WO2022006073A1 - Dispositif électrochirurgical robotique assisté par plasma - Google Patents

Dispositif électrochirurgical robotique assisté par plasma Download PDF

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Publication number
WO2022006073A1
WO2022006073A1 PCT/US2021/039559 US2021039559W WO2022006073A1 WO 2022006073 A1 WO2022006073 A1 WO 2022006073A1 US 2021039559 W US2021039559 W US 2021039559W WO 2022006073 A1 WO2022006073 A1 WO 2022006073A1
Authority
WO
WIPO (PCT)
Prior art keywords
gas
robotic
working end
robotic arm
assisted
Prior art date
Application number
PCT/US2021/039559
Other languages
English (en)
Inventor
Jerome Canady, M.D.
Changhan JUN
Taisen Zhuang
Original Assignee
Jerome Canady Research Institute for Advanced Biological and Technological Sciences
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jerome Canady Research Institute for Advanced Biological and Technological Sciences filed Critical Jerome Canady Research Institute for Advanced Biological and Technological Sciences
Publication of WO2022006073A1 publication Critical patent/WO2022006073A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/042—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating using additional gas becoming plasma
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1482—Probes or electrodes therefor having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy

Definitions

  • the present invention relates to robotic surgical tools, and more specifically, a plasma-assisted robotic surgical tool.
  • Manipulation of an intervention device through small incisions or through a natural orifice requires in both cases to move it around a fixed point or center of motion, which corresponds to the incision or natural orifice itself.
  • Such incision or natural orifice is herein generally referred as a point of penetration in the patient.
  • Robotic systems have been developed to handle and displace the endoscope in the place of the assistant.
  • modem systems include those disclosed in WO 2016/059445 entitled “System for Controlling Displacement of an Intervention Device.
  • U.S. Patent No. 4,429,694 to McGreevy disclosed an electrosurgical generator and argon plasma system and a variety of different electrosurgical effects that can be achieved depending primarily on the characteristics of the electrical energy delivered from the electrosurgical generator.
  • the electrosurgical effects included pure cutting effect, a combined cutting and hemostasis effect, a fulguration effect and a desiccation effect. Fulguration and desiccation sometimes are referred to collectively as coagulation.
  • APC argon plasma coagulation
  • argon beam coagulation is a non-contact monopolar thermoablative method of electrocoagulation that has been widely used in surgery for the last twenty years.
  • APC involves supplying an ionizable gas such as argon past the active electrode to target tissue and conducting electrical energy to the target tissue in ionized pathways as non-arcing diffuse current.
  • Canady described in U.S. Patent No. 5,207,675 the development of APC via a flexible catheter that allowed the use of APC in endoscopy.
  • the present invention is a gas-assisted robotic electrosurgical device.
  • the gas-assisted robotic electrosurgical device has a robotic hand piece, a robotic arm connected to and controlled by said robotic handpiece the robotic arm having a working end away from said handpiece and a surgical tool at said working end, a tube for carrying an inert gas to said working end of said robotic arm, and a circumferential gas distribution member at said working end of said robotic arm, wherein said circumferential gas distribution member is connected to said tube and said circumferential distribution member has a plurality of exit ports spaced around a circumference of said working end of said robotic arm.
  • the robotic arm may be a laparoscopic robotic arm.
  • the exit ports may circular, arc or other shapes.
  • the tube preferably is cylindrical but may be other shapes.
  • the present invention is a gas-assisted robotic electrosurgical system.
  • the system has a gas-assisted electrosurgical generator having a gas control module and an electrosurgical energy module, a robotic handpiece, a robotic arm connected to and controlled by said robotic handpiece, the robotic arm having a working end away from said handpiece and a surgical tool at said working end, a tube for carrying an inert gas from said gas control module to said working end of said robotic arm, and a circumferential gas distribution member at said working end of said robotic arm, wherein said circumferential gas distribution member is connected to said tube and said circumferential distribution member has a plurality of exit ports spaced around a circumference of said working end of said robotic arm.
  • the gas-assisted robotic electrosurgical system may further have a source of an inert gas connected to said gas control module.
  • the inert gas may be argon, helium or another inert gas.
  • FIG. 1 is a perspective view of a gas-assistant robotic electrosurgical tool in accordance with a preferred embodiment of the present invention
  • FIG. 2 is a side view of a working end of a gas-assisted robotic electrosurgical tool in accordance with a preferred embodiment of the present invention.
  • FIG. 3 is an image of a working end of a prototype of a gas-assisted robotic electrosurgical tool in accordance with a preferred embodiment of the present invention.
  • FIG. 4 is an image of a prototype of a gas-assisted robotic electrosurgical tool in accordance with a preferred embodiment of the present invention.
  • FIG. 5 is an end view of a gas-assisted robotic electrosurgical tool in accordance with a preferred embodiment of the present invention.
  • FIG. 6 is a block diagram of an exemplary gas-assisted electrosurgical generator used in a preferred embodiment of the present invention.
  • a robotic gas-assisted electro- surgical tool of a preferred embodiment of the present invention has a hand piece or other housing 110 for controlling movement of a robotic arm 120.
  • the hand piece connects to a source of electrosurgical energy and possibly with a source of an inert gas, although in some embodiments the connection of the robotic arm to a source of inert gas may be outside the handpiece.
  • the source of electrosurgical energy may be, for example, a gas-assisted electrosurgical generator such as is disclosed in US Patent Application Publication No. 2021/0030459.
  • the gas-assisted electrosurgical generator may incorporate a gas-control module such as is disclosed inU.S. Patent No.
  • FIG. 6 An exemplary gas-assisted electrosurgical system that may be used in a preferred embodiment of the present invention is shown in FIG. 6.
  • an integrated CAP generator 600 is connected to a source 610 of an inert gas, which is provided to a gas control module 620, which supplies the gas at a controlled flow rate to the hand piece 630.
  • a high frequency (HF) power module 640 supplies high frequency (HF) energy to a low frequency power module (converter) 650, which outputs electrical energy having a frequency in the range of 10kHz to 200kHz and an output voltage in the range of 3kV to 6Kv.
  • This type of integrated generator will have both a CAP connector 660 for connecting a CAP applicator or other CAP accessory and a connector 670 for attaching HF electrosurgical attachments such as an argon plasma or hybrid plasma probe (not shown).
  • the working end of the arm 120 has a plurality of capabilities, for example, monopolar electrosurgery, plasma-assisted electrosurgery, hybrid plasma electrosurgery, and scissors, forceps or hook mechanical surgery.
  • the robotic arm typically is disposable.
  • the robotic gas-assisted electrosurgical tool has a gas tube surrounding or on the outside of the robotic arm 120 to deliver an inert gas such as argon to the working end of the tool.
  • the gas tube preferably is flexible to permit the robotic movement of the robotic arm 120.
  • the inert gas is delivered around the entire circumference of the working end 130. As shown in FIG.
  • the robotic arm is connected, for example, to a robotic surgical system such as is disclosed in WO 2018/058079 entitle “Robotic Surgical System” or US Patent Application Publication No. 2020/0275979 entitled “Robotic Optical Navigational Surgical System.”

