Source: http://www.freepatentsonline.com/8974440.html
Timestamp: 2018-03-18 06:09:48
Document Index: 270175904

Matched Legal Cases: ['art\n6702734', 'art\n6102850', 'art\n6030365', 'art\n5736821', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 61', 'Application No. 61']

Modular and cooperative medical devices and related systems and methods - Board of Regents of the University of Nebraska
United States Patent 8974440
Farritor, Shane M. (Lincoln, NE, US)
Rentschler, Mark (Boulder, CO, US)
Lehman, Amy (Seward, NE, US)
12/192779
A61B17/00; A61B19/00
Download PDF 8974440 PDF help
20130131695 ROBOTIC APPARATUS FOR MINIMALLY INVASIVE SURGERY May, 2013 Scarfogliero et al.
20130041360 Methods, Systems, and Devices Relating to Surgical End Effectors February, 2013 Farritor
20120253515 METHODS AND APPARATUS FOR SURGICAL PLANNING October, 2012 Coste-Maniere et al.
20120109150 HAPTIC GUIDANCE SYSTEM AND METHOD May, 2012 Quaid et al.
8179073 Robotic devices with agent delivery components and related methods May, 2012 Farritor et al.
20120035582 METHODS AND SYSTEMS FOR HANDLING OR DELIVERING MATERIALS FOR NATURAL ORIFICE SURGERY February, 2012 Nelson et al.
20110270443 APPARATUS AND METHOD FOR DETECTING CONTACT POSITION OF ROBOT November, 2011 Kamiya et al.
20110238080 Robotic Surgical Instrument System September, 2011 Ranjit et al.
20110237890 MODULAR AND COOPERATIVE MEDICAL DEVICES AND RELATED SYSTEMS AND METHODS September, 2011 Farritor et al.
20110230894 SYSTEMS, DEVICES, AND METHODS FOR PROVIDING INSERTABLE ROBOTIC SENSORY AND MANIPULATION PLATFORMS FOR SINGLE PORT SURGERY September, 2011 Simaan et al.
