ROBOTIC DEBRIDEMENT APPARATUSES, AND RELATED SYSTEMS AND METHODS

Robotic debridement apparatuses, related systems, and methods of using the same are disclosed herein. The robotic debridement apparatuses are configured to facilitate debridement of tissue from a body region. For example, the robotic debridement apparatuses can include one or more of at least one debriding tool configured to debride tissue or at least one debris disposal tool configured to capture substances in the body region. The robotic debridement apparatuses disclosed herein can also include at least one locomotive mechanism. The systems disclosed herein can include a plurality of robotic debridement apparatuses. The systems disclosed herein can include a dressing associated with the plurality of robotic debridement apparatuses. The dressing can be associated with the robotic debridement apparatuses in a manner that facilitates operations of the robotic debridement apparatuses.

CROSS-REFERENCE TO RELATED APPLICATIONS

PRIORITY APPLICATIONS

All subject matter of the Priority Applications and of any and all applications related to the Priority Applications by priority claims (directly or indirectly), including any priority claims made and subject matter incorporated by reference therein as of the filing date of the instant application, is incorporated herein by reference to the extent such subject matter is not inconsistent herewith.

SUMMARY

Embodiments disclosed herein relate to robotic debridement apparatuses, systems using one or more of the robotic debridement apparatuses, and methods of using the same. The robotic debridement apparatuses disclosed herein are configured to facilitate debridement of tissue (e.g., target tissue) from a body region. For example, the robotic debridement apparatuses can include one or more of at least one debriding tool configured to debride tissue (e.g., target tissue), at least one debris disposal device configured to capture at least one substance from the body region, or at least one therapeutic device configured to provide a therapeutic effect to the body region. In an embodiment, robotic debridement systems disclosed herein can include a plurality of robotic debridement apparatuses. In an embodiment, robotic debridement systems disclosed herein can include a dressing associated with a plurality of robotic debridement apparatuses. The dressing can be associated with the robotic debridement apparatuses in a manner that facilitates operation of the robotic debridement apparatuses or facilitates debridement of tissue from the body region.

In an embodiment, a robotic debridement apparatus is disclosed. In an embodiment, the robotic debridement apparatus includes a housing. In an embodiment, the robotic debridement apparatus further includes at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism is configured to generate a self-propelling locomotive force. In an embodiment, the robotic debridement apparatus also includes at least one debriding tool associated with the housing.

In an embodiment, a robotic debridement apparatus is disclosed. In an embodiment, the robotic debridement apparatus includes a housing. In an embodiment, the robotic debridement apparatus further includes at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism is configured to generate a self-propelling locomotive force. In an embodiment, the robotic debridement apparatus additionally includes at least one debriding tool associated with the housing. In an embodiment, the robotic debridement apparatus also includes one or more sensors positioned in or on the housing.

In an embodiment, a robotic debridement system is disclosed. In an embodiment, the robotic debridement system includes a plurality of robotic debridement apparatuses. In an embodiment, at least one of the plurality of robotic debridement apparatuses includes a housing and at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism is configured to generate a self-propelling locomotive force. In an embodiment, the at least one of the plurality of robotic debridement apparatuses further includes at least one debriding tool associated with the housing.

In an embodiment, a method is disclosed. In an embodiment, the method includes contacting a body region of a subject with at least one robotic debridement apparatus. In an embodiment, the at least one of the plurality of robotic debridement apparatuses includes a housing and at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism is configured to generate a self-propelling locomotive force. In an embodiment, the at least one robotic debridement apparatus further includes at least one debriding tool associated with the housing. In an embodiment, the method further includes, via the at least one debriding tool, debriding at least one target tissue from the body region.

In an embodiment, a robotic debridement system is disclosed. In an embodiment, the robotic debridement system includes a plurality of robotic debridement apparatuses. In an embodiment, at least one of the plurality of robotic debridement apparatuses includes a housing and at least one of at least one debriding tool associated with the housing. In an embodiment, the robotic debridement system further includes a dressing associated with the at least one of the plurality of robotic debridement apparatuses. In an embodiment, the dressing includes at least one layer that at least partially encloses the at least one of the plurality of robotic debridement apparatuses.

In an embodiment, a robotic debridement system is disclosed. In an embodiment, the robotic debridement system includes a plurality of robotic debridement apparatuses. In an embodiment, at least one of the plurality of robotic debridement apparatuses includes a housing and at least one of at least one debriding tool associated with the housing. In an embodiment, the robotic debridement system further includes a dressing associated with the at least one of the plurality of robotic debridement apparatuses. In an embodiment, the dressing includes at least one layer that at least partially encloses the at least one of the plurality of robotic debridement apparatuses. In an embodiment, the robotic debridement system also includes one or more sensors positioned in or on at least one of the housing of the at least one of the plurality of robotic debridement apparatuses or the dressing.

In an embodiment, a method is disclosed. In an embodiment, the method includes positioning a plurality of robotic debridement apparatuses at or near a body region. In an embodiment, the body region includes at least one target tissue (e.g., that is desired to be modified by the robotic debridement apparatuses). In an embodiment, at least one of the plurality of robotic debridement apparatuses includes a housing and at least one debriding tool associated with the housing. In an embodiment, the method further includes reversibly attaching a dressing associated with the plurality of robotic debridement apparatuses to the body region. In an embodiment, the method additionally includes, via the at least one debriding tool, debriding the at least one target tissue present within the body region.

In an embodiment, a robotic debridement apparatus is disclosed. In an embodiment, the robotic debridement apparatus includes a housing and at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism is configured to generate a self-propelling locomotive force. In an embodiment, the robotic debridement apparatus also includes at least one debris disposal device positioned in or on the housing. In an embodiment, the debris disposal device is configured to capture at least one substance from a body region.

In an embodiment, a robotic debridement apparatus is disclosed. In an embodiment, the robotic debridement apparatus includes a housing and at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism is configured to generate a self-propelling locomotive force. In an embodiment, the robotic debridement apparatus also includes at least one debris disposal device positioned in or on the housing. In an embodiment, the debris disposal device is configured to capture at least one substance from a body region. In an embodiment, the robotic debridement apparatus further includes one or more sensors positioned in or on the housing.

In an embodiment, a robotic debridement system is disclosed. In an embodiment, the robotic debridement system includes a plurality of robotic debridement apparatuses. At least one of the plurality of robotic debridement apparatuses includes a housing and at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism is configured to generate a self-propelling locomotive force. In an embodiment, the at least one of the plurality of robotic debridement apparatuses further includes at least one debris disposal device positioned in or on the housing. In an embodiment, the debris disposal device is configured to capture at least one substance from a body region.

In an embodiment, a method is disclosed. In an embodiment, the method includes contacting a body region of the subject with at least one robotic debridement apparatus. In an embodiment, the at least one robotic debridement apparatus including a housing and at least one locomotive mechanism positioned in or on the housing. In an embodiment, the at least one locomotive mechanism configured to generate a self-propelling locomotive force. In an embodiment, the at least one robotic debridement apparatus also including at least one debris disposal device positioned in or on the housing. In an embodiment, the method also includes capturing with the at least one debris disposal device at least one substance from the body region.

Features from any of the disclosed embodiments can be used in combination with one another, without limitation. In addition, other features and advantages of the present disclosure will become apparent to those of ordinary skill in the art through consideration of the following detailed description and the accompanying drawings.

DETAILED DESCRIPTION

Embodiments disclosed herein relate to robotic debridement apparatuses, systems using one or more of the robotic debridement apparatuses, and methods of using the same. The robotic debridement apparatuses disclosed herein are configured to facilitate debridement of tissue (e.g., at least one target tissue) from a body region. For example, the robotic debridement apparatuses can include one or more of at least one debriding tool configured to debride tissue (e.g., at least one target tissue) or at least one debris disposal device configured to capture at least one substance from the body region. For example, the robotic debridement apparatuses can include at least one locomotive mechanism configured to generate a self-propelling locomotive force to allow travel within a body region. In an embodiment, the robotic debridement apparatuses can include at least one therapeutic delivery device configured to deliver at least one of a therapeutic agent or a therapeutic treatment to the body region. In an embodiment, robotic debridement systems disclosed herein can include a plurality of robotic debridement apparatuses. In an embodiment, robotic debridement systems disclosed herein can include a dressing associated with a plurality of robotic debridement apparatuses. The dressing can be associated with the robotic debridement apparatuses in a manner that facilitates operations of the robotic debridement apparatuses or facilitates debridement of tissue from the body region. In an embodiment, the robotic debridement apparatuses can include one or more sensors.

In an embodiment, the body region includes a wound region of a subject. For example, the robotic debridement apparatuses disclosed herein can be used to debride tissue from the wound region. The wound region can include a wound, such as a traumatic wound, a burn wound, a surgical wound, an ulcerative wound, a pressure ulcer, a diabetic ulcer, or any other suitable wound. The wound region can also include a portion of the subject that extends about the wound (e.g., viable tissue, such as a skin surface, that extends about the wound) or a region directly above or below the wound. The wound region can include both viable tissue (e.g., healthy, unaffected tissue and/or damaged but recoverable tissue) and nonviable tissue (e.g., dead, dying, or not recoverable tissue) therein. In an embodiment, the target tissue is established, at least in part, by the desired outcome for a particular wound and its ability to heal with such intervention. In an embodiment, the robotic debridement apparatuses are configured to discern between viable and nonviable tissue, and appropriately engage with at least one tissue thereof (e.g., debriding nonviable tissue or providing one or more agents to assist in healing viable tissue). In an embodiment, the body region can include at least a portion of a head, a face (e.g., an ear, a nose, or a mouth), a neck, a chest, a stomach, a back, a waist, a hip, a groin, a buttocks, a thigh, a knee, a calf, a shin, a foot (e.g., an ankle, a sole, toes), an upper limb (e.g., an arm), a forearm, an elbow, a wrist, a hand, fingers, etc.

In an embodiment, at least one of the robotic debridement apparatuses can be configured to debride at least one target tissue in the wound region. The target tissue can be a selected tissue or a portion of the selected tissue to be debrided. For example, the at least one target tissue in the wound region that can be debrided by the robotic debridement apparatuses disclosed herein can include at least one of necrotic tissue (e.g., eschar, dead cells, or cellular debris), ischemic tissue, slough (e.g., separated tissue, fibrin, and proteinaceous material), granulation tissue (e.g., hypergranulation tissue), fibrinous tissue, connective tissue, epithelial tissue, endothelial tissue, or another suitable tissue. For example, target tissue in a wound can be debrided to remove at least a portion of dead, devitalized, or contaminated tissue, as well as foreign material, from a wound, thereby reducing microbes, toxins, and other substances that inhibit healing.

In an embodiment, the robotic debridement apparatuses disclosed herein can be used in cosmetic procedures. For example, the robotic debridement apparatuses disclosed herein can be used to debride a target tissue. For example, a target tissue can be scar tissue, pigmented tissue, wrinkled tissue, infected tissue, damaged tissue, or any portion thereof. The robotic debridement apparatuses can be used in any suitable cosmetic procedure, such as cosmetic surgery, a cosmetic peel treatment (e.g., an acne peel), a dermabrasion treatment, or another suitable cosmetic procedure. As such, the body region can include a skin surface, a skin graft, a scar, a wound region, a skin depression, or another portion of the subject.

Thus, in certain instances, the target tissue consists solely of nonviable or dead tissue that is desired to be debrided, and in certain other instances the target tissue consists solely of viable tissue (healthy, unaffected and recoverable tissue) that is desired to be debrided (e.g., pigmented skin), and in certain instances the target tissue has both viable and nonviable tissue, and the apparatuses are directed to remove one or the other, or both.

In an embodiment, the robotic debridement apparatuses disclosed herein can be used in any application that debrides tissue from a body region, captures substances from the body region, or provides a therapeutic effect to the body region.

FIG. 1is a schematic illustration of a robotic debridement apparatus100, according to an embodiment. The robotic debridement apparatus100is configured to facilitate debridement of tissue (e.g., target tissue) from a body region. The robotic debridement apparatus100includes a housing102that at least one of supports, encloses, or protects one or more components of the robotic debridement apparatus100. For example, the robotic debridement apparatus100includes at least one locomotive mechanism104positioned in or on the housing102. The at least one locomotive mechanism104is configured to provide a propelling force (e.g., self-propelling locomotive force) to the robotic debridement apparatus100to effect locomotion (e.g., movement, travel) of the robotic debridement apparatus100. The robotic debridement apparatus100includes a device positioned in or on the housing102that is configured to facilitate debridement of tissue from a body region. For example, in the illustrated embodiment, the robotic debridement apparatus100includes at least one debriding tool106configured to debride the tissue from the body region. For example, the debriding tool106can be configured to debride at least one target tissue of the body region. The at least one debriding tool106can include any of the debriding tools306a-oshown inFIGS. 3A-3O. Additionally or alternatively, the robotic debridement apparatus100can include at least one debris disposal device (e.g., any of the debris disposal devices452a-jofFIGS. 4A-4J) configured to capture at least one substrate from the body region. In embodiments, the robotic debridement apparatus100can further include at least one therapeutic device (e.g., any of the therapeutic devices562a-bofFIGS. 5A-5B) configured to provide a therapeutic effect to the body region. In some embodiments, the robotic debridement apparatus100can include at least one of one or more sensors108, at least one power source110, or at least one controller112positioned in or on the housing102, any of which are optional in some embodiments.

In an embodiment, any component or electronic of the robotic debridement apparatus100can be manufactured using an additive manufacturing process. Non-limiting examples of additive manufacturing processes include liquid-based processes (e.g., stereolithography, jetted photopolymer, and ink jet printing), powder-based processes (e.g., selective laser sintering, direct metal laser sintering, and three-dimensional printing), and solid-based processes (e.g., laminated object manufacturing or fused deposition modeling).

As discussed above, the housing102of the robotic debridement apparatus100is configured to have one or more components of the robotic debridement apparatus100positioned therein or thereon. For example, the housing102can be configured to at least one of support, protect, or shelter the one or more components of the robotic debridement apparatus100. The one or more components of the robotic debridement apparatus100can be mounted to, partially enclosed by, incorporated into, or positioned within the housing102. The one or more components of the robotic debridement apparatus100can include at least one of the locomotive mechanism104, the debriding tool106, the debris disposal device, the therapeutic device, the sensors108, the power source110, the controller112, any other device disclosed herein, or any other suitable device.

The housing102can include at least one outer surface116. For example, the housing102can include at least one of a plate-like structure, a framed structure, a two-dimensional structure, or a three-dimensional structure (e.g., a three-dimensional structure at least partially enclosing a space). For example, the robotic debridement apparatus100can include one or more components that would be adversely affected (e.g., damaged) if exposed to the body region. As such, the housing102can include a three-dimensional structure or another suitable structure that encloses and substantially isolates the one or more components from the body region. In an embodiment, the housing includes a water-tight structure. In an embodiment, the housing102can include two or more portions that are configured to move relative to each other. For example the two or more portions can be operably coupled to the locomotive mechanism104and connected together using one or more of a joint, a bearing, etc. For example the two or more portions can be operably coupled to the debriding tool106.

In an embodiment, the housing102exhibits a longitudinal axis118. The housing102can exhibit a maximum length that is measured along the longitudinal axis118. The maximum length of the housing102can be about 1 μm to about 10 cm, such as about 1 μm to about 2 cm, 1 μm to about 500 μm, about 100 μm to about 1 mm, about 500 μm to about 2 mm, about 1 mm to about 2 cm, about 5 mm to about 5 cm, or about 1 cm to about 10 cm. The length of the housing102can be selected based on one or more of the type of locomotive mechanism104positioned in or on the housing, the size of the body region, the number of robotic debridement apparatuses positioned on the body region, the type of debriding tool106positioned in or on the housing102, the type of debris disposal device positioned in or on the housing102, the type of therapeutic device positioned in or on the housing102, whether the robotic debridement apparatus is associated with a dressing, etc.

In an embodiment, the housing102exhibits a shape compatible with interfacing with a tissue. For example, the housing102can exhibit a capsular design. For example, the housing102can be generally cylindrical or spherical. For example, the housing102can be generally rectangular or another suitable polyhedron. In an embodiment, the housing102can include a plurality of segments (e.g., first and second segments211a,213aofFIG. 2A). For example, the segments can be coupled smoothly or can be coupled by a bellows or a joint. For example, the segments can be coupled in a telescoping configuration. In an embodiment, the housing102can include at least one three-dimensional printed micropillar structure.

In an embodiment, at least a portion of the housing102(e.g., the outer surface116of the housing102) can be at least partially formed from or coated with one or more biocompatible materials. For example, at least a portion of the housing102can be formed from a biocompatible material such as stainless steel, titanium or a titanium alloy, ceramic, polymethylmethacrylate (PMMA), poly(tetrafluoroethylene) (PTFE), etc. For example, at least a portion of the housing102can be formed with a nanotextured surface. In an embodiment, at least a portion of the housing102(e.g., the outer surface116of the housing102) can be coated with one or more biocompatible materials and/or bioactive coating. For example, at least a portion of the housing102can be coated with biocompatible materials including a polymer, biopolymer, or silicon. For example, at least a portion of the housing102can be coated with a biocompatible material chosen for its lubricity properties, friction properties, hydrophobicity/hydrophilicity properties, or moisture-resistant properties (e.g., vinylpyrrolidone-butylmethacrylate compounds, zylalene polymers, etc.). In an embodiment, at least the outer surface116of the housing102can be at least partially formed from or coated with a material that facilitates the debridement of tissue (e.g., at least one target tissue). For example, the outer surface116of the housing102can include copper, silver, or another material which exhibits antimicrobial properties. For example, the outer surface116of the housing102can include a bioactive coating including a polymer comprising a debriding agent or therapeutic agent, as described herein. For example, the outer surface116of the housing102can include or be coated with an abrasive or chemical compound, as described herein. For example, the outer surface116of the housing102can include or be coated with a gel, hydrogel, colloid, or hydrocolloid (e.g., a gel or fluid comprising an abrasive or chemical compound).

In an embodiment, the housing102can be a freestanding housing. For example, a freestanding housing includes a housing that is not actively supported by another structure (except for devices positioned in or on the housing102, e.g., the locomotive mechanism104), while the robotic debridement apparatus100is operating within the body region. As such, the entire robotic debridement apparatus100can be free to operate in at least two degrees of freedom (e.g., at least three, at least four, at least five, or six degrees of freedom) during operation. In particular, the freestanding housing can move in two or more of forwards/backwards, left/right, or up/down during operation. It is noted that the another structure would be considered to actively support the housing102during operation when the another structure continuously supports at least 20% of the weight of the housing102, restricts movement of the robotic debridement apparatus100to a significantly small portion of the body region, or the housing102is directly coupled (e.g., attached) to another device that does not travel within the body region or restricts the ability of the robotic debridement apparatus's100to travel in at least two of forward/backward, left/right, or up/down. For example, the housing102can be freestanding if indirectly connected to another structure via at least one tether having slack therein during operation of the robotic debridement apparatus100. In an embodiment, the housing102is not freestanding (e.g., housing2202ofFIG. 22).

In an embodiment, at least a portion of the robotic debridement apparatus100can be disposable or reusable. When at least a portion of the robotic debridement apparatus100is reusable, at least one of the reusable portions of the robotic debridement apparatus100can be configured to be cleaned between uses (e.g., configured to be sterilized, disinfected, etc.). In an embodiment, the housing102can be reusable. In such an embodiment, the housing102can be configured to protect at least one other reusable portion of the robotic debridement apparatus100that can be damaged during the cleaning process (e.g., the locomotive mechanism104or the controller112). In such an embodiment, the housing102can be configured to have the other reusable portion of the robotic debridement apparatus100removed therefrom during the cleaning process (e.g., the housing102opens, the other reusable portion is reversibly coupled to the housing102, etc.).

As discussed above, the at least one locomotive mechanism104is configured to move the robotic debridement apparatus100within the body region. For example, the locomotive mechanism104can be configured to induce a self-propelling locomotive force. The self-propelling locomotive force can induce a rolling motion, a crawling motion, a walking motion (e.g., with leg-like protrusions), an inchworm-like motion, an earthworm-like motion or another suitable motion. In an embodiment, the locomotive mechanism104can be configured to move the robotic debridement apparatus100responsive to direction from the controller112. In an embodiment, the locomotive mechanism104can be configured to move the robotic debridement apparatus100in a generally linear path, a random path, etc. In an embodiment, the locomotive mechanism104can controllably move the robotic debridement apparatus100responsive to direction from the controller112. For example, the locomotive mechanism104can controllably move the robotic debridement apparatus100along a selected path responsive to the direction from the controller112.

In an embodiment, any of the locomotive mechanisms disclosed herein can include one or more actuators (e.g., actuators150) configured to cause the locomotive mechanisms to move. For example, the actuators can include squiggle motors, inchworm actuators, piezoelectric materials (e.g., piezoelectric inchworm motor, piezoelectric bending actuator, piezoelectric unimorph, piezoelectric bimorph, piezoelectric motor, piezoelectric transducer), motors (e.g., DC motors, brushless motors), electromagnetic actuators, electrostatic actuators, pumps, fluid compressors, bending actuators, unimorph actuators, bimorph actuators, microactuators (e.g., micromotors), screws, or two-way linear actuators. In addition, the actuators150can be formed from shape memory alloys or ionic polymer metal components. In an embodiment, actuators include microelectromechanical systems or another suitable actuator. In an embodiment, the actuators can include any suitable actuator. The actuators disclosed herein can be used in any of the locomotive mechanisms, robotic debridement apparatuses, or system embodiments disclosed herein.

Referring toFIG. 1, the locomotive mechanism104includes at least one impelling mechanism105at least partially extending from the housing102c. The impelling mechanism105is configured to engage a surface107of the body region109and provide locomotion to the robotic debridement apparatus100. For example, the impelling mechanism105can include one or more appendages, legs, or wheels, with or without adhesive aspects (e.g., adhesive microvilli, three-dimensional printed micropillar structures). The locomotive mechanism104can include one or more actuators150that are configured to drive the impelling mechanism105.

In an embodiment, the impelling mechanism105includes jointed appendages or legs that can be actuated to propel the robotic debridement apparatus100forward in a walking or crawling motion. For example, the impelling mechanism105can include a slot-follower mechanism driven via a lead screw to provide a propulsive force to a jointed leg. In an embodiment, multiple jointed legs (e.g., of superelastic, shape memory, polymer, or other material) can be motivated to interact with the body region109under control of the actuators150. For example, appendages or legs can be formed from a shape memory alloy or ionic polymer metal component that is driven by the application of a stimulus (e.g., current, thermal energy, etc.).

In an embodiment, the impelling mechanism105configured to provide movement in a particular direction. For example, the impelling mechanism105can be configured so that only a portion of a plurality of appendages (e.g., one or more legs) is actuated, while other portions of the plurality of appendages remain stationary. As such, the impelling mechanism105can induce movement (e.g., locomotion) that drives a change in direction (e.g., left, right, forward, backward, etc.), and allows the robotic debridement apparatus100to be controllably steered.

In an embodiment, the locomotive mechanism104includes one or more arrays of impelling mechanisms (not shown). For example the locomotive mechanism104can include an array of impelling mechanisms aligned along an x-axis and a second array of impelling mechanisms aligned along a y-axis. For example, the locomotive mechanism104can include actuators150and accelerometers (not shown) that allow the robotic debridement apparatus100(e.g., a sphere) to roll in any direction under direction of the controller112.

FIGS. 2A-2Gare schematic illustrations of robotic debridement apparatuses including different locomotive mechanisms, according to different embodiments. Except as otherwise described herein, the robotic debridement apparatuses shown inFIGS. 2A-2Gand their materials, components, or elements can be similar to or the same as the robotic debridement apparatus100(FIG. 1) and its respective materials, components, or elements. For example, the robotic debridement apparatuses shown inFIGS. 2A-2Gcan include at least one of a housing, at least one locomotive mechanism, at least one tissue debriding tool (e.g., any of tissue debriding tools306a-oofFIGS. 3A-3O), at least one debris disposal device (e.g., any of the debris disposal devices452a-jofFIGS. 4A-4J), at least one therapeutic device (e.g., any of the therapeutic devices562a-bofFIGS. 5A-5B), one or more sensors, a controller, or a power source. Any of the locomotive mechanisms illustrated inFIGS. 1, 2A-2Gcan be used in any of the robotic debridement apparatus embodiments disclosed herein.

Referring toFIG. 2A, the robotic debridement apparatus200aincludes at least one locomotive mechanism204ahaving at least one inchworm-like motive mechanism (e.g., a stick and slip mechanism). For example, the robotic debridement apparatus200acan include a housing202athat is formed from a plurality of segments. For example, the housing202acan be formed from at least a first segment211aand a second segment213a. The first and second segments211a,213acan be jointed together such that the first and second segments211a,213aare moveable relative to each other. The locomotive mechanism204acan include one or more actuators250athat are operably coupled to the first and second segment211a,213aand configured to move the first and second segments211a,213arelative to each other. As such, the one or more actuators250acan drive each of the first and second segments211a,213ain an inchworm-like manner. For example, the actuators250acan cause the first and second segments211a,213ato intermittently engage and disengage from a surface207of the body region209thereby traversing a distance.

Referring toFIG. 2B, a robotic debridement apparatus200bincludes at least one locomotive mechanism204bhaving at least one earthworm-like motive mechanism (e.g., stick and slip mechanism). In an embodiment, the robotic debridement apparatus200bcan include a housing202bthat includes a plurality of segments (e.g., first and second segments211b,213b). The locomotive mechanism204bcan also include at least one bellows214coupled to and extending between two of the plurality of segments. The bellows214can be a pneumatic bellows or another suitable bellows. The bellows214can be configured to expand (e.g., move the first and second segments211b,213baway from each other) and contract (e.g., move the first and second segments211b,213bcloser together).

