG. 27A can be inserted into a patient's body through an incision, a trocar port, or natural orifice in the direction indicated by arrow A.
- the device 550 can be inserted in the other direction as well.
- the joints 556 A, 556 B with the torsion springs urge the segments 552 A, 552 B from their insertion position to their triangular position.
- the two segments 552 A, 552 B contact each other to form joint 558 , the two segments are coupled together with mating components that semi-lock the segments 552 A, 552 B together. That is, the two segments 552 A, 552 B can only be separated at the joint 558 by a force sufficient to overcome the semi-lock.
- Any such known mating component or coupling component, including any mechanical or magnetic mating component(s), can be incorporated into the device 550 for this purpose.
- the device 550 can be in its insertion configuration during insertion into the patient. As the device 550 enters the target cavity and exits the port or incision, the torsion springs or other mechanisms at the joints 556 A, 556 B cause the two segments 552 A, 552 B to move toward each other until they couple to form the triangular configuration.
- the device 550 can then be attached to the abdominal wall by some method such as an external magnetic handle.
- the device 550 can be positioned anywhere in the cavity of the patient as desired by the user. The device 550 is then used to perform some sort of procedure.
- the device 550 can be retracted from the cavity.
- the surgeon uses a grasping or retrieval tool such as a Endo Babcock grasper made by Covidien in Mansfield, Mass., to attach to or otherwise grasp the ball 584 at the joint 558 and apply sufficient force to overcome the semi-lock of the joint 558 .
- any retrieval component can be positioned at the end of segment 552 A or elsewhere on the device 550 for grasping or otherwise coupling to for purposes of removing the device 550 from the patient's body.
- the force urges the segments 552 A, 552 B away from each other, thereby making it possible for the surgeon to pull the ball 584 through a port or incision and out of the patient, thereby forcing the device 550 into its insertion configuration.
- FIG. 28B depicts a side view of the device 550 according to one embodiment that shows the payload space available in segment 552 B.
- segment 552 B and its coupled arm 562 have payload spaces 586 , 588 , 590 , 592 , 594 that can be used to accommodate motors, operational components, sensors, magnets (as described below) or any other type of component that could be useful for a procedural device.
- each segment 552 A, 552 B, 554 can have such payload spaces.
- the segments 552 A, 552 B, 554 allow for maximization of the payload space available across the segments 552 A, 552 B, 554 by distributing the components such as motors, operational components, or magnets to maximize their effectiveness while minimizing the amount of space required by each such component. For example, it might maximize effectiveness of the device 550 while minimizing the utilized space to have one large motor in one segment that provides force for operation of components in more than one segment.
- an external controller is also provided that transmits signals to the device 550 to control the device 550 and receives signals from the device 550 .
- the controller communicates with the device 550 wirelessly.
- the controller and the device 550 are coupled via a flexible communication component such as a cord or wire (also referred to as a “tether”) that extends between the device 550 and the controller.
- the attachment components are one or more magnets, disposed within the device, that communicate magnetically with one or more magnets positioned outside the patient's body.
- the device magnets can be positioned on or in the device in any suitable configuration.
- the device magnets in one embodiment can be positioned within the segments 552 A, 552 B, 554 at positions 596 , 598 , 600 as shown in FIG. 31 .
- the external magnets can be used outside the body to position and/or move the device 550 inside the body.
- the console 610 has a display 612 and magnets 614 and is positioned outside the patient such that the magnets 614 can be in magnetic communication with the device magnets (not shown) disposed within or otherwise coupled with the device 550 .
- the console 610 can be used to move the device 550 by moving the console 610 outside the body such that the device 550 is urged to move inside the body, because the console magnets 550 are magnetically coupled with the device magnets (not shown) within the device 550 such that the device 550 remains substantially fixed in relation to the console 610 .
- the triangular (and quadrangular) devices disclosed and described in relation to FIGS. 27A-33 can be used in conjunction with any of the external controller or visualization components and systems disclosed and discussed above and in the applications incorporated above.
- the segmented device 550 provides greater stability and operability for the device 550 in comparison to other in vivo devices. That is, a device having more than one segment such as device 550 provides for a configuration with a larger “footprint” for the device 550 , thereby resulting in greater stability and leverage during use of the device 550 .
- a device having more than one segment such as device 550 provides for a configuration with a larger “footprint” for the device 550 , thereby resulting in greater stability and leverage during use of the device 550 .
- the device 550 can have at least three magnets (not shown) disposed at the three corners of the triangular configuration such that when the device 550 is magnetically positioned against the interior cavity wall, the arms of the device 550 can apply greater force to the target tissues while maintaining the position of the device 550 than a corresponding single cylindrical device body.
- FIG. 33 depicts a device 620 having a quadrangular configuration with four segments.
- devices are contemplated herein having any number of segments ranging from two segments to any number of segments that can be used for a device that can be positioned inside a patient's body.
- a device incorporating the components and structures disclosed herein could have six or eight segments or more.
- the various medical devices disclosed herein and in the applications incorporated above can be used cooperatively. That is, two or more devices can be used at the same time during the same procedure to accomplish more or perform the procedure more quickly than when only one device is used at a time. As such, multiple robots (more than one device and up to any number capable of being inserted into a patient's cavity and present in the cavity at the same time for performing one or more procedures) are inserted into the patient's cavity and each controlled by the surgical team.
- FIGS. 34-36 depict three different embodiments of cooperative use of two or more medical devices together.
- the devices that are positioned within a cavity of a patient include a device with operational arms 630 , two lighting devices 632 A, 632 B, and a cylindrical device having a winch component with an end effector 634 .
- These devices can be operated at the same time using one or more external controllers and/or visualization components according to the various embodiments disclosed above or in the applications incorporated above.
- FIG. 35 depicts a cooperative procedure implementation using a cylindrical device having a winch component with an end effector 640 , a lighting device 642 , and a cylindrical device 644 .
- the cylindrical device 644 can have an imaging component and/or additional operational components such as sensors, etc.
- FIG. 36 Another embodiment is depicted in FIG. 36 , in which a cooperative procedure is performed using a device with arms 650 and a lighting device 652 .
- the devices are assembled while being introduced through a natural orifice, a port, or an incision. For instance, if insertion is through the esophagus, each robot is inserted down the overtube, which provides an “in line” ability for consistent assembly as each robot is “pushed” down the overtube.
- a camera and tool can be inserted to assist with the mechanical connections, or other robotic devices can be used to help with the mechanical connections.
- the level of cooperation amongst two or more in vivo medical devices varies between high network communications, planning, and some autonomy, to lower level mechanical connections and surgeon control. That is, in certain embodiments, the cooperative devices can communicate with each other and perform with some level of autonomy (without input or with limited input from the user or surgeon). In an alternative implementation, the cooperative devices can simply be positioned in the same general procedural space and separately controlled by one or more users to work cooperatively to perform a procedure or procedures.
- two or more devices positioned in a body cavity can be coupled to each other in some fashion. It is understood that the coupling does not necessarily result in a rigid coupling of the devices to each other in all degrees. As such, the configuration(s) of two or more devices may adapt to the varying geometry of each patient, disturbances to the abdominal wall, and respiration cycle. According to one implementation, one benefit of coupling the devices is to maintain a set distance between the devices for vision, lighting, tissue manipulation, and other procedural purposes.
Abstract
The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.
Description
- This application claims priority as a continuation of U.S. application Ser. No. 16/538,913, filed Aug. 13, 2019 and entitled “Multifunctional Operational Component for Robotic Devices;” which claims priority as a continuation of U.S. application Ser. No. 15/888,723, filed Feb. 5, 2018 and entitled “Multifunctional Operational Component for Robotic Devices,” which issued on Aug. 13, 2019 as U.S. Pat. No. 10,376,323; which claims priority as a continuation of U.S. application Ser. No. 14/936,234, filed Nov. 9, 2015 and entitled “Multifunctional Operational Component for Robotic Devices,” which issued on Feb. 6, 2018 as U.S. Pat. No. 9,883,911, which claims priority as a continuation of U.S. application Ser. No. 14/202,353, filed Mar. 10, 2014 and entitled “Multifunctional Operational Component for Robotic Devices,” which issued on Nov. 10, 2015 as U.S. Pat. No. 9,179,981, which claims priority as a continuation of U.S. application Ser. No. 12/324,364, filed November 26, 2008 and entitled “Multifunctional Operational Component for Robotic Devices,” which issued on Mar. 25, 2014 as U.S. Pat. No. 8,679,096, which claims priority to U.S.
Application 60/990,086, filed Nov. 26, 2007 and entitled “Multifunctional Operational Component,” all of which are hereby incorporated herein by reference in their entireties. Additionally, U.S. application Ser. No. 12/324,364 is a continuation-in-part of U.S. application Ser. No. 12/192,779, filed Aug. 15, 2008 and entitled “Modular and Cooperative Medical Devices and Related Systems and Methods,” which issued on Mar. 10, 2015 as U.S. Pat. No. 8,974,440, which claims priority to U.S.Application 60/956,032, filed Aug. 15, 2007, U.S.Application 60/990,076, filed Nov. 26, 2007, U.S.Application 60/990,106, filed Nov. 26, 2007, U.S. Application 61/025,346, filed Feb. 1, 2008, and U.S. Application 61/030,617, filed Feb. 22, 2008, all of which are hereby incorporated herein by reference in their entireties. Further, U.S. application Ser. No. 12/324,364 is a continuation-in-part of U.S. application Ser. No. 11/766,683, filed on Jun. 21, 2007 and entitled “Magnetically Coupleable Robotic Devices and Related Methods,” which issued on Mar. 3, 2015 as U.S. Pat. No. 8,968,332, which claims priority to U.S.Application 60/815,741, filed Jun. 22, 2006,U.S. Application 60/845,608, filed Sep. 29, 2006, U.S.Application 60/868,030, filed Nov. 30, 2006, U.S.Application 60/884,792, filed Jan. 12, 2007, and U.S.Application 60/888,182, filed Feb. 5, 2007, all of which are hereby incorporated herein by reference in their entireties. In addition, U.S. application Ser. No. 12/324,364 is a continuation-in-part of U.S. application Ser. No. 11/966,741, filed Dec. 28, 2007 and entitled “Methods, Systems, and Deveices for Surgical Visualization and Device Manipulation,” which claims priority to U.S.Application 60/890,691, filed Feb. 20, 2007, U.S.Application 60/956,032, filed Aug. 15, 2007, and U.S.Application 60/983,445, filed Oct. 29, 2007, all of which are hereby incorporated herein by reference in their entireties. - This invention was made with government support under Grant No. R21 EB5663-2, awarded by the National Institute of Biomedical Imaging and Bioengineering within the National Institutes of Health. The government has certain rights in the invention.