20110224605 ROBOTIC DEVICES WITH AGENT DELIVERY COMPONENTS AND RELATED METHODS September, 2011 Farritor et al.
20110152615 SURGICAL MANIPULATOR June, 2011 Schostek et al.
7960935 Robotic devices with agent delivery components and related methods June, 2011 Farritor et al.
20110077478 Body fluid sampling module with a continuous compression tissue interface surface March, 2011 Freeman et al.
20110071347 CANNULA MOUNTING FIXTURE March, 2011 Rogers et al.
20110020779 SKILL EVALUATION USING SPHERICAL MOTION MECHANISM January, 2011 Hannaford et al.
20110015569 Robotic catheter system input device January, 2011 Kirschenman et al.
20100318059 ROBOTIC DEVICES WITH AGENT DELIVERY COMPONENTS AND RELATED METHODS December, 2010 Farritor et al.
20100262162 MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM October, 2010 Omori
20100245549 INSERTABLE SURGICAL IMAGING DEVICE September, 2010 Allen et al.
7794494 Implantable medical devices September, 2010 Sahatjian et al.
7789825 Handle for endoscopic device September, 2010 Nobis et al.
20100204713 MEDICAL ROBOTIC SYSTEM August, 2010 Ruiz
20100198231 METHODS FOR REPLACEABLE END-EFFECTOR CARTRIDGES August, 2010 Scott
7785333 Overtube and operative procedure via bodily orifice August, 2010 Miyamoto et al.
7785251 Port extraction method for trans-organ surgery August, 2010 Wilk
7772796 Robotic devices with agent delivery components and related methods August, 2010 Farritor et al.
7762825 Electro-mechanical interfaces to mount robotic surgical arms July, 2010 Burbank et al.
20100139436 MANEUVERING SYSTEM HAVING INNER FORCE SENSE PRESENTING FUNCTION June, 2010 Kawashima et al.
7731727 Medical instrument to place a pursestring suture, open a hole and pass a guidewire June, 2010 Sauer
20100069940 Ultrasonic Device for Fingertip Control March, 2010 Miller et al.
20100069710 TREATMENT METHOD March, 2010 Yamatani et al.
20100056863 MEDICAL MANIPULATOR, MEDICAL TREATMENT SYSTEM, AND METHOD FOR MEDICAL TREATMENT March, 2010 Dejima et al.
7670329 Systems and methods for delivering drugs to selected locations within the body March, 2010 Flaherty et al.
20100042097 ENHANCED CONTROL SYSTEMS INCLUDING FLEXIBLE SHIELDING AND SUPPORT SYSTEMS FOR ELECTROSURGICAL APPLICATIONS February, 2010 Newton et al.
7655004 Electroporation ablation apparatus, system, and method February, 2010 Long
7645230 Over-tube, method of manufacturing over-tube, method of disposing over-tube, and method of treatment in abdominal cavity January, 2010 Mikkaichi et al.
7637905 Endoluminal tool deployment system December, 2009 Saadat et al.
20090281377 DEVICES, TOOLS AND METHODS FOR PERFORMING MINIMALLY INVASIVE ABDOMINAL SURGICAL PROCEDURES November, 2009 Newell et al.
20090248038 FORCE AND TORQUE SENSING IN A SURGICAL ROBOT SETUP ARM October, 2009 Blumenkranz et al.
20090240246 Cordless Medical Cauterization and Cutting Device September, 2009 Devill et al.
20090236400 ENDOSCOPIC STAPLING DEVICES AND METHODS September, 2009 Cole et al.
20090234369 APPARATUS FOR GUIDING A MEDICAL TOOL September, 2009 Bax et al.
7574250 Image shifting apparatus and method for a telerobotic system August, 2009 Niemeyer
20090171373 MULTIFUNCTIONAL OPERATIONAL COMPONENT FOR ROBOTIC DEVICES July, 2009 Farritor et al.
7566300 Endoscopic surgical access devices and methods of articulating an external accessory channel July, 2009 Devierre et al.
20090163929 Surgical manipulator June, 2009 Yeung et al.
20090143787 Robotic surgical device June, 2009 De La Pena
20090137952 ROBOTIC INSTRUMENT SYSTEMS AND METHODS UTILIZING OPTICAL FIBER SENSOR May, 2009 Ramamurthy et al.
20090069821 ROBOTIC DEVICES WITH AGENT DELIVERY COMPONENTS AND RELATED METHODS March, 2009 Farritor et al.
20090054909 METHODS AND SYSTEMS OF ACTUATION IN ROBOTIC DEVICES February, 2009 Farritor et al.
20090048612 MODULAR AND COOPERATIVE MEDICAL DEVICES AND RELATED SYSTEMS AND METHODS February, 2009 Farritor et al.
7492116 Robot for surgical applications February, 2009 Oleynikov et al.
20090024142 ROBOTIC SURGICAL SYSTEM FOR PERFORMING MINIMALLY INVASIVE MEDICAL PROCEDURES January, 2009 Ruiz Morales
7447537 System and method for augmentation of endoscopic surgery November, 2008 Funda et al.
20080269557 Surgical Method Utilizing Transluminal Endoscope and Instruments October, 2008 Marescaux et al.
20080221591 METHODS, SYSTEMS, AND DEVICES FOR SURGICAL VISUALIZATION AND DEVICE MANIPULATION September, 2008 Farritor et al.