The locomotive mechanism204bcan also include at least one engaging element215(e.g., retractable elements) that reversibly engage and disengage from a surface207of the body region209. For example, the engaging elements215can include protrusions, three-dimensional printed micropillar structures, etc. The locomotive mechanism204bcan also include one or more actuators250b. At least one of the actuators250bcan be coupled to the engaging element215and configured to controllably extend or retract the at least one engaging element215from housing202b. As such, the engaging element215can cause the robotic debridement apparatus200bto displace along a surface of the body region, thereby traversing a distance.

Referring toFIG. 2C, a robotic debridement apparatus200cincludes at least one locomotive mechanism204chaving at least one impelling mechanism205c. The impelling mechanism205cat least partially extends from the housing202cand is configured to engage a surface207of the body region209to provide locomotion to the robotic debridement apparatus200c. The impelling mechanism205ccan include one or more wheeled appendages, such as 1, 2, 3, 4, 5, 6, or more than six wheeled appendages. The locomotive mechanism204ccan also include one or more actuators250c. At least one of the actuators250ccan be coupled to at least one of the wheeled appendages of the impelling mechanism205c. The one or more actuators250ccan be configured to drive the wheeled appendages to provide locomotion to the robotic debridement apparatus200c.

Referring toFIG. 2D, a robotic debridement apparatus200dincludes at least one locomotive mechanism204dhaving at least one impelling mechanism205d. The impelling mechanism205dat least partially extends from the housing202dand is configured to engage a surface207of the body region209to provide locomotion to the robotic debridement apparatus200d. For example, the impelling mechanism205dcan include a plurality of appendages (e.g., legs, protrusions, hooks, three-dimensional printed micropillar structures, or other surface-engaging elements) configured to engage the surface207and propel the robotic debridement apparatus200dforward. In an embodiment, the housing202dcan be cylindrical or spherical in shape and can roll along the surface207of the body region209. For example, the locomotive mechanism204dcan include one or more actuators250dconfigured to roll the robotic debridement apparatus200dalong the surface207. In an embodiment, the appendages can act to engage the body region209driven by rotational forces to provide locomotion.

Referring toFIG. 2E, a robotic debridement apparatus200ecan include a locomotive mechanism204e. The locomotive mechanism204ecan include a vibratory mechanism. For example, the vibratory mechanism can include one or more actuators250econfigured to vibrate the robotic debridement apparatus200e. In an embodiment, the actuators250ecan be configured to induce directional movement. The direction that the robotic debridement apparatus200etravels (e.g., moves) can be controlled by the excitation frequencies of the actuators250e.

In an example, the actuators250ecan include at least one piezoelectric material. The piezoelectric material can form part of a piezoelectric bending actuator, a piezoelectric unimorph, a piezoelectric bimorph, or a piezoelectric microactuator. The piezoelectric material can induce movement in the robotic debridement apparatus200ewhen the piezoelectric material is activated by an electrical signal, thereby inducing movement in one or more components of the locomotive mechanism204e(e.g., legs, appendages, etc.) or in the entire robotic debridement apparatus200e. In another example, the actuators250einclude a unimorph actuator or a bimorph actuator. In another example, the actuators250ecan include two-way linear actuators using springs made from a shape memory alloy. In another example, the actuators250ecan include a micromotor. In another example, the actuators250ecan include any other suitable actuator disclosed herein

In embodiments, the locomotive mechanisms204edisclosed herein can include friction enhancements217on the housing202eor on another component of the robotic debridement apparatus200e. The friction enhancements217can include at least one of one or more surface-engaging protrusions, microprotrusions, setae, microvilli, or adhesive microvilli. In an embodiment, the friction enhancements217can include at least one three-dimensional printed micropillar structure. In an embodiment, at least a portion of the friction enhancements217can include micro-patterning formed on the surface of the housing202eor another component of the robotic debridement apparatus200e. The friction enhancements217can improve the efficiency of the movement of the robotic debridement apparatus200ewhen the robotic debridement apparatus is moved by the vibratory mechanism. It is noted that the friction enhancements217can also improve the efficiency of movement of any of the robotic debridement apparatuses disclosed herein.

Referring toFIG. 2F, a robotic debridement apparatus200fcan include a locomotive mechanism204fincluding an impelling mechanism205f. The impelling mechanism205fcan be similar to any of the impelling mechanisms disclosed herein. The locomotive mechanism204fcan also include one or more actuators250fthat are configured to vibrate at least a portion of the robotic debridement apparatus200f. For example, the actuators250fcan be configured to vibrate at least a portion of the impelling mechanism205f. The vibrations from the actuators250fcan provide locomotion to the robotic debridement apparatus200f.

Referring toFIG. 2G, the robotic debridement apparatus200gcan be configured to touch, grasp, grip, or otherwise engage tissue on the body region209. In an embodiment, the robotic debridement apparatus200gincludes at least one locomotive mechanism204ghaving an impelling mechanism205g. The impelling mechanisms205gcan be similar to any of the impelling mechanisms disclosed herein. The impelling mechanism205gcan include one or more grippers or graspers219. The grippers or graspers219can be configured to controllably engage (e.g., touch, grasp, grip, hook, suction, etc.) and disengage a surface207of the body region209. For example, the grippers or graspers219can include protrusions, three-dimensional printed micropillar structures, microvilli, etc. The grippers or graspers219can be operably coupled to one or more actuators250gthat are configured to cause the grippers or graspers219to controllably engage or disengage from the surface207. In an embodiment, the grippers and graspers219can be used when the robotic debridement apparatus200eis debriding tissue from the body region209, disposing of at least one substance from the body region209, or providing a therapeutic effect to the body region209.

In an embodiment, the robotic debridement apparatus200gcan include at least one anchor221positioned in or on the housing202gthat is configured to controllably maintain the robotic debridement apparatus200gin substantially the same location for a selected period of time. For example, the anchor221can include a harpoon or hook that engages the body region209. For example, the anchor221can include a suction device that is operably coupled to and configured to be suctioned to the body region209or a dressing (e.g., dressing1178ofFIGS. 11A-11B). The suction device can include a pump, compressor, etc. operably coupled to the body region209and configured to controllably provide a suction force that secures the robotic debridement apparatus200gin substantially the same location. In an embodiment, the anchor221can be used when the robotic debridement apparatus200gis debriding tissue from the body region209, disposing of at least one substance from the body region209, or providing a therapeutic effect to the body region209.

It is understood that the locomotive mechanisms disclosed herein can include locomotive mechanisms other than the locomotive mechanisms shown inFIGS. 1-2G. For example, a locomotive mechanism (e.g., locomotive mechanism2004ofFIG. 20) can include a magnet positioned in or on the housing102. Another device (e.g., the dressing2078ofFIG. 20) can include a magnetic field generator (e.g., magnetic field generator2099ofFIG. 20) positioned therein or thereon configured to generate a magnetic field that exerts a force on the magnet of the locomotive mechanism104to effect movement of the robotic debridement apparatus100. For example, the robotic debridement apparatus100can include a spherical housing (e.g.,FIG. 2D) able to roll under the magnetic force generated by the magnetic field generator.

Referring back toFIG. 1, in an embodiment, the locomotive mechanism104can be reusable. For example, the locomotive mechanism104can be configured to be cleaned (e.g., sterilized, disinfected, etc.) between uses. In an embodiment, the locomotive mechanism104can be reversibly coupled to the housing102, for example, to facilitate cleaning of the locomotive mechanism104.

In an embodiment, the locomotive mechanism104can include a plurality of locomotive mechanisms. In an embodiment, at least some of the plurality of locomotive mechanisms can be the same. In an embodiment, at least some of the plurality of locomotive mechanisms can be different. For example, at least some of the locomotive mechanisms can be similar to the locomotive mechanism104(FIG. 1) and at least some of the locomotive mechanisms can be similar to the locomotive mechanism204c(FIG. 2C)

In embodiments, the locomotive mechanism104can be omitted. For example, the locomotive mechanism104can be omitted in embodiments where the robotic debridement apparatus100is attached to a dressing (FIG. 22).

Referring still toFIG. 1, the robotic debridement apparatus100includes one or more sensors108configured to detect one or more characteristics of the body region or a substance thereon. For example, the sensors108can be positioned on the outer surface116of the housing102, or another portion of the housing102that enables the sensors108to detect (e.g., sense, quantify, etc.) one or more characteristics of the body region or substance. For example, the sensors108can be positioned on a surface-engaging element or the impelling mechanism105.

In an embodiment, the sensors108can be configured to detect at least one target tissue or another tissue that is intended for treatment. For example, the sensors108can be configured to detect at least one of necrotic tissue, nonviable tissue, viable tissue, slough, fibrinous tissue, ischemic tissue, granulation tissue, connective tissue, epithelial tissue, endothelial tissue, or any other type of tissue. For example, the sensors108can detect inflammation, microbes, or toxins. In an embodiment, the sensors108can be configured to detect one or more indicators that can indicate healthy, viable tissue; tissue in a state of disease or disorder; or nonviable, dying or dead tissue. Indicators can include, for example and without limitation, peptides, proteins, lipids, saccharides, cell markers, inflammatory markers, microbes, toxins, or any other suitable indicator. In an embodiment, the sensors108can be configured to detect one or more fluids released into the body region by at least one robotic debridement apparatus positioned in the body region. For example, the sensors108can be configured to detect one or more debriding agents, one or more therapeutic agents, or one or more taggants.

In an embodiment, the sensors108can include at least one chemical sensor. For example, the chemical sensor can include an electrochemical sensor or cantilever chemical sensor. For example, the chemical sensor can include a pH sensor configured to detect differences in pH. For example, the pH sensor can be configured to detect different pH levels between at least two distinct regions of the body region or at least two types of tissue (e.g., necrotic tissue and viable tissue). In an embodiment, the chemical sensor can include a protein sensor. For example, the protein sensor can be configured to detect a heat shock protein, calreticulin, or other proteins present in necrotic tissue. In an embodiment, the chemical sensor can include a sensor configured to detect one or more chemicals released by viable tissue or by nonviable tissue. For example, the sensor can be configured to detect one or more chemical present in necrotic tissue, such as cytochrome c, galactosidase, high-mobility group protein B1 (HMGB1), glyceraldehyde 3-phosphate dehydrogenase, vimentin, lamin A, soluble galactose-binding lectin 7, or collagen. In an embodiment, the sensor108can be configured to detect one or more chemicals present in viable tissue, such as fibronectin 1, serine protease inhibitor 2b, transferrin, or hemoglobin.

In an embodiment, the chemical sensor can include a gas sensor. For example, the gas sensor can be configured to detect gases (e.g., volatile organic chemicals) released by unhealthy tissue, healthy tissue, or one or more taggants present in the body region. For example, the gas sensor can be an acoustic wave sensor, piezoelectric sensor, or electronic nose sensor. In an embodiment, the chemical sensor can include a peroxide sensor (e.g., hydrogen peroxide sensor), a nitric oxide sensor, or a nitrate sensor. In an embodiment, the sensors108can include at least one optical sensor. In an embodiment, the optical sensor can include a light sensor configured to detect different colors. For example, the light sensor can include a spectrophotometer and a light source. The light source can include a light-emitting diode, a white light source, or a light source configured to provide light in at least one of a variable or specific wavelength, such as infrared wavelength or ultraviolet wavelength. Such a light sensor can be used to distinguish nonviable tissue from viable tissue. For example, the light sensor can distinguish between at least two of necrotic tissue (e.g., typically dark or black), slough (e.g., typically white or yellow), fibrinous tissue (e.g., typically white or yellow), healthy granulation tissue (e.g., typically pink or red), unhealthy granulation tissue (e.g., typically dark red), or healthy new tissue (e.g., typically pink). For example, the light sensor can distinguish between intact tissue (e.g., intact skin) and a wound. In an embodiment, the light sensor can detect cellular autofluorescence. In an embodiment, the light sensor can detect one or more taggants. For example, the taggant can include a dye, a fluorescent tag, etc. For example, the taggant can include an agent with a binding moiety and a moiety having optical properties, such as a chromogen, fluorescent agent, luminescent agent, a quantum dot, or an agent with an alterable optical density.

In an embodiment, the sensors108include at least one radiological sensor. For example, the sensors108can include a CMOS imager with aptamer functionalization to detect the presence of radio-labeled target biomolecules. In an embodiment, the sensors108include at least one electrical sensor. For example, the sensor108can include a sensor able to detect an electrical charge. For example, the sensor108can include a transducer able to generate a signal in response to an electrical charge.

In an embodiment, the optical sensor can include a topographical sensor configured to detect the topography of at least a portion of the body region. For example, the topography of the body region can be used to determine vascularization, grooves, pores, rough sections of the body region, wet sections of the body region, shiny regions of the body region, etc. For instance, vascularization can indicate healthy tissue, rough sections of the body region can indicate hypergranulation tissue, and wet or shiny sections of the body region can indicate fibrinous tissue. In another example, the topography of the body region can be used to detect an indentation that the robotic debridement apparatus100forms in the body region (e.g., the robotic debridement apparatus100would make a larger indentation in the relatively soft inflamed tissue than in the relative hard healthy tissue). In an embodiment, the optical sensor can include an optical scattering sensor configured to distinguish between necrotic, sloughing, and healthy tissue. In an embodiment, the optical sensor can include a near-infrared spectroscopy sensor. For example, the near-infrared spectroscopy sensor can detect the oxygenation levels of the tissue, which can be used, for example, to distinguish different types of tissue. In an embodiment, the optical sensor can include an optical coherence tomography sensor, a diffuse reflectance spectroscopy sensor, or a fluorescence spectroscopy sensor.

In an embodiment, the sensor108can include at least one acoustic sensor. For example, the acoustic sensor can include an acoustic transducer, (e.g., an ultrasound transducer). For example, the acoustic sensor can detect tissue density and different tissue densities can indicate different types of tissue. For example, the acoustic sensor can detect tissues with higher water content (e.g., healthy, viable tissues) and distinguish them from tissues with little or no water content (e.g., dry necrotic tissue).

In an embodiment, the sensors108can include at least one thermal sensor (e.g., bimetal, thermistor, thermocouple, resistance thermometer, etc.). For example, different types of tissue can exhibit different temperatures (e.g., necrotic tissue vs. non-necrotic tissue, inflamed tissue vs. non-inflamed tissue).

In an embodiment, the sensors108can include at least one electrical conductivity sensor. For example, different types of tissue can exhibit different conductivities. In an embodiment, the sensors108can include at least one moisture sensor configured to detect moisture. For example, a dry necrotic wound can exhibit a low moisture content, healthy tissue can exhibit a higher moisture content than the dry necrotic wound, while fibrinous tissue can exhibit an even higher moisture content than the healthy tissue. For example, high levels of moisture can indicate slough or excess exudate. For example, a moisture sensor can distinguish between intact tissue (e.g., skin) having a low moisture contact and a wound having a higher moisture content.

In an embodiment, the sensors108can include at least one contact sensor configured to detect which portions of the robotic debridement apparatus100are contacting the body region. For example, soft, nonviable tissue might contact a larger portion of the robotic debridement apparatus100than the relatively harder healthy tissue. Other suitable contact sensors include force-displacement sensors that contact the body region, for example. The force-displacement sensors can measure tissue hardness, because relatively soft tissue requires a relatively lower force from the force-displacement sensor than relatively hard tissue in order to be indented to the same depth by the force-displacement sensor. Other suitable contact sensors include at least one force-displacement sensor that contacts the body region. The force-displacement sensor can measure tissue hardness because relatively soft necrotic tissue requires a relatively lower force from the force-displacement sensor than relatively hard healthy tissue to be indented to the same depth by the force-displacement sensor. In another example, the contact sensor can include a brush sensor (e.g., at least one three-dimensional printed micropillar structure) configured to sense a topography of a body region.

In an embodiment, the sensors108can include at least one location sensor configured to detect the position of the robotic debridement apparatus100. For example, the at least one location sensor can include an electromagnetic sensor, a sound sensor, etc. The location sensor can be configured to determine a location thereof relative to one or more locations proximate to the robotic debridement apparatus100, relative to one or more other robotic debridement apparatuses, relative to one or more taggants or physical markers added to the body region, one or more features of the body region, or one or more features of a dressing (e.g., dressing1178ofFIGS. 11A-11B), etc. In an embodiment, the sensors108do not include a location sensor. In an embodiment, the sensor is a global positioning sensor.

In an embodiment, the sensors108can comprise a sensor array. For example, the sensors108can include a phased array. For example, the sensors108can include an array of optical sensors. For example, the sensors108can include an array of acoustic sensors. In an embodiment, the sensor array can be configured to determine one or more of a direction, a gradient, or a location.

In an embodiment, the sensors108can transmit one or more sensing signals. For example, the sensors108can transmit one or more sensing signals responsive to detecting the one or more characteristics of the body region. For example, the sensing signals can include data encoded therein indicating different types of tissue detected. For example, the sensing signals can include data encoded therein indicating the location of the different types of tissue relative to the robotic debridement apparatus100, the presence and location of other robotic debridement apparatuses, the presence and location of different agents present in the body region, etc. In an embodiment, the sensors108can transmit the one or more sensing signals to one or more components of the robotic debridement apparatus100(e.g., the controller112). In an embodiment, the sensors108can transmit the one or more sensing signals to a device distinct and separate from the robotic debridement apparatus100(e.g., the dressing1178ofFIGS. 11A-11B, the external device127, etc.). The device can use the transmitted signals to at least partially control the operation of the robotic debridement apparatus100, display information related to the robotic debridement apparatus100(e.g., progress reports, errors, etc.), create electronic records, etc. In an embodiment, the sensors108can sense the characteristics or transmit the one or more sensing signals responsive to direction from the controller112.

As discussed above, the controller112of the robotic debridement apparatus100can be communicatively coupled to one or more components of the robotic debridement apparatus100. For example, the controller112can be communicably coupled to at least one of the locomotive mechanism104, the debriding tool106, the debris disposal device (e.g., any of the debris disposal devices452a-jofFIGS. 4A-4J), the therapeutic device (e.g., any of the therapeutic devices562a-bofFIGS. 5A-5B), the sensors108, the power source110, etc. The controller112can include control electrical circuitry (e.g., memory122, a transceiver124, and a processor126) configured to control all or at least one of the components that are communicably coupled to the controller112. For example, the controller112can be configured to controllably activate the locomotive mechanism104, thereby controllably relocating (e.g., moving) the robotic debridement apparatus100. For example, the controller112can direct the locomotive mechanism104to controllably move the robotic debridement apparatus100, for example, to travel to a selected portion of the body region (e.g., a portion of the body region having necrotic tissue) or in a specified manner (e.g., at a certain speed or in a certain pattern). In an embodiment, the controller112can be configured to controllably activate at least one of the debriding tool106, the debris disposal device, or the therapeutic device, thereby controllably facilitating debridement of the body region.

In some embodiments, the controller112can be omitted from the robotic debridement apparatus100. For example, the controller112can be located in a device distinct from and communicably coupled to the robotic debridement apparatus100(e.g., another robotic debridement apparatus, the dressing1178ofFIGS. 11A-11B, etc.) or the controller112can be omitted entirely.

The controller112can be communicably coupled, either directly or indirectly, to one or more components of the robotic debridement apparatus100. For example, the housing102can include wires or a wireless device (e.g., Bluetooth, Wi-Fi) that couples the controller112to the one or more components of the robotic debridement apparatus100. Therefore, the controller112can be remote from at least one of the locomotive mechanism104, the debriding tool106, the debris disposal device, the therapeutic device, the sensors108, or the power source110. In an embodiment, the controller112can at least partially be positioned within or incorporated into at least one of the locomotive mechanism104, the debriding tool106, the debris disposal device, the therapeutic device, the sensors108, or the power source110.

The controller112can include the memory122, or the memory122can be separate from and communicably coupled to the controller112. The memory122can be configured to store one or more operational instructions therein. The memory122can include non-transitory memory, such as random access memory (RAM), read only memory (ROM), a hard drive, a disc, flash memory, other types of memory electrical circuitry, or other suitable memory. The operational instructions stored on the memory122can include a program configured to operate the robotic debridement apparatus100, information about the robotic debridement apparatus100and the components thereof, information gathered by the robotic debridement apparatus100(e.g., from the sensors108), or additional information.

In addition or alternative to the memory122, the controller112can include a transceiver124configured to receive one or more operational instructions from or to a user or a program or transmit information therefrom. For example, the transceiver124can be communicably coupled to a device (e.g., computer, cellphone, etc.) that is spaced or remote from the transceiver124. The transceiver124can then transmit the received operational instructions to at least one of a processor126or the memory122(e.g., the transceiver124is communicably coupled to at least one of the processor126or the memory122). For example, the transceiver124can transmit information (e.g., sensing signals from the sensors108or operational instructions from the controller112) to another robotic debridement apparatus or to a dressing.

In an embodiment, the transceiver124can transmit information to a central location (e.g., computer, cellphone) where information can be compiled, stored, or accessed. The central location may include a user interface that can display at least a portion of the information to a user (e.g., graph the healing of a wound, indicate that an infection was detected, etc.) and enable the user to communicate with the controller112. In an embodiment, the transceiver124can transmit information to the user. The information transmitted to the user can include the sensing signals, the status of the robotic debridement apparatus100, the amount or type of tissue to be debrided or already debrided, an assessment of “mapping” of the target tissue or body region of the subject, the status of a particular debridement program, an alert that something has gone wrong with the apparatus or with the program, a recommendation to change the program based on particular criteria (e.g., subject is in pain, tissue damage is greater or less than first thought, healing has occurred faster than anticipated, etc.), physiological data based on sensed signals, or other information related to the apparatus, the system, or the target tissue.

The processor126of the controller112can be configured to direct certain operations of the robotic debridement apparatus100according to the operational instructions. For example, the processor126can receive the operational instructions from the memory122or the transceiver124. The operational instructions can include a program encoded therein that enables the controller112, via the processor, to operate the robotic debridement apparatus100automatically (e.g., with little to no outside instructions).

In an embodiment, the controller112can be operably coupled to an external device127that is spaced from the housing102. For example, the external device127can be wiredly or wirelessly coupled to the controller112. In an embodiment, the external device127can include memory, at least one processor, a display, a user interface, or at least one input device (e.g., mouse, keyboard, touchscreen). For example, the external device127can include a computer, a laptop, a cellphone, a tablet, etc. For example, the external device127can include a body resident device. For example, the external device127might include a skin-resident, organ-resident, or conformable electronic (e.g., an epidermal electronic). For example, the external device127can include or utilize a body area network. The external device127can transmit one or more command signals to the controller112. For example, the one or more command signals can include one or more user-directed commands encoded therein that at least partially supersede any program that is executed by the processor126. As such, the user-directed commands can allow a user to remotely control at least one operation of the robotic debridement apparatus. In another example, the one or more command signals can include one or more new programs that are downloaded to and stored on the memory122. The new programs can at least partially supersede or supplement any program previously or currently stored on the memory122or executed by the processor126.

In an embodiment, the controller112can transmit one or more informational signals to the external device127. The one or more information signals can include information related to the robotic debridement apparatus100encoded therein. For example, the one or more information signals can include at least one of one or more sensing signals detected by the sensors108, the status of the robotic debridement apparatus100or one or more components thereof, etc., or other information as described herein, such as information related to the apparatus, the system, or the target tissue of the subject. The external device127can display at least a portion of information encoded in the information signals to the user (e.g., the subject, a healthcare worker, computer, or third party) using the display.

In an embodiment, the external device127includes at least one of a computing device or a network including electronic records. For example, the external device127can include information stored therein(e.g., an electronic medical record of the subject). In an embodiment, the one or more information signals can include information related to operation of the robotic debridement apparatus100in regards to the subject (e.g., the history of debriding the target tissue or sensed characteristics of the body region and tissue therein) that can be added to the electronic medical record.

In an embodiment, the external device127is omitted. In an embodiment, the controller112is omitted, and the external device127controls the operation of one or more components of the robotic debridement apparatus100(e.g., the robotic debridement apparatus100includes a transceiver that receives one or more operational instructions or one or more command signals from the external device127).

E. Power Sources

The robotic debridement apparatus100can include at least one power source110coupled to and configured to supply electrical power to the one or more components of the robotic debridement apparatus100. For example, the power source110can be coupled to at least one of the locomotive mechanism104, the debriding tool106, the debris disposal device (e.g., any of the debris disposal device452a-jofFIGS. 4A-4J), the therapeutic device (e.g., any of the therapeutic devices562a-bofFIGS. 5A-5B), the sensors108, the controller112, or another component of the robotic debridement apparatus100. In an embodiment, the power source110can controllably supply electrical power to the one or more components responsive to, for example, direction from the controller112.

In an embodiment, the power source110can include any device configured to store power (e.g., electrical power) therein. For example, the power source110can include at least one battery (e.g., a microbattery or thin-film battery) or at least one capacitor.

In an embodiment, the power source110can include a device that is rechargeable. In an embodiment, as will be discussed in more detail later, the power source110can include a power receiver (e.g., power receiver1998ofFIG. 19) configured to receive power (e.g., wirelessly or wiredly) from an external power source. The received power can then be stored in the power source110or transmitted to one or more components of the robotic debridement apparatus100. In an embodiment, the power source110can be at least partially replaceable. For example, the power source110can include a battery that is removable from the robotic debridement apparatus100. In an embodiment, the power source110is neither rechargeable nor replaceable.

In an embodiment, the power source110can include a power-generating mechanism. For example, the power source110can include a piezoelectric power generator configured to generate electrical power by harvesting energy from the movements of the robotic debridement apparatus100, the locomotive mechanism104, or the body region. In an embodiment, the power source110can include a thermal electric power generator that is configured to generate electrical power from temperature gradients within the robotic debridement apparatus100or the body region. In an embodiment, the power source110can include one or more photovoltaic cells. In an embodiment, the power source110only includes a power-generating mechanism. In an embodiment, the power source110includes a power-generating mechanism and at least one other device (e.g., a battery, a capacitor, or a power receiving device).