- The embodiments disclosed herein relate to various medical devices and related components, including robotic and/or in vivo medical devices and related components. Certain embodiments include various modular medical devices, including modular in vivo and/or robotic devices. In particular, certain embodiments relate to modular medical devices including various functional and/or multifunctional operational components. Further embodiments relate to methods of operating the above devices, including methods of using various of the devices cooperatively.
- Invasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred.
- However, known minimally invasive technologies such as laparoscopy are limited in scope and complexity due in part to 1) mobility restrictions resulting from using rigid tools inserted through access ports, and 2) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc., located in Sunnyvale, Calif.) are also restricted by the access ports, as well as having the additional challenges of being very large, very expensive, unavailable in most hospitals, and having limited sensory and mobility capabilities.
- One embodiment disclosed herein relates to a modular medical device or system having at least one modular component configured to be disposed inside a cavity of a patient. The modular component has a body, an operational component, and a coupling component. In a further embodiment, the modular component can be coupled at the coupling component to a second modular component. In a further alternative, a third modular component can be coupled to the first and second modular components.
- Another embodiment disclosed herein relates to a modular medical device or system having a body configured to be disposed inside a cavity of a patient. The device also has at least a first modular component coupleable to the body, the first modular component having a first operational component. In another embodiment, the device also has a second modular component coupleable to the body, the second modular component having a second operational component. In further alternatives, the device can also have third and fourth modular components or more.
- In certain embodiments, the operational component can be a multi-functional operational component. If more than one multi-functional operational component is provided, the multi-functional operational components can be the same as or different from one another. According to one embodiment, a multi-functional operational embodiment includes a first arm having any one of an irrigation component, a suction component, a cautery component, a biopsy component, a sensor component, or a treatment module and a second arm. In some embodiments, the second arm can also include any one of an irrigation component, a suction component, a cautery component, a biopsy component, a sensor component, or a treatment module.
- Yet another embodiment disclosed herein relates to a modular medical device or system having a first modular component, a second modular component, and a third modular component. In one embodiment, the three modular components are pivotally connected to each other in a triangular configuration. In this embodiment, the first and third components can be coupled together at a releasable mating connection. According to one embodiment, each of the modular components has an inner body and an outer body, wherein the inner body is rotatable in relation to the outer body. In addition, each modular component has an operational component associated with the inner body. In accordance with another implementation, each of the inner and outer bodies comprise an opening, and each of the inner bodies is rotatable to position the inner and outer openings in communication, whereby the operational components are accessible. In a further alternative, each pivotal connection of the device or system has a mechanism configured to urge the mating or coupling connections at the ends of the first and third components into contact. Alternatively, the device has four modular components that are pivotally connected to each other in a quadrangular configuration. In further alternatives, additional modular components can be pivotally connected to each other.
- While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the invention. As will be realized, the invention is capable of modifications in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive.
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FIG. 1A is a perspective view of a modular medical device, according to one embodiment. -
FIG. 1B is a side view of the modular medical device ofFIG. 1A . -
FIG. 1C is a front view of the modular medical device ofFIG. 1A . -
FIG. 2A depicts a perspective view of a modular component, according to one embodiment. -
FIG. 2B depicts a close-up perspective view of a portion of the modular component ofFIG. 2A . -
FIG. 3 is a perspective view of another modular component, according to another embodiment. -
FIG. 4 is a front cutaway view of another modular component, according to a further embodiment. -
FIG. 5A is a perspective view of a modular medical device control system, according to one embodiment. -
FIG. 5B is a front cutaway view of the system ofFIG. 5A . -
FIG. 6A is a perspective view of a modular medical device control and visualization system, according to one embodiment. -
FIG. 6B is a front cutaway view of the system ofFIG. 6A . -
FIG. 7A is a perspective cutaway view of a modular medical device control and visualization system, according to another embodiment. -
FIG. 7B is a front cutaway view of the system ofFIG. 7A . -
FIG. 8A is a perspective view of a modular medical device, according to another embodiment. -
FIG. 8B is another perspective view of the device ofFIG. 8A . -
FIG. 9 is a perspective view of another modular medical device, according to a further embodiment. -
FIG. 10 is a perspective view of a further modular medical device, according to another embodiment. -
FIG. 11 is a perspective view of another modular medical device, according to one embodiment. -
FIG. 12A is a perspective view of another modular medical device, according to a further embodiment. -
FIG. 12B is a close-up perspective view of a part of the device ofFIG. 12A . -
FIG. 12C is another perspective view of the device ofFIG. 12A . -
FIG. 13 is a perspective view of a further modular medical device, according to another embodiment. -
FIG. 14 is a perspective view of the disassembled components of another modular medical device, according to one embodiment. -
FIG. 15 is a perspective view of the disassembled components of a further modular medical device, according to another embodiment. -
FIG. 16 is a perspective view of the disassembled components of a further modular medical device, according to another embodiment. -
FIG. 17 is a perspective view of an assembled modular medical device, according to a further embodiment. -
FIG. 18A is a close-up, schematic view of an operational component according to one embodiment. -
FIG. 18B is a schematic view of a robotic device including the operational component shown inFIG. 18A . -
FIG. 19A is a close-up, schematic view of an operational component according to one embodiment. -
FIG. 19B is a schematic view of a robotic device including the operational component shown inFIG. 19A . -
FIG. 20A is a close-up, schematic view of an operational component according to one embodiment. -
FIG. 20B is a schematic view of a robotic device including the operational component shown inFIG. 20A . -
FIG. 20C is a close-up schematic view of an operational component according to an embodiment. -
FIGS. 21A-21C are close-up, schematic views of an operational component according to various embodiments. -
FIG. 22 is a close-up, schematic view of an operational component according to an embodiment. -
FIG. 23 is a close-up, schematic view of an operational component according to one embodiment. -
FIG. 24 is a close-up, schematic view of an operational component according to one embodiment. -
FIG. 25 is a close-up, schematic view of an operational component according to one embodiment. -
FIG. 26A is a front view of a modular medical device with a payload space, according to one embodiment. -
FIG. 26B is another front view of the device ofFIG. 26A . -
FIG. 27A is a perspective view of a modular medical device, according to another embodiment. -
FIG. 27B is a perspective bottom view of the device ofFIG. 27A . -
FIG. 28A is a perspective top view of the device ofFIG. 27A . -
FIG. 28B is a perspective side view of the device ofFIG. 27A . -
FIG. 28C is a perspective close-up view of a portion of the device ofFIG. 27A . -
FIG. 29 is a perspective bottom view of the device ofFIG. 27A . -
FIG. 30 is a perspective side view of the device ofFIG. 27A . -
FIG. 31 is a top view of the device ofFIG. 27A . -
FIG. 32 is a perspective view of modular medical device control and visualization system, according to one embodiment. -
FIG. 33 is a perspective view of a modular medical device, according to one embodiment. -
FIG. 34 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to one embodiment. -
FIG. 35 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to another embodiment. -
FIG. 36 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to a further embodiment. - The various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, various embodiments relate to various modular or combination medical devices, including modular in vivo and robotic devices and related methods and systems, while other embodiments relate to various cooperative medical devices, including cooperative in vivo and robotic devices and related methods and systems.
- It is understood that the various embodiments of modular and cooperative devices and related methods and systems disclosed herein can be incorporated into or used with any other known medical devices, systems, and methods.
- For example, the various embodiments disclosed herein can be incorporated into or used with any of the medical devices and systems disclosed in copending U.S. application Ser. No. 11/932,441 (filed on Oct. 31, 2007, and entitled “Robot for Surgical Applications”), Ser. No. 11/695,944 (filed on Apr. 3, 2007, and entitled “Robot for Surgical Applications”), Ser. No. 11/947,097 (filed on Nov. 27, 2007, and entitled “Robotic Devices with Agent Delivery Components and Related Methods), Ser. No. 11/932,516 (filed on Oct. 31, 2007, and entitled “Robot for Surgical Applications”), Ser. No. 11/766,683 (filed on Jun. 21, 2007, and entitled “Magnetically Coupleable Robotic Devices and Related Methods”), Ser. No. 11/766,720 (filed on Jun. 21, 2007, and entitled “Magnetically Coupleable Surgical Robotic Devices and Related Methods”), Ser. No. 11/966,741 (filed on Dec. 28, 2007, and entitled “Methods, Systems, and Devices for Surgical Visualization and Device Manipulation”), Ser. No. 12/171,413 (filed on Jul. 11, 2008, and entitled “Methods and Systems of Actuation in Robotic Devices”), 60/956,032 (filed on Aug.15, 2007), 60/983,445 (filed on Oct. 29, 2007), 60/990,062 (filed on Nov. 26, 2007), 60/990,076 (filed on Nov. 26, 2007), 60/990,086 (filed on Nov. 26, 2007), 60/990,106 (filed on Nov. 26, 2007), 60/990,470 (filed on Nov. 27, 2007), 61/025,346 (filed on Feb. 1, 2008), 61/030,588 (filed on Feb. 22, 2008), and 61/030,617 (filed on Feb. 22, 2008), all of which are hereby incorporated herein by reference in their entireties.