20080183033 Endoscope Propulsion System and Method July, 2008 Bern et al.
20080164079 Serpentine robotic crawler July, 2008 Jacobsen
20080132890 ELECTROSURGICAL APPARATUS AND METHODS FOR LAPAROSCOPY June, 2008 Woloszko et al.
20080119870 TWO-PIECE END-EFFECTORS FOR ROBOTIC SURGICAL TOOLS May, 2008 Williams et al.
20080111513 ROBOT FOR SURGICAL APPLICATIONS May, 2008 Farritor et al.
20080103440 Lumen-traveling biological interface device May, 2008 Ferren et al.
7372229 Robot for surgical applications May, 2008 Farritor et al.
20080058989 SURGICAL CAMERA ROBOT March, 2008 Oleynikov et al.
20080058835 MAGNETICALLY COUPLEABLE ROBOTIC SURGICAL DEVICES AND RELATED METHODS March, 2008 Farritor et al.
7339341 Surgical camera robot March, 2008 Oleynikov et al.
20080033569 Bioelectromagnetic interface system February, 2008 Ferren et al.
20080015566 SURGICAL SEALING AND CUTTING APPARATUS January, 2008 Livneh
20080015565 ELECTROSURGICAL APPARATUS AND METHODS FOR ABLATING TISSUE January, 2008 Davison
20080004634 MAGNETICALLY COUPLEABLE ROBOTIC SURGICAL DEVICES AND RELATED METHODS January, 2008 Farritor et al.
7311107 Navigating and maneuvering of an in vivo vehicle by extracorporeal devices December, 2007 Harel et al.
20070255273 Devices for use in Transluminal and Endoluminal Surgery November, 2007 Fernandez et al.
20070250064 Method and apparatus for surgical fastening October, 2007 Darois et al.
20070244520 Lumen-traveling biological interface device and method of use October, 2007 Ferren et al.
20070241714 ROBOT FOR SURGICAL APPLICATIONS October, 2007 Okeynikov et al.
20070225634 Lumen-traveling delivery device September, 2007 Ferren et al.
20070225633 Lumen-traveling device September, 2007 Ferren et al.
7259652 General purpose distributed operating room control system August, 2007 Wang et al.
20070167955 APPARATUS AND METHOD FOR DEPLOYING AN IMPLANTABLE DEVICE WITHIN THE BODY July, 2007 De La Menardiere et al.
20070156211 Lumen-traveling device July, 2007 Ferren et al.
20070156019 Robotic surgery system including position sensors using fiber bragg gratings July, 2007 Larkin et al.
7239940 Modularity system for computer assisted surgery July, 2007 Wang et al.
20070142725 Biopsy site marker deployment device June, 2007 Hardin et al.
20070123748 Robot for minimally invasive interventions May, 2007 Meglan
7217240 Heart stabilizer May, 2007 Snow
7214230 Flexible instrument May, 2007 Brock et al.
7210364 Autonomous robotic crawler for in-pipe inspection May, 2007 Ghorbel et al.
20070080658 Robot for Surgical Applications April, 2007 Farritor et al.
7206626 System and method for haptic sculpting of physical objects April, 2007 Quaid, III
7199545 Robot for surgical applications April, 2007 Oleynikov et al.
20070055342 Delivery system for medical devices March, 2007 Wu et al.
20070043397 Cardiac mapping instrument with shapeable electrode February, 2007 Ocel et al.
20070032701 Insertable device and system for minimal access procedure February, 2007 Fowler et al.
7182089 Magnetically navigable device with associated magnetic element February, 2007 Ries
7182025 Autonomous robotic crawler for in-pipe inspection February, 2007 Ghorbel et al.
7169141 Surgical instrument January, 2007 Brock et al.
7155315 Camera referenced control in a minimally invasive surgical apparatus December, 2006 Niemeyer et al.
20060241570 Intra-abdominal medical method October, 2006 Wilk
7126303 Robot for surgical applications October, 2006 Farritor et al.
7125403 In vivo accessories for minimally invasive robotic surgery October, 2006 Julian et al.
7121781 Surgical instrument with a universal wrist October, 2006 Sanchez et al.
20060198619 Surgical camera robot September, 2006 Oleynikov et al.
20060196301 Robot for surgical applications September, 2006 Oleynikov et al.
7109678 Holding arrangement having an apparatus for balancing a load torque September, 2006 Kraus et al.
7107090 Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure September, 2006 Salisbury, Jr. et al.