As previously discussed, the one or more robotic debridement apparatuses disclosed herein include one or more of at least one debriding tool, at least one debris disposal device, or at least one therapeutic device. For example, the robotic debridement apparatuses disclosed herein can include one of, two or more of, or each of the at least one debriding tool, the at least one debris disposal device, or the at least one therapeutic device. Each of the debriding tool, the debris disposal device, and the therapeutic device is configured to facilitate debridement of tissue from the body region. In some embodiments, the robotic debridement apparatuses disclosed herein can also include at least one marking device configured to dispense one or more taggants on the body region of the subject (e.g., identify a marker indicating a specific tissue type, outlining a “map” of an area to be treated or an area already treated, etc.). In some embodiments, the robotic debridement apparatuses disclosed herein can also include at least one extraction device configured to facilitate disposal or removal of the robotic debridement apparatuses from the body region of the subject.

FIGS. 3A-3Oare schematic illustrations of robotic debridement apparatuses including different debriding tools, according to different embodiments. The debriding tools disclosed herein are configured to debride tissue (e.g., at least one target tissue) from a body region of the subject. For example the debriding tools are configured to debride at least one of healthy tissue or unhealthy tissue, depending on a particular goal as determined by factors set forth herein. In particular, the debriding tools disclosed herein may be configured to preferentially (e.g., selectively) debride unhealthy tissue from the body region (e.g., minimally debrided and preserve viable tissue).

Except as otherwise described herein, the robotic debridement apparatuses shown inFIGS. 3A-3Oand their materials, components, or elements can be similar to or the same as the robotic debridement apparatuses100,200a-g(FIGS. 1, 2A-2G) and its respective materials, components, or elements. For example, the robotic debridement apparatuses shown inFIGS. 3A-3Ocan include at least one of a housing, at least one locomotive mechanism, at least one debris disposal device, at least one therapeutic device, one or more sensors, a controller, or a power source. Any of the debriding tools illustrated inFIGS. 3A-3Ocan be used in any of the robotic debridement apparatuses embodiments disclosed herein.

The debriding tools illustrated herein or any portion thereof may be made of plastic, metal, alloys, ceramic, fiber, carbon, cobalt, silicon, glass, polymer, or any other suitable material. In addition, the debriding tools disclosed herein can have various shapes, sizes, and lengths. Selection of a particular type of configured of the debriding tools illustrated herein can be at least partially based on the type, size, and shape of the target tissue of the body region. The debriding tools disclosed herein and components thereof can be manufactured by standard techniques. For example, the debriding tools disclosed herein and portions thereof can be manufactured using photolithographic etching or micromachining, or can be manufactured in plastic via an injection molding process. The debriding tools disclosed herein and portions thereof can be manufactured by an additive manufacturing process. Examples of additive manufacturing processes include liquid-based processes, e.g., stereolithography, jetted photopolymer, and ink jet printing; powder-based processes, e.g., selective laser sintering, direct metal laser sintering, and three-dimensional printing; and solid-based processes, e.g., laminated object manufacturing, fused deposition modeling. In an embodiment, the debriding tools illustrated herein or any portion thereof may be consumable, replaceable, or disposable.

FIG. 3Aillustrates an embodiment of a robotic debridement apparatus300athat includes at least one debriding tool306aassociated (e.g., positioned) in or on a housing302aof the robotic debridement apparatus300a. For example, the debriding tool306acan include at least one blade329aextending from the housing302a. In embodiments, the blade329acan be a sharp cutting tool. For example, the blade329acan be sharp, flat, smooth, rough, or serrated. For example, the blade329acan include at least one edge or surface that is configured to cut tissue (e.g., cutting edge), scrape tissue, or abrade tissue (e.g., scraping edge). In an embodiment, the blade329acan exhibit at least one of a negative rake angle, a positive rake angle, or a zero rake angle. The blade329acan debride tissue as the housing302amoves relative to the body region or as the blade329amoves relative to the housing302a. The depth the blade329adebrides tissue from the body region can depend on one or more of a rake angle, a distance the blade329aextends from the outer surface316a, a force applied to the debriding tool306a, etc. In an embodiment, the debriding tool306aincludes a plurality of blades329aconfigured in a pattern (e.g., a random pattern, a linear pattern, an arrayed pattern, etc.). In an embodiment, the blades329amove independently from each other. In an embodiment, the blades329amove in unison.

In an embodiment, the blade329acan include a cutting edge. For example, the blade329acan include a surgical blade. The cutting edge can include a first surface and a second surface extending therefrom. The smallest angle between the first surface and the second surface is less than about 60°, such as less than about 30°, about 30° to about 34°, about 34° to about 44°, or about 44° to about 60°. The angle between the first surface and the second surface can depend on the hardness of a material at the cutting edge, the type of tissue to be debrided, etc.

In an embodiment, the debriding tool306acan include at least one structure331athat is substantially planar, lenticular, or rounded. The structure331acan extend from at least a portion of the housing302a. The blade329acan extend from the structure331a. In an embodiment, the structure331acan be omitted and the blade329acan extend outwardly from or attached to at least a portion of at least one outer surface316aof a housing302a.

FIG. 3Billustrates a robotic debridement apparatus300bthat is substantially similar to the robotic debridement apparatus300a(FIG. 3A). For example, the robotic debridement apparatus300bcan include at least one debriding tool306bassociated (e.g., positioned) in or on a housing302aof the robotic debridement apparatus300a

The debriding tool306bcan include at least one blade329b. The blade329bcan include one or more scraping tools having a scraping edge or surface. For example, the blade329bcan be a flat blade that includes a scraping edge or surface designed to scrape necrotic tissue away from a wound site, while not affecting viable tissue. For example, the scraping edge or surface may be a sharp edge or a serrated edge. For example, the scraping edge or surface can form a curette, such as a scoop, hook, gouge, or similar device. For example, the scraping edge or surface may be a dull edge. For instance, the scraping edge can include a first surface and a second surface extending therefrom. The angle between the first surface and the second surface can be greater than about 60°, such as about 90°. In an embodiment, the scraping edge can include a chamfer or a rounded edge.

In an embodiment, the debriding tool306bcan include only the at least one blade329b. In an embodiment, the debriding tool306bcan include at least one blade329a(e.g., sharp cutting tool) and at least one blade329b(e.g., scraping tool). In an embodiment, the debriding tool306bcan include a structure331bextending from the housing302band at least one of the blades329a,329bcan extend from the structure331b. In an embodiment, at least one of the blades329a,329bcan extend from the housing302b.

FIG. 3Cillustrates a robotic debridement apparatus300cthat includes at least one debriding tool306cassociated (e.g., positioned) in or on a housing302cof the robotic debridement apparatus300c. The debriding tool306ccan include one or more protrusions330c. In an embodiment, protrusions330ccan be of any configuration sufficient to abrade the desired or target tissue. For example, the protrusions330ccan include finger-like protrusions, hair-like protrusions, or bristles. For example, each protrusion330ccan have at least one scraping edge. For example, each of the protrusions330ccan be formed of a material with sufficient stiffness to abrade the target tissue. In an embodiment, the protrusions330ccan include microprotrusions.

In an embodiment, the protrusions330ccan include a plurality of protrusions330c. For example, at least some of the plurality of protrusions330ccan be substantially similar. In another example, at least some of the plurality of protrusions330ccan be different from each other. For instance, at least one of the plurality of protrusions330ccan be formed from at least one first material and at least one of the plurality of protrusions330ccan be formed from at least one second material that is different than the at least one first material. The different protrusions330ccan be randomly mixed together or arranged in one or more patterns or arrangements (e.g., the plurality of protrusions330care arranged in an array).

In an embodiment, the debriding tool306ccan include a structure331cthat is substantially planar, lenticular, or rounded. The structure331ccan include at least some of the protrusions330cextending therefrom. For example, the structure331ccan include at least one of the protrusions330carranged thereon or therein, either randomly or in one or more patterns or arrangements. For example, the protrusions330ccan be attached to, embedded in, or integral to the structure331c. In an embodiment, the structure331ccan be omitted and the protrusions330ccan extend outwardly from or be attached to at least a portion of at least one outer surface316cof a housing302c.

In an embodiment, the debriding tool306ccan debride tissue as the housing302cmoves relative to the body region. In an embodiment, the debriding tool306ccan debride tissue as the debriding tool306c(e.g., the structure331cor the protrusions330c) move relative to the housing302c. In an embodiment, the protrusions330ccan vibrate, oscillate or otherwise move, individually or as an array, relative to the structure331c, structure331c, or housing302c.

FIG. 3Dillustrates a robotic debridement apparatus300dthat includes at least one debriding tool306d. In an embodiment, the debriding tool306dcan include at least one structure331dthat substantially encloses (e.g., encircles) at least a portion of the housing302d. In an embodiment, the structure331dcan be rotatably mounted around and rotatable around the housing302d. The debriding tool306dcan include a plurality of protrusions330dextending from and attached to at least a portion of the structure331d. In an embodiment, the structure331dcan be omitted and the protrusions330dcan extend outwardly from or attached to at least a portion of at least one outer surface316dof a housing302dsuch that the protrusions330dsubstantially encircles at least a portion of the housing302d.

FIG. 3Eillustrates an embodiment of a robotic debridement apparatus300ethat includes at least one debriding tool306e. The debriding tool306ecan be similar to the debriding tool306b(FIG. 3B). For example, the debriding tool306ecan include at least one structure331eand at least one blade329e. The debriding tool306ecan also at least one abrasive material332ethat positioned on (e.g., coats) at least a portion of the debriding tool324e(e.g., at least partially coats the blade or the structure331e). In an embodiment, the abrasive material332ecan additionally or alternatively be positioned on at least a portion of at least one outer surface316eof the housing302e. The abrasive material332ecan debride tissue as the robotic debridement apparatus300emoves (e.g., vibrates) relative to the body region or as the debriding tool306emoves relative to the housing302e, as described herein.

In an embodiment, the abrasive material332ecan include one or more materials having a hardness greater than at least one tissue to be debrided. For example, the abrasive material332ecan include a material that is harder than at least one nonviable tissue but is softer than at least one healthy tissue. As such, the abrasive material332epreferentially debrides the nonviable tissue versus viable tissue. In an embodiment, the abrasive material332ecan include a material that is harder than at least one nonviable tissue and at least one viable tissue. In an embodiment, the abrasive material332ecan include a material that is softer than at least one nonviable tissue or at least one viable tissue. In an embodiment, the abrasive material332ecan include at least one of silicon carbide, silicon nitride, silicon dioxide, metal, diamond, ceramic, glass, nylon, a mineral compound, a synthetic compound (e.g., polyethylene or polypropylene), a natural or organic compound (e.g., grain, seed, nut, nutshell, mollusk shell, etc.), a crystal (e.g., aluminum oxide, magnesium oxide, sodium chloride, and sodium bicarbonate), and the like. In an embodiment, the abrasive material332ecan include a biocompatible material, such as silicon nitride or titanium. In an embodiment, the abrasive material332ecan include a grit size of about 8 to about 1200, such as about 8 to about 34, about 30 to about 60, about 70 to about 180, or about 320 to about 1200. In an embodiment, the abrasive material332ecan include a microabrasive or a nanoabrasive.

FIG. 3Fillustrates an embodiment of a robotic debridement apparatus300fthat includes at least one debriding tool306f. In an embodiment, the at least one debriding tool306fcan include at least one structure331fthat is similar to the structure331c(FIG. 3C). The debriding tool306fcan include at least one abrasive material332fthat at least partially coats the structure331f. In an embodiment, the at least one abrasive material332fcan coat at least a portion of the outer surface316fof the housing302f.

FIG. 3Gillustrates an embodiment of a robotic debridement apparatus300gthat includes at least one debriding tool306g. The debriding tool306gcan include at least one abrasive material332gthat is positioned on (e.g., coats) at least a portion of an outer surface316gof the housing302gof the robotic debridement apparatus300g. The abrasive material332gcan debride tissue from a body region when the robotic debridement apparatus300gmoves relative to the body region. For example, the robotic debridement apparatus300gcan be similar to the robotic debridement apparatus200e(FIG. 2E) and the abrasive material332gcan debrided tissue as the robotic debridement apparatus300gvibrates.

FIG. 3Hillustrates an embodiment of a robotic debridement apparatus300hthat includes at least one debriding tool306hhaving at least one energy-emitting device334. The energy-emitting device334can be associated (e.g., positioned) in or on a housing302hof the robotic debridement apparatus300hin a manner that allows the energy-emitting device334to emit energy333h(e.g., electromagnetic energy, acoustic energy, electrical energy, thermal energy, etc.) into the body region. For example, a portion of the energy-emitting device334that emits energy333hcan at least partially extend from at least one outer surface316hof the housing302h. In an embodiment, the energy-emitting device334can controllably emit the energy333hresponsive to direction from a controller (e.g., controller112ofFIG. 1).

In an embodiment, the energy-emitting device334can be configured to emit acoustic energy. For example, the energy-emitting device334can include an ultrasound device configured to emit ultrasonic energy at a frequency that affects target tissue to be debrided. For example, the ultrasound device can emit low frequency ultrasound that dislodges nonviable tissue. For example, the ultrasound device can emit ultrasonic energy that kills infecting microbes. For example, the ultrasound device can emit ultrasonic energy at a wavelength that stimulates healing. The ultrasonic energy can exhibit a frequency of about 20 kHz to about 10 GHz, such as about 20 kHz to about 60 kHz. The energy-emitting device334can directly contact the tissue or be spaced from the tissue (e.g., about 1 μm to about 5 μm) when the energy-emitting device334emits the acoustic energy333.

In an embodiment, the energy-emitting device334can be configured to emit electromagnetic energy. For example, the energy-emitting device334can include a light-emitting device such as a laser, a light emitting diode, etc. In an embodiment, the energy-emitting device334can emit electromagnetic energy at a wavelength that is absorbed by a selected tissue to be debrided. Absorbing the electromagnetic energy can heat the selected tissue, thereby destroying the selected tissue. In an embodiment, the energy-emitting device334can emit electromagnetic energy at a wavelength and intensity able to cut the selected tissue from the body region. In an embodiment, the energy-emitting device334can emit electromagnetic energy at a wavelength that can ablate tissue.

In an embodiment, the robotic debridement apparatus300hincludes the debriding tool306hand at least one additional debriding tool (not shown). The at least one debriding tool360hcan include any of the debriding tools disclosed herein. The debriding tool306hcan be configured to act in concert with the at least one additional debriding tool. For example, the debriding tool306hcan include an ultrasound device configured to act in concert with any of the debriding tools disclosed herein, such as a blade, a scraping device, a protrusion, or an abrasive device to debride the tissue. For example, the ultrasound device can be configured to motivate the debriding tool, such as inducing a vibration or acoustic response in the debriding tool. For example, the ultrasound device can be configured to act in concert with device configured to dispense one or more debriding agents (debriding agents333iofFIG. 3I).

FIG. 3Iillustrates an embodiment of a robotic debridement apparatus300ithat includes at least one debriding tool306iassociated (e.g., positioned) in or on a housing302iof the robotic debridement apparatus300i. In the illustrated embodiment, the debriding tool306iincludes a device configured to dispense one or more debriding agents333iinto or onto a body region of the subject. For example, the one or more debriding agents333ican include a fluid (e.g., a liquid or a gas) suitably composed to debride tissue. For example, the one or more debriding agents333ican include an abrasive (e.g., particles, crystals, or a powder) suitably composed to debride tissue. For example, the one or more debriding agents333ican include a gel or colloid suitably composed to debride tissue.

The debriding tool306ican include at least one debriding agent reservoir335ipositioned in or on the housing302iconfigured to store the debriding agents333itherein. The debriding agent reservoir335ican be fluidly coupled to at least one debriding-dispense element336ipositioned in or on the housing302ivia a conduit338i. In an embodiment, the debriding-dispense element336ican be directly coupled to or integrally formed with the debriding agent reservoir335i. The debriding-dispense element336ican include a debriding-dispense aperture340ithrough which the debriding agents333iare dispensed at the body region. The at least one debriding-dispense aperture340ican form part of a sprayer, a slit nozzle, etc. In an embodiment, the debriding tool306ican be configured to controllably dispense the debriding agents333iresponsive to direction from a controller312i.

The debriding agents333ican include any physical, biological, or chemical agent composed to debride at least one target tissue from the body region. In an embodiment, the debriding agent333ican include one or more fluids, such as a liquid, aerosol, or gas. For example the debriding agent333ican include a liquid, aerosol, or gas comprising superoxidized water or a peroxide. In an embodiment, the debriding agent333ican include one or more lytic agents. For example, the lytic agents can include elastase, collagenase, myeloperoxidase, acid hydrolase, lysosomal enzymes, phagocytic cells, combinations thereof, or any suitable lytic agent. In an embodiment, the debriding agents333ican include one or more enzymatic agents. The enzyme agents can include at least one of bacterial collagenase, papain, urea, fibrinolysin, DNase, trypsin, streptokinase, streptodornase, subtilisin, matrix metalloproteinase, serine proteases, aspartyl proteinase, nuclease, or another enzyme. In an embodiment, the debriding agents333ican include at least one nonspecific tissue-degrading agent or reactive chemical (e.g., alkaline agent, oxidizing agent, or nucleophilic agent). In an embodiment, the debriding agent333ican include an abrasive, for example, but not limited to, a composition including particles, crystals, or a powder of any abrasive listed herein. In an embodiment, the debriding agent333ican include a chemical abrasive such as trichloroacetic acid, glycolic acid, or an abrasive cleanser. In an embodiment, the debriding agent333ican include a colloid, gel, or emulsion. In an embodiment, the debriding agent333ican include a hydrocolloid or hydrogel. For example, the debriding agent333ican include an agent used in wet-to-dry mechanical debridement of necrotic tissue, such as a hydrogel or liquid bandage that dries over time to be removed manually or by a debridement apparatus as described herein, thereby debriding the tissue. In an embodiment, the debriding agents333ican include a combination of lytic agents, enzyme agents, hydrogel, or another suitable debriding agent. In an embodiment, the debriding agents333ican include a washing agent or irrigation solution. For example, the debriding agent333ican include at least one of one or more biocompatible fluids (e.g., saline, water, Ringer's solution, sodium hypochlorite), one or more antiseptics (e.g., superoxidized water, hydrogen peroxide, Povidone iodine), or one or more detergents, or one or more surfactants.

FIG. 3Jillustrates an embodiment of a robotic debridement apparatus300jthat includes at least one debriding tool306jassociated (e.g., positioned) in or on a housing302jof the robotic debridement apparatus300j. In the illustrated embodiment, the debriding tool306jis configured to dispense a pressurized fluid333jinto the body region with sufficient force to debride tissue (e.g., necrotic tissue, fibrinous tissue, ischemic tissue, granulation tissue, connective tissue, epithelial tissue, endothelial tissue, or another target tissue). For example, the pressurized fluid333jcan be any liquid, gas, aerosol, powder, colloid, or combination thereof as described herein, including but not limited to a debriding agent333i(FIG. 3I). In an embodiment, the pressurized fluid333jincludes superoxidized water. In an embodiment, the pressurized fluid333jincludes saline. For example, the pressurized fluid333jcan be a high-pressure jet or other type of high-pressure stream(s) of fluid that has a pressure sufficient to separate at least one target tissue from other tissue. For example, the debriding tool306jcan be configured to controllably dispense fluids under pressure to irrigate the body region or to dislodge a target tissue.

The debriding tool306jcan include a fluid reservoir335jpositioned in or on the housing302j. The fluid reservoir335jcan be configured to store one or more fluids therein. The fluid reservoir335jcan be fluidly coupled to a fluid-dispense element336jpositioned in or on the housing302jvia a conduit338j. In an embodiment, the fluid-dispense element336jcan be directly coupled to or integrally formed with the fluid reservoir335j. The fluid-dispense element336jcan dispense the pressurized fluids333jinto or onto the body region using at least one fluid-dispense aperture340jconfigured to dispense the pressurized fluids333j. The at least one fluid-dispense aperture340jcan include a sprayer, a slit nozzle, etc. In an embodiment, the debriding tool306jcan be configured to controllably dispense the debriding agents responsive to direction from a controller312j.

The pressurized fluids333jdispensed from the fluid-dispense element336jcan be pressurized in any suitable manner. For example, the debriding tool306jcan include a pressurizing device342(e.g., a pump, compressor, or actuator) positioned in or on the housing302jthat is fluidly coupled to at least one of the fluid reservoir335j, the fluid-dispense element336j, or the conduit338j. The pressurizing device342can create a pressure gradient that causes the pressurized fluids333jto be dispensed from the fluid-dispense element336jwith sufficient force to debride tissue. In an embodiment, the pressurizing device342can create a pulsatile pressurized force, with intermittent pressurized delivery of the pressurized fluids333j. In an embodiment, the pressurized fluids333jcan be stored in the fluid reservoir335eat a pressure that is greater than the pressure in the body region. The pressurized fluids333jstored in the fluid reservoir335ecan include at least one of one or more biocompatible fluids (e.g., saline, water, Ringer's solution), one or more antiseptics (e.g., superoxidized water, hydrogen peroxide), one or more debriding agents (e.g., debriding agents333iofFIG. 3I), or any of the agents disclosed herein.

FIG. 3Killustrates an embodiment of a robotic debridement apparatus300kthat includes at least one debriding tool306kthat is associated (e.g., coupled) to the robotic debridement apparatus300k. For example, the debriding tool306kincludes at least one body344kthat is attached to the housing302kby at least one tether346k(e.g., at least one cable). As such, the only portion of the debriding tool306kthat is positioned in or on the housing302kis the portion of the tether346kthat is attached to the housing302k.

The body344kcan be configured to debride tissue when the body344kmoves (e.g., travels or vibrates) relative to the body region. For example, the body344kcan be configured to be dragged behind the housing302fwhen a locomotive mechanism304krelocates the housing302k. In an embodiment, the body344kcan be configured to move independently of the housing302k. For example, the body344kcan include at least one locomotive mechanism304k′ positioned therein or thereon that moves the body344k. The locomotive mechanism304k′ positioned in or on the body344kcan be similar to or the same as any of the locomotive mechanisms disclosed herein (e.g., vibratory mechanism inFIG. 3L). In an embodiment, the at least one locomotive mechanism304k′ can be controllably activated, thereby controllably moving the body344kresponsive to direction from a controller (e.g., controller112ofFIG. 1).

The body344kcan include at least one debriding tool306k(e.g., any of the debriding tools disclosed herein). For example, in the illustrated embodiment, the body344kincludes a plurality of protrusions330k(e.g., array of protrusions) positioned on an outer surface348kof the body344k.

FIG. 3Lillustrates an embodiment of a robotic debridement apparatus300lthat is similar to the robotic debridement apparatus300k(FIG. 3K). For example, the robotic debridement apparatus300lcan include at least one body344lthat is coupled to a housing302lusing a tether346l. The body344lcan include at least one debriding tool306l. The debriding tool306lcan include at least one abrasive material3321coating at least a portion of an outer surface348lof the body344l.

In an embodiment, the body344lcan include any of the debriding tools disclosed herein. In an embodiment, the housing302lcan also include at least a second debriding tool positioned in or on the housing302l(not shown).

FIG. 3Millustrates a robotic debridement apparatus300mthat includes a debriding tool306m(e.g., any of the debriding tools disclosed herein). For example, the debriding tool306mcan be similar to the debriding tool306a(FIG. 3A). In an embodiment, at least a portion of the debriding tool306mcan be movable relative to the housing302m. For example, the debriding tool306mcan be configured to at least one of be displaced relative to the housing302m(e.g., one or more of forward/backward, left/right, or up/down), rotate (e.g., spin relative to or rotate around a portion of the housing302m), oscillate, tilt, vibrate, or move linearly relative to an axis (e.g., along the longitudinal axis of the housing302m). As such, the debriding tool306mcan at least one of shave, scrape, abrade, shred, or otherwise physically debride tissue from the body region.

In an embodiment, the robotic debridement apparatus300mcan include one or more actuators350mpositioned in or on the housing302m. The actuators350mcan be operably coupled to at least a portion of the movable debriding tool306msuch that activating the actuators350mmoves at least a portion of the debriding tool306mrelative to the housing302m. The actuators350mcan include any of the actuators disclosed herein or any other suitable actuator. For example, the actuators350mcan include a vibratory mechanism (e.g., piezoelectric material) or a motor. For example, the actuators350mcan include an actuator including at least one three-dimensional printed micropillar structure, such as a vibrating motor or a brush motor. In an embodiment, the actuators350mcan be controllably actuated responsive to direction from a controller (e.g., controller112ofFIG. 1).

FIG. 3Nillustrates a robotic debridement apparatus300nthat includes at least one debriding tool306n(e.g., any of the debriding tools disclosed herein). For example, the debriding tool306ncan be similar to the debriding tool306f(FIG. 3F). In an embodiment, at least a portion of the debriding tool306ncan be movable relative to the housing302n. For example, at least a portion of the debriding tool306ncan be configured to be displaced relative to the housing302nin any of the manners disclosed herein, such as rotation as illustrated. In an embodiment, at least a portion of the debriding tool306ncan be coupled to one or more actuators350nconfigured to move at least a portion of the debriding tool306nrelative to the housing302n.

FIG. 3Oillustrates a robotic debridement apparatus300othat includes at least one debriding tool306o(e.g., any of the debriding tools disclosed herein). For example, the debriding tool306ocan be similar to the debriding tool306d(FIG. 3D). In an embodiment, at least a portion of the debriding tool306ocan be movable relative to the housing302o. For example, at least a portion of the debriding tool306ocan be configured to be displaced relative to the housing302oin any of the manners disclosed herein. In an embodiment, at least a portion of the debriding tool306ocan be coupled to one or more actuators350oconfigured to move at least a portion of the debriding tool306orelative to the housing302o.

G. Debris Disposal Devices

FIGS. 4A-4Jare schematic illustrations of robotic debridement apparatuses including different debriding tools, according to different embodiments. Except as otherwise described herein, the robotic debridement apparatuses shown inFIGS. 3A-3Eand their materials, components, or elements can be similar to or the same as the robotic debridement apparatuses100,200a-g,300a-o(FIGS. 1-3O) and their respective materials, components, or elements. For example, the robotic debridement apparatuses shown inFIGS. 4A-4Jcan include at least one of a housing, at least one locomotive mechanism, at least one debriding tool, at least one therapeutic device, one or more sensors, a controller, or a power source. Any of the debris disposal devices illustrated inFIGS. 4A-4Jcan be used in any of the robotic debridement apparatuses embodiments disclosed herein.