Abstract

La présente invention concerne un dispositif électrochirurgical robotique assisté par gaz comportant une pièce à main robotique, un bras robotique relié à la pièce à main robotique et commandé par celle-ci, le bras robotique ayant une extrémité de travail éloignée de la pièce à main et un outil chirurgical à l'extrémité de travail, un tube pour transporter un gaz inerte vers l'extrémité de travail du bras robotique, et un élément de distribution de gaz circonférentiel au niveau de l'extrémité de travail du bras robotique, l'élément de distribution de gaz circonférentiel étant relié au tube et l'élément de distribution circonférentielle comportant une pluralité d'orifices de sortie espacés autour d'une circonférence de l'extrémité de travail du bras robotique.
PCT/US2021/039559 2020-06-29 2021-06-29 Dispositif électrochirurgical robotique assisté par plasma WO2022006073A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202063045514P 2020-06-29 2020-06-29
US63/045,514 2020-06-29

Publications (1)

Publication Number Publication Date
WO2022006073A1 true WO2022006073A1 (fr) 2022-01-06

Family

ID=79315516

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2021/039559 WO2022006073A1 (fr) 2020-06-29 2021-06-29 Dispositif électrochirurgical robotique assisté par plasma

Country Status (1)

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WO (1) WO2022006073A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7549990B2 (en) * 2003-10-07 2009-06-23 Jerome Canady Surgical scissors with argon plasma coagulation capability
US20150038790A1 (en) * 2011-08-25 2015-02-05 Michael Rontal Method and apparatus for cold plasma treatment of internal organs
US20190090963A1 (en) * 2016-09-23 2019-03-28 U.S. Patent Innovations, LLC Robotic Surgical System
US20190192178A1 (en) * 2017-12-21 2019-06-27 GYRUS ACMI, INC., d/b/a Olympus Surgical Technologies America Surgical device having atraumatic tissue control
US20190365483A1 (en) * 2017-04-10 2019-12-05 U.S. Patent Innovations, LLC Electrosurgical Gas Control Module
US10980591B2 (en) * 2014-04-23 2021-04-20 U.S. Patent Innovations Llc Multi-functional electrosurgical plasma accessory

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7549990B2 (en) * 2003-10-07 2009-06-23 Jerome Canady Surgical scissors with argon plasma coagulation capability
US20150038790A1 (en) * 2011-08-25 2015-02-05 Michael Rontal Method and apparatus for cold plasma treatment of internal organs
US10980591B2 (en) * 2014-04-23 2021-04-20 U.S. Patent Innovations Llc Multi-functional electrosurgical plasma accessory
US20190090963A1 (en) * 2016-09-23 2019-03-28 U.S. Patent Innovations, LLC Robotic Surgical System
US20190365483A1 (en) * 2017-04-10 2019-12-05 U.S. Patent Innovations, LLC Electrosurgical Gas Control Module
US20190192178A1 (en) * 2017-12-21 2019-06-27 GYRUS ACMI, INC., d/b/a Olympus Surgical Technologies America Surgical device having atraumatic tissue control

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