7105000 Surgical jaw assembly with increased mechanical advantage September, 2006 McBrayer
20060195015 Miniature ingestible capsule August, 2006 Mullick et al.
7097640 Multi-functional surgical control system and switching interface August, 2006 Wang et al.
7090683 Flexible instrument August, 2006 Brock et al.
7083615 Surgical tool having electrocautery energy supply conductor with inhibited current leakage August, 2006 Peterson et al.
20060155263 Augmented surgical interface July, 2006 Lipow
20060152591 Automatic focus mechanism of an image capturing device July, 2006 Lin
20060149135 Virtual ports devices and method July, 2006 Paz
7077446 Finger unit for robot hand July, 2006 Kameda et al.
20060119304 Robot for surgical applications June, 2006 Farritor et al.
7066926 Platform link wrist mechanism June, 2006 Wallace et al.
7066879 Insertable device and system for minimal access procedure June, 2006 Fowler et al.
7063682 Catheter distal assembly with pull wires June, 2006 Whayne et al.
7053752 General purpose distributed operating room control system May, 2006 Wang et al.
7042184 Microrobot for surgical applications May, 2006 Oleynikov et al.
7039453 Miniature ingestible capsule May, 2006 Mullick
7033344 Methods for reducing distal embolization April, 2006 Imran
6997908 Rapid exchange catheter with detachable hood February, 2006 Carrillo, Jr. et al.
6993413 Manipulator and its control apparatus and method January, 2006 Sunaoshi
6991627 Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity January, 2006 Madhani et al.
6984205 Endoscopic smart probe and method January, 2006 Gazdzinski
20050288665 Electrosurgical device having planar vertical electrode and related methods December, 2005 Woloszko
20050283137 Surgical tool kit December, 2005 Doyle et al.
6979423 Cardiopulmonary bypass device and method December, 2005 Moll
6974449 Friction compensation in a minimally invasive surgical apparatus December, 2005 Niemeyer
6965812 Speech interface for an automated endoscopic system November, 2005 Wang et al.
6949096 Electrosurgical ablation and aspiration apparatus having flow directing feature and methods related thereto September, 2005 Davison et al.
6943663 General purpose distributed operating room control system September, 2005 Wang et al.
6933695 Ceiling and floor mounted surgical robot set-up arms August, 2005 Blumenkranz
20050165449 Surgical anchor and system July, 2005 Cadeddu et al.
20050154376 Robot for minimally invasive interventions July, 2005 Riviere et al.
6917176 Gas main robotic inspection system July, 2005 Schempf et al.
20050143644 In-vivo sensing device with alterable fields of view June, 2005 Gilad et al.
6902560 Roll-pitch-roll surgical tool June, 2005 Morley et al.
20050096502 Robotic surgical device May, 2005 Khalili
6899705 Friction compensation in a minimally invasive surgical apparatus May, 2005 Niemeyer
6879880 Grip strength with tactile feedback for robotic surgery April, 2005 Nowlin et al.
20050065400 Robotic endoscope with wireless interface March, 2005 Banik et al.
20050064378 Laparoscopic and endoscopic trainer including a digital camera March, 2005 Toly
20050054902 Capsule endoscope March, 2005 Konno
20050054901 Capsule endoscope March, 2005 Yoshino
20050049462 Capsule endoscope March, 2005 Kanazawa
6871563 Orientation preserving angular swivel joint March, 2005 Choset et al.
6870343 Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness March, 2005 Borenstein et al.