The debris disposal devices disclosed herein are configured to capture (e.g., acquire, sequester, secure, dispose of, remove, absorb, adsorb, or adhere thereto) at least one substance from the wound. The at least one substance can include debrided tissue (e.g., at least one target tissue). The debrided tissue can include tissue that is debrided using at least one robotic debridement apparatus including at least one debriding tool, a debriding tool used by a user (e.g., a physician, a nurse, other healthcare provider, the subject, a computer, or a third party, etc.), at least one debriding agent, maggots, or any other debriding tool. The debrided tissue can include nonviable tissue or viable tissue, depending on the goal and as determined by one or more factors described herein. In an embodiment, the robotic debridement apparatus selectively debrides nonviable tissue, by the debriding tools disclosed herein, and preserves as much healthy, viable tissue as possible. The substances can also include at least one foreign material or foreign matter. The foreign material or foreign matter can include debris present in the wound, one or more agents dispensed from at least one robotic debridement apparatus, one or more agents dispensed from a dressing, a fluid used to clean or irrigate the body region, a portion of at least one robotic debridement apparatus that has worn away, or another material introduced into the body region during the debridement process. The substance can also include one or more fluids. The fluid can include serous fluid, fibrinous fluid, serosanguinous fluid, sanguinous fluid, seropurulent fluid, purulent fluid, haemopurulent fluid, haemorrhagic fluid, blood, exudate, certain tissue, degraded tissue, or another fluid present within the body region. The substance can include at least one infectious material (e.g., bacteria, bacterial matter, fungus, fungal matter, yeast, yeast matter, virus, viral matter, infected cell or matter therefrom, etc.).

FIG. 4Aillustrates an embodiment of a robotic debridement apparatus400athat includes at least one debris disposal device452aconfigured to remove at least one substance453from the body region. For example, the debris reservoir441acan be configured to capture a fluid or solid that has rebounded from the body region (e.g., a splash or an aerosol).

In an embodiment, the debris disposal device452aincludes a debris reservoir441apositioned in or on the housing402a. The debris reservoir441acan be configured to directly access the body region through an opening403adefined by the housing402a. The debris reservoir441acan include an internal surface455a. The debris reservoir441acan include at least one capture material445that is positioned on (e.g., coats) at least a portion of the internal surface455a. The capture material445can be configured to have the substance453attached thereto when the substance453enters the debris reservoir441a, thereby preventing the substance453from exiting the debris reservoir441a. For example, the capture material445can include an adhesive, an adsorbent, or an absorbent. Examples of adhesives, adsorbents, and absorbents are disclosed elsewhere herein.

In an embodiment, the debris disposal device452aand its debris reservoir441aare configured to capture the substance453as the robotic debridement apparatus400atravels across a surface. For example, debris disposal device452acan include a substance motivator457a(e.g., scoop) at or near the opening403that is configured to gather (e.g., scoop up) the substance453into the debris reservoir441a. In an embodiment, the substance motivator457acan be coupled to an actuator (not shown) that is configured to move the substance motivator457arelative to the housing402a. For example, the actuator can be configured to move the substance motivator457abetween a closed and open position.

FIG. 4Billustrates an embodiment of a robotic debridement apparatus400bthat includes at least one debris disposal device452bconfigured to remove at least one substance453from the body region. In an embodiment, the debris disposal device452bcan include a debris reservoir441bpositioned in or on the housing402b. The debris reservoir441bcan be at least partially defined by an internal surface455band include an opening403bat least partially defined by the housing402b.

In an embodiment, the debris reservoir441bcan include at least one degrading agent451therein. The degrading agent451can be formulated to degrade or destroy at least one substance453captured from the body region. For example, the degrading agent451can include at least one of a liquid, gas, solid, powder, gel, colloid, other compound, or combinations thereof. For example, the degrading agent451can include a hydrogel coating at least a portion of the internal surface455bof the debris reservoir441b. For example, the degrading agent451can include a liquid (not shown) stored in the debris reservoir441b. In an embodiment, the degrading agent451includes a lytic, an autolytic, a proteolytic, an enzymatic agent, or any of the debriding agents described herein. In an embodiment, the degrading agent451includes a nonspecific degrading agent, such as an acid, an alkaline, or an oxidase. In an embodiment, the degrading agent451includes an antimicrobial. In an embodiment, the debris reservoir441bor degrading agent451includes a mechanistic aspect configured to aid in degrading the substance453. For example, the debris reservoir441bcan include a vibrating mechanism, a grinding mechanism, or the like.

In an embodiment, the debris disposal device452bincludes at least one substance motivator for moving the substance into the debris reservoir. For example, the substance motivator can include at least one of a first substance motivator457b, a second substance motivator457b′, or a third substance motivator457b″. In an embodiment, the first substance motivator457bcan be substantially similar to the substance motivator457a(FIG. 4A). In an embodiment, the second substance motivator457b′ can include a device (e.g., a shaped blade or a brush) that steers or pushes the substance453into the opening403b. The second substance motivator457b′ can be positioned at or near the opening403b. In an embodiment, the third substance motivator457b″ can include a device (e.g., bristles) that steers or moves the substance453through the opening403and into the debris reservoir441b. For example, the third substance motivator457b″ can be positioned at, near, or in the opening403b. In an embodiment, at least one of the first, second, or third substance motivators457b,457b′,457b″ can include at least one three-dimensional printed micropillar structure.

In an embodiment, the debris disposal device452bcan include one or more actuators (not shown) that are operably coupled to at least one of the first, second, or third substance motivators457b,457b′,457b″. The actuators can be configured to move at least one of the first, second, or third substance motivators457b,457b′,457b″ to facilitate steering the substance453to and through the opening403. For example, at least one of the first, second, or third substance motivators457b,457b′,457b″ can be moved under control of the controller (e.g., controller112ofFIG. 1). In an embodiment, at least one of the first, second, or third substance motivators457b,457b′,457b″ is not operably coupled to the actuators and instead passively steers the substance453to or through the opening403b(e.g., at least one the first, second, or third substance motivators457b,457b′,457b″ is substantially in communication with the locomotive mechanism and moves with the self-propelling force).

FIG. 4Cillustrates an embodiment of a robotic debridement apparatus400cthat includes at least one debris disposal device452cconfigured to remove at least one substance453from the body region. In an embodiment, the debris disposal device452cincludes a suction device454positioned in or on a housing402cof the robotic debridement apparatus400c. The suction device454can be configured to remove or capture the substance453from the body region. For example, the suction device454can include a pump, a compressor, a device having a lower pressure than the body region (e.g., the debris reservoir441ccan initially exhibit a lower pressure than the body region). In an embodiment, the suction device454can controllably remove the substance453from the body region responsive to direction from a controller412c.

In an embodiment, the suction device454can be coupled (e.g., fluidly coupled) to a debris reservoir441cpositioned in or on the housing402c. The suction device454or the reservoir441ccan be coupled (e.g., fluidly coupled) to the body region via at least one conduit438cpositioned in or on the housing402c. For example, the conduit438ccan extend from the reservoir441cto at least one outer surface416cof the housing402cor can further extend outwardly from the outer surface416cof the housing402cinto the body region. The debris reservoir441ccan be configured to store the substance453from the body region that is captured therefrom by the suction device454.

In an embodiment the debris reservoir441cincludes an energy-emitting device434configured to deliver energy433cto the substances453held in the debris reservoir441c. The energy433ccan be configured to degrade or destroy a tissue, cell, or microbe that is a component of the substance453. For example, the energy-emitting device434can be configured to emit at least one of acoustic energy, thermal energy, electrical energy, or electromagnetic energy. For instance, the energy-emitting device434can be configured to emit an ultraviolet light, infrared light, or other light. For instance, the energy-emitting device434can be configured to emit ultrasound energy or microwave energy.

FIG. 4Dillustrates an embodiment of a robotic debridement apparatus400dthat includes at least one debris disposal device452dhaving at least one adhesive material456configured and composed such that at least one substance453from the body region attaches thereto. For example, the robotic debridement apparatus400dincludes a housing402dhaving at least one outer surface416d. In an embodiment, the adhesive material456can be positioned in or on a housing402dof the robotic debridement apparatus400dsuch that the adhesive material456is exposed to the body region. For example, the adhesive material456can be positioned on (e.g., coat) at least a portion of the outer surface416d.

In an embodiment, the adhesive material456can include any suitable adhesive. For example, the adhesive material456can include at least one of a drying adhesive, a pressure-sensitive adhesive, a contact adhesive, a hot melt adhesive (e.g., the robotic debridement apparatus400dincludes a heating element that heats the adhesive material456), a reactive hot melt adhesive, a multi-part adhesive, a one-part adhesive, a natural adhesive, a synthetic adhesive, or another suitable adhesive. In an embodiment, the adhesive material456can include at least one of a glue, a cement, a mucilage, a liquid, a film, pellets, a gel, or a paste. In an embodiment, the adhesive material456can include at least one of silicon, an amine, or an acrylate polymer.

In an embodiment, the adhesive material456can include an adhesive that is directly applied to the robotic debridement apparatus400d(e.g., directly applied to the outer surface416d). In an embodiment, the adhesive material456can include an adhesive that is applied to a substrate (e.g., a flexible, semi-rigid, or rigid substrate) and the substrate is attached to a portion of the robotic debridement apparatus400d.

In an embodiment, the adhesive material456is configured to not substantially restrict movement of the robotic debridement apparatus400dwithin the body region. For example, the adhesive material456can include an adhesive that does not attach to or does not substantially attach to tissue in the body region. In an embodiment, the adhesive material456can include an adhesive that forms a weak attachment to the body region that is easily broken by the locomotive force generated by at least one locomotive mechanism404dof the robotic debridement apparatus400d. In an embodiment, the adhesive material456is positioned on a portion of the robotic debridement apparatus400dthat does not normally contact a fixed surface of the body region. For example, the adhesive may be positioned in or on the housing402din such a manner as to capture the substance453as the substance453is dislodged from the body region (e.g., by a blade or fluid spray).

FIG. 4Eillustrates an embodiment of a robotic debridement apparatus400ethat includes at least one debris disposal device452ehaving at least one adhesive material456configured and composed such that at least one substance453from the body region attaches thereto. The robotic debridement apparatus400ecan include at least one structure431eextending from the housing402eor an outer surface416eof the housing402e. In an embodiment, the structure431ecan be a three-dimensional structure having a substantially planar surface, lenticular surface, or rounded surface at least partially coated with the adhesive material456. The adhesive material456can be positioned on (e.g., coat) at least a portion of the structure431e. In an embodiment, the adhesive material456can be positioned on (e.g., coat) at least a portion of the locomotive mechanism404e(e.g., at least one of the impelling mechanism405e).

FIG. 4Fillustrates an embodiment of a robotic debridement apparatus400fthat includes at least one debris disposal device452fhaving at least one absorbent material458configured and composed to capture and/or sequester at least one substance453from the body region. The absorbent material458is positioned in or on a housing402fof the robotic debridement apparatus400fsuch that the absorbent materials458is exposed to the at least one substance453fof the body region. For example, the absorbent material458can be at least partially positioned on (e.g., coat) at least one outer surface416fof the housing402f, or within the housing402f(e.g., within debris reservoir441a-cofFIGS. 4A-4C). In an embodiment, the absorbent material458is positioned in a portion of the robotic debridement apparatus400fthat does not normally contact a fixed surface of the body region. For example, the absorbent may be positioned in the housing402fin such a manner as to capture the substance453as it is dislodged from the body region (e.g., by a blade or fluid spray).

In an embodiment, the absorbent material458can include a wicking material, such as a porous material, a woven fabric, etc. In an embodiment, the absorbent material458can include a material configured to attach (e.g., bond), absorb, or adsorb at least one substance453thereto. For example, the absorbent material458can include a material that is an adsorbent. For example, the absorbent material458can include at least one of one or more gel compounds, one or more oxygen-containing compounds (e.g., silica gel, zeolite), one or more carbon-based compounds (e.g., activated carbon, graphite), one or more porous polymer-based compounds, activated alumina, calcium sulfate, calcium oxide, clay, or another suitable material. In an embodiment, the absorbent material458can include a hygroscopic material (e.g., quartz).

In an embodiment, the debris disposal device452fcan include a suction device (e.g., the suction device454ofFIG. 4C) coupled to the absorbent material458. For example, the suction device can pull or draw the substance453into or through the absorbent material458. As such, the suction device can increase a rate at which the absorbent material458absorbs or adsorbs the substance453and can increase the amount of the substance453absorbed or adsorbed by the absorbent material458. In an embodiment, the suction device can controllably pull the at least one substance453into or through the absorbent material358responsive to direction from a controller (e.g., controller112ofFIG. 1).

FIG. 4Gillustrates an embodiment of a robotic debridement apparatus400gthat includes at least one debris disposal device452ghaving at least one absorbent material458configured and composed such that at least one substance453from the body region attaches thereto. The robotic debridement apparatus400gcan include at least one structure431gextending from the housing402gor an outer surface416gof the housing402g. In an embodiment, the structure431gcan be a three-dimensional structure having a substantially planar surface, lenticular surface, or rounded surface at least partially coated with the absorbent material458. The absorbent material458can be positioned on (e.g., coat) at least a portion of the structure431g. In an embodiment, the absorbent material458can be positioned on (e.g., coat) at least a portion of the locomotive mechanism404g(e.g., at least a portion of an impelling mechanism405g).

FIG. 4Hillustrates an embodiment of a robotic debridement apparatus400hthat includes at least one debris disposal device452hpositioned in or on a housing402hof the robotic debridement apparatus400h. In the illustrated embodiment, the debris disposal device452hcan be configured to dispense a pressurized fluid433hinto or onto the body region at a pressure sufficient to move at least one substance453from a first location to a second location. For example, in the illustrated embodiment, the fluid-dispense element436is configured to dispense pressurized fluids433hto move or direct the substance453into the debris reservoir441h. For example, the fluid-dispense element436can be configured to dispense pressurized fluids433hto move the substance453toward a substance motivator (e.g., first, second, or third substance motivators457b.457b′,457b″ ofFIG. 4B). For example, the pressurized fluid433hcan include air, water, saline, antiseptic, irrigation fluid, or other suitable fluid.

In an embodiment, the debris disposal device452hcan include at least one fluid reservoir435positioned in or on the housing402hconfigured to store one or more fluids therein (e.g., the pressurize fluids433hor the fluids that become the pressurized fluids433h). The one or more fluids can include any of the fluids disclosed herein. The fluid reservoir435can be fluidly coupled to at least one fluid-dispense element436positioned in or on the housing402h. In an embodiment, the fluid-dispense element436can be coupled to the fluid reservoir435via a conduit438h, directly coupled to the fluid reservoir435, or integrally formed with the fluid reservoir435. The fluid-dispense element436can include a fluid-dispense aperture440configured to dispense the pressurized fluids433h. The at least one dispense aperture440can form part of a sprayer, a slit nozzle, etc. The debris disposal device452dcan further include a pressurizing device442that is fluidly coupled to fluid reservoir435and the fluid-dispense element436. The pressurizing device442can be substantially similar to the pressurizing device342(FIG. 3J). For example, the pressurizing device442can include a pump. In an embodiment, the fluid-dispense element436or the pressurizing device442can dispense the pressurized fluids433htherefrom responsive to direction from a controller412h.

FIG. 4Iillustrates an embodiment of a robotic debridement apparatus400ithat includes at least one debris disposal device452i. The debris disposal device452iincludes at least one repositional substrate459ihaving a capture material445positioned (e.g., coated) thereon. The repositional substrate459ican be configured to capture or sequester at least one substance453from the body region to the repositional substrate459i.

In an embodiment, the capture material445can include an adhesive material (e.g., adhesive material456ofFIGS. 4D-4E) or absorbent material (e.g., absorbent material458ofFIGS. 4F-4G). In an embodiment, the capture material445can include a binding element (e.g., a specific binding element such as an antibody, antibody fragment, a ligand, etc.).

In an embodiment, the repositionable substrate459ican be a flexible, semi-rigid, or rigid substrate. The repositional substrate459ican be attached to one or more structures431iof the robotic debridement apparatus400ein such a manner as to be storable and repositionable. In an embodiment, the repositionable substrate459iis repositionable so that at least a portion of the repositionable substrate459iis disposed in, above, or below an opening403idefined by the housing402i(e.g., exposed to the body region).

In an embodiment, the structures431iare rotatable structures (e.g., rolling drums or pins). For example, the repositional substrate459ican include a long, thin strip of paper, cloth, plastic, mesh, gel, or metal attached or mounted at one or more ends the rotatable structures. For example, the repositional substrate459ican be held between a supply rotatable structure or a take-up rotatable structure. As such, the rotatable structures can advance the repositional substrate459ito expose an unused portion of the repositional substrate459ifrom the supply rotatable structure and collect a used portion of the repositional substrate459iat the take-up rotatable structure. In an embodiment, at least the take-up rotatable structure can be position in a debris reservoir441idisposed in or on the housing402i.

In an embodiment, at least one of the structures431ican be controllably rotated by one or more actuators450i(e.g., motor or micromotor). The actuators450ican rotate the at least one structure431iresponsive to direction from a controller412i. The actuators450ican be indirectly coupled to (e.g., via a belt), directly attached to, or incorporated into the at least one structure431i. In an embodiment, at least one of the structures431ican rotate passively. For example, the at least one structure431ican be substantially in communication with the locomotive mechanism404iand can advance with the self-propelling force.

In an embodiment, the repositionable substrate459iis at least partially positioned within a debris reservoir441i. For example, the repositionable substrate459ican capture a substance453and deliver the substance453for storage in debris reservoir441i. In an embodiment, the debris reservoir441ican include energy-emitting device (not shown). For example, the energy-emitting device can deliver energy (e.g., electromagnetic energy) to the substance453captured by the repositional substrate459iso as to degrade, destroy, or kill the substance453. In an embodiment, the debris reservoir441ican include a capture material (e.g., capture material445ofFIG. 4A) or degrading agent (e.g., degrading agent451inFIG. 4B) disposed therein that is not attached to the repositional substrate459i.

FIG. 4Jillustrates an embodiment of a robotic debridement apparatus400jthat includes at least one debris disposal device452j. The debris disposal device452iincludes at least one repositional substrate459jthat is at least partially positioned within a debris reservoir441jand includes a capture material445configured to capture or sequester at least one substance453. In an embodiment, the repositional substrate459jcan be a disc (e.g., substantially planar or curved disc). The debris disposal device452jcan also include at least one structure431ihaving the repositional substrate459jcoupled thereto. In an embodiment, the structure431jcan be operably coupled to one or more actuators450j. The actuators450jcan be configured to rotate, vibrate, or otherwise move the structure431j, thereby moving the repositional substrate459j. For example, the actuators450jcan move the repositional substrate459jresponsive to direction from the controller412j. In an embodiment, the structure431ican passively rotate the repositional substrate459j. For example, the structure431jcan be substantially in communication with the locomotive mechanism404jand can advance with the self-propelling force.

In an embodiment, a portion of the repositional substrate459jis at least partially disposed in or above an opening403jdefined by the housing402j. For example, rotating the repositional substrate459jcan cause an unexposed portion of the rotational substrate459jto be exposed (e.g., positioned in or above the opening403j) and an exposed portion of the rotational substrate459jto be unexposed (e.g., positioned behind a portion of the housing402j).

H. Therapeutic Devices

FIGS. 5A-5Bare schematic illustrations of robotic debridement apparatuses including different therapeutic devices, according to different embodiments. Each of the different therapeutic devices shown inFIGS. 5A-5Bare configured to provide a therapeutic effect to the body region. Except as otherwise described herein, the robotic debridement apparatuses shown inFIGS. 5A-5Band their materials, components, or elements can be similar to or the same as the robotic debridement apparatuses100,200a-g,300a-o,400a-j(FIGS. 1-4J) and their respective materials, components, or elements. For example, the robotic debridement apparatuses shown inFIGS. 5A-5Bcan include at least one of a housing, at least one locomotive mechanism, at least one debriding tool, at least one debris disposal device, one or more sensors, a controller, or a power source. Any of the therapeutic devices illustrated inFIGS. 5A-5Bcan be used in any of the robotic debridement apparatuses embodiments disclosed herein.

FIG. 5Aillustrates an embodiment of a robotic debridement apparatus500athat includes at least one therapeutic device562a. In the illustrated embodiment, the therapeutic device562a(e.g., a therapeutic agent-dispensing device) is configured to dispense one or more therapeutic agents533ainto or onto a body region. For example, the therapeutic device562acan include at least one therapeutic agent reservoir535positioned in or on the housing502a. The therapeutic agent reservoir535can be configured to store one or more therapeutic agents533atherein. The therapeutic agent reservoir535can be fluidly coupled to at least one therapeutic-dispense element536, for example, via conduit538. In an embodiment, the therapeutic-dispense element536can be directly coupled to or integrally formed with the therapeutic agent reservoir535. The therapeutic-dispense element536can be positioned in or on the housing502aand include at least one therapeutic-dispense aperture540configured to dispense the therapeutic agents533a. The at least one therapeutic-dispense aperture540can form part of a sprayer, a slit nozzle, etc. In an embodiment, the therapeutic device562ais configured to dispense one or more therapeutic agents533ain response to direction from a controller512a.

In an embodiment, the therapeutic-dispense element536includes a brush-like structure in conjunction with or instead of a therapeutic-dispense aperture540. The one or more therapeutic agents533acan be dispersed throughout the brush-like structure. For example, the conduit538can disperse the therapeutic agents533athroughout the brush-like structure. The brush-like structure is configured to paint the therapeutic agents533aonto the body region as the brush-like structure moves relative to the body region (e.g., the brush-like structure moves relative to the housing502aor the robotic debridement apparatus500amoves relative to the body region). In an embodiment, the brush-like structure includes at least one three-dimensional printed micropillar structure.

The one or more therapeutic agents533aare configured to provide a therapeutic effect to the body region. The therapeutic agents533acan include a suitable gas, liquid, or solid that can provide a therapeutic effect to the body region. In an embodiment, the therapeutic agents533acan include at least one of one or more medicaments, one or more anaesthetics, one or more antibiotics, one or more antimicrobials, one or more antiseptics (e.g., superoxidized water, oxidizing agents, hypochlorous acid, etc.), one or more healing agent, one or more coagulants, one or more anti-coagulants, one or more anti-inflammatory agents, one or more hemostatic agent, one or more hormones (e.g., steroids, estrogens), one or more extracellular components (e.g., elastin or glycosaminoglycan), or one or more cells. Examples of antimicrobials include silver and silver compounds, iodine and iodine products, antimicrobial peptides (e.g., cathelicidins or defensins such as lucifensin), or chlorhexidine. In an embodiment, the therapeutic agents533acan include an irrigation fluid. In an embodiment, the therapeutic agents533acan include at least one of a natural healing agent or a synthetic healing agent. In an embodiment, the therapeutic agents533acan include at least one of a protein, a lipid, an oil, a carbohydrate, an emulsion, a gel, or nanoparticles. In an embodiment, the therapeutic agents533acan include at least one of one or more growth factors, one or more angiogenic factors, one or more cytokines (e.g., chemokines, interferons, interleukins, lymphokines, tumor necrosis factor. etc.), one or more vitamins, one or more minerals, one or more microbes, one or more pharmaceuticals, silicone, zinc, nitric oxide, synthetic dermis, or a liquid bandage. Examples of growth factors include at least one of interleukins, platelet derived growth factors, transforming growth factors, epidermal growth factors, fibroblast growth factors, vascular endothelial growth factors, insulin-like growth factors, or another suitable growth factors. Examples of vitamins and minerals that can be used as therapeutic agents533ainclude at least one of vitamin A, vitamin C, vitamin D, magnesium, zinc, essential fatty acids, or other suitable vitamins or minerals. Examples of microbes that can be used as therapeutic agents533ainclude one or more probiotics, other bacterium, live microorganism cultures, cells for cell grafts, etc. Examples of cells that can be used for cell grafts include stem cells (e.g., from embryonic, bone marrow, liver, spleen, lymph node, peripheral blood sources, or the like), lymphocytes, myelocytes, megakaryocytes, epithelial cells, dermal cells, engineered tissue, biological skin substitute (e.g., apligraf), or other suitable cells. In an embodiment, the therapeutic agents533acan include one or more collagens, elastin, fibronectin, laminin, glycosaminoglycans, proteoglycans, hyaluronic acid, chondroitin sulfate, heparin sulfate, keratin sulfate, chitosan, gelatin, allantoin, urea, phenylacetic acid, phenylacetaldehyde, or calcium carbonate. In an embodiment, the therapeutic agents533acan include one or more chemicals configured to increase blood flow to the body region. In an embodiment, the therapeutic agents533acan include a combination of any of the therapeutics agents disclosed herein.

FIG. 5Billustrates an embodiment of a robotic debridement apparatus500bthat includes at least one therapeutic device562bincluding at least one energy-emitting device564positioned in or on a housing502bof the robotic debridement apparatus500b. In an embodiment, the energy-emitting device564can be configured to emit energy533bresponsive to direction from a controller512b.

The energy-emitting device564can be configured to emit energy533bthat is configured to at least one of disinfect or sterilize the body region (e.g., disinfect or sterilize the body region of at least one of one or more bacteria, one or more archaea, one or more protozoa, one or more algae, one or more fungi, one or more viruses, or one or more organisms), increase a rate of healing (e.g., increase blood flow), or otherwise provide a therapeutic effect to the body region. For example, the energy-emitting device564can be configured to emit or absorb energy533b, such as electromagnetic energy, acoustic energy, electrical energy, thermal energy, or any other suitable energy.