- Certain device implementations disclosed in the applications listed above can be positioned within a body cavity of a patient, including certain devices that can be positioned against or substantially adjacent to an interior cavity wall, and related systems. An “in vivo device” as used herein means any device that can be positioned, operated, or controlled at least in part by a user while being positioned within a body cavity of a patient, including any device that is positioned substantially against or adjacent to a wall of a body cavity of a patient, further including any such device that is internally actuated (having no external source of motive force), and additionally including any device that may be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms “robot,” and “robotic device” shall refer to any device that can perform a task either automatically or in response to a command.
- Certain implementations disclosed herein relate to modular medical devices that can be assembled in a variety of configurations.
-
FIGS. 1A-1C depict an exemplary “combination” or “modular”medical device 10, according to one embodiment. For purposes of this application, both “combination device” and “modular device” shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations. Thecombination device 10 shown inFIGS. 1A-1C has threemodular components device 10 has two robotic armmodular components modular component 16 disposed between the other twocomponents modular component 16 contains an imaging component (not shown) and one or more lighting components (not shown), while each of the othermodular components arm modular component 16 is a modular imaging andlighting component 16 while the twomodular components modular arm components components camera component 16 is disposed between the twomodular arm components components - In accordance with one embodiment, the strategic positioning of various operational components in the
combination device 10 inFIGS. 1A-1C results in an optimization of the volume in each of theindividual components modular components modular components arm combination device 10 to perform additional procedures that require greater force. - In comparison to the space optimization advantage of the
combination device 10, a non-combination device must have all the necessary components such as imaging and illumination components in the device body along with the actuators, thereby reducing the space available and requiring that the actuators and other components be small enough such that they all fit in the device together. - According to one alternative embodiment, the additional space available in the
combination device 10 created by the space optimization described above could be used to provide for more sophisticated components such as more complex camera focusing mechanisms or mechanisms to provide zoom capabilities. In a further alternative, the various components could be distributed across themodular components combination device 10 in any fashion. For example, the illumination and imaging components could be both positioned in eithermodular component modular components components - Another advantage of the combination devices such as that shown in
FIGS. 1A-1C , according to one implementation, is the capacity to increase the number of a particular type of component in the device. For example, one embodiment of a combination device similar to thedevice 10 inFIGS. 1A-1C could have lighting components on more than one of themodular components - In accordance with a further embodiment, another possible advantage of the various combination device embodiments disclosed herein relates to the fact that the various separable modular components (instead of one larger device) simplifies insertion because each component separately is shorter and less complex. Thus, each component individually has a smaller cross-section and can be inserted into a body cavity through a smaller incision, port, or any other known delivery device than the larger, non-combination device.
- It is understood that, according to various embodiments, a combination device such as the
device 10 depicted inFIGS. 1A-1C could have additional modular components coupled thereto. Thus, the device could have additional arms or other modular components such as, for example, one or more of a sensing modular component, an illumination modular component, and/or a suction/irrigation modular component. - In use, modular components (such as, for example,
components FIGS. 1A, 1B, and 1C ) are each separately inserted into the target cavity of a patient. Typically, each of the components are inserted through a laparoscopic port, an incision, or a natural orifice. Alternatively, the components are inserted by any known method, procedure, or device. Once each of the desired components (which could range from one to several components) is positioned in the target cavity, the components can be assembled into a combination device such as, for example, thecombination device 10 depicted inFIGS. 1A-1C , by coupling the components together in a desired configuration. After the procedure has been performed, the components of the combination device can be decoupled and each separately removed. Alternatively, once a portion of a procedure is performed, one or more of the components can be decoupled and removed from the cavity and one or more additional components can be inserted into the cavity and coupled to the combination device for one or more additional procedures for which the component replacement was necessary. - The various modular component embodiments disclosed herein can be coupled to create a combination device in a variety of ways. To configure the
combination device 10 as shown inFIG. 1A , the exemplarymodular components FIGS. 2A, 2B, and 3 . - In
FIGS. 2A and 2B , themodular component 16 provides one example of an attachment mechanism for coupling modular components together. That is, thedevice 16 has four mating orcoupling components FIG. 2A , there are two coupling components 34, 35 at each end of the device 30, with twocomponents 34A, 34B at one end and two more at the other end (depicted as 35A and another such component on the opposite side of thecomponent 16 that is not visible in the figure). Alternatively, themodular component 16 can have one coupling component, two coupling components, or more than two coupling components. - To better understand the coupling components of this embodiment,
FIG. 2B provides an enlarged view of one end of thedevice 16, depicting themale coupling component 34A and female coupling component 34B. Themale component 34A in this embodiment is configured to be coupleable with a corresponding female component on any corresponding modular component, while the female component 34B is configured to be coupleable with a corresponding male component on any corresponding modular component. - It is understood that the mechanical male/female coupling components discussed above are merely exemplary coupling mechanisms. Alternatively, the components can be any known mechanical coupling components. In a further alternative, the coupling components can also be magnets that can magnetically couple with other magnetic coupling components in other modular components. In a further embodiment, the coupling components can be a combination of magnets to help with initial positioning and mechanical coupling components to more permanently couple the two modules.
- Returning to the embodiment depicted in
FIG. 1A , twomodular components arm 24, 26 (respectively), are coupled to themodular component 16.FIG. 3 depictscomponent 12, but it is understood that the following discussion relating tomodular component 12 applies equally tocomponent 14.Modular component 12 as shown inFIG. 3 has male/female coupling components component 16 as discussed above. Alternatively, as discussed above, any known coupling components can be incorporated into thiscomponent 12 for coupling with other modular components. - According to one implementation, the
arm 24 in the embodiment ofFIG. 3 provides the four degrees of freedom (“DOF”). These four degrees of freedom include three rotations and one extension. Two rotations occur about the joint 42. The third rotation occurs along the axis of thearm 24. The extension also occurs along the axis of thearm 24. Alternatively, any known arm implementation for use in a medical device can be used. -
FIG. 4 depicts an alternative exemplary embodiment ofmodular component 12. In this implementation, theactuator components component 12. That is, twoactuators 54A, 54B are provided in the body of thedevice 12, while twoadditional actuators 56A, 56B are provided in thearm 24. According to one embodiment, actuators 54A, 54B are configured to actuate movement of thearm 24 at theshoulder joint 58, while actuators 56A, 56B are configured to actuate movement at thearm 24. Alternatively, it is understood that any configuration of one or more actuators can be incorporated into a modular component to actuate one or more portions of the component or device. - In accordance with further implementations, it is understood that the various modular components discussed herein can contain any known operational components contained in any non-modular medical device. For example, the
modular component 16 has acamera 32 and further can have all of the associated components and/or features of the modular components or medical devices discussed above, including the medical devices and components disclosed in the applications incorporated above. - In the depicted embodiment, the
modular component 16 has a connection component or “cable” 22 that can be connected at the other end of thecable 22 to a controller (not shown). Similarly, each ofmodular components combination device 10 could have a single cable connected to one of the modular components. In such implementations, the coupling components also provide for communication connections among the modular components such that power, control signals or commands, video, and any other form of communication can be transported or communicated among the modular components. - In use, the various modular components and combination devices disclosed herein can be utilized with any known medical device control and/or visualization systems, including those systems disclosed in the applications incorporated above. These modular components and combination devices can be utilized and operated in a fashion similar to any medical devices disclosed in those applications. For example, as shown in
FIGS. 5A and 5B , a combination device ormodular component 60 can be utilized with an externalmagnetic controller 62. In this embodiment, thedevice 60 has magnetic components (not shown) that allow thedevice 60 to be in magnetic communication with theexternal controller 62. It is understood that thedevice 60 can operate in conjunction with theexternal controller 62 in the same fashion described in the applications incorporated above. - In an alternative use, any of the individual modular components can operate as an independent device as well. That is, it is understood that any individual component can be inserted into a body cavity and operated without coupling it to any other modular components. As such, each modular component can also be considered a separate device.
- In another similar example as depicted in
FIGS. 6A and 6B , a combination device ormodular component 70 can be utilized with an external controller andvisualization component 72. In this embodiment, thedevice 70 has magnetic components (not shown) that allow thedevice 70 to be in magnetic communication with theexternal controller 72 and further hasarms controller 72. It is understood that thedevice 70 can operate in conjunction with theexternal component 72 in the same fashion described in the applications incorporated above. - According to one implementation, a modular device can be used for a variety of surgical procedures and tasks including, but not limited to, tissue biopsy and tissue retraction. For example, as shown in
FIGS. 7A and 7B in accordance with one embodiment, adevice 80 having agrasper 82 can be used to retract thegall bladder 84 during a cholecystectomy procedure. - In accordance with one alternative, any of the modular components disclosed herein can be assembled into the combination device prior to insertion into the patient's cavity. One exemplary embodiment of such a combination device is set forth in
FIGS. 8A and 8B , which depict acombination device 120 havingmodular components rotational joints FIG. 8B ). Thisdevice 120 as shown can fold together or otherwise be configured after insertion as shown inFIG. 8A . One advantage of this embodiment, in which themodular components 122A-122E are coupled to each other, is that in vivo assembly of thecombination device 120 is simplified. - In a further alternative embodiment as best shown in
FIG. 9 , any of the modular components disclosed or contemplated herein are inserted separately into the target cavity and subsequently assembled with the modular components being connected end-to-end (in contrast to a side-by-side configuration similar to that depicted inFIGS. 1A-1C ). More specifically, thecombination device 130 inFIG. 9 has threemodular components modular component 132, while the other two are robotic armmodular components components like combination device 130 as shown. - In yet another implementation,
FIG. 10 depicts anothercombination device 140 having a generally triangular configuration. That is, thedevice 140 has three armmodular components component arm FIG. 10 . Alternatively, the three-armed robot could be assembled by linking three modular bodies end-to-end and coupling an arm component to each linkage of the modular bodies. - Alternatively, additional modular components could be added to a tripod-like combination device such as the devices of
FIGS. 9 and 10 . For example, one or more additional modular components could be positioned adjacent and parallel to one or more of the three previously-coupled modular components such that one or more sides of the three sides have a “stacked” configuration with at least two modular components stacked next to each other. - As mentioned above, according to one embodiment, a particularly useful aspect of using modular medical devices during medical procedures, including modular robotic and/or in vivo devices as described herein, is the ability to insert multiple modular components, such as any of the modular components described or contemplated herein, into a patient's body and subsequently assemble these into a more complex combination device in vivo. In one implementation, more than one modular component is inserted or positioned in the patient's body (through a natural orifice or more conventional methods) and then the components are either surgically assembled or self-assembled once inside the patient's body, in a location such as the peritoneal cavity, for example.