6860346 Adjustable diameter wheel assembly, and methods and vehicles using same March, 2005 Burt et al.
20050029978 Microrobot for surgical applications February, 2005 Oleynikov et al.
20050014994 Insertable device and system for minimal access procedure January, 2005 Fowler et al.
6837846 Endoscope having a guide tube January, 2005 Jaffe et al.
20040267326 Cardiac mapping instrument with shapeable electrode December, 2004 Ocel et al.
20040254680 Manipulator and its control apparatus and method December, 2004 Sunaoshi
6832996 Electrosurgical systems and methods for treating tissue December, 2004 Woloszko et al.
6832988 Ultrasonic cannula system December, 2004 Sprout
20040225229 Tissue sampling and removal apparatus and method November, 2004 Viola et al.
6824510 Micro robot November, 2004 Kim et al.
6824508 Micro robot November, 2004 Kim et al.
6820653 Pipe inspection and repair system November, 2004 Schempf et al.
6817975 Endoscope November, 2004 Farr et al.
20040215331 Apparatus and methods for delivery of variable length stents October, 2004 Chew et al.
6801325 Method and devices for inspecting and calibrating of stereoscopic endoscopes October, 2004 Farr et al.
20040176664 In-vivo extendable element device and system, and method of use September, 2004 Iddan
20040173116 Autonomous robotic crawler for in-pipe inspection September, 2004 Ghorbel et al.
6788018 Ceiling and floor mounted surgical robot set-up arms September, 2004 Blumenkranz
6785593 Modularity system for computer assisted surgery August, 2004 Wang et al.
6780184 Quantum energy surgical device and method August, 2004 Tanrisever
20040140786 APPARATUS FOR OBSTACLE TRAVERSION July, 2004 Borenstein
20040138552 Navigating and maneuvering of an in vivo vehicle by extracorporeal devices July, 2004 Harel et al.
6766204 Alignment of master and slave in a minimally invasive surgical apparatus July, 2004 Niemeyer et al.
6764441 Peristaltically self-propelled endoscopic device July, 2004 Chiel et al.
20040111113 High-rigidity forceps tip assembly for active forceps and active forceps equipped with the same June, 2004 Nakamura et al.
20040106916 Guidance system and method for surgical procedures with improved feedback June, 2004 Quaid et al.
6746443 Roll-pitch-roll surgical tool June, 2004 Morley et al.
6731988 System and method for remote endoscopic surgery May, 2004 Green
6730021 Tissue spreader with force measurement, force indication or force limitation May, 2004 Vassiliades, Jr. et al.
20040070822 Surgical microscopic system April, 2004 Shioda et al.
6719684 Micro capsule type robot April, 2004 Kim et al.
20040050394 Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles March, 2004 Jin
6714839 Master having redundant degrees of freedom March, 2004 Salisbury, Jr. et al.
6702805 Manipulator March, 2004 Stuart
6702734 Self-propelled endoscopic micro-robot and system for intestinal endoscopy using the same March, 2004 Kim et al.
20040034302 System and method for intra-operative haptic planning of a medical procedure February, 2004 Abovitz et al.
20040034283 System and method for interactive haptic positioning of a medical device February, 2004 Quaid
20040024311 System and method for haptic sculpting of physical objects February, 2004 Quaid
6687571 Cooperating mobile robots February, 2004 Byrne et al.
6685648 Systems and methods for delivering drugs to selected locations within the body February, 2004 Flaherty et al.
6684129 Master having redundant degrees of freedom January, 2004 Salisbury, Jr. et al.
20030230372 Method for placing objects on the inner wall of a placed sewer pipe and device for carrying out said method December, 2003 Schmidt
20030229268 Encapsulated endoscope system in which endoscope moves in lumen by itself and rotation of image of region to be observed is ceased December, 2003 Uchiyama et al.
6661571 Surgical microscopic system December, 2003 Shioda et al.
6648814 Micro-robot for colonoscope with motor locomotion and system for colonoscope using the same November, 2003 Kim et al.