In an embodiment, the energy-emitting device564includes an electromagnetic device. The electromagnetic device is configured to emit energy533bas electromagnetic energy that irradiates at least a portion of the body region. For example, the emitted electromagnetic energy can exhibit a wavelength or wavelength range for disinfecting, sterilizing, healing (e.g., low-intensity laser irradiation (LILI) or phototherapy), promoting angiogenesis, or otherwise providing a therapeutic effect to the body region. For instance, exposure of wounds to the electromagnetic energy (e.g., in the blue spectrum or the red spectrum) can increase cell migration, viability, and proliferation. In an embodiment, the electromagnetic device can be configured to emit energy533b(e.g., ultraviolet light) to disinfect or sterilize the body region.

In an embodiment, the electromagnetic device can include at least one of one or more fluorescent light bulbs, one or more incandescent light bulbs, one or more high-intensity discharge bulbs, one or more mercury-vapor light sources, one or more short wave ultraviolet lamps, one or more gas-discharge lamps, one or more LEDs, one or more lasers, or another type of electromagnetic source. In an embodiment, the energy-emitting device564can emit electromagnetic energy at a wavelength that stimulates healing of a tissue. For example, the electromagnetic device can be configured to emit electromagnetic energy having a wavelength of about 10 nm to about 800 nm, such as about 400 nm to about 800 nm, about 380 nm to about 450 nm, about 315 nm to about 400 nm, about 280 nm to about 315 nm, about 100 nm to about 280 nm, about 300 nm to about 400 nm, about 10 nm to about 100 nm or about 200 nm to about 300 nm. In an embodiment, the electromagnetic device can include at least one quantum dot.

In an embodiment, the therapeutic device562bcan further include one or more photocatalytic particles (not shown) positioned on the housing502d. The photocatalytic particles can include any particle that exhibits biocidal activity when activated (e.g., irradiated) by the electromagnetic energy emitted from the electromagnetic device. For example, the photocatalytic particles can include zinc oxide particles or other suitable photocatalytic. In an embodiment, the photocatalytic particles can include nanoparticles or other particles exhibiting a relatively high surface area.

In an embodiment, the energy-emitting device564includes an acoustic energy source. The acoustic energy source is configured to emit energy533bthat is acoustic energy. For example, the energy-emitting device564is configured to emit sound waves (e.g., high intensity ultrasound) to promote wound healing. In an embodiment, the energy-emitting device564can include at least one ultrasound transducer.

In an embodiment, the energy-emitting device564includes an electrical energy source. The electrical energy source is configured to emit energy533bthat is electrical energy. For example, the electrical energy source can be configured to emit electrical energy configured to disinfect the body region, sterilize the body region, increase blood flow to the body region, etc. In an embodiment, the electrical energy source can include at least two electrodes (not shown) that are exposed to and configured to disinfect or sterilize the body region (e.g., electrochemical disinfection). The at least two electrodes can be configured to have an electrical potential therebetween. For example, the electrical potential between the electrodes can cause an electrical current to pass between the electrodes, for example, through a fluid therebetween (e.g., one or more agents, exudate, etc.). The electric current can cause an electrochemical production of disinfecting or sterilization agents from the fluid.

In an embodiment, the energy-emitting device564includes a thermal energy source. The thermal energy source is configured to emit energy533bthat is thermal energy. For example, the thermal energy source can include an electrical resistive heater, an infrared heater, or another suitable thermal energy source.

In an embodiment, the thermal energy source can be configured to stimulate a portion of the body region. For example, the thermal energy source can directly stimulate (e.g., contact) a portion of the body region. For example, the thermal energy source can indirectly stimulate a portion of the body region by illuminating the body region or heating one or more fluids that are dispensed from the robotic debridement apparatus500b(e.g., heat the fluids before, during, or after the fluids are dispensed from the robotic debridement apparatus500b).

In an embodiment, the thermal energy source can heat a portion of the body region to a temperature sufficient to disinfect or sterilize the portion of the body region, such as at least about 70° C., at least about 80° C., at least about 90° C., at least about 100° C., at least about 120° C., or about 80° C. to about 95° C. In an embodiment, the thermal energy source can heat a portion of the body region to a temperature sufficient to facilitate healing (e.g., increase blood flow) of the portion of the body region, such as about ambient temperature to about 70° C.

In an embodiment, the energy-emitting device564can be replaced with or operate in tandem with an energy-absorbing device (not shown) For example, the energy-absorbing device can include a heat sink that is configured to reduce a temperature of a portion of the body region. For example, the heat sink can reduce the temperature of a portion of the body region below ambient temperature to reduce inflammation of and pain from the body region.

In an embodiment, the components, elements, or features of the robotic debridement apparatuses100,200a-g,300a-o,400a-j(FIGS. 1-4J) can be modified to form a therapeutic device that provides a therapeutic effect to the body region. For example, the locomotive mechanism104(FIG. 1) can be used to agitate the body region thereby increasing blood flow to the body region. In an embodiment, the energy-emitting device334(FIG. 3H) can be configured to transmit high-frequency ultrasonic energy or low-frequency ultrasonic energy to the body region which can cause a thermal effect that increases blood flow to the body region.

FIG. 6is a schematic illustration of a robotic debridement apparatus600that includes at least one marking device668, according to an embodiment. Except as otherwise described herein, the robotic debridement apparatus600shown inFIG. 6and its materials, components, or elements can be similar to or the same as the robotic debridement apparatuses100,200a-g,300a-o,400a-j,500a-b(FIGS. 1-5B) and their respective materials, components, or elements. For example, the robotic debridement apparatus600shown inFIG. 6includes a housing602, at least one locomotive mechanism604, and at least one of at least one debriding tool (e.g., any of the debriding tools306a-oofFIGS. 3A-3O) or at least one debris disposal device (e.g., any of the debris disposal devices452a-jofFIGS. 4A-4J), and, optionally, at least one therapeutic device (e.g., any of the therapeutic devices562a-bofFIGS. 5A-5B), one or more sensors608, a controller612, or a power source (not shown). The marking device668illustrated inFIG. 6can be used in any of the robotic debridement apparatuses embodiments disclosed herein.

In the illustrated embodiment, the robotic debridement apparatus600includes at least one device660positioned in or on the housing602. The device660can include at least one debriding tool or at least one debris disposal device.

The at least one marking device668is positioned in or on the housing602. The marking device668is configured to dispense one or more taggants633into or onto the body region. In the illustrated embodiment, the marking device668includes at least one taggant reservoir635positioned in or on the housing602that is configured to store the taggants633therein. The taggant reservoir635is fluidly coupled to at least one taggant-dispense element636via, for example, a conduit638. The taggant-dispense element636can be positioned in or on the housing602. In particular, the taggant-dispense element636includes at least one taggant-dispense aperture640through which the taggants633are dispensed into or onto the body region. The at least one taggant-dispense aperture640can form part of a sprayer, a slit nozzle, etc. In an embodiment, the taggant-dispense element636is configured to dispense the taggants633responsive to direction from a controller.

In an embodiment, the taggant-dispense element636includes a brush-like structure in conjunction with or instead of a taggant-dispense aperture540. The one or more taggants633can be dispersed throughout the brush-like structure. For example, the conduit638can disperse the taggants633throughout the brush-like structure. The brush-like structure is configured to paint the taggants633onto the body region as the brush-like structure moves relative to the body region (e.g., the brush-like structure moves relative to the housing602or the robotic debridement apparatus600moves relative to the body region). In an embodiment, the brush-like structure includes at least one three-dimensional printed micropillar structure.

The taggants633can include any chemical taggant, radiological taggant, or physical taggant that can be detected by any of the sensors disclosed herein. In an embodiment, the taggants633can be detected by an optical sensor. For example, the taggants633can include one or more chromogens, one or more dyes, one or more luminescent (e.g., chemiluminescent) materials, or one or more fluorogenic materials. In an embodiment, the taggants633can be more dense than the surrounding tissue. In an embodiment, the taggants633can be less dense than the surrounding tissue. Taggants633that are more or less dense than surrounding tissue can be detected by an acoustic sensor. In an embodiment, the taggants633can be detected by a chemical sensor. For example, the taggants633can include at least one chemical (e.g., at least one acid, at least one base) that changes the pH of the body region that can be detected by a pH meter. In an embodiment, the taggants633can include at least one protein that can be detected by a protein sensor. In an embodiment, the taggants633can include at least one gas that can be detected by a gas sensor. In an embodiment, the taggants633can change the electrical conductivity (e.g., a conductive taggant or an insulating taggant) of the body region, which can be detected by an electrical conductivity sensor. In an embodiment, the taggants633can change the moisture level of the body region, which can be detected by a moisture sensor. In an embodiment, the taggants633can include at least one biocompatible chemical or physical taggant. In an embodiment, the taggants633can include any suitable taggant or a combination of any of the taggants633disclosed herein.

In an embodiment, the taggants633include at least one component that specifically or nonspecifically directly reacts with a target (e.g., a tissue, a cell, or a debris material). For example, the taggants633can include a dye (e.g., a lipophilic dye, a nucleic acid dye, a Schiff reagent) that reacts with a type of tissue component (e.g. an intact cell membrane) or debris (e.g., a microbial component, such as a glycoprotein, or intracellular components indicative of cell death). For example, the taggants633can include a chromogen that is detectable by an optical sensor. For example, the taggants633can be a live cell stain (e.g., Bismarck brown or Vibrant stain). In an embodiment, the taggants633include at least one component that does not directly or indirectly react with tissue or debris. For example, the taggants633can include a nonstaining colorant used to indicate a path.

In an embodiment, the taggants633includes at least one component that recognizes and binds to a target. In an embodiment, the taggant633includes a conjugated compound having a recognition element and a reporting tag. For example, the taggant633can include a recognition element (e.g., an antibody, an aptamer, a lectin, a natural binding element, or a synthetic binding element) that is able to specifically recognize and bind a specific target molecule (e.g., a specific cell type, a specific microbe, a specific protein, a specific peptide, a specific oligosaccharide, a specific lipid, a specific nucleic acid sequence, etc.) or specific class (e.g., a protein, a lipid, a carbohydrate, a glycosaminoglycan, a nucleic acid, etc.). The recognition molecule can be conjugated to a tag (e.g., a chromogen, a fluorescent agent, a luminescent agent, a quantum dot, a radiolabel, a magnetic or paramagnetic tag, a volatile tag, a mass tag, a metallic tag, an electroactive tag, an energy transfer tag (e.g., FRET or CRET), a two-step tag (e.g., avidin-biotin tag), or any other tag) that is detectable by a sensor (e.g., sensors608). In an example, the taggants633can include a recognition element that recognizes and binds to High Mobility Group Box1protein, which is released from necrotic cells. In an example, the taggants633can include a recognition element that recognizes and binds to a compound indicative of necrotic tissue, such as a heat shock protein, cytochrome c, vimentin, lamin A, soluble galactose-binding lectin 7, or calreticulin. In an example, the taggants633can include a recognition element that recognizes and binds to a compound (e.g., fibronectin or a growth factor) indicative of newly growing tissue (e.g., which should not be debrided, but which may benefit from a therapeutic agent). In an example, the taggants633can include a recognition element that recognizes and binds to an inflammatory marker indicative of a wound. In an example, the taggants633can include a recognition element that recognizes and binds to a microbe such as a type of bacteria. In an example, the taggants633can include a recognition element that recognizes and binds to another taggant. For example, the taggants633can include a recognition element (e.g., secondary antibody or avidin complex) that carries a tag and recognizes a previously dispensed taggant (e.g., a primary antibody or conjugated biotin molecule)

In an embodiment, one or more of the taggants633or sensors608can detect and quantify a target. For example, the target can be present in low quantities in healing tissue but be present at high quantities in necrotic tissue.

In an embodiment, the taggants633include a labeled substrate for an enzyme. For example, the taggants633can include a substrate having a label that is released upon cleavage by the target enzyme and is detectable by a sensor608. For example, the taggants633could include a labeled substrate able to be cleaved by a galactosidase or by glyceraldehyde phosphate dehydrogenase, both of which are associated with necrotic tissue. For example, the taggants633can include an electron transfer molecule (e.g., FRET or CRET) that can be cleaved by the enzyme. For example, the taggants633could include a labeled substrate carrying an electroactive label.

In an embodiment, the marking device668can be configured to dispense the one or more taggants633(e.g., a chromogen) into or onto the body region to indicate that the robotic debridement apparatus600has performed or has not performed a task. As such, the taggants633can indicate information (e.g., a task was performed) when detected (e.g., by the sensors608). For example, the marking device668can dispense the taggants633when the locomotive mechanism604is activated (e.g., as the robotic debridement apparatus600travels). For example, dispensing the taggant when the locomotive mechanism604is active can indicate the path that the robotic debridement apparatus600has traveled within the body region. In an embodiment, the marking device668can dispense the taggants633when the robotic debridement apparatus600uses at least one debriding tool to debride tissue. In an embodiment, the marking device668can dispense the taggants633when the robotic debridement apparatus600uses at least one debris disposal device to capture at least one substance from the body region. In an embodiment, the marking device668can dispense the taggants633when the robotic debridement apparatus600uses at least one therapeutic device to provide a therapeutic effect to the body region. In an embodiment, the marking device668can be configured to dispense the taggants633to indicate completion of a task performed by the robotic debridement apparatus600or that the robotic debridement apparatus600did not complete a task (e.g., when additional work is needed). For example, the marking device668can dispense the taggants633when the robotic debridement apparatus600finishes debriding tissue at a selected portion of the body region. In an embodiment, the marking device668can dispense a taggant when the robotic debridement apparatus600is unable to completely debride tissue from a selected portion of the body region. In an embodiment, the marking device668can be configured to dispense the taggants633responsive to direction from a controller.

In an embodiment, the marking device668can be configured to dispense the one or more taggants633(e.g., a chromogen) into or onto the body region to indicate a route taken by the robotic debridement apparatus600. For example, the taggants633can be dispensed (e.g., under direction of a controller612) when the locomotive mechanism604is activated. For example, the taggants633can be dispensed (e.g., under direction of a controller612) when the device660(e.g., debriding tool) has been activated. For example, the taggants633can be dispensed to determine if a marker is present indicating an area that has been debrided. In an embodiment the marking device668and the sensors608or other sensors (e.g., on one or more other robotic debridement apparatuses) are configured to act in concert to map at least one of a route taken by the robotic debridement apparatus600, an area of the body region that has been debrided by the robotic debridement apparatus600, an area of the body region that is in need of being debrided by the robotic debridement apparatus600, or some other information. In an embodiment, information regarding the mapping is stored in memory (e.g., memory122ofFIG. 1). In an embodiment, information regarding the mapping is transmitted to an external device (e.g., external device127ofFIG. 1).

In an embodiment, the marking device668can dispense the taggants633to detect and indicate information about the body region. For example, the marking device668can dispense one or more taggants663that recognize and bind to a specific target to detect the presence or absence of the target and thereby indicate the presence or absence of a type of tissue (e.g., necrotic tissue, debrided tissue, granulated tissue), a type of cell (e.g., a blood cell such as a neutrophil, lymphocyte, macrophage, or erythrocyte; a fibroblast; an epithelial cell, etc.), a type of microbe, or a type of debris (e.g., intracellular components indicating cell death and/or debridement, microbial components, etc.).

In an embodiment, each of the taggants633dispensed by the marking device668can indicate different information. For example, the marking device668can be configured to dispense at least one of a first, second, third, fourth, fifth, or sixth taggant. For example, the first taggant can be dispensed (e.g., under direction of a controller612) when the locomotive mechanism604is activated, the second taggant can be dispensed when the debriding tool (e.g., device660) is used, the third taggant can be dispensed when the debris disposal device (e.g., device660) is used, the fourth taggant can be dispensed when the therapeutic device (not shown) is used, the fifth taggant can be dispensed when the robotic debridement apparatus600completes a certain task, and the sixth taggant can be dispensed when the robotic debridement apparatus600fails to complete a certain task.

In an embodiment, each of the taggants633dispensed by the marking device668can be dispensed to detect the presence, absence, or quantity of a specific target. For instance, each of the first, second, third, fourth, fifth, or sixth taggants can be dispensed to detect the presence, absence, or quantity a different specific targets. In an embodiment, the taggants633dispensed by the marking device668can be dispensed simultaneously, concurrently, or in a sequence (e.g., under direction of a controller612). For example, the taggants633can be dispensed continuously, in a pulsed manner, or in a timed manner under direction of a controller612. In an embodiment, each of the first, second, third, fourth, fifth, and sixth taggants can be different from each other. The first, second, third, fourth, fifth, and sixth taggants can be distinguished from each other by a single sensor608positioned in or on the housing602, a plurality of sensors (not shown) positioned in or on the housing602, or one or more sensors (not shown) spaced from the robotic debridement apparatus600(e.g., one or more sensors positioned in or on a housing of another robotic debridement apparatus).

In an embodiment, any of the taggants633can be detected by a single sensor608positioned in or on the housing602, a plurality of sensors (not shown) positioned in or on the housing602, or one or more sensors (not shown) spaced from the robotic debridement apparatus600(e.g., one or more sensors positioned in or on a housing of another robotic debridement apparatus or a dressing). In an embodiment, the marking device668and at least one sensor (e.g., one or more sensors608or one or more sensors positioned in or on a housing of another robotic debridement apparatus) are configured to function in concert.

In an embodiment, the marking device668can include or be coupled to a transceiver (not shown) configured to receive one or more signals from at least one device (e.g., controller612, external device127ofFIG. 1, or a different robotic debridement apparatus, or controller1112ofFIG. 11A). The signals can include information regarding the operation of the marking device668encoded therein. For example, the signals can include directions regarding at least one of when the taggants633are to be dispensed, which taggants633are to be dispensed, in what order the taggants633are to be dispensed, where the taggants633are to be dispensed, etc. In an embodiment, the transceiver can be configured to transmit one or more signals to at least one device (e.g., controller612, external device127ofFIG. 1, a different robotic debridement apparatus, or controller1112ofFIG. 11A). The signals can include information regarding the operation of the marking device668encoded therein. For example, the signals can include at least one of when the taggants633were dispensed, where the taggants633were dispensed, what taggants633were dispensed, etc. The signals can be used to determine what has been performed by the robotic debridement apparatus600, what further needs to be performed, where to send other robotic debridement apparatuses, etc.

FIG. 7is a schematic illustration of a robotic debridement apparatus700that includes at least one extraction device770, according to an embodiment. Except as otherwise described herein, the robotic debridement apparatus700shown inFIG. 7and its materials, components, or elements can be similar to or the same as the robotic debridement apparatuses100,200a-g,300a-o,400a-j,500a-b,600(FIGS. 1-6) and their respective materials, components, or elements. For example, the robotic debridement apparatus700shown inFIG. 7can include one or more of at least one locomotive mechanism704, at least one debriding tool (not shown) or at least one debris disposal device (not shown), and optionally, one or more sensors (not shown), a controller (not shown), or a power source (not shown). The extraction device770illustrated inFIG. 7can be used in any of the robotic debridement apparatus embodiments disclosed herein.

In the illustrated embodiment, the robotic debridement apparatus700includes a housing702. The robotic debridement apparatus700also includes at least one extraction device770positioned in or on the housing702. The extraction device770can include any device configured to facilitate removal of the robotic debridement apparatus700to or from the body region. In an embodiment, the extraction device770is configured to facilitate removal of the robotic debridement apparatus700using at least one retrieval device772that is not positioned in or on the housing702. For example, the extraction and retrieval devices770,772are configured to be coupleable together.

In an embodiment, the extraction device770can include a magnet. In such an embodiment, the retrieval device772can include an oppositely poled magnet or a magnetically attractable material. As such, positioning the retrieval device772proximate to the extraction device770can cause the extraction device770to be coupled to the retrieval device772. In an embodiment, the extraction device770can include a magnetically attractable material and the retrieval device772can include a magnet.

In an embodiment, the extraction device770can include at least one protruding element extending outwardly from an outer surface716of the housing702. The protruding element can include a fin, a loop, a protruding element defining a hole therethrough, a protruding element having a notch formed therein, or any other suitable protruding element. In such an embodiment, the retrieval device772can include a device that can connect to, hook, grasp, or otherwise couple to the protruding element. For example, the retrieval device772can include forceps configured to grasp the protruding element, a hook configured to connect to the protruding element (e.g., a loop), a tether configured to be tied to or otherwise attached to the protruding element, or another suitable device. In an embodiment, the extraction device770can include an attachment location (not shown). The attachment location does not protrude from the outer surface716and is positioned on or integrally formed with a part of the housing702that can support the entire weight of the robotic debridement apparatus700. For example, the attachment location can be on the outer surface716and exhibit at least one of a surface that can have an adhesive applied thereto, a recessed loop (e.g., configured to have a tether threaded therethrough), or a hole defined by the housing702. In such an embodiment, the retrieval device772can include a tether (e.g., glued to the surface, threaded through the recessed loop, or extending through the hole), a hook (e.g., extending through the recessed loop or through the hole), or another suitable device.

In an embodiment, the retrieval device772can be integrally formed with or otherwise coupled to a device that is spaced or distinct from the robotic debridement apparatus700. For example, the retrieval device772can be coupled to a dressing (e.g., dressing2178ofFIG. 21). As such, removing or attaching the dressing from the body region can also dispose or remove the robotic debridement apparatus700to or from the body region, respectively. In an embodiment, the retrieval device772can be a tool (e.g., forceps) used by a user (e.g., the subject or a care provider).

In an embodiment, the retrieval device772does not prevent the robotic debridement apparatus700from including a freestanding housing702. For example, the retrieval device772can be coupled to the robotic debridement apparatus700(e.g., using a tether), while the robotic debridement apparatus700is positioned within the body region. However, the retrieval device772does not actively support the robotic debridement apparatus700while the robotic debridement apparatus700operates in the body region.

K. Methods Employing a Robotic Debridement Apparatus

FIG. 8is a flow diagram of a method800of using any of the robotic debridement apparatuses disclosed herein, according to an embodiment. In an embodiment, some of the acts of the method800can be split into a plurality of acts, some of the acts can be combined into a single act, and some acts can be omitted. Also, it is understood that additional acts can be added to the method800. Except as otherwise disclosed herein, the acts of method800can be used with any of the robotic debridement apparatuses100,200a-g,300a-0,400a-j,500a-b,600,700,1000(FIGS. 1-7, 10) disclosed herein.

Act805includes contacting a body region of a subject with at least one robotic debridement apparatus. For example, the at least one robotic debridement apparatus can include a housing, at least one locomotive mechanism positioned in or on the housing, and at least one debriding tool associated with the housing. In an embodiment, the at least one robotic debridement apparatus can include at least one debris disposal device or at least one therapeutic device. In an embodiment, the at least one robotic debridement apparatus can include one or more sensors, a controller, a power source, at least one marking device, or at least one extraction device.

In an embodiment, contacting a body region of a subject with at least one robotic debridement apparatus can include manually placing, manually positioning, using at least one extraction device or retrieval device, or another suitable method of contacting the at least one robotic debridement apparatus over the body region. In an embodiment, as will be discussed in more detail later, contacting a body region of a subject with at least one robotic debridement apparatus reversibly attaching a (e.g., dressing1178ofFIGS. 11A-11B) associated with the plurality of robotic debridement apparatuses to the body region.

Act810includes, via the at least one debriding tool, debriding at least one target tissue from the body region. For example, the at least one debriding tool can debride viable tissue or, more preferentially, nonviable tissue (e.g., with minimal debridement of healthy tissue). In an embodiment, the debriding tool can debride tissue using any of the methods disclosed herein. For example, the debriding tool can debride tissue from the body region as a housing of the robotic debridement apparatus travels relative to the body region. For example, the debriding tool can debride tissue by cutting, scraping, or abrading tissue using at least one blade (FIGS. 3A-3D). In an embodiment, the debriding tool can debride tissue from the body region by moving an abrasive material against the tissue (FIGS. 3E-3G). For example, the debriding tool can debride tissue from the body region by emitting energy (e.g., acoustic energy, electromagnetic energy) into the body region (FIG. 3H). For example, the debriding tool can debride tissue from the body region by dispensing one or more debriding agents or pressurized fluids into the body region (FIGS. 3I-3J). For example, the debriding tool can debride tissue from the body region using a body coupled to and distinct from the housing (FIGS. 3K-3L). The body can debride tissue from the body region by being dragged behind the housing or using at least one locomotive mechanism positioned in or on the body. For example, the debriding tool can debride tissue from the body region by moving relative to the housing (FIGS. 3M-3O).

In an embodiment, the at least one locomotive mechanism of the at least one robotic debridement apparatus can be activated to relocate the at least one robotic debridement apparatus relative to the body region. In an embodiment, robotic debridement apparatus can travel by means of the locomotive mechanism using any methods disclosed herein. For example, the locomotive mechanism can include at least one piezoelectric material, and activating the piezoelectric material can move its respective robotic debridement apparatus (FIGS. 2E-2F), allowing the robotic debridement apparatus to travel across the body region. In an embodiment, the locomotive mechanism can include at least one impelling mechanism, and moving the impelling mechanism can move its respective robotic debridement apparatus (FIGS. 1, 2C-2D), allowing the robotic debridement apparatus to travel across the body region. In an embodiment, the locomotive mechanism can include at least one shape memory alloy, and stimulating (e.g., heating) the shape memory alloy can induce movement in its respective robotic debridement apparatus, allowing the robotic debridement apparatus to travel across the body region. In an embodiment, the locomotive mechanism can include at least one bellows, and expanding the at least one bellows can induce movement in its respective robotic debridement apparatus, allowing the robotic debridement apparatus to travel across the body region (FIG. 2B). In an embodiment, activating the locomotive mechanism can cause at least one debriding tool coupled to debride tissue from the wound.

In an embodiment, the at least one robotic debridement apparatus can include the at least one debris disposal device that can capture at least one substance from the body region. In an embodiment, the debris disposal device can capture the at least one substance from the body region using any of the methods disclosed herein. For example, the debris disposal device can suction the at least one substance from the body region (FIG. 4C). For example, the debris disposal device can adhere or attach thereto the at least one substance from the body region (FIGS. 4A, 4D-4E, 4I-4J). For example, the debris disposal device can absorb or attach thereto the at least one substance from the body region (FIGS. 4A, 4F-4G, 4I-4J). For example, the debris disposal device can dispense one or more pressurized fluids (FIG. 4H) into or onto the body region.