- Surgical (or procedural) assembly can involve the surgeon attaching the modular components by using standard laparoscopic or endoscopic tools, or could involve the surgeon using specifically developed tools for this purpose. Alternatively, surgical assembly could instead or further include the surgeon controlling a robotic device disposed within the patient's body or exterior to the body to assemble the modular components. Self assembly, on the other hand, can involve the modular components identifying each other and autonomously assembling themselves. For example, in one embodiment of self assembly, the modular components have infrared transmitters and receivers that allow each component to locate attachment points on other components. In another example, each modular component has a system that utilizes imaging to identify patterns on other modular components to locate attachment points on those other components. In a further alternative, assembly could also include both surgical and self-assembly capabilities.
- After the surgical procedure is completed, the components are disassembled and retracted. Alternatively, the robotic device or system can be configurable or reconfigurable in vivo to provide different surgical features during different portions of the procedure. That is, for example, the components of the device or devices can be coupled together in one configuration for one procedure and then disassembled and re-coupled in another configuration for another procedure.
- One further exemplary embodiment of a suite of modular components is set forth in
FIGS. 11-17 . It is understood that such a suite of components can be made available to a surgeon or user, and the surgeon or user can utilize those components she or he desires or needs to create the combination device desired to perform a particular procedure. In one embodiment, since the devices and components are modular, the user (or team) can assemble the procedure-specific robotic device or devices in vivo at the onset of the procedure. - The modular components can include any known procedural or operational component, including any component discussed elsewhere herein (such as those depicted in
FIGS. 1A-4 , and/or 8A-10) or any component disclosed in the applications incorporated above that can be used as modular component. For example, the various modular components depicted inFIGS. 11-17 include a variety of different operational components or other types of components, as will be described in further detail below. - More specifically,
FIGS. 11-13 depict various modular combination device embodiments having a body that is coupled to at least one arm component and a lockable tube. For example,FIG. 11 shows acombination device 150 having abody 152 coupled to threeoperational arm components 154A, 154B, 154C, and alockable tube 156. In one aspect, thebody 152 can also have at least one magnet 158 (or two magnets as depicted in the figure) that can be used to position the device within the patient's cavity. That is, according to one implementation similar to those described above in relation to other devices, the magnet(s) 158 can be magnetically coupled to an external magnet controller or visualization component to position thedevice 150. - The
lockable tube 156 can be a reversibly lockable tube as disclosed in U.S. application Ser. No. 12/171,413, filed on Jul. 11, 2008, which is incorporated by reference above. Thetube 156 anddevice 150 can be operated in any fashion as described in that application. Alternatively, thetube 156 can be a flexible tube that can be stabilized or held in place using a series of magnets adjacent to or near the flexible tube or a series of needles inserted through the external wall of the patient's body. For example, magnets can be positioned in one or more of the modular components of the flexible tube. In use, one or more magnets are positioned externally with respect to the target cavity in such a fashion as to position the tube and/or robotic device into the desired location. - In use, as also described in the above-incorporated application, a reversibly lockable tube and robotic device (such as, for example, the
tube 156 anddevice 150 depicted inFIG. 11 ) can be used together to accomplish various tasks. That is, the tube can be operably coupled to the device (as shown inFIG. 11 , for example) and contain any required connection components such as connections for hydraulic, pneumatic, drive train, electrical, fiber optic, suction, or irrigation systems, or any other systems or connections that require physical linkages between the device positioned in the patient's body and some external component or device. In one embodiment, the robotic device is first positioned at the desired location in the patient's body and then the tube is inserted and connected to the device. Alternatively, the robotic device can be coupled to the tube prior to insertion, and then both the device and the tube are inserted into the patient's body and the device is then positioned at the desired location. -
FIGS. 12A-12C depict another embodiment of a combination device coupled to a lockable tube. More specifically,FIGS. 12A, 12B, and 12C depict a combination device 160 having abody 162 coupled to oneoperational arm component 164 and alockable tube 166. As with the device inFIG. 11 , thebody 162 has twomagnets 168 that can be used in conjunction with an external magnet controller to position the device 160 andtube 166 as desired by the user. Alternatively, thebody 162 can have one magnet or more than two magnets. In addition, according to one embodiment as best shown inFIG. 12A , the device 160 and thetube 166 can be initially unattached. Prior to use, thebody 162 andtube 166 can be coupled as best shown inFIG. 12B . In one embodiment, thebody 162 andtube 166 can be coupled prior to insertion or alternatively can be coupled after the device 160 andtube 166 have been positioned in the desired location in the patient's body. -
FIG. 13 shows another embodiment of anothercombination device 170 similar to those depicted inFIGS. 11-12C except that thebody 172 is coupled to thetube 174 at a location along thebody 172 rather than at an end of thebody 172. It is further understood that a tube as disclosed herein can be coupled to any of these combination devices at any point along the body or any of the modular components. - Another example of a combination device that is made up of a suite of modular components is set forth in
FIG. 14 . Thecombination device 180 has an imaging modular component 182 (also referred to as a “module”), two cautery arms ormodules 184A, 184B, and two grasper arms ormodules imaging module 182 in this embodiment is thebody 182 of thedevice 180, but could also be an arm in another implementation. It is further understood that the various modules 184, 186 coupled to thedevice 180 could be configured in any configuration. - An alternative combination device embodiment utilizing various modules from a suite of modular components is depicted in
FIG. 15 . Thisdevice 190 has animaging module 192, acautery module 194, agrasper module 196, and alighting module 198. Similarly,FIG. 16 depicts yet anotheralternative combination device 200 having animaging module 202, alighting module 204, acautery module 206, and twograsper modules 208. -
FIG. 17 depicts a further alternative implementation of a fully assembledcombination device 210 having abody 212, twocautery modules grasper modules 216A, 216B. As shown in the figure, each of the modules is coupled to the body via ahinge coupling 218A, 218B, 218C, 218D. Alternatively, the coupling can be any known coupling, including, for example, a pivotal coupling. In a further alternative, the non-arm modules can be substantially or removably fixed to the body component, such as thelighting module 204 depicted inFIG. 16 . - It is understood that any number of additional exemplary modular components could be included in the suite of modular components available for use with these devices. For example, various additional exemplary modules include, but are not limited to, an imaging module, a sensor module (including a pH, humidity, temperature, and/or pressure sensor), a stapler module, a UV light module, an X-ray module, a biopsy module, or a tissue collection module. It is understood that “module” is intended to encompass any modular component, including an arm or a body as discussed above.
- Various modules including a variety of exemplary operational components will now be described. An operational component, as described herein, is generally associated with a robotic device, and may have one or more subcomponents or functionalities. An operational component may also be referred to as an “end effector.” It is generally understood that any one of the exemplary operational components and modules described below can be included in a suite of modular components used to form the robotic devices as described herein according to the various embodiments. In a further embodiment, any of the operational components described herein can be used in conjunction with any non-modular versions of these devices or systems. Additionally, the exemplary operational components and modules can be used with other surgical robotic devices as are known to those of skill in the art.