6642836 General purpose distributed operating room control system November, 2003 Wang et al.
20030181788 Capsule-type medical device September, 2003 Yokoi et al.
20030172871 Device and method for internal coating of a pipe September, 2003 Scherer
20030167000 Miniature ingestible capsule September, 2003 Mullick
20030144656 Fluid-assisted electrosurgical instrument with shapeable electrode July, 2003 Ocel et al.
20030139742 Feedback light apparatus and method for use with an electrosurgical instrument July, 2003 Wampler et al.
6591239 Voice controlled surgical suite July, 2003 McCall et al.
20030097129 Apparatus and methods for electrosurgical removal and digestion of tissue May, 2003 Davison et al.
20030092964 Micro capsule type robot May, 2003 Kim et al.
20030089267 Autonomous robotic crawler for in-pipe inspection May, 2003 Ghorbel et al.
20030065250 Peristaltically Self-propelled endoscopic device April, 2003 Chiel et al.
6554790 Cardiopulmonary bypass device and method April, 2003 Moll
6548982 Miniature robotic vehicles and methods of controlling same April, 2003 Papanikolopoulos et al.
6544276 Exchange method for emboli containment April, 2003 Azizi
20030045888 Articulated apparatus for telemanipulator system March, 2003 Brock et al.
20030020810 Capsule-type medical apparatus January, 2003 Takizawa et al.
6508413 Remote spray coating of nuclear cross-under piping January, 2003 Bauer et al.
20020190682 Gas main robotic inspection system December, 2002 Schempf et al.
20020173700 Micro robot November, 2002 Kim et al.
20020171385 Micro robot November, 2002 Kim et al.
20020156347 Micro-robot for colonoscope with motor locomotion and system for colonoscope using the same October, 2002 Kim et al.
20020151906 Systems and methods for clot disruption and retrieval October, 2002 Demarais et al.
20020147487 System and method for placing endocardial leads October, 2002 Sundquist et al.
20020140392 Apparatus for obstacle traversion October, 2002 Borenstein et al.
6450104 Modular observation crawler and sensing instrument and method for operating same September, 2002 Grant et al.
20020120254 Vivo accessories for minimally invasive robotic surgery August, 2002 Julien et al.
20020111535 Self-propelled endoscopic micro-robot and system for intestinal endoscopy using the same August, 2002 Kim et al.
20020103417 Endoscopic smart probe and method August, 2002 Gazdzinski
6408224 Rotary articulated robot and method of control thereof June, 2002 Okamoto et al.
6400980 System and method for treating select tissue in a living being June, 2002 Lemelson
20020065507 Exchange method for emboli containment May, 2002 Azizi
20020038077 Laparoscopic access port for surgical instruments or the hand March, 2002 de la Torre et al.
6352503 Endoscopic surgery apparatus March, 2002 Matsui et al.
20020026186 Electrosurgical systems and methods for treating tissue February, 2002 Woloszka et al.
20020003173 Remote spray coating of nuclear cross-under piping January, 2002 Bauer et al.
20010049497 Methods and devices for diagnostic and therapeutic interventions in the peritoneal cavity December, 2001 Kalloo et al.
6321106 System and method for treating select tissue in a living being November, 2001 Lemelson
6309403 Dexterous articulated linkage for surgical applications October, 2001 Minoret et al.
6293282 System and method for treating select tissue in living being September, 2001 Lemelson
6292678 Method of magnetically navigating medical devices with magnetic fields and gradients, and medical devices adapted therefor September, 2001 Hall et al.
6286514 System and method for treating select tissue in a living being September, 2001 Lemelson
20010018591 Articulated apparatus for telemanipulator system August, 2001 Brock et al.
6241730 Intervertebral link device capable of axial and angular displacement 2001-06-05 Alby
6238415 Implant delivery assembly with expandable coupling/decoupling mechanism 2001-05-29 Sepetka et al.
6206903 Surgical tool with mechanical advantage 2001-03-27 Ramans
6162171 Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures 2000-12-19 Ng et al.
6159146 Method and apparatus for minimally-invasive fundoplication 2000-12-12 El Gazayerli
6156006 Medical instrument system for piercing through tissue 2000-12-05 Brosens et al.
6132441 Rigidly-linked articulating wrist with decoupled motion transmission 2000-10-17 Grace
6107795 Pipeline vehicle with linked modules and carriages 2000-08-22 Smart
6102850 Medical robotic system 2000-08-15 Wang et al.
6066090 Branched endoscope system 2000-05-23 Yoon
6031371 Self-powered pipeline vehicle for carrying out an operation on a pipeline and method 2000-02-29 Smart
6030365 Minimally invasive sterile surgical access device and method 2000-02-29 Laufer
5878783 Pipeline vehicle 1999-03-09 Smart
5736821 Intrapipe work robot apparatus and method of measuring position of intrapipe work