In an embodiment, the at least one robotic debridement apparatus can include at least one therapeutic device that can provide a therapeutic effect to the body region. In an embodiment, the therapeutic device can provide the therapeutic effect to the body region using any of the methods disclosed herein. For example, the therapeutic device can dispense one or more therapeutic agents into or onto the body region (FIG. 5A). For example, the therapeutic device can emit energy (e.g., light, acoustic energy, electrical energy, or thermal energy) into or onto the body region (FIG. 5B).

In an embodiment, the at least one robotic debridement apparatus can include one or more sensors (e.g., sensors108ofFIG. 1) that detect one or more characteristics of the body region. In an embodiment, the characteristics that the sensors detect can include a certain type of tissue (e.g., at least one target tissue). For example, the sensors can detect viable tissue, or nonviable tissue. For instance, the sensors can detect new healthy tissue, established healthy tissue, necrotic tissue, ischemic tissue, slough, fibrinous tissue, granulated tissue, or another type of tissue. In an embodiment, the characteristics that the sensors detect can include microbes, toxins, or inflammation. In an embodiment, the sensors can distinguish between two different types of tissue. For example, the sensors can distinguish between viable tissue and nonviable tissue, necrotic tissue and non-necrotic tissue, healthy tissue and inflamed tissue, etc. In an embodiment, the sensors can detect the presence of one or more agents. For example, the sensors can detect one or more debriding agents, one or more therapeutic agents, or one or more taggants. In an embodiment, the sensors can distinguish between the different agents. For example, the sensors can distinguish between a first taggant and a second taggant. In an embodiment, the sensors can detect at least one of the presence, identification, functionality, status, or condition of robotic debridement apparatus positioned in the body region. In an embodiment, the sensors can transmit one or more sensing signals responsive to detecting the one or more characteristics. For example, the sensors can transmit the sensing signals to a controller (e.g., controller112ofFIG. 1). In an embodiment, the sensors can detect the characteristics of the body region or transmit the sensing signals responsive to direction from the controller.

In an embodiment, one or more components of the at least one robotic debridement apparatus can operate under direction from a controller (e.g., controller112ofFIG. 1, controller1112ofFIGS. 11A-11B). For example, the locomotive mechanism can be controllably activated and controllably relocate the at least one robotic debridement apparatus, the debriding tool can controllably debride tissue, the debris disposal device can controllably capture the at least one substance, the therapeutic device can controllably provide the therapeutic effect to the body region, the power source can controllably supply power to one or more components of the at least one respective robotic debridement apparatus, or the marking device can controllably dispense one or more taggants into the body region responsive to direction from the controller. In an embodiment, the controller can control one or more components of at least one of the robotic debridement apparatuses responsive to one or more operational instructions stored on memory or received by a transceiver.

In an embodiment, the controller can control the operation of the one or more components of the at least one robotic debridement apparatus responsive to one or more sensing signals received from the sensors. For example, the controller can direct the locomotive mechanism to controllably relocate the at least one robotic debridement apparatus to a location having undebrided unhealthy tissue, a location having at least one substance to be disposed, or a portion of the body region requiring a therapeutic effect responsive to the sensing signals. In an embodiment, the controller can direct the locomotive mechanism to controllably relocate the at least one robotic debridement apparatus away from a location having healthy tissue, a location that was previously debrided, or another location where the robotic debridement apparatus is not needed. In an embodiment, the controller can direct the locomotive mechanism to controllably move the at least one robotic debridement apparatus to travel along a selected path. The selected path can be a path of least resistance, a path avoiding collisions with other robotic debridement apparatuses present in the body region, a path having tissue to be debrided, a path having substances to be disposed, a path having portions of the body region requiring a therapeutic effect, or any other selected path. In another example, the controller can direct the debriding tool to debride tissue when the sensors detect undebrided unhealthy tissue, the debris disposal device to capture at least one substance when the sensors detect the at least one substance, etc.

FIG. 9is a flow diagram of a method900of using any of the robotic debridement apparatuses disclosed herein, according to an embodiment. In some embodiments, some of the acts of the method900can be split into a plurality of acts, some of the acts can be combined into a single act, and some acts can be omitted. Also, it is understood that additional acts can be added to the method900. Except as otherwise disclosed herein, the acts of method900can be used with any of the robotic debridement apparatuses100,200a-g,300a-o,400a-j,500a-b,600,700,1000(FIGS. 1-7, 10) disclosed herein.

The method900includes an act905of contacting a body region of a subject with at least one robotic debridement apparatus. For example, the at least one robotic debridement apparatus can include a housing, at least one locomotive mechanism positioned in or on the housing, and at least one debris disposal device in or on the housing. In an embodiment, the at least one robotic debridement apparatus can include at least one debriding tool or at least one therapeutic device. In an embodiment, the at least one robotic debridement apparatus positioned over the body region can include one or more sensors, a controller, a power source, at least one marking device, or at least one extraction device.

In an embodiment, contacting a body region of a subject with at least one robotic debridement apparatus can include manually placing, manually positioning, using at least one extraction device or retrieval device, or another suitable method of contacting the at least one robotic debridement apparatus over the body region. In an embodiment, as will be discussed in more detail later, contacting a body region of a subject with at least one robotic debridement apparatus can include reversibly attaching a dressing (e.g., dressing1178ofFIGS. 11A-11B) associated with the plurality of robotic debridement apparatuses to the body region.

Act910includes debriding tissue (e.g., at least one target tissue) present in the body region. In an embodiment, the tissue is debrided in substantially the same manner as described in act810of method800(FIG. 8). For example, the at least one robotic debridement apparatus can include at least one debriding tool that debrides tissue from the body region. In an embodiment, the tissue can be debrided by a user (e.g., physician) using, for example, a curette, a scalpel, or another device. In an embodiment, the tissue can be debrided using one or more maggots applied to the body region.

Act915includes capturing with the at least one debris disposal device at least one substance from the body region. For example, the debris disposal device can capture debrided tissue that was debrided in act910. In an embodiment, the debris disposal device can capture the at least one substance from the body region using any of the methods disclosed herein. For example, the debris disposal device can suction the at least one substance from the body region (FIG. 4C). For example, the debris disposal device can adhere or attach thereto the at least one substance from the body region (FIGS. 4A, 4D-4E, 4I-4J). For example, the debris disposal device can absorb or attach thereto the at least one substance from the body region (FIGS. 4A, 4F-4G, 4I-4J). For example, the debris disposal device can dispense one or more pressurized fluids (FIG. 4H) into or onto the body region.

The method900can include optional additional acts. For example, method900can include at least one of the optional additional acts disclosed in method900.

L. Systems Including Robotic Debridement Apparatuses

Any of the robotic debridement apparatuses disclosed herein can be used in systems configured to debride tissue (e.g., at least one target tissue) from a body region. For example, the systems disclosed herein can include a plurality of robotic debridement apparatuses. In an embodiment, the systems disclosed herein can include a dressing associated with the robotic debridement apparatuses.

1. Systems Including a Plurality of Robotic Debridement Apparatuses

FIG. 10is a schematic illustration of a system1074that includes a plurality of robotic debridement apparatuses1000, according to an embodiment. In the illustrated embodiment, the plurality of robotic debridement apparatuses1000include at least one first robotic debridement apparatus1000a, at least one second robotic debridement apparatus1000b, and at least one third robotic debridement apparatus1000c. However, the system1074can include only two robotic debridement apparatuses or four or more robotic debridement apparatuses. Except as otherwise described herein, the first, second, and third robotic debridement apparatuses1000a,1000b,1000cshown inFIG. 10and their materials, components, or elements can be similar to or the same as one or more of the robotic debridement apparatuses100,200a-g,300a-o,400a-j,500a-b,600,700, (FIGS. 1-7) and their respective materials, components, or elements. For example, the robotic debridement apparatuses1000shown inFIG. 10can include a housing1002, at least one locomotive mechanism (e.g., first or second locomotive mechanisms1004a,1004b), at least one debriding tool (e.g., any of the debriding tools306a-oofFIGS. 3A-3O), at least one debris disposal device (e.g., any of the debris disposal devices452a-jofFIGS. 4A-4J), at least one therapeutic device (e.g., any of the therapeutic debridement devices652a-bofFIGS. 5A-5B), one or more sensors (not shown), a controller (not shown), or a power source (not shown).

In an embodiment, at least two (e.g., all) of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be substantially the same. In an embodiment, at least two (e.g., all) of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be different from each other. For example, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan exhibit a functionality different from that of another at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000c. The different functionality can include at least one locomotive mechanism, at least one sensor, at least one controller, at least one different debriding tool; at least one different debris disposal device; at least one different therapeutic device; at least different marking device (e.g., different taggants); at least one different extraction device; at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000chaving at least one of a debriding tool, a debris disposal device, a therapeutic device, a marking device, or an extraction device and another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cdoes not have that respective device; or another suitable different functionality.

In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan exhibit a different size or a different geometry than at least one other of the first, second, or third robotic debridement apparatuses1000a,1000b,1000c. The different sizes of the robotic debridement apparatuses can include at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cbeing larger than another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000c; or at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cbeing smaller than another of the first, second, or third robotic debridement apparatuses different1000a,1000b,1000c. The different sizes or geometries of the robotic debridement apparatuses can educate the choice of robotic debridement apparatuses having different components (e.g., functionality), for example for use with different sized body regions or different types of body regions, or for different needs or requirements (e.g., different wound debridement needs). The different sizes or geometries of the robotic debridement apparatuses can facilitate the use of robotic debridement apparatuses having different components (e.g., functionality), such as when using multiple robotic debridement apparatuses in or on the same body region. The different sizes or geometries of the robotic debridement apparatuses can also facilitate the use of robotic debridement apparatuses that are configured to debride different portions of a body region1076(e.g., a relatively smaller robotic debridement apparatus can facilitate debridement of tissue in a relatively narrow portion of the body region1076). In an embodiment, the system1074can include at least one robotic debridement apparatus of a size and geometry able to be effectively used alone on a body region (e.g., in sequential use). In an embodiment, the system1074can include a plurality of robotic debridement apparatuses1000of one or more size and one or more geometry able to be effectively used substantially simultaneously on a body region (e.g., about 5 apparatuses, about 10 apparatuses, about 20 apparatuses, about 50 apparatuses, about 100 apparatuses, about 200 apparatuses, about 300 apparatuses, etc.)

In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include one or more first sensors1008aand another of the first, second or third robotic debridement apparatuses1000a,1000b,1000ccan include one or more second sensors1008b. The first sensors1008a, and second sensors1008bcan be the same type of sensors. The first and second sensors1008a,1008bcan be different sensors. For instance, the first sensors1008acan include a first type of sensor (e.g., chemical sensor, thermal sensor, etc.) and the second sensors1008bcan include a second type of sensor different from the first sensors1008a. In an embodiment, the first sensor1008acan include a plurality of sensors and the second sensors1008bcan include a single sensor or a different number of sensors. In an embodiment, the first sensors1008acan detect one or more first characteristics of the body region1076, and the second sensor1008bcan detect one or more second characteristics of the body region1076that are different than the one or more first characteristics. In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000bcan include at least one sensor and another of the first, second or third robotic debridement apparatuses1000a,1000b,1000cdoes not include a sensor. The first and second sensors1008a,1008bcan be used, for example, when the robotic debridement apparatuses include a different functionality, when the robotic debridement apparatuses receive information about the body region1076from each other or an external source (e.g., the user, a dressing, another robotic debridement apparatus, or the external device127ofFIG. 1), when the robotic debridement apparatuses facilitate debridement of different tissues, when the robotic debridement apparatuses are working in concert, when the robotic debridement apparatuses facilitate debridement of tissues in different portions of the body region1076, etc.

In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include at least one first locomotive mechanism1004aand another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include at least one second locomotive mechanism1004b. In an embodiment, the first locomotive mechanism1004aand the second locomotive mechanism1004bcan be substantially the same. In an embodiment, the first locomotive mechanism1004aand the second locomotive mechanism1004bcan be different. For example, the first and the second locomotive mechanisms1004a,1004bcan include different types of locomotive mechanisms (e.g., piezoelectric materials, impelling mechanism, inchworm-like motive mechanism, etc.). In an embodiment, the first and second locomotive mechanisms1004a,1004bcan include at least one similar locomotive mechanism and at least one different locomotive mechanism (e.g., the first locomotive mechanism1004aincludes a piezoelectric material and the second locomotive mechanism1004bincludes a piezoelectric material and an impelling mechanism). In another instance, the first and second locomotive mechanisms1004a,1004bcan include a similar type of locomotive mechanism that operate differently (e.g., a piezoelectric unimorph and a piezoelectric bimorph).

In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan receive power from an external power source (e.g., in the external device127ofFIG. 1or in the dressing2078ofFIG. 20). In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan receive one or more sensing signals or one or more operational instructions from the external source (e.g., external device127ofFIG. 1, a different robotic debridement apparatus, or controller1112of the dressing1178ofFIGS. 11A-11B).

In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include a first component (not shown), and another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include a second component (not shown) that is different from the first component. For example, at least one of the first, second or third robotic debridement apparatuses1000a,1000b,1000ccan include a first power source (e.g., battery), and another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cincludes a second power source (e.g., capacitor) that is different than the first power source. In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include a first controller (e.g., having memory), and another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include a second controller (e.g., having a transceiver) that is different than the first controller. In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cinclude a first component, and another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cdo not include the first component.

In an embodiment, two or more of the plurality of robotic debridement apparatuses1000can be attached together. For example, the attached robotic debridement apparatuses1000can be directly coupled (e.g., attached) together, indirectly coupled together (e.g., using a tether), permanently attached together, or temporarily attached together (e.g., reversibly attached together).

In an embodiment, two or more of the plurality of robotic debridement apparatuses1000can be configured to transmit information and otherwise communicate with each other. For example, the plurality of robotic debridement apparatuses1000can include at least one first robotic debridement apparatus1000aand at least one second robotic debridement apparatus1000b. Each of the first and second robotic debridement apparatuses1000a,1000bcan include a transceiver (e.g., transceiver124ofFIG. 1) that communicably couples the first and second robotic debridement apparatuses1000a,1000btogether. For example, the first and second robotic debridement apparatuses1000a,1000bcan be wiredly or wirelessly coupled together via the transceivers. In an embodiment, the transceivers allow the first robotic debridement apparatus1000ato transmit information (e.g., information regarding one or more sensing signals, a location of the first robotic debridement apparatus1000aor another robotic debridement apparatus, a portion of the body region that requires additional work, etc.) to the second robotic debridement apparatus1000b, or vice versa.

In an embodiment, at least one of the first or second robotic debridement apparatuses1000a,1000bincludes a controller (e.g., the controller112ofFIG. 1). For example, when the first robotic debridement apparatus1000aincludes the controller, the controller of the first robotic debridement apparatus1000acan at least partially control the operation of the first or second robotic debridement apparatuses1000a,1000b. For example, when each of the first and second robotic debridement apparatuses1000a,1000bincludes the controller, the controller of the first robotic debridement apparatus1000aor the controller of the second robotic debridement apparatus1000bcan at least partially control the operation of the first or second robotic debridement apparatuses1000a,1000b. For example, when each of the first and second robotic debridement apparatuses1000a,1000binclude the controller, the controller of the first robotic debridement apparatus1000acan at least partially inform the controller of the second robotic debridement apparatuses1000bof an operation performed by the first robotic debridement apparatus1000a.

In an embodiment, a first robotic debridement apparatus1000aincludes a controller (e.g., controller112ofFIG. 1) configured to control the operation of at least one of the second or third robotic debridement apparatuses1000b,1000c. For example, the controller of the first robotic debridement apparatus1000acan function as a commander or master of at least one of the second or third robotic debridement apparatuses1000b,1000c, thereby directing a coordinated effort. For instance, the first and second robotic debridement apparatuses1000a,1000bcan each include at least one debriding tool and the controller controls (e.g., choreographs) the movement of the first and second robotic debridement apparatuses1000a,1000bto debride tissue in a body region in a coordinated fashion. For instance, the first robotic debridement apparatus1000acan include a debriding tool having a blade, the second robotic debridement apparatus1000bcan include a debriding tool having pressurized fluid-dispenser, and the third robotic debridement apparatus1000ccan include at least one debris disposal device. As such, the controller of the first robotic debridement apparatus1000acan coordinating the movements and functions of the first, second, and third debridement apparatuses1000a,1000b,1000cto debride (e.g., by scraping, cutting, etc.) tissue (e.g., necrotic tissue) of a body region, flush the body region with a debriding or irrigation fluid, and capture debris (e.g., debrided tissue) from the body region.

In an embodiment, the first robotic debridement apparatus1000aincludes a controller and programming configured to control (e.g., in a coordinated manner) at least one of the second or third robotic debridement apparatuses1000b,1000c. In an embodiment, the controller of the first robotic debridement apparatus1000ais programmable. For example, the controller of the first robotic debridement apparatus1000acan be in communication with an external device (e.g., external device127ofFIG. 1) having a user interface, and can be programmed through the user interface to control the movements and functions of itself and at least one of the second or third robotic debridement apparatuses1000b,1000c.

In an embodiment, the transceiver of at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cis communicably coupled to a device remote and separate from the first, second, or third robotic debridement apparatuses1000a,1000b(e.g., external device127ofFIG. 1, the dressing1178ofFIGS. 11A-11B). The device can be configured to at least partially control the operation of the first, second, or third robotic debridement apparatuses1000a,1000b,1000c.

In an embodiment, the plurality of robotic debridement apparatuses1000(e.g., the first, second, and third robotic debridement apparatuses1000a,1000b,1000c) includes a selected variety of different robotic debridement apparatuses that are each different. The variety of different robotic debridement apparatuses can include, for example, any of the differences disclosed herein. The plurality of robotic debridement apparatuses1000can be selected from the variety of different robotic debridement apparatuses based on at least one of the type of tissue to be debrided, the shape and size of the body region1076, the depth of the body region1076, the type of dressing used with the body region1076, the method used to debride tissue (e.g., using surgical tools or robotic debridement apparatuses), etc. For example, the first robotic debridement apparatus1000acan be selected to preferentially debride a certain type of tissue (e.g., includes sensors configured to detect the certain type of tissue), the second robotic debridement apparatus1000bcan be selected to preferentially capture components of the debrided certain type of tissue, and the third robotic debridement apparatus1000ccan be selected to provide a selected therapeutic effect based on the certain type of tissue. For example, a first combination of robotic debridement apparatuses can be selected for a first debridement session of a body region, and a second, different combination of robotic debridement apparatuses can be chosen for a second debridement session of a body region. For instance, the first selected plurality of robotic debridement apparatuses can each include at least one debriding tool for dispensing one or more hydrogels including collagenase. The second selected plurality of robotic debridement apparatuses can include a combination of at least one first robotic debridement apparatus that includes at least one debriding tool for dispensing an analgesic, at least one second debridement apparatus that includes at least one debriding tool for scraping the dried hydrogel (e.g., a flat blade), and at least one third robotic debridement apparatus that includes at least one debris disposal device for capturing the scraped hydrogel and associated debris.

In an embodiment, the variety of robotic debridement apparatuses can be provided as part of a kit that facilitates debridement of the body region1076. For example, the kit can include a variety of robotic debridement apparatuses that a user can select (e.g., select only a portion of or all of the variety of robotic debridement apparatuses), a dressing, surgical tools used to debride the tissue, maggots, one or more therapeutic agents to be applied by a user to the body region1076, or any other device that can facilitate debridement of tissue from the body region1076.

2. Systems Including a Dressing and a Plurality of Robotic Debridement Apparatuses

FIGS. 11A and 11Bare schematic cross-sectional side and top plan view illustrations, respectively, of a system1174that includes a dressing1178that is associated with a plurality of robotic debridement apparatuses1100, according to an embodiment. The dressing1178can be associated with the plurality of robotic debridement apparatuses1100in a manner that facilitates debridement of a body region1176. For example, as discussed in more detail hereafter, the dressing1178can facilitate operation of the robotic debridement apparatuses1100. In an embodiment, the dressing1178can directly facilitate debridement of tissue (e.g., at least one target tissue). In an embodiment, the dressing1178can include at least one layer1180. For example, the dressing1178can include a single layer. For example, the dressing1178can include a first layer and at least one second layer, which can be of the same or different composition as the first layer. For example, the dressing1178can include a plurality of layers. In an embodiment, the dressing1178at least partially (e.g., completely) encloses (e.g., encircles) the body region1176or at least one of the robotic debridement apparatuses1100. As such, the dressing1178can at least partially confine the robotic debridement apparatuses1100within the body region1176. AlthoughFIGS. 11A-11Billustrates and describes the system1174as including a plurality of robotic debridement apparatuses1100associated with the dressing1178, it is understood that the system1174can include a single robotic debridement apparatus associated with the dressing1178.

The system1174can include the plurality of robotic debridement apparatuses1100. Except as otherwise described herein, the robotic debridement apparatuses1100shown inFIGS. 11A-11Band their materials, components, or elements can be similar to or the same as the robotic debridement apparatus100,200a-g,300a-o,400a-j,500a-b,600,700,1000(FIGS. 1-7, 10) and their respective materials, components, or elements. For example, each of the robotic debridement apparatuses1100shown inFIGS. 11-11Bcan include at least one of a housing, at least one locomotive mechanism, at least one debriding tool, at least one debris disposal device, at least one therapeutic device, one or more sensors, a controller, or a power source (not shown).

3. Components of the Dressing

The dressing1178can include one or more components positioned therein or thereon that facilitate functioning of the dressing1178. The one or more components positioned in or on the dressing1178can be used in any of the dressings embodiments disclosed herein.

Referring toFIG. 11A, the dressing1178can include one or more sensors1108positioned in or on the dressing1178. For example, the sensors1108can be positioned on an outer surface1182of the dressing1178, can extend from the outer surface1182into the body region1176, can be positioned on another surface of the dressing1178, or can be positioned inside the dressing1178itself. The sensors1108can be configured to detect one or more characteristics of the body region1176, the dressing1178, or at least one of the robotic debridement apparatuses1100.

In an embodiment, the sensors1108can be the same as or similar to the sensors108(FIG. 1). In an embodiment, the sensors1108can include sensors that are different from the sensors108(FIG. 1). For example, the sensors1108can include at least one chemical sensor, at least one thermal sensor, at least one moisture sensor, at least one electrical conductivity sensor, at least one optical sensor, at least one acoustic sensor, at least one electrical power sensor, or another sensor disclosed herein. For example, the sensors1108can be configured to detect tissue viability, tissue type, the presence of a microbe, components of wound exudate, moisture content of the body region1176, temperature of the body region1176, or another characteristic of the body region1176. For example, the sensors1108can be configured to detect one or more agents released into or onto the body region1176, the presence of the robotic debridement apparatuses1100(e.g., using unique identifier tags such as RFID tags), one or more characteristics of the dressing1178(e.g., moisture content, presence of a microbe, or an aspect of an electronic component such as a power level), etc.

The sensors1108can transmit one or more sensing signals. For example, the sensors1108can transmit one or more sensing signals responsive to detecting the one or more characteristics of the body region1176, the dressing1178, or at least one of the robotic debridement apparatuses1100. The sensing signals can include data having information regarding the detected characteristics encoded therein. The sensors1108can transmit the sensing signals to one or more components of the system1174(e.g., one or more components of the dressing1178, one or more components of at least one of the robotic debridement apparatuses1100, or the external device127ofFIG. 1). The sensors1108can be sense the characteristics or transmit the sensing signals responsive to direction from a controller1112, controller1112′ (e.g., controller112ofFIG. 1) coupled to at least one of the robotic debridement apparatuses1100, or to one or more external devices (e.g., external device127ofFIG. 1).

In an embodiment, the dressing1178includes a controller1112that is positioned in or on the dressing1178. The controller1112can be the same as or similar to the controller112(FIG. 1). For example, the controller1112can include memory1122, a transceiver1124(e.g., receiver or transmitter), or a processor1126.

In an embodiment, the controller1112can be communicatively coupled (e.g., wiredly or wirelessly) to one or more components of the system1174, such as one or more components of the dressing1178or one or more components of the robotic debridement apparatuses1100. For example, the dressing1178can be communicably coupled to at least one of the robotic debridement apparatuses1100(e.g., the controller1112can transmit operational signals or informational signals to at least one of the robotic debridement apparatuses1100). The controller1112can be configured to control at least one of the one or more components of the system1174that are communicably coupled to the controller1112. For instance, the controller1112can control the operation of at least one of the robotic debridement apparatuses1100(e.g., instead of or in conjunction with the controller1112′), the sensors1108, etc. In an embodiment, the controller1112controls the operation of the one or more components of the system1174responsive to receiving the sensing signals transmitted from the sensors1108or sensors coupled to at least one of the robotic debridement apparatus (e.g., sensors108ofFIG. 1). In an embodiment, the controller1112′ can at least partially control the operation of the dressing1178(e.g., the controller1112).

In an embodiment, the system1174can include an external device (e.g., external device127ofFIG. 1) that is communicably coupled (e.g., wiredly or wirelessly) to one or more components of the system1174. For example, the controller1112can transmit or receive information (e.g., one or more command signals, one or more user directed commands, one or more programs, one or more sensing signals, one or more operational instructions, etc.) to or from the external device. In an embodiment, the external device can at least partially control the operation of the dressing1178or another component of the system1174(e.g., allow a user to remotely control, at least partially control the operation of at least one component of the system1174or program the controller1112). In an embodiment, the controller1112can be incorporated with one or more devices remote from the dressing1178.