-
FIGS. 18A and 18B depict arobotic device 300 according to one embodiment. As shown inFIGS. 18A and 18B thedevice 300 has twoarms first link arm operational components distal end arm operational components operational components operational components - In some embodiments, the
robotic device 300 can also include abody 324 that is a viewing module having appropriate lighting and/or a camera to assist in viewing the procedure. As shown inFIGS. 18A and 18B , thebody 324 is disposed between and is coupled to the twoarms -
FIG. 19A is a close-up schematic view of anoperational component 330 according to one embodiment. As shown inFIGS. 19A and 19B , theoperational component 330 is a grasper (also referred to herein as “forceps”) operably coupled to adistal end 332 of anarm 334 of an exemplaryrobotic device 340. According to one implementation, theforceps 330 are commercially-available forceps 330, such as the forceps available from U.S. Surgical, a subsidiary of Covidien, located in North Haven, Conn. - As shown best in
FIG. 19A , thegrasper 330 includes afirst arm 336 and asecond arm 338. In this embodiment, thefirst arm 336 includes anirrigation component 342 coupled to thearm 336 including anozzle 344 and providing for irrigation with a liquid by ejecting the liquid from thenozzle 344. In addition, thesecond arm 338 includes asuction component 346. - In one implementation, the
irrigation component 342 andsuction component 346 are both thin-walled conduits made of a polymer. For eachcomponent conduit grasper 330 can include any appropriate fasteners or adhesives. According to one embodiment, thenozzle 344 can be a commercially available nozzle, or alternatively can be a specifically designed nozzle that directs the fluid flow as needed. - In accordance with a further alternative embodiment, each of the
suction 346 andirrigation 342 components are manufactured as part of thegrasper arms suction component 346 is an integral component of and/or is manufactured as a part of thegrasper arm 338, while theirrigation component 342 is an integral component of and/or is manufactured as a part of thegrasper arm 336. For example, according to one implementation, the conduits could be formed in the structure of thegrasper arms arms grasper arms arms arms grasper arm arms -
FIG. 19B provides a complete view of therobotic device 340 to which theoperational component 300 is coupled. As shown inFIG. 19B , theirrigation component 342 has an irrigation connection component 352 (also referred to as an “irrigation line” or “irrigation tube”) that is connected at one end to thecomponent 342 and at the other end to aliquid source 354. According to one embodiment, theirrigation connection component 352 is a thin-walled conduit made of a polymer. In embodiments in which theirrigation component 342 is a part of thegrasper arm 336, the polymer conduit of theconnection component 352 connects or couples to theirrigation component 342 at aproximal end 356 of thegrasper arm 26. - In some embodiments, as shown in
FIG. 19B , theliquid source 354 is an externalliquid source 354 and is disposed at a location or position that is external to therobotic device 340. A pump (not shown) is also provided to power theirrigation component 342. In one embodiment, the pump can be a commercially-available surgical irrigation pump such as those available from Nellcor (a subsidiary of Covidien) or KMC Systems which is located in Merrimack, N.H. The pump, and thus theirrigation component 342, can be controlled by a controller (not shown) or microprocessor, which can be associated with or coupled to the pump. The controller or microprocessor may be associated with or connected to the pump via a wired or wireless connection. - In other embodiments, the
liquid source 354 can be associated with, incorporated into, or disposed within therobotic device 340. In one embodiment, a pump can be operatively coupled to theliquid source 354. The pump can be a mechanical bellow, a mechanical pump, or any known pump suitable for use with an irrigation system such as any of the irrigation embodiments disclosed herein. In still other embodiments, theliquid source 354 is a pressurized reservoir that does not require an auxiliary pump. - According to a further embodiment, the
irrigation component 354 can be used to deliver a drug or combination of drugs to the procedure site or other site within a patient's body as designated by the clinician. The drugs or any other type of treatment composition can be provided in fluid or gel form or any other form that can be injected via a delivery device. In one embodiment, these drugs could include chemotherapy drugs. - As also shown in
FIG. 19B , thesuction component 346 has asuction connection component 362 connected to thecomponent 346 and further connected to asuction source 364. According to one embodiment, thesuction connection component 362 is a thin-walled conduit made of a polymer. In embodiments in which thesuction component 346 is a part of thegrasper arm 338, the polymer conduit of theconnection component 362 connects or couples to thesuction component 346 at aproximal end 366 of the grasper arm 28. - In one embodiment, as shown in
FIG. 19B , thesuction source 364 is anexternal suction source 364 and is disposed at a location or position that is external to therobotic device 340. A pump (not shown) is also provided to power thesuction source 364. According to one embodiment, the pump is a commercially-available aspiration suction unit such as the devices available from Paragon Medical, located in Pierceton, Ind. The pump, and thus thesuction component 346, can be controlled by a controller or microprocessor (not shown), which can be associated with or coupled to the pump by a wired or a wireless connection. In other embodiments, thesuction source 64 can be associated with, incorporated into, or disposed within therobotic device 340. In one embodiment, a pump is coupled to the suction source. The pump can be a mechanical bellow, a mechanical pump, or any known pump for use with a suction system such as any of the suction embodiments disclosed herein. In still other embodiments, the suction source is a vacuumed reservoir that does not require an additional pump. -
FIGS. 20A and 20B depict another embodiment of agrasper 400 of arobotic device 410 in which thefirst arm 412 includes acautery component 414 coupled with or integrated into thefirst arm 412. According to one embodiment, thecautery component 414 is awire 414 coupled to thefirst arm 412. Thecautery component 414 can be anywire 414 having a large electrical resistance such that it is heated by passing an electrical current through thewire 414. In one embodiment, thecautery wire 414 is composed of a metal alloy that provides a very high electrical resistance. One example of the composition of thewire 414 is commercially-available 80/20 Nickel-Chrome alloy (80% Nickel, and 20% Chrome). - According to some embodiments, as shown in
FIG. 20A , thesecond arm 416 of thegrasper 400 can also include acautery component 418. In some embodiments, only one of the twoarms - In one implementation, the
cautery wire 414 and/or 418 is secured to thegrasper arm 412 and/or 416 using high-temperature adhesives or mechanical fasteners. In another embodiment, thearms grasper 400 are metal injection molded and thecautery wire 414 and/or 416 is molded into the arm 52. In one embodiment, thecautery component 414 and/or 416 can be attached to the inside of thearm 412 and/or 416, or along the side or bottom of thegrasper arm 412 and/or 416, depending on the specific application. In a further embodiment, thecautery component 414 and/or 416 can be attached to adistal tip 420 and/or 422 of thearm 412 and/or 414. - An insulation component (not shown) is provided in certain embodiments between the
cautery component 414 and thefirst arm 412, thereby electrically isolating thecautery component 414 from thefirst arm 412 and preventing thearm 412 from acting as a heat sink or otherwise reducing the effectiveness of thecautery component 414. A similar configuration can also be provided for thecautery component 418 on thesecond arm 416 when such acautery component 418 is provided. -
FIG. 20B provides a complete view of therobotic device 410 to which theoperational component 400 is coupled. As shown inFIG. 20B , thecautery component 414 is coupled to anexternal power source 424 via anelectrical connection 426 that runs through therobotic device 410. In this embodiment, while thecautery component 414 can be ahigh resistance wire 414, theelectrical connection 426 connecting thecomponent 400 to thepower source 424 is not a high resistance wire. Theexternal power source 424 can be any power source that is positioned at a location external to therobotic device 410. In one exemplary embodiment, thepower source 424 is a battery. Alternatively, thepower source 424 can be associated with, incorporated into, or disposed within therobotic device 410. - According to some embodiments, a controller or microprocessor (not shown), is provided for control of the
cautery component 414. In one embodiment, the controller can be a switch that is positioned on theexternal power source 424. In other embodiments, the controller can be a separate component that is coupled to thepower source 424 via a wired or a wireless connection. In implementations in which thepower source 424 is an internal power source, the controller is provided as a separate component. - In some embodiments, there is no need for actuating the
cautery component 414 with a switch or other type of separate cautery controller. For example, thecautery component 414 depicted inFIG. 20C is actuated when thegrasper arms grasper arms cautery component 414 is actuated. According to one embodiment, this functionality is accomplished with asensor 430. Thesensor 430 senses the positioning of thearms arms sensor 430 is positioned in therobotic arm 432 and operatively coupled to thegrasper arms grasper arms - In one embodiment, the
sensor 430 is a commercially-available infrared sensor. For example, thesensor 430 could be a sensor such as the sensors manufactured by Fairchild Semiconductor, located in South Portland, Me. Alternatively, thesensor 430 is a commercially-available rotational or translational variable resistance potentiometer. - According to another implementation, the multifunctional operational component can be a biopsy component. For example,
FIGS. 21A, 21B, and 21C depict agrasper 450 including afirst arm 452 and asecond arm 454. Thefirst arm 452 includes abiopsy component 456. In other embodiments, both grasperarms arms - In one implementation, the biopsy component includes a
reservoir 458 and acutting tool 460. The cutting tool can be a knife blade, a rotary cutter, or other cutting instrument. In the implementation depicted inFIGS. 21A and 21B , theknife 460 is slidable between a closed and an open position. In the closed position, thecutting tool 460 is positioned to cover thereservoir 458 and thereby act as a lid or cover for thereservoir 458. In the open position, thecutting tool 460 is positioned adjacent to thereservoir 458 with thecutting edge 462 adjacent to thereservoir 458. - In use, according to one embodiment, the
cutting tool 460 can be used to obtain a biopsy sample in the following manner. Thecutting tool 460 is positioned or urged into the open position (position A as shown inFIG. 21A ). In this position, thereservoir 458 is exposed or open. Thearms cutting tool 460 can then be urged or otherwise moved toward the closed position B. As thecutting tool 460 moves toward the closed position B, thecutting edge 462 contacts the specimen of interest and cuts the specimen. Then, as thecutting tool 460 reaches the closed position B (shown inFIG. 21B ), the cut portion of the specimen is positioned in thereservoir 458 and thecutting tool 460 is positioned in the closed position B, thereby closing the opening of thereservoir 458 and retaining the cut specimen in thereservoir 458. - In another embodiment, the
cutting tool 460 and the reservoir cover or lid are separate components in which thecutting tool 460 is used to cut the specimen and the cover or lid is used to cover or close the reservoir 448. - According to the embodiments depicted in
FIGS. 21A and 21B , the cutting tool 90 travels between position A and position B along a track (not shown) that is formed into or associated with thegrasper arm 452. In another embodiment, thecutting tool 460 can operate by rotating in a plane parallel with the grasper face as shown inFIG. 21C . - According to some embodiments, the
biopsy component 456 can include a cutting tool actuation component (not shown). The cutting tool actuation component can be a pre-loaded spring or series of pre-loaded springs that move between a coiled or tensioned position and an uncoiled or released position to actuate the cutting tool to slide shut over the reservoir. For example, in one embodiment, the pre-loaded spring is operably coupled to a switch (not shown) positioned either in thegrasper 450 or the robotic arm to which thegrasper 450 is coupled. The switch releases the spring from its coiled or tensioned position. Thus, actuating the switch releases the spring and urges thecutting tool 460 to slide shut over the reservoir. This switch can be an SMA (shape memory alloy) or solenoid coil. Actuation of the switch allows the pre-loaded springs to push against thecutting tool 460, thereby urging thecutting tool 460 to move between the open and closed positions. - In another embodiment, the pre-loaded spring or springs could be mechanically triggered when the grasper arms are sufficiently closed. Alternatively, the cutting tool actuation component could be coupled to the
grasper 450. In this embodiment, when thebiopsy component 450 is engaged, the cutting tool is actuated as thegrasper arms cutting tool 460 could be actuated by a small onboard motor and lead screw. -
FIG. 22 depicts yet another embodiment of agrasper 470 in which thefirst arm 472 is equipped with at least one sensor 474. Thesensor 474A is positioned on the back side 476 (away from the other grasper arm 478) of thegrasper arm 472. A second sensor 474B is positioned on the front side 480 (toward the other arm) of thegrasper arm 472. The first andsecond sensors 474A and 474B can be the same or different type of sensor. In a further embodiment, a single sensor can be provided and positioned on either side of thearm 472. In yet another embodiment, anothersensor 475 can be positioned on or otherwise coupled to therobotic arm 484. - In one embodiment, each
sensor 474A, 474B comprises an electronics package that includes a commercially-available sensor solid state chip (pH, humidity, pressure, temperature, etc.) and supporting capacitors and resistors. This electronics package is electrically connected to the main circuit board (not shown) in the robotic device base and the sensor readings are transmitted to an external display either in a wireless or wired fashion. This package can be placed in therobot arm 484 or in thegrasper 470 so that eachsensor 474A, 474B is exposed to the environment around the robotic device. -
FIG. 23 is a close-up schematic view of anoperational component 490 according to yet another embodiment. Theoperational component 490 is asensor 490 and is coupled to adistal end 492 of anarm 494 of a robotic device (not shown). Thesensor 490 can be any sensor capable of detecting a physiological parameter within a patient's body including, but not limited to pH, humidity, pressure, or temperature. In some embodiments, thesensor 490 is capable of detecting all or some combination of those parameters. - The sensor can be configured in any known fashion using known components. The supporting electronics can include resistors, capacitors, and oscillators that are used to drive the sensors. Output from these sensors will be a data stream transmitted to the external console either wirelessly, or through the tether cable connected to the robot. In these embodiments, the power can be supplied by a battery. In another embodiment, the power and non-essential supporting electronics can be provided in a location external to the patient so that only the sensor is onboard. According to one embodiment, power requirements for the various sensors can be met with power supplied from a standard wall outlet. Such power can be down-regulated through power regulators in the console that connect with the robotic device.