The dressing1178can include a dressing power source1110. The dressing power source1110can be is positioned in or on the dressing1178or external the dressing1178. The dressing power source1110can be the same as or similar to the power source110(FIG. 1). For example, the dressing power source1110can include at least one battery or at least one capacitor. Additionally, the dressing power source1110can be electrically coupled to one or more components of the system1174. For example, the dressing power source1110can be coupled to the sensors1108, the controller1112, or at least one of the robotic debridement apparatuses1100. In an embodiment, the dressing power source1110can include any of the power-generating devices disclosed herein. In an embodiment, the dressing power source1110can be coupled to and configured to provide electrical power to at least one of the robotic debridement apparatuses1100. For example, at least one of the robotic debridement apparatuses1100can be wiredly coupled or wireless coupled (e.g., via the magnetic field-generating device2199ofFIG. 21). In an embodiment, the dressing power source1110can be coupled to a device (e.g., socket, battery) external to the dressing1178and configured to receive electrical power from the device. In an embodiment, the power source1110is omitted and the dressing1178receives electrical power (if needed) from a device external therefrom (e.g., the socket, the battery).

In an embodiment the dressing1178includes at least one electronic component that is a flexible electronic component or conformable electronic component. For example, the dressing1178can include one or more of serpentine circuitry, flexible circuitry, or electronic threads. In an embodiment, at least one component of the dressing1178can be manufactured using an additive manufacturing process.

4. Composition of the Dressing

In an embodiment, at least a portion of the dressing1178(e.g., the at least one layer1180) is formed from a material that is at least semi-permeable (e.g., permeable) to a gas. As such, the dressing1178can permit a gas (e.g., air) from a region external to the dressing1178to flow therethrough into the body region1176. Permitting a gas to flow through the dressing1178can improve the healing process of the body region due to the increased demand for oxygen during the healing process (e.g., cell proliferation, bacterial defense, angiogenesis, collagen synthesis, etc.). In an embodiment, at least a portion of the dressing1178can be substantially impermeable to gas. Such as dressing1178can maintain moist conditions within the body region1176, which can facilitate fibrinolysis and angiogenesis. In an embodiment, at least a portion of the dressing1178can be formed from chiffon, rayon, nylon, gauze, hydrocolloid, hydrogel, alginate, collagen, hydrofiber dressing, polyvinyl film, polyurethane (e.g., Tegaderm), or another suitable material.

In an embodiment, the dressing1178includes a first layer and at least one second layer that is different from the first layer in composition or function. For example, the dressing1178can include a bandage having several layers of the same material. For example, the dressing1178can include a primary bandage (e.g., interfacing with a wound) and a secondary bandage (e.g., a polyurethane film bandage that adheres to skin adjacent the wound and holds the primary bandage in place). For example, the dressing1178can include a multi-layer dressing such as a composite dressing. The composite dressing can include a contact layer comprising a non-adherent material (e.g., rayon, nylon, or polyethylene), a middle layer comprising a material (e.g., hydrogel, semi-permeable foam, hydrocolloid, or alginate) able to absorb moisture and wick it away from a wound bed yet maintain a moist environment, and an outer layer comprising a semi-permeable film that serves as a protective barrier.

In an embodiment, the dressing1178can include an interfacial surface1184that is configured to contact and attach to the body region1176(e.g., a skin surface of the wound). For example, the interfacial surface1184can exhibit a shape that substantially conforms to a surface of the body region1176, is malleable, is pliable, or is deformable. In an embodiment, the interfacial surface1184is configured to be reversibly attached to the body region1176or to a body part (e.g., a limb, or a torso) that includes the body region1176. For example, at least a portion of the interfacial surface1184can include an adhesive or other attachment mechanism thereon. The adhesive or other attachment mechanism can be attached to the body region1176such that removing the dressing1178from the body region1176does not significantly damage healthy tissue. For example, at least a portion of the adhesive can attach to tissue adjacent a wound in the body region. For example, the dressing1178can be attached by wrapping the dressing1178around a body part (e.g., a leg, a foot, an ankle, an arm, a hand, a wrist, a torso, a head, etc.).

In an embodiment, the dressing1178can include a biodegradable material. In such an embodiment, the interfacial surface1184can include an adhesive or other attachment mechanism that is configure to reversibly or non-reversibly attach (e.g., substantially permanently attach) to the body region1176. In an embodiment, the dressing1178can include at least one layer1180that defines the interfacial surface1184. For example, the at least one layer1180can include a hydrocolloid layer, a hydrogel layer, hydrofiber dressing, etc. In an embodiment, the dressing1178can include an adhesive between the at least one layer1180and the body region.

The compositions and materials with regards to the dressing1178can be used in any of the dressing embodiments disclosed herein.

In an embodiment, the dressing1178comprises a sterile material. In an embodiment, the dressing1178or a component therein or thereon is sterilizable.

In an embodiment, the dressing1178includes at least one shape or at least one size that is appropriate to fit (e.g., at least partially cover) the body region1176or to facilitate functioning of one or more robotic debridement apparatuses1100. In an embodiment, the dressing1178includes a first layer having a first shape and at least one second layer having at least one second shape that differs from the first shape. In an embodiment, the dressing1178includes a first layer having a first size and at least one second layer having at least one second size that differs from the first size. For example, the dressing1178can include at least one layer that is a rectangle, a triangle, a circle, or a ring. For example, the dressing1178can include as a first layer (e.g., a primary dressing) that is a small circle and a second layer (e.g., a cover layer) that is a rectangular film that holds the circle in place.

5. Types of Dressings

The dressings disclosed herein can include different types of dressings. In an embodiment, the dressings disclosed herein can include a confinement dressing that is configured to confine the plurality of robotic debridement apparatuses within the body region. The confinement dressing can be configured to have the robotic debridement apparatuses directly positioned in the body region. In an embodiment, the dressings disclosed herein can include a containment dressing that is configured to contain the robotic debridement apparatuses therein. As such, a containment dressing is configured to have the robotic debridement apparatuses indirectly positioned in the body region.

Referring toFIG. 11B, the dressing1178is an example of a confinement dressing. The dressing1178includes a ring dressing that at least partially (e.g., completely) extends laterally about (e.g., encircles) the body region1176. For example, the at least one layer1180of the dressing1178can be reversibly attached or otherwise attached to a skin surface that extends laterally about or forms part of a wound on the body region1176(e.g., so that the dressing1178encircles the wound). The at least one layer1180can also extend generally upwardly from the skin surface for a selected distance.

In an embodiment, the dressing1178can be configured to prevent at least one of the robotic debridement apparatuses1100from leaving the body region1176. For example, the at least one layer1180of the dressing1178can include a material, shape, color, design, or other feature that can be detected by sensors1108′ (e.g., sensors108ofFIG. 1) coupled to at least one robotic debridement apparatus1100. The at least one robotic debridement apparatus1100can include operational instructions that prevent the at least one robotic debridement apparatus1100from crossing the dressing1178after the dressing1178is detected.

In an embodiment, the at least one layer1180of the dressing1178can include a material that exhibits a low coefficient of friction against a portion of the at least one robotic debridement apparatus1100that contacts the at least one layer1180. The low coefficient of friction can prevent the at least one robotic debridement apparatus1100from crossing or climbing on the at least one layer1180of the dressing1178.

In an embodiment, the selected distance that the at least one layer1180of the dressing1178extends above the skin surface can be sufficient to prevent the at least one robotic debridement apparatus1100from crossing the at least one layer1180. For instance, the selected distance can be at least 20% (e.g., at least 50%, at least 100%) of the total height of the at least one robotic debridement apparatus1100, the maximum height the locomotive mechanism1104vertically moves the at least one robotic debridement apparatus1100, or the vertical height of an impelling mechanism (e.g., impelling mechanism105,205c,205d,205fofFIGS. 1, 2C, 2D, 2F).

In the illustrated embodiment, the dressing1178forms an open air system1174since the dressing1178is a ring dressing. In other words, the dressing1178does not completely cover the body region1176or the robotic debridement apparatuses1100. For example, the at least one layer1180defines at least one opening1186. As such, the body region1176is exposed to air (e.g., oxygen) regardless of the materials that are used to form the dressing1178. Additionally, the at least one opening1186can enable a user to position or remove at least one robotic debridement apparatus1100in or from the body region1176after the dressing1178is attached to the body region1176. In an embodiment, the dressing1178can include at least one additional layer (not shown) that covers the opening1186(e.g., a flap). The at least one additional layer can protect the body region1176, be reversibly attached to the at least one layer1180, be at least semi-permeable to gas, or at least partially transparent.

FIG. 12is a schematic view of a system1274that includes a dressing1278and at least one robotic debridement apparatus1200(e.g., a plurality of robotic debridement apparatuses1200) positioned in a body region1276, according to an embodiment. The dressing1278is another example of a confinement dressing1278. The dressing1278includes at least one layer1280that at least partially (e.g., completely) encloses or covers the body region1276or the robotic debridement apparatuses1200. For example, the at least one layer1280can exhibit a generally sheet-like or generally planar shape that exhibits a size and shape that covers at least a portion of the body region1276. The at least one layer1280can also include an interfacial surface1284that attaches to a portion of the body region1276(e.g., attaches to a skin surface that extends about a wound in the body region). The dressing1278can define at least one aperture (not shown).

In the illustrated embodiment, the system1274includes the at least one robotic debridement apparatus1200positioned directly into the body region1276. As such, the robotic debridement apparatus1200is positioned between the dressing1278(e.g., the at least one layer1280) and the body region1276.

In an embodiment, the system1274be configured such that the dressing1278(e.g., the at least one layer1280) is positioned between the robotic debridement apparatus1200and the body region1276. In an embodiment the dressing1278can be configured to enable the robotic debridement apparatus1200positioned above the dressing1278to be in fluid communication with the body region1276. For example, the dressing1278can define at least one aperture (e.g., aperture1387ofFIG. 13) having sufficient size to allow the robotic debridement apparatus1200positioned above the dressing1278to have access to the body region1276, while preventing the robotic debridement apparatus1200from passing therethrough.

FIG. 13is a schematic view of a system1374that includes a dressing1378and at least one robotic debridement apparatus1300(e.g., a plurality of robotic debridement apparatuses1300) positioned in a body region1376, according to an embodiment. The dressing1378is an example of a containment dressing. In particular, the dressing1378includes the robotic debridement apparatus1300positioned therein. For example, the dressing1378can define at least one containment region1388that includes the robotic debridement apparatus1300therein. The containment region1388can be substantially enclosed by the dressing1378or merely partially enclosed by the dressing1378(e.g., permitting the robotic debridement apparatuses1300to be removed therefrom or added thereto).

In the illustrated embodiment, the dressing1378includes a first layer1380and a second layer1390positioned above the first layer1380. The first layer1380and the second layer1390can be distinct layers attached together or can be integrally formed together. In an embodiment, at least one of the first or second layers1380,1390can exhibit a generally sheet-like or generally planar shape that substantially covers the body region1376and is attached to the body region1376(e.g., attached to a skin surface that extends about a wound of the body region1376). In an embodiment, the first and second layers1380,1390do not cover the body region1376. In such an embodiment, the first or second layers1380,1390can be attached to another layer (not shown) that substantially covers the body region1376(e.g., wrapping around a body part that includes the body region1376), or the first and second layers1380,1390can be attached to a portion of the body region1376.

The first and second layers1380,1390can be formed (e.g., attached) together in any manner that forms the containment region1388therebetween. For example, the first and second layers1380,1390can be attached around a periphery thereof using at least one of an adhesive, a thread, etc. In an embodiment, at least one of the first layer1380, the second layer1390, or an interface therebetween can define a passageway (not shown) that allows the at least one robotic debridement apparatus1300positioned in the containment region1388to pass therethrough. For example, the passageway can include a slit formed within the first or second layers1380,1390, a reversible closure between the first and second layers1380,1390, or another suitable passageway. As such, the passageway can allow the robotic debridement apparatus1300to be removed from or added to the containment region1388. In an embodiment, the first and second layers1380,1390completely enclosed the containment region1388.

In an embodiment, the first layer1380can include a plurality of apertures1386formed therein that permit the robotic debridement apparatus1300to be in fluid communication with the body region1376. For example, at least one of the apertures1386can exhibit a size and geometry that permits fluid, debrided tissue, at least one substance, or other tissue to enter the containment region1388. In an embodiment, at least one of the apertures1386can exhibit a size and geometry that permits a portion of the robotic debridement apparatus1300to extend therethrough. In an embodiment, at least one of the apertures1386can exhibit a size that permits a fluid-dispensed by the robotic debridement apparatus1300to pass therethrough. In an embodiment, each of the plurality of apertures1386can exhibit a size and geometry that prevents the at least one robotic debridement apparatuses1300present in the containment region1388from passing therethrough.

In an embodiment, the at least one robotic debridement apparatus1300can be positioned within one or more layers of the dressing1378instead of in the containment region1388. For example, the robotic debridement apparatus1300can be positioned within the first layer1380or the second layer1390. In an embodiment, the containment region1388may be omitted.

In an embodiment, the dressing1378can be configured as both a containment dressing and a confinement dressing. For example, the system1374can include at least one robotic debridement apparatus1300positioned in the body region1376(e.g., directly positioned in the body region1376) and at least one of the robotic debridement apparatuses1300can be positioned in the containment region1388.

6. Association of the Dressing with the Plurality of Robotic Debridement Apparatuses

As previously discussed, any of the dressings disclosed herein can be configured to be associated with at least one of a plurality of robotic debridement apparatuses positioned in the body region.FIGS. 11A-11B, and 14-22are schematic illustrations of different systems that include a dressing having different associations with a plurality of robotic debridement apparatuses, according to different embodiments. The dressings illustrated inFIGS. 11A-11B, and 14-22are associated with at least one of the plurality of robotic debridement apparatuses when the dressing is coupled (e.g., directly attached, indirectly attached, reversibly attached, permanently attached, electrically coupled, etc.) to at least one of the robotic debridement apparatuses, facilitates operation of at least one of the robotic debridement apparatuses, or directly facilitates debridement of tissue from the body region along with the robotic debridement apparatuses. AlthoughFIGS. 11A-11B, and14-22illustrate and describe systems that include a plurality of robotic debridement apparatuses associated with the dressing, it is understood that the systems can include a single robotic debridement apparatus associated with the dressing.

Except as otherwise described herein, the dressings shown inFIGS. 11A-11B and 14-22and their materials, components, or elements can be similar to or the same as the dressings1178,1278,1378(FIGS. 11A-13) and their respective materials, components, or elements. For example, the dressings illustrated in11A-11B, and14-22can be configured as a confinement dressing (e.g., dressing1178,1278ofFIGS. 11A-12) or as a containment dressing (e.g., dressing1378ofFIG. 13). Any of the associations between the dressings and the plurality of robotic debridement apparatuses disclosed inFIGS. 11A-11B and 14-22can be used in any of the dressing embodiments disclosed herein.

Additionally, except as otherwise described herein, the plurality of robotic debridement apparatuses shown inFIGS. 11A-11B and 14-22and their materials, components, or elements can be similar to or the same as the robotic debridement apparatuses100,200a-g,300a-o,400a-j,500a-b,600,700,1000(FIGS. 1-7, 10) and their respective materials, components, or elements. For example, the robotic debridement apparatuses shown inFIGS. 11A-11B and 14-22can include at least some of a housing, at least one locomotive mechanism, at least one debriding tool, at least one debris disposal device, at least one therapeutic device, one or more sensors, a controller, or a power source.

Referring toFIG. 11A, as previously discussed, the dressing1178can include one or more sensors1108positioned in or on the dressing1178. The sensors1108can be configured to detect one or more characteristics of the body region1176. The sensors1108can be configured to transmit one or more sensing signals to one or more components of the system1174. For example, the sensors1108can transmit the sensing signals to at least one robotic debridement apparatus1100that does not include sensors coupled thereto or does not include sensors configured to detect at least one characteristic encoded in the sensing signals. In an embodiment, the robotic debridement apparatuses1100that receive the sensing signals can operate responsive to receiving the sensing signals. For example, the robotic debridement apparatuses1100that receive the sensing signals can include a controller1112′ that directs at least one locomotive mechanism1104(e.g., locomotive mechanism104ofFIG. 1) to move its respective robotic debridement apparatuses1100to a location of the body region1176having un-debrided tissue or away from a location having healthy tissue. The robotic debridement apparatuses1100that receives the sensing signals can receive the sensing signals using a transceiver1124′ (e.g., transceiver124ofFIG. 1). The sensors1108can transmit the sensing signals using, for example, a transceiver1191positioned therein or thereon or the transceiver1124.

As previously discussed, the dressing1178can include a controller1112positioned therein or thereon. The controller1112can include control electrical circuitry (e.g., memory1122, transceiver1124, or processor1126) that is configured to control the operation of one or more components of the system1174(e.g., one or more components of at least one of the robotic debridement apparatuses1100). For example, the controller1112can transmit (e.g., wirelessly or wiredly) one or more operational instructions therefrom to at least one of the robotic debridement apparatuses1100using the transceiver1124. The at least one robotic debridement apparatus1100that receives the operational instructions from the controller1112can at least one of move, debride tissue, dispose of substances in the body region1176, provide a therapeutic effect to the body region1176, or otherwise operate responsive to the operational instructions. In an embodiment, the controller1112can receive (at the transceiver1124) one or more operational instructions from at least one of the robotic debridement apparatuses1100(e.g., from controller1112′). The operational instructions received from the at least one of the robotic debridement apparatuses1100can at least partially control the operation of the dressing1178or can be at least partially transmitted by the transceiver1124to another of the robotic debridement apparatuses1100to at least partially control the operation of the another of the robotic debridement apparatuses1100.

Referring toFIG. 14, an embodiment of a system1474includes a dressing1478that is associated with a plurality of robotic debridement apparatuses1400in which the dressing1478is configured to dispense one or more fluids, one or more gels, or one or more hydrogels into a body region1476. In the illustrated embodiment, the dressing1478includes one or more regions1492with the fluids, gels, or hydrogels (collectively illustrated with the reference number1433) therein. The regions1492can be positioned in or on the dressing1478.

The regions1492can be configured to passively provide the fluids, gels, or hydrogels1433to the body region1476. For example, the regions1492can include an absorbent material (e.g., absorbent material458ofFIGS. 4G-4H), at least one reservoir (e.g., reservoir335i,335j,441,535ofFIG. 3I, 3J, 4H, or5) that is or is not fluidly coupled to a dispense element, or another device configured to passively dispense the fluids, gels, or hydrogels1433. A device passively provides the fluids, gels, or hydrogels1433when the device does not include electronic or mechanical devices coupled thereto that is configured to dispense the fluids into or onto the body region1476. For example, the regions1492can use gravity, capillary action, or pressure from the dressing1478pressing against the body region1476to dispense the fluids, gels, or hydrogels1433into or onto the body region1476.

In an embodiment, the regions1492can be configured to store any of the fluids, gels, or hydrogels1433disclosed herein. For example, the regions1492can be configured to store one or more biocompatible fluids, one or more debriding agents, one or more degrading agents, one or more therapeutic agents, or another fluid-disclosed herein. In an embodiment, the regions1492can store the fluids in a sterile environment. In an embodiment, the regions1492can accept fluids from a user after the dressing1478is positioned over the body region1476. For example, regions1492can an inlet (not shown) that can receive one or more fluids from a user.

Referring toFIG. 15, an embodiment of a system1574includes a dressing1578that is associated with a plurality of robotic debridement apparatuses1500in which the dressing1578is configured to dispense one or more fluids, one or more gels, or one or more hydrogels at a body region1576. In the illustrated embodiment, the dressing1578includes one or more devices that are configured to actively dispense the fluids, gels, or hydrogels (collectively illustrated with the reference number1533) into the body region1576. The fluids, gels, or hydrogels1533can include the same fluids, gels, or hydrogels1533dispensed from the plurality of regions1492(FIG. 14).

In the illustrated embodiment, the dressing1578includes at least one fluid reservoir1535positioned in or on the dressing1578. The fluid reservoir1535can be the same as or substantially similar to any of the reservoirs or regions disclosed herein. The fluid reservoir1535can be fluidly coupled to at least one fluid-dispense element1536positioned in or on the dressing1578. The fluid-dispense element1536can be the same as or substantially similar to any of the dispense elements disclosed herein. The fluid-dispense element1536can include at least one fluid-dispense aperture1540that is configured to dispense the fluids, gels, or hydrogels1533into or onto the body region1576. The at least one fluid-dispense aperture1540can form part of a sprayer, a slit nozzle, etc. The dressing1578can include one or more actuators1550positioned therein or thereon. The actuators1550can be operably coupled to at least one of the fluid reservoir1535or the fluid-dispense element1536. For example, the actuators1550can be distinct from or integrally formed with the fluid reservoir1535or the fluid-dispense element1536. During operation, the actuators1550can apply a pressure to or otherwise actuate the fluid reservoir1535or the fluid-dispense element1536, thereby causing the fluids, gels, or hydrogels1533to be dispensed into or onto the body region1576. The actuators1550can include a piezoelectric material, a clamp, a pump, a compressor, or another actuator disclosed herein. In an embodiment, the actuators1550can move the fluid-dispense element1536relative to the dressing1578such that the fluid-dispense element1536controllably dispenses the fluids, gels, or hydrogels1533towards different selected portions of the body region1576.

In an embodiment, the dressing1578can include a controller1512positioned therein or thereon. The controller1512can be communicably coupled to the actuators1550, the fluid reservoir1535, or the fluid-dispense element1536. The controller1512can direct the actuators1550, the fluid reservoir1535, or the fluid-dispense element1536to controllably dispense the fluids, gels, or hydrogels1533into or onto the body region1576. In another example, at least one of the robotic debridement apparatuses1500can include a controller1512′ and the controller1512′ can direct the actuators1550, the fluid reservoir1535, or the fluid-dispense element1536to controllably dispense the fluids, gels, or hydrogels1533into or onto the body region1576.

Referring toFIG. 16, an embodiment of a system1674includes a dressing1678that is associated with a plurality of robotic debridement apparatuses1600in which the dressing1678includes at least one dressing disposal device1652positioned therein or thereon. The dressing debris disposal device1652is configured to capture (e.g., remove or sequester) at least one substance1653(e.g., debrided tissue, foreign matter, or fluids) from the body region1676. In the illustrated embodiment, the dressing debris disposal device1652includes at least one suction device1654that is positioned in or on the dressing1678. In an embodiment, the suction device1654can be the same as or substantially similar to the suction device454(FIG. 4C). In an embodiment, the suction device1654can be different (e.g., larger) that the suction device454. The suction device1654can be fluidly coupled to the body region1676, for example, via a conduit1638. In an embodiment, the conduit1638can extend from a bottommost surface1694of the dressing1678into the body region1676. The suction device1654can be fluidly coupled to at least one debris reservoir1641positioned in or on the dressing1678. The debris reservoir1641can be configured to store the at least one substance1653that is removed from the body region1676using the suction device1654. The debris reservoir1641can include, for example, a chamber, a chamber having a negative pressure relative to the body region1676, or an absorbent material. In an embodiment, the dressing1678can include one or more actuators (not shown) configured to move the conduit1638relative to the dressing1678such that the conduit1638removes at least one substance1653from different selected portions of the body region1676.

In an embodiment, the dressing1678includes a controller1612positioned therein or thereon. The controller1612can be communicably coupled to at least one of the suction device1654or the debris reservoir1641. The controller1612can direct the suction device1654or the debris reservoir1641to controllably remove at least one substance1653from the body region. In an embodiment, at least one of the plurality of robotic debridement apparatuses1600can include a controller1612′ that is communicably coupled to and configured to direct the operation of the suction device1654or the debris reservoir1641.

Referring toFIG. 17, an embodiment of a system1774includes a dressing1778associated with a plurality of robotic debridement apparatuses1700in which the dressing1778includes at least one dressing debris disposal device1752positioned therein or thereon. For example, the dressing debris disposal device1752is configured to capture (e.g., remove, absorb, or attach thereto) at least one substance1753from a body region1776. In the illustrated embodiment, the dressing debris disposal device1752includes an absorbent material1758positioned therein or thereon. The absorbent material1758can be the same as or similar to the absorbent material458(FIG. 4F-4G). For example, the absorbent material1758can include a porous material, a wicking material, a woven material, or any other suitable material. In an embodiment, the dressing1778can include a suction device (e.g., suction device1654ofFIG. 16) coupled to the absorbent material1758that is configured to increase a rate and an amount of the at least one substance1753removed, absorbed, or attached to the absorbent material1758. In an embodiment, the absorbent material1758can be replaced or used in conjunction with an adhesive material (e.g., adhesive material456ofFIG. 4D-4E). In an embodiment, substantially the entire dressing1778can be formed from the absorbent material1758. In an embodiment at least one layer (e.g.,1080,1180, or1280) of the dressing1778can be formed from the absorbent material1758or the adhesive material.

Referring toFIG. 18, an embodiment of a system1874includes a dressing1878associated with a plurality of robotic debridement apparatuses1800in which the dressing1878is configured to disinfect, sterilize, facilitate healing, or otherwise provide a therapeutic effect to at least a portion of the body region1876. For example, the dressing1878can be configured to disinfect or sterilize unhealthy tissue, healthy tissue, damaged tissue (e.g., damaged during the debriding process), tissue uncovered after tissue was debrided, or at least one robotic debridement apparatus1800present in the body region1876, etc.

In an embodiment, the dressing1878can include at least one energy-emitting device1864positioned in or on the dressing1878. The energy-emitting device1864can be substantially similar to the energy-emitting device564(FIG. 5B). For example, the energy-emitting device1864can emit an energy1833towards at least a portion of the body region thereby disinfecting, sterilizing, facilitate healing, or otherwise providing a therapeutic effect to a portion of the body region1876. For example, the energy1833can include light, acoustic energy, electric energy, or thermal energy.

In an embodiment, at least one of the energy-emitting device1864is coupled to one or more actuators (not shown) that are positioned in or on the dressing1878. The actuators can be configured to controllably move (e.g., change the direction the energy-emitting device1864emits the energy1833, move the energy-emitting device1864relative to the dressing1878, etc.) the energy-emitting device1864such that at least one of the energy-emitting device1864controllably disinfects, sterilizes, facilitates healing or otherwise provides a therapeutic effect to different selected portions of the body region1876. In an embodiment, the energy-emitting device1864or the actuators operate responsive to directions from a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A).