- In yet another embodiment, the
sensor 490 can be an ultrasound transducer including a transmitter and receiver, or an infrared transducer including a transmitter and receiver. Theultrasound transducer 490 can be a commercially-available system that is routinely used at the tip of an endoscope, which is commonly referred to as Endoscopic Ultrasound (“EUS”). In the standard technologies, placing the transducer on the tip of an endoscope allows the transducer to get close to the organs inside the body. Because of the proximity of the EUS transducer to the organ(s) of interest, the images obtained are frequently more accurate and more detailed than the ones obtained by traditional ultrasounds. Attaching theultrasound transducer 490 to thedistal end 492 of therobotic arm 494 of one embodiment of the various devices disclosed herein allows even greater access to the organ of interest. In some embodiments, the supporting electronics can be positioned inside therobotic arm 494 or elsewhere in the robotic device. In other embodiments, the supporting sensor electrics may be located external to the patient, while only theultrasonic transducer 490 is provided onboard the robotic device. -
FIG. 24 depicts another embodiment of agrasper 500 including at least afirst arm 502 equipped with at least onetreatment module 504. Thetreatment module 504 can be provided either on thefront side 506 or theback side 508 of thegrasper arm 502 or both, as shown. Alternatively, more than onetreatment module 504 can be provided in any configuration. If more than one treatment module is provided, thetreatment modules 504 can have the same or different functions as one another. - In another embodiment depicted in
FIG. 25 , anoperational module 510 that is a treatment module can be coupled directly to adistal end 512 of therobotic device arm 514. According to certain embodiments, thetreatment module 510 can provide, but is not limited to providing, treatment at the site of interest through the use of RF (radio frequency) ablation, microwave ablation, and ultrasonic ablation. In one embodiment, thetreatment module 510 is a commercially-available microware or ultrasonic ablation transducer used commonly in catheter-based systems. - According to one implementation, any one of the robotic devices discussed herein can have a power source and/or a processing unit to operate any embodiment of a treatment module such as the treatment module described above. In one embodiment, the power source and/or processing unit are disposed within, attached to, or otherwise associated with the device. According to one embodiment, the power source is a battery. In another embodiment, the power source and data processing can be positioned in a location external to the robotic device so that only the treatment module, and any essential supporting electronics, is coupled to the robotic device.
- In one embodiment, the mechanical and electrical couplings between the modular robotic sections are universal to help facilitate ease of assembly. That is, the couplings or connections are universal such that the various modules can be easily and quickly attached or removed and replaced with other modules. Connections can include friction fits, magnets, screws, locking mechanisms and sliding fitting. Alternatively, the connections can be any known connections for use in medical devices. In use, the couplings can be established by the surgeon or user according to one implementation. Alternatively, the couplings can be semi-automated such that the components are semi-self-assembling to improve timeliness.
- Modular components need not be arms or other types of components having operational components or end effectors. According to various alternative embodiments, the modular components can be modular mechanical and electrical payload packages that can be used together in various combinations to provide capabilities such as obtaining multiple tissue samples, monitoring physiological parameters, and wireless command, control, and data telemetry. It is understood that the modular payload components can be incorporated into all types of medical devices, including the various medical devices discussed and incorporated herein, such as magnetically controllable devices and/or wheeled devices similar to those disclosed in the applications incorporated above.
-
FIG. 26A shows one embodiment of adevice 520 having apayload area 522 that can accommodate various modular components such as environmental sensors, biopsy actuator systems, and/or camera systems. More specifically, thepayload area 522 is configured to receive any one of several modular components, including such components as the sensor, controller, and biopsy components discussed herein. It is understood that in addition to the specific modular components disclosed herein, the payload areas of the various embodiments could receive any known component to be added to a medical procedural device. - It is further understood that the robotic device having the payload area can be any known robotic device, including any device that is positioned substantially adjacent to or against a patient cavity wall (such as via magnetic forces), and is not limited to the robotic devices described in detail herein. Thus, while the robotic device embodiments depicted in
FIGS. 26A and 26B (discussed below) are mobile devices having wheels, the various modular components described herein could just as readily be positioned or associated with a payload area in any other kind of robotic device or can further be used in other medical devices and applications that don't relate to robotic devices. - Returning to
FIG. 26A , in this embodiment, the device is not tethered and is powered by anonboard battery 524. Commands can be sent to and from the device using an RF transceiver placed on acircuit board 526. Alternatively, thedevice 520 can be tethered and commands and power can be transmitted via the tether. - In the embodiment of
FIG. 26A , thewheels onboard motors 530A and 530B. Alternatively, thewheels -
FIG. 26B shows yet another embodiment of adevice 540 having apayload area 542. In this embodiment, the modular component in thepayload area 542 is a sensor component. It is further understood that, according to various other implementations, more than one modular component can be positioned in thepayload area 542 of thisdevice 540 or any other device having a payload area. For example, thepayload area 542 could include both a biopsy component and a sensor component, or both a biopsy component and a controller component. Alternatively, thepayload area 542 could include any combination of any known functional components for use in procedural devices. - In accordance with one implementation, one component that can be included in the
payload area 542 is a sensor package or component. The sensor package can include any sensor that collects and/or monitors data relating to any characteristic or information of interest. In one example, the sensor package includes a temperature sensor. Alternatively, the package includes an ambient pressure sensor that senses the pressure inside the body cavity where the device is positioned. In a further alternative, the package can include any one or more of a relative humidity sensor, a pH sensor, or any other known type of sensor for use in medical procedures. - The modular components and combination devices disclosed herein also include segmented triangular or quadrangular-shaped combination devices. These devices, which are made up of modular components (also referred to herein as “segments”) that are connected to create the triangular or quadrangular configuration, can provide leverage and/or stability during use while also providing for substantial payload space within the device that can be used for larger components or more operational components. As with the various combination devices disclosed and discussed above, according to one embodiment these triangular or quadrangular devices can be positioned inside the body cavity of a patient in the same fashion as those devices discussed and disclosed above.
-
FIGS. 27A-32 depict a multi-segmentedmedical device 550, in accordance with one implementation. According to one embodiment, thedevice 550 is arobotic device 550 and further can be an invivo device 550. Thisdevice embodiment 550 as shown includes threesegments Segments 552A and 552B are manipulator segments, whilesegment 554 is a command and imaging segment. Alternatively, the three segments can be any combination of segments with any combination of components and capabilities. For example, according to an alternative embodiment, the device could have one manipulator segment, one command and imaging segment, and a sensor segment. In a further alternative, the various segments can be any type of module, including any of those modules described above with respect to other modular components discussed herein. - As best shown in
FIGS. 27A and 27B ,segments 552A, 552B are rotatably coupled with thesegment 554 via joints or hinges 556A, 556B. More specifically,segment 552A is rotatable relative tosegment 554 about joint 556A around an axis as indicated by arrow B inFIG. 27B , while segment 552B is rotatable relative tosegment 554 about joint 556B around an axis as indicated by arrow C inFIG. 27B . - In accordance with one embodiment, the
device 550 has at least two configurations. One configuration is an extended or insertion configuration as shown inFIG. 27A in which the threesegments FIG. 27B in which themanipulator segments 552A, 552B are each coupled to thesegment 554 via thejoints coupleable connection 558 at the ends of thesegments 552A, 552B opposite thejoints - As best shown in
FIG. 28A , each of themanipulator segments 552A, 552B in this particular embodiment has anoperational arm 560, 562 (respectively). Eacharm respective segment 552A, 552B at a joint 564A, 564B (respectively) (as best shown inFIG. 30 ). Further,segment 554 has a pair of imaging components (each also referred to herein as a “camera”) 566A, 566B (as best shown inFIG. 29 ). - In one embodiment, each
arm segment 552A, 552B to move between an undeployed position in which it is disposed within itssegment 552A, 552B as shown inFIG. 27B and a deployed position as shown inFIG. 28A . In one example,arm 560 is rotatable relative tosegment 552A about joint 564A in the direction shown by G inFIG. 30 , whilearm 562 is rotatable relative to segment 552B about joint 564B in the direction shown by H inFIG. 30 . Alternatively, thearms segments 552A, 552B in any known fashion and by any known mechanism. - According to one embodiment as best shown in
FIG. 28A , eacharm proximal portion distal portion operational component distal portion distal portion arm proximal portion proximal portion distal portion 560B ofarm 560 can move back and forth laterally as shown by the letter KinFIG. 30 and further can rotate relative to theproximal portion 560A as indicated by the letter J, whiledistal portion 562B ofarm 562 can move back and forth laterally as shown by the letter L inFIG. 30 and further can rotate relative to theproximal portion 562A as indicated by the letter I. - In accordance with one implementation, the
operational components FIG. 28A are a grasper 560C and acautery hook 562C. It is understood that the operational component(s) used with thedevice 550 or any embodiment herein can be any known operational component for use with a medical device, including any of the operational components discussed above with other medical device embodiments and further including any operational components described in the applications incorporated above. Alternatively, only one of the twoarms - Alternatively, each
arm arms device 550 has only one arm. In a further alternative, thedevice 550 has no arms. In such alternative implementations, the segment(s) not having an arm can have other components associated with or coupled with the segment(s) such as sensors or other types of components that do not require an arm for operation. - As discussed above, the
segment 554 of the embodiment depicted inFIG. 29 has a pair ofcameras segment 554 can have a single camera or two or more cameras. It is understood that any known imaging component for medical devices, including in vivo devices, can be used with the devices disclosed herein and further can be positioned anywhere on any of the segments or on the arms of the devices. - In a further embodiment, the
segment 554 as best shown inFIG. 29 can also include alighting component 568. In fact, thesegment 554 has fourlighting components 568. Alternatively, thesegment 554 can have any number oflighting components 568 or no lighting components. In a further alternative, thedevice 550 can have one or more lighting components positioned elsewhere on the device, such as one or both ofsegments 552A, 552B or one or more of the arms, etc. - In accordance with a further embodiment as best shown in
FIGS. 27B and 29 , each of thesegments segment 552A has an outercylindrical component 570A and an innercylindrical component 570B that rotates relative to theouter component 570A around an axis indicated by arrow F inFIG. 21 . Similarly, the segment 552B has an outercylindrical component 572A and an inner cylindrical component 572B that rotates relative to theouter component 572A around an axis indicated by arrow E inFIG. 29 . Further, thesegment 554 has an outercylindrical component 574A and an inner cylindrical component 574B that rotates relative to theouter component 574A around an axis indicated by arrow D inFIG. 29 . - In use, the embodiments having rotatable cylindrical components as described in the previous paragraph can provide for enclosing any arms, cameras, or any other operational components within any of the segments. Further, any segment having such rotatable components provide for two segment configurations: an open configuration and a closed configuration. More specifically,
segment 552A has an outercylindrical component 570A with anopening 576 as shown inFIG. 29 through which thearm 560 can move between its deployed and undeployed positions. Similarly, segment 552B has an outercylindrical component 572A with anopening 578 as shown inFIG. 29 through which thearm 562 can move between its deployed and undeployed positions. Further,segment 554 has an outercylindrical component 574A with anopening 580 as shown inFIG. 29 through which the imaging component(s) 566A, 566B can capture images of a procedural or target area adjacent to or near thedevice 550. -
FIG. 27B depicts thesegments cylindrical components 570B, 572B, 574B are positioned in relation to the respective outercylindrical component opening inner component 570B, 572B, 574B such that the interior of eachsegment - More specifically, in the closed position, inner
cylindrical component 570B ofsegment 552A is positioned in relation to outercylindrical component 570A such that thearm 560 is at least partially enclosed within thesegment 552A. According to one embodiment, the innercylindrical component 570B is configured such that when it is in the closed position as shown inFIG. 27B , it closes off theopening 576 entirely. In a further embodiment, the innercylindrical component 570B in the closed position fluidically seals the interior of thesegment 552A from the exterior. - Similarly, in the closed position, inner cylindrical component 572B of segment 552B is positioned in relation to the outer
cylindrical component 572A such that thearm 562 is at least partially enclosed within the segment 552B. According to one embodiment, the inner cylindrical component 572B is configured such that when it is in the closed position as shown inFIG. 27B , it closes off theopening 578 entirely. In a further embodiment, the inner cylindrical component 572B in the closed position fluidically seals the interior of the segment 552B from the exterior. - Further, in the closed position, inner cylindrical component 574B of
segment 554 is positioned in relation to the outercylindrical component 574A such that the imaging component(s) is not positioned within theopening 580. According to one embodiment, the inner cylindrical component 574B is configured such that when it is in the closed position as shown inFIG. 27B , the imaging component(s) and any lighting component(s) are completely hidden from view and not exposed to the exterior of thesegment 554. In a further embodiment, the inner cylindrical component 574B in the closed position fluidically seals the interior of thesegment 554 from the exterior. - In contrast,
FIGS. 28A and 29 depict thesegments cylindrical components 570B, 572B, 574B are positioned such that theopenings - In use, according to one embodiment, the inner
cylindrical components 570B, 572B, 574B can thus be actuated to move between their closed and their open positions and thereby convert thedevice 550 between a closed or non-operational configuration (in which the operational components such as thearms lighting components 568 are inoperably disposed within thesegments 552A, 552B, 554) and an open or operational configuration (in which the operational components are accessible through theopenings device 550 can be in its closed or non-operational configuration during insertion into a patient's body and/or to a target area and then can be converted into the open or operational configuration by causing the innercylindrical components 570B, 572B, 574B to rotate into the open configurations. - Alternatively, one or more or all of the segments do not have inner and outer components that rotate in relation to each other.
- It is understood that the various embodiments of the
device 550 disclosed herein include appropriate actuation components to generate the force necessary to operate the arms and/or the rotatable cylinders in the segments. In one embodiment, the actuation components are motors. For example,segment 552A has a motor (not shown) operably coupled with thearm 560 and configured to power the movements of thearm 560. Similarly, segment 552B also has a motor (not shown) operably coupled with thearm 562 and configured to power the movements of thearm 560. In further embodiments, each of thesegments - In one embodiment, the
joints segments 552A, 552B from the insertion configuration ofFIG. 27A into the triangular configuration ofFIG. 27B . That is, thejoints segments 552A, 552B to rotate around theirjoints FIG. 28C depicts one embodiment in which the joint 556A has torsion springs 582 that are configured to urgesegment 552A toward the triangular configuration. - In use, in accordance with one implementation, the
device 550 in the insertion configuration as shown inFIG. 27A can be inserted into a patient's body through an incision, a trocar port, or natural orifice in the direction indicated by arrow A. Alternatively, thedevice 550 can be inserted in the other direction as well. After insertion and/or as thedevice 550 enters the target area or procedural area in the patient's body, thejoints segments 552A, 552B from their insertion position to their triangular position. As thesegments 552A, 552B contact each other to form joint 558, the two segments are coupled together with mating components that semi-lock thesegments 552A, 552B together. That is, the twosegments 552A, 552B can only be separated at the joint 558 by a force sufficient to overcome the semi-lock. Any such known mating component or coupling component, including any mechanical or magnetic mating component(s), can be incorporated into thedevice 550 for this purpose. - Thus, according to one embodiment, the
device 550 can be in its insertion configuration during insertion into the patient. As thedevice 550 enters the target cavity and exits the port or incision, the torsion springs or other mechanisms at thejoints segments 552A, 552B to move toward each other until they couple to form the triangular configuration. Thedevice 550 can then be attached to the abdominal wall by some method such as an external magnetic handle. Alternatively, thedevice 550 can be positioned anywhere in the cavity of the patient as desired by the user. Thedevice 550 is then used to perform some sort of procedure. - Subsequently, when the procedure is complete, the
device 550 can be retracted from the cavity. To do so, the surgeon uses a grasping or retrieval tool such as a Endo Babcock grasper made by Covidien in Mansfield, Mass., to attach to or otherwise grasp theball 584 at the joint 558 and apply sufficient force to overcome the semi-lock of the joint 558. Alternatively, any retrieval component can be positioned at the end ofsegment 552A or elsewhere on thedevice 550 for grasping or otherwise coupling to for purposes of removing thedevice 550 from the patient's body. When the coupling of the semi-lock is overcome, the force urges thesegments 552A, 552B away from each other, thereby making it possible for the surgeon to pull theball 584 through a port or incision and out of the patient, thereby forcing thedevice 550 into its insertion configuration. - The multiple segments provided in the various embodiments of the device disclosed herein result in significantly more payload space than a single cylindrical body. The increased payload space results in increased capabilities for the device in the form of more, bigger, or more complex operational components, more, bigger, or more complex motors, magnets (as described below) and other similar benefits relating to the availability of more space for more, bigger, or more complex components. For example,
FIG. 28B depicts a side view of thedevice 550 according to one embodiment that shows the payload space available in segment 552B. More specifically, segment 552B and its coupledarm 562 havepayload spaces segment segments segments device 550 while minimizing the utilized space to have one large motor in one segment that provides force for operation of components in more than one segment. - It is understood that various embodiments of the segmented devices disclosed herein are in vivo devices that can be inserted into and positioned within a patient's body to perform a procedure. In one embodiment, an external controller is also provided that transmits signals to the
device 550 to control thedevice 550 and receives signals from thedevice 550. In one embodiment, the controller communicates with thedevice 550 wirelessly. Alternatively, the controller and thedevice 550 are coupled via a flexible communication component such as a cord or wire (also referred to as a “tether”) that extends between thedevice 550 and the controller. - It is also understood that various embodiments of the devices disclosed herein can be used in conjunction with known attachment components to attach or otherwise position the device near, against, or adjacent to an interior cavity wall inside the patient. In one embodiment, the attachment components are one or more magnets, disposed within the device, that communicate magnetically with one or more magnets positioned outside the patient's body. The device magnets can be positioned on or in the device in any suitable configuration. For example, the device magnets in one embodiment can be positioned within the
segments positions FIG. 31 . It is understood that the external magnets can be used outside the body to position and/or move thedevice 550 inside the body. - It is further understood that various embodiments of the devices disclosed herein can be used in conjunction with known visualization and control components, such as the
console 610 depicted inFIG. 32 . Theconsole 610 has adisplay 612 andmagnets 614 and is positioned outside the patient such that themagnets 614 can be in magnetic communication with the device magnets (not shown) disposed within or otherwise coupled with thedevice 550. Theconsole 610 can be used to move thedevice 550 by moving theconsole 610 outside the body such that thedevice 550 is urged to move inside the body, because theconsole magnets 550 are magnetically coupled with the device magnets (not shown) within thedevice 550 such that thedevice 550 remains substantially fixed in relation to theconsole 610. In addition, it is understood that the triangular (and quadrangular) devices disclosed and described in relation toFIGS. 27A-33 can be used in conjunction with any of the external controller or visualization components and systems disclosed and discussed above and in the applications incorporated above. - The
segmented device 550, according to one embodiment, provides greater stability and operability for thedevice 550 in comparison to other in vivo devices. That is, a device having more than one segment such asdevice 550 provides for a configuration with a larger “footprint” for thedevice 550, thereby resulting in greater stability and leverage during use of thedevice 550. For example, thedevice 550 with the triangular configuration inFIG. 32 that is urged against the interior cavity wall of the patient by theconsole magnets 614 has greater stability and leverage in comparison to a device that has a smaller “footprint.” That is, thedevice 550 can have at least three magnets (not shown) disposed at the three corners of the triangular configuration such that when thedevice 550 is magnetically positioned against the interior cavity wall, the arms of thedevice 550 can apply greater force to the target tissues while maintaining the position of thedevice 550 than a corresponding single cylindrical device body. - It is understood that the device embodiments disclosed herein are not limited to a triangular configuration.