Referring toFIG. 19, an embodiment of a system1974includes a dressing1978associated with a plurality of robotic debridement apparatuses1900in which the dressing1978is configured to provide electrical power to at least one of the robotic debridement apparatuses1900. For example, as previously discussed, the dressing1978can include a dressing power source1910positioned in or on the dressing1978. The dressing power source1910can be coupled to (e.g., electrically coupled to) one or more components of the system1974, such as one or more components of at least one of the robotic debridement apparatuses1900.

In an embodiment, the dressing power source1910can provide the electrical power to at least one of the robotic debridement apparatuses1900using wires extending from the dressing1978to the at least one robotic debridement apparatus1900. In an embodiment, the dressing power source1910can provide the electrical power to at least one of the robotic debridement apparatuses1900wirelessly. For example, the dressing power source1910can include at least one power storage device1996that is configured to store electrical power. For example, the power storage device1996can include a battery or a capacitor. The dressing power source1910can include at least one wireless power transmitter1997. The wireless power transmitter1997can be electrically coupled to the power storage device1996. The wireless power transmitter1997can be configured to receive electrical power from the power storage device1996and convert the electrical power into an energy source that can be transmitted wirelessly from the wireless power transmitter1997to at least one of the robotic debridement apparatuses1900.

Each of the robotic debridement apparatuses1900configured to receive wireless power from the dressing power source1910can include at least one power receiver1998. The power receiver1998can be positioned in or on the housing1902of its respective robotic debridement apparatus1900. The power receiver1998is configured to convert the energy transmitted wirelessly from the wireless power transmitter1997into electrical power.

In an embodiment, the wireless power transmitter1997can include at least one optical energy-emitting device. The optical energy-emitting device can include a light-emitting diode, a laser, or another light emitting source that can convert electrical power to optical energy. In such an embodiment, the power receiver1998can include a device configured to convert the optical energy into electrical energy (e.g., one or more photodiodes).

In an embodiment, the wireless power transmitter1997can include at least one thermal energy-emitting device. The thermal energy-emitting device can include an infrared emitting device, an electrical resistive heater, or another thermal energy-emitting source that can convert electrical power to thermal energy. In such an embodiment, the power receiver1998can include one or more devices configured to convert the thermal energy into electrical power (e.g., one or more Peltier cells, one or more thermoelectric materials). In an embodiment, the thermal energy-emitting device can be configured to emit the thermal energy at an intensity low enough to not significantly damage healthy tissue in the body region1976. In an embodiment, the thermal energy-emitting device is configured to emit the thermal energy at a location that does not include healthy tissue, such as directly at a robotic debridement apparatus1900.

In an embodiment, the wireless power transmitter1997can include a magnetic energy-emitting device. The magnetic energy-emitting device can include at least one device configured to convert electrical power to magnetic energy (e.g., electromagnet). In such an embodiment, the power receiver1998can include a magnetic-electrical converter (e.g., induction coil) configured to convert the magnetic energy to electrical power. For example, the power receiver1998can include an RFID tag.

In an embodiment, the wireless power transmitter1997can include any other device configured to convert electrical power into an energy source that can be transmitted wirelessly. For example, the wireless power transmitter1997can include at least one acoustic energy-emitting device (e.g., ultrasonic energy-emitting device, radio-wave energy-emitting device), at least one resonant inductive coupling device, or at least one capacitive coupling device. As such, the power receiver1998can include a piezoelectric material, coiled wires, an electrode, or another device configured to convert the energy transmitted from the wireless power transmitter1997into electrical power.

In an embodiment, the dressing1978includes a controller1912that is coupled to the dressing power source1910. For example, the dressing power source1910can provide electrical power to the controller1912and the controller1912can control the operation of the wireless power transmitter1997. In an embodiment, the wireless power transmitter can operate responsive to directions from a controller1912.

In an embodiment, the wireless power transmitter1997can transmit the wireless energy substantially simultaneously to a relatively large area of the body region1976. As such, the wireless power transmitter1997can provide power to any robotic debridement apparatus1900positioned within the relatively large area. In an embodiment, the wireless power transmitter1997is configured to transmit the wireless energy to a relatively small selected area of the body region1976(e.g., beam). For example, the dressing1978can include one or more sensors1908configured to detect the position of at least one robotic debridement apparatus1900relative to the wireless power transmitter1997. The wireless power transmitter1997or the controller1912can be used to detect the position of the robotic debridement apparatus1900to transmit the wireless energy directly to the robotic debridement apparatus1900. For example, at least one actuator (not shown) coupled to the wireless power transmitter1997can move the wireless power transmitter1997relative to the dressing1978such that the wireless power transmitter1997transmits the energy directly the robotic debridement apparatus1900. As another example, the wireless power transmitter1997can employ suitable beam steering techniques to direct the wireless energy thereof to the robotic debridement apparatus1900. As such, substantially only the robotic debridement apparatus1900receives the wireless energy from the wireless power transmitter1997which allows the wireless power transmitter1997to transmit the energy at higher intensities and with greater efficiencies.

Referring toFIG. 20, an embodiment of a system2074includes a dressing2078associated with a plurality of robotic debridement apparatuses2000in which the dressing2078is configured to move at least one of the robotic debridement apparatuses2000relative to the body region2076. For example, the dressing2078includes at least one magnetic field-generating device2099. The magnetic field generating device2099can include at least one electromagnet (e.g., electromagnetic coils) or another suitable magnet. The magnetic field-generating device2099can generate rotating magnetic fields, time-varying magnetic fields or another suitable magnetic field.

In the illustrated embodiment, at least one of the robotic debridement apparatuses2000includes at least one locomotive mechanism2004that includes at least one magnet (e.g., neodymium-iron-boron magnet, temporary magnet, electromagnet, etc.). For example, the at least one magnetic can be part of or attached to a housing of the robotic debridement apparatuses2000. The magnetic field generated by the magnetic field-generating device can be configured to move the magnet, thereby moving the at least one robotic debridement apparatus2000relative to the body region2076.

In the illustrated embodiment, the dressing2078includes a controller2012that is communicably coupled to the magnetic field-generating device2099. The controller2012can direct the magnetic field-generating device2099to controllably generate a magnetic field, thereby controllably moving the at least one robotic debridement apparatus2000. In an embodiment, the at least one robotic debridement apparatus2000can include a controller2012′ that can direct the magnetic field generating device2099to controllably generate a magnetic field.

In an embodiment, the dressing2078can be configured to further control the movement of at least one of the robotic debridement apparatuses2000by including an anchor (not shown) that controllably maintains the robotic debridement apparatuses2000in substantially the same location for a selected period of time. For example, the anchor can include a suction device that controllably suctions at least one of the robotic debridement apparatuses2000to the dressing2078.

Referring toFIG. 21, an embodiment of a system2174includes a dressing2178associated with a plurality of robotic debridement apparatuses2100in which the dressing2178is configured to at least one of position or remove at least one of the robotic debridement apparatuses2100from the body region2176. For example, at least one of the robotic debridement apparatuses2100can include at least one extraction device2170. The extraction device2170can be the same as or substantially similar to the extraction device770(FIG. 7). Additionally, the dressing2178can include at least one retrieval device2172. The retrieval device2172can be the same as or substantially similar to the retrieval device772(FIG. 7). In an embodiment, the extraction device2170and the retrieval device2172are configured so as not to inhibit the housings2102of the robotic debridement apparatuses2100from being freestanding. In an embodiment, at least one of the robotic debridement apparatuses2100can be permanently coupled to the dressing2178via at least one of the retrieval device2172or the extraction device2170.

In an embodiment, the extraction and retrieval devices2170,2172are configured to position at least one of the robotic debridement apparatuses2100within the body region2176when the dressing2178is attached to the body region2176. In an embodiment, the extraction and retrieval devices2170,2172stop interacting with each other (e.g., are decoupled from each other) during operation of the robotic debridement apparatuses2100. For example, an electromagnet that forms the extraction or retrieval device2170,2172can be turned off. In an embodiment, the extraction and retrieval devices2170,2172can continue to interact with each other (e.g., remain coupled together) during operation of the plurality of robotic debridement apparatuses2100. In an embodiment, the extraction and retrieval devices2170,2172are configured to remove at least one of the robotic debridement apparatuses200from the body region2176when the dressing2178is attached to the body region2176. In an embodiment, the extraction or retrieval device2170,2172can be configured to controllably maintain at least one of the robotic debridement apparatuses2100in substantially the same location for a selected period of time, for example, when debriding tissue. In such an embodiment, the extraction or retrieval device2170,2172can also controllably allow the at least one robotic debridement apparatus2100free movement of the body region2176.

Referring toFIG. 22, an embodiment of a system2274includes a dressing2278associated with a plurality of robotic debridement apparatuses2200in which at least one robotic debridement apparatus2200is directly coupled (e.g., attached) to the dressing2278. For example, each of the robotic debridement apparatuses2200that are directly coupled to the dressing2278can be directly attached to a bottommost surface2294of the dressing2278. Each of the robotic debridement apparatuses2200that are directly coupled to the dressing2278can be directly coupled to the dressing2278using an adhesive, a mechanical fastener (e.g., a screw, a bolt, etc.), a hook-and-eye fastener, a thread, a tether, or another attachment mechanism. The robotic debridement apparatuses2200that are directly coupled to the dressing2278can still facilitate debridement of the body region2276. For example, the robotic debridement apparatuses2200can extend from the dressing2278sufficiently to debride tissue from the body region2276, can dispense fluids (e.g., debriding, degrading, or therapeutic agents) into the body region2276, can travel relative to the body region2276, etc. For example, the robotic debridement apparatuses2200can extend (e.g., connected by a tether) a distance from the dressing2278that is sufficient to allow the robotic debridement apparatuses2200to travel throughout the body region2276, debride tissue from the body region2276, deliver an agent into or onto the body region2276, capture a substance from the body region2276, etc.

In an embodiment, at least one of the robotic debridement apparatuses2200that is directly coupled to the dressing2278can be reversibly coupled to the dressing2278. For example, the robotic debridement apparatus2200is reversibly coupled when the robotic debridement apparatus2200can be attached to the dressing2278and detached from the dressing2278without damaging the robotic debridement apparatus2200and, optionally, without damaging the dressing2278. Examples of reversibly coupling the robotic debridement apparatus2200to the dressing2278include hook-and-eye attachment, some adhesives, some tapes, magnets, etc. In an embodiment, the robotic debridement apparatus2200can be reversibly coupled to the dressing2278when the robotic debridement apparatus2200is reusable.

Referring back toFIG. 10, in an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan include a first association with a dressing (e.g., any of dressings1178,1278,1378,1478,1578,1678,1778,1878,1978,2078,2178,2278ofFIGS. 11-22), while another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cinclude a second association with the dressing. For example, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be directly coupled (e.g., attached) to the dressing (FIG. 22), while another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be indirectly coupled (e.g., via a tether) to the dressing (FIG. 21). In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be reversibly attached to the dressing (FIG. 21), while another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cis substantially permanently attached to the dressing (FIG. 22). In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be positioned between the body region1076and the dressing (FIG. 12). In an embodiment, at least a portion of the dressing (e.g., a layer) can be positioned between at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cand the body region1076(FIG. 13). In an embodiment, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be positioned between the body region1076and the dressing, while the dressing can be positioned between another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cand the body region1076. In another instance, at least one of the first, second, or third robotic debridement apparatuses1000a,1000b,1000ccan be communicably coupled to the dressing (via transceiver1124′ ofFIG. 11A), while another of the first, second, or third robotic debridement apparatuses1000a,1000b,1000cis not coupled to the dressing.

7. Methods of Using the Robotic Debridement Systems

FIG. 23is a flow diagram of a method2300of using any of the systems disclosed herein according to an embodiment. In an embodiment, some of the acts of the method2300can be split into a plurality of acts, some of the acts can be combined into a single act, and some acts can be omitted. Also, it is understood that additional acts can be added to the method2300.

Act2305includes positioning a plurality of robotic debridement apparatuses at or near a body region including at least one target tissue. The plurality of robotic debridement apparatuses, except as otherwise described herein, can be similar to or the same as the robotic debridement apparatuses100,200a-g,300a-o,400a-j,500a-b,600,700,1000(FIGS. 1-7 and 10) and their respective materials, components, or elements. For example, the plurality of robotic debridement apparatuses can include a housing, at least one locomotive mechanism positioned in or on the housing, and at least one of at least one debriding tool or at least one debris disposal device. In an embodiment, at least one of the plurality of robotic debridement apparatuses positioned over the body region can include at least one of a sensor, a controller, a power source, a therapeutic device, a marking device, or an extraction device.

In an embodiment, disposing plurality of robotic debridement apparatuses at or near a wound region including a wound can include using an extraction device or retrieval device to position at least one of the plurality of robotic debridement apparatuses. For example, disposing plurality of robotic debridement apparatuses at or near a wound region including a wound can include placing at least one of the plurality of robotic debridement apparatuses over, into, or onto the body region using a extraction device or retrieval device to position. In an embodiment, disposing plurality of robotic debridement apparatuses at or near a wound region including a wound can include another method of disposing at least one of the plurality of robotic debridement apparatuses over the body region.

Act2310includes reversibly attaching a dressing associated with the plurality of robotic debridement apparatuses to the body region. Except as otherwise described herein, the dressing can be similar to or the same as the dressings1178,1278,1378,1478,1578,1678,1778,1878,1978,2078,2178,2278(FIGS. 11A-22) and their respective materials, components, or elements. For example, the dressing can include at least one layer that at least partially encloses the body region or at least one of the robotic debridement apparatuses. In an embodiment, the dressing can be configured to be a confinement dressing or a containment dressing.

In an embodiment, act2305is performed before act2310. For example, the plurality of robotic debridement apparatuses are disposed directly in the body region before the dressing is reversibly attached to the body region (e.g., the plurality of robotic debridement apparatuses are positioned between the wound and the dressing). In an embodiment, act2310is performed before act2305. For example, the dressing is reversibly attached to the body region and the plurality of robotic debridement apparatuses are then positioned over the dressing (e.g., the dressing is positioned between the wound and the plurality of robotic debridement apparatuses). In an embodiment, the act2305and act2310are performed substantially simultaneously. For example, the plurality of robotic debridement apparatuses are positioned in or on the dressing (e.g., in a containment region) before the dressing is reversibly attached to the body region. Therefore, reversibly attaching the dressing to the body region also disposes the plurality of robotic debridement apparatuses at the body region. In an embodiment, the robotic debridement apparatuses are coupled to the dressing such that reversibly attaching the dressing to the body region also positions the robotic debridement apparatuses in the body region. In an embodiment, the act2305is performed substantially simultaneously with and at least one of before or after act2310. For example, at least one of the plurality of robotic debridement apparatuses is positioned in or on the dressing. Therefore, reversibly attaching the dressing to the body region also disposes the at least one of the plurality of robotic debridement apparatuses at the body region. However, the remaining robotic debridement apparatuses are disposed at or near the body region before (e.g., directly into the body region) or after (e.g., on the dressing) the dressing is reversibly attached to the body region.

Act2315includes, via the at least one debriding tool, debriding the at least one target tissue present within the body region. In an embodiment, the tissue present in the body region is debrided in substantially the same manner as described in act810of method800(FIG. 8). For example, at least one of the plurality of robotic debridement apparatuses can include at least one debriding tool that debrides tissue from the body region. In an embodiment, the tissue is debrided using the dressing. For example, the dressing can be configured to dispense one or more debriding agents into the body region. In an embodiment, the tissue can be debrided by a user (e.g., physician) using, for example, a curette, a scalpel, or another device. For example, the tissue can first be debrided by a user and at least one of robotic debridement apparatuses includes a debris disposal device that captures debris from the body region. The user can insert the device through an opening (e.g., opening1186ofFIGS. 11A-11B) defined by the dressing. In an embodiment, the tissue can be debrided using one or more maggots applied to the body region. For example, tissue in the body region can be debrided by at least one robotic debridement apparatus having a debriding tool, and one or more maggots can subsequently be applied to the body region for a specific (e.g., longer) time period to consume debrided tissue and debris.

In an embodiment, the method2300can include selecting the plurality of robotic debridement apparatuses from a variety of robotic debridement apparatuses. For example, the variety of robotic debridement apparatuses can include at least two different types of robotic debridement apparatuses (e.g., different functionality, size, etc.). The plurality of robotic debridement apparatuses can be selected based on the size of the body region, the tissue to be debrided, the type of dressing used, etc.

In an embodiment, the method2300can include coupling at least one of the plurality of robotic debridement apparatuses to the dressing. In an embodiment, at least one of the plurality of robotic debriding apparatuses include at least one extraction device (e.g., extraction device2170ofFIG. 21), and the dressing includes at least one retrieval device (e.g., retrieval device2172ofFIG. 21). The extraction and retrieval device can be coupled together. In an embodiment, at least one of the plurality of robotic debridement apparatuses is directly coupled (e.g., attached) to the dressing using an adhesive, a mechanical fastener, or another attachment mechanism.

In an embodiment, the method2200can include the dressing dispensing one or more fluids into the body region. In an embodiment, the dressing is configured to dispense the fluids using a passive fluid delivery system. The passive fluid delivery system can include plurality of regions (e.g., regions1492ofFIG. 14) that include the fluids therein. The regions can dispense the fluids using gravity, pressure between the dressing and the body region, etc. In an embodiment, the dressing is configured to dispense the fluids using an active fluid delivery system. The active fluid delivery system can deliver the fluids by actuating a plurality of actuators that are operably coupled to a fluid source (e.g., at least one of the fluid reservoir1535or fluid-dispense element1536ofFIG. 15). The fluids dispensed from the dressing can include one or more debriding agents, one or more therapeutic agents, one or more taggants, or another fluid-disclosed herein. In some embodiments, the dressing can dispense the fluids into the body region responsive to direction from a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A).

In an embodiment, the method2300can include the dressing disposing of at least one substance (e.g., debriding tissue, foreign matter, or fluids) present in the body region. For example, the dressing can dispense one or more debriding agents into the body region. In an embodiment, the dressing removes the at least one substance from the body region. For example, the dressing can suction the at least one substance from the body region (e.g., using the suction device1654ofFIG. 16) and store the removed substances in a debris reservoir. In an embodiment, the dressing can attach thereto (e.g., absorb, wick, adhere) the at least one substance from the body region. For instance, the dressing can attach the at least one substance from the body region thereto using an absorbent material (e.g., using absorbent material1758ofFIG. 17) positioned therein or thereon. The dressing can controllably capture the at least one substance in the body region responsive to direction from a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A).

In an embodiment, the method2300can include the dressing providing a therapeutic effect to the body region. For example, the dressing can dispense one or more therapeutic agents into the body region. In another example, the dressing can stimulate at least a portion of the body region using light, acoustic energy, electrical energy, or thermal energy (e.g., using the energy-emitting device1864ofFIG. 18), thereby at least one of disinfecting, sterilizing, facilitating healing of, or otherwise providing a therapeutic effect to the body region. The dressing can controllably provide a therapeutic effect to the body region using a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A).

In an embodiment, the method2300can include the dressing sensing one or more characteristics of the body region using one or more sensors positioned therein or thereon (e.g., sensors1108ofFIG. 11A). For example, the sensors can detect the presence, location, quantity, etc. of viable tissue or nonviable tissue. The sensors can transmit one or more sensing signals that include the detected characteristics encoded therein to one or more components of the system. The dressing can sense one or more characteristics of the body region and transmit the sensing signals responsive to direction from a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A).

In an embodiment, the method2300can include controlling the operation of one or more components of the system using a controller positioned in or on the dressing (e.g., controller1112ofFIG. 11A). For example, the controller can control the operation of the one or more components of the system responsive to receiving the sensing signals from the sensors. In an embodiment, the controller can control the operation of one or more components of the dressing. For example, the dressing can dispense one or more fluids, capture at least one substance present in the body region, provide a therapeutic effect to the body region, or otherwise operate responsive to direction from the controller. In another example, at least one of the robotic debridement apparatuses can at least one of travel relative to the body region, debride tissue, capture at least one substance in the body region, provide a therapeutic effect to the body region, or otherwise operate responsive to direction from the controller.

In an embodiment, the method2300can include providing power from the dressing to at least one of the robotic debridement apparatuses. In an embodiment, the dressing can wiredly provide electrical power to any robotic debridement apparatus. In an embodiment, the dressing can wirelessly provide electrical power to at least one of the robotic debridement apparatus. For example, the dressing can include a dressing power source (e.g., dressing power source1910ofFIG. 19) that includes a power storage device (e.g., power storage device1996ofFIG. 19) and a wireless power transmitter (e.g., wireless power transmitter1997ofFIG. 19). In such an example, the wireless power transmitter can receive electrical power stored in the power storage device and convert the electrical power into an energy that can be transmitted wirelessly. The wireless power transmitter can then wirelessly transmit the energy to at least one robotic debridement apparatus that includes a power receiver (e.g., power receiver1998ofFIG. 19). The power receiver can then convert the received energy into electrical power. The dressing can controllably provide power to at least one of the robotic debridement apparatuses responsive to direction from a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A).

In an embodiment, the method2300can include the dressing removing at least one of the robotic debridement apparatuses from the body region when the dressing is removed from the body region. In an embodiment, at least one of robotic debridement apparatuses can be directly coupled to the dressing. In an embodiment, at least one of the robotic debridement apparatuses are coupled to the dressing using an extraction device and a retrieval device. For example, the extraction and retrieval devices can be coupled together responsive to direction from a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A). In an embodiment, at least one of the robotic debridement apparatuses can be removed manually (e.g., by a user) from the body region.

In an embodiment, the method2300can include the dressing moving at least one of the robotic debridement apparatuses within the body region. For example, the dressing can include a magnetic field generating device (e.g., magnetic field generating device2099ofFIG. 20) and at least one of the robotic debridement apparatuses includes at least one locomotive mechanism comprising a magnet (e.g., locomotive mechanism2004ofFIG. 20). The magnetic field generating device can controllably generate a magnetic field that is configured to controllably move the at least one robotic debridement apparatus within the body region. For instance, the magnetic field generating device can controllably generate a magnetic field responsive to direction from a controller (e.g., controller112ofFIG. 1, controller1112ofFIG. 11A)

In an embodiment, the method2300can include any of the optional additional acts disclosed in methods800and900(FIGS. 8-9).

In a general sense, the various embodiments described herein can be implemented, individually and/or collectively, by various types of electro-mechanical systems having a wide range of electrical components such as hardware, software, firmware, or virtually any combination thereof; and a wide range of components that can impart mechanical force or motion such as rigid bodies, spring or torsional bodies, hydraulics, and electro-magnetically actuated devices, or virtually any combination thereof. Consequently, as used herein “electro-mechanical system” includes, but is not limited to, electrical circuitry operably coupled with a transducer (e.g., an actuator, a motor, a piezoelectric crystal, etc.), electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment), and any non-electrical analog thereto, such as optical or other analogs. Those skilled in the art will also appreciate that examples of electro-mechanical systems include but are not limited to a variety of consumer electrical systems, as well as other systems such as motorized transport systems, factory automation systems, security systems, and communication/computing systems. Those skilled in the art will recognize that electro-mechanical as used herein is not necessarily limited to a system that has both electrical and mechanical actuation except as context can dictate otherwise.

This disclosure has been made with reference to various example embodiments. However, those skilled in the art will recognize that changes and modifications can be made to the embodiments without departing from the scope of the present disclosure. For example, various operational steps, as well as components for carrying out operational steps, can be implemented in alternate ways depending upon the particular application or in consideration of any number of cost functions associated with the operation of the system; e.g., one or more of the steps can be deleted, modified, or combined with other steps.

Additionally, as will be appreciated by one of ordinary skill in the art, principles of the present disclosure, including components, can be reflected in a computer program product on a computer-readable storage medium having computer-readable program code means embodied in the storage medium. Any tangible, non-transitory computer-readable storage medium can be utilized, including magnetic storage devices (hard disks, floppy disks, and the like), optical storage devices (CD-ROMs, DVDs, Blu-ray discs, and the like), flash memory, and/or the like. These computer program instructions can be loaded onto a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions that execute on the computer or other programmable data processing apparatus create a means for implementing the functions specified. These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture, including implementing means that implement the function specified. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions that execute on the computer or other programmable apparatus provide steps for implementing the functions specified.

In an embodiment, the robotic debriding apparatuses or related systems disclosed herein can be integrated in such a manner that the robotic debriding apparatuses or related systems operate as a unique system configured specifically for function of facilitating debridement of tissue from a body region and any associated computing devices of the robotic debriding apparatuses or related systems operate as specific use computers for purposes of the claimed system, and not general use computers. In an embodiment, at least one associated computing device of the robotic debriding apparatuses or related systems operate as specific use computers for purposes of the claimed system, and not general use computers. In an embodiment, at least one of the associated computing devices of the robotic debriding apparatuses or related systems are hardwired with a specific ROM to instruct the at least one computing device. In an embodiment, one of skill in the art recognizes that the robotic debriding apparatuses or related systems effects an improvement at least in the technological field of facilitating debridement of tissue from a wound region.

The herein described components (e.g., steps), devices, and objects and the discussion accompanying them are used as examples for the sake of conceptual clarity. Consequently, as used herein, the specific exemplars set forth and the accompanying discussion are intended to be representative of their more general classes. In general, use of any specific exemplar herein is also intended to be representative of its class, and the non-inclusion of such specific components (e.g., steps), devices, and objects herein should not be taken as indicating that limitation is desired.

In some instances, one or more components can be referred to herein as “configured to.” The reader will recognize that “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, unless context requires otherwise.

With respect to the appended claims, the recited operations therein can generally be performed in any order. Examples of such alternate orderings can include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplemental, simultaneous, reverse, or other variant orderings, unless context dictates otherwise. With respect to context, even terms like “responsive to,” “related to,” or other past-tense adjectives are generally not intended to exclude such variants, unless context dictates otherwise.

While various aspects and embodiments have been disclosed herein, the various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.