FIG. 33 depicts a device 620 having a quadrangular configuration with four segments. Similarly, devices are contemplated herein having any number of segments ranging from two segments to any number of segments that can be used for a device that can be positioned inside a patient's body. For example, a device incorporating the components and structures disclosed herein could have six or eight segments or more. - In accordance with one embodiment, the various medical devices disclosed herein and in the applications incorporated above can be used cooperatively. That is, two or more devices can be used at the same time during the same procedure to accomplish more or perform the procedure more quickly than when only one device is used at a time. As such, multiple robots (more than one device and up to any number capable of being inserted into a patient's cavity and present in the cavity at the same time for performing one or more procedures) are inserted into the patient's cavity and each controlled by the surgical team.
-
FIGS. 34-36 depict three different embodiments of cooperative use of two or more medical devices together. InFIG. 34 , the devices that are positioned within a cavity of a patient include a device withoperational arms 630, twolighting devices end effector 634. These devices can be operated at the same time using one or more external controllers and/or visualization components according to the various embodiments disclosed above or in the applications incorporated above. - Similarly,
FIG. 35 depicts a cooperative procedure implementation using a cylindrical device having a winch component with anend effector 640, alighting device 642, and acylindrical device 644. Thecylindrical device 644 can have an imaging component and/or additional operational components such as sensors, etc. - Another embodiment is depicted in
FIG. 36 , in which a cooperative procedure is performed using a device witharms 650 and alighting device 652. - According to one embodiment, the devices are assembled while being introduced through a natural orifice, a port, or an incision. For instance, if insertion is through the esophagus, each robot is inserted down the overtube, which provides an “in line” ability for consistent assembly as each robot is “pushed” down the overtube. Alternatively, after insertion into the abdominal cavity, a camera and tool can be inserted to assist with the mechanical connections, or other robotic devices can be used to help with the mechanical connections.
- The level of cooperation amongst two or more in vivo medical devices varies between high network communications, planning, and some autonomy, to lower level mechanical connections and surgeon control. That is, in certain embodiments, the cooperative devices can communicate with each other and perform with some level of autonomy (without input or with limited input from the user or surgeon). In an alternative implementation, the cooperative devices can simply be positioned in the same general procedural space and separately controlled by one or more users to work cooperatively to perform a procedure or procedures.
- In one embodiment, two or more devices positioned in a body cavity can be coupled to each other in some fashion. It is understood that the coupling does not necessarily result in a rigid coupling of the devices to each other in all degrees. As such, the configuration(s) of two or more devices may adapt to the varying geometry of each patient, disturbances to the abdominal wall, and respiration cycle. According to one implementation, one benefit of coupling the devices is to maintain a set distance between the devices for vision, lighting, tissue manipulation, and other procedural purposes.
- Although the present invention has been described with reference to preferred embodiments, persons skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the invention.
Claims (21)
1. (canceled)
2. A robotic device, comprising:
(a) an elongate device body constructed and arranged to be positionable within a cavity of a patient;
(b) a connection component operably coupled with the elongate device body;
(c) at least one robotic arm comprising:
(i) an upper arm segment operably coupled with the device body via a shoulder joint at an end of the elongate device body;
(ii) a forearm segment operably coupled with the upper arm segment via a elbow joint; and
(iii) an end effector operably coupled with the forearm segment; and
(d) at least one actuator disposed within the device, the at least one actuator being configured to actuate movement of the at least one robotic arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component.
3. The robotic device of claim 2 , wherein the at least one robotic arm comprises first and second robotic arms, wherein the first robotic arm is operably coupled with the elongate device body at a first end of the elongate device body and the second robotic arm is operably coupled with the elongate device body at a second end of the elongate device body.
4. The robotic device of claim 2 , wherein the at least one robotic arm has at least four degrees of freedom.
5. The robotic device of claim 2 , further comprising:
(a) at least one imaging component operably coupled to the device body; and
(b) an external controller operably coupled to the device body, the external controller comprising:
(i) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and
(ii) at least one joystick operably coupled to the at least one robotic arm, the at least one joystick configured to control the at least one robotic arm via the physical linkage.
6. The robotic device of claim 2 , wherein the at least one robotic arm has at least three degrees of freedom.
7. The robotic device of claim 2 , wherein the end effector is chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.
8. The robotic device of claim 2 , wherein the connection component is a tether.
9. The robotic device of claim 2 , wherein the external component is an external power source operably coupled to the physical linkage.
10. The robotic device of claim 9 , wherein the physical linkage is an actuation system.
11. The robotic device of claim 9 , further comprising an external controller operably coupled to the at least one robotic arm and the at least one imaging component.
12. The robotic device of claim 11 , wherein the external controller comprises:
(a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and
(b) at least one joystick operably coupled to the at least one robotic arm, the at least one joystick configured to control the at least one robotic arm.
13. A robotic device, comprising:
(a) an elongate device body constructed and arranged to be positionable within a cavity of a patient, the elongate device body comprising at least one shoulder joint at an end of the device body;
(b) a connection component operably coupled with the elongate device body;
(c) at least one robotic arm comprising:
(i) an upper arm segment operably coupled with the at least one shoulder joint;
(ii) a forearm segment operably coupled with the upper arm segment via a elbow joint; and
(iii) an end effector operably coupled with the forearm segment; and
(d) at least one actuator disposed within the device, the at least one actuator being configured to actuate movement of the at least one robotic arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component; and
(e) at least one imaging component operably coupled with the device body.
14. The robotic device of claim 13 , wherein the at least one robotic arm comprises first and second robotic arms, wherein the at least one shoulder joint comprises a first shoulder joint at a first end of the device body and a second shoulder joint at a second end of the device body, wherein the first robotic arm is operably coupled with the first shoulder joint and the second robotic arm is operably coupled with the second shoulder joint.
15. The robotic device of claim 13 , wherein the at least one robotic arm has at least three degrees of freedom.
16. The robotic device of claim 13 , wherein the at least one robotic arm has at least four degrees of freedom.
17. The robotic device of claim 13 , further comprising an external controller operably coupled to the at least one imaging component and the at least one robotic arm, the external controller comprising:
(a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and
(b) at least one joystick operably coupled to the at least one robotic arm, the at least one joystick configured to control the at least one robotic arm.
18. The robotic device of claim 13 , wherein the end effector is chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe.
19. A method of surgery comprising:
making an incision in a patient, wherein the incision provides access to a target cavity in the patient;
inserting a robotic device through the incision and into the target cavity in the patient, the robotic device comprising:
(a) an elongate device body;
(b) a connection component operably coupled with the device body;
(c) at least one robotic arm comprising:
(i) an upper arm segment operably coupled with the device body via a shoulder joint at an end of the elongate device body;
(ii) a forearm segment operably coupled with the upper arm segment via an elbow joint; and
(iii) an end effector operably coupled with the forearm segment; and
(d) at least one actuator disposed within the robotic device, the at least one actuator being configured to actuate movement of the at least one robotic arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component; and
performing a procedure in the target cavity of the patient using at least the robotic device.
20. The method of claim 19 , wherein the at least one robotic arm comprises first and second robotic arms, wherein the at least one shoulder joint comprises a first shoulder joint at a first end of the device body and a second shoulder joint at a second end of the device body, wherein the first robotic arm is operably coupled with the first shoulder joint and the second robotic arm is operably coupled with the second shoulder joint.
21. The method of claim 19 , wherein the external component is an external controller comprising an external power source operably coupled to the at least one actuator, wherein performing the procedure further comprises operating the external controller, wherein the external power source is configured to transmit force to the at least one actuator via the physical linkage for actuating movement of the at least one robotic arm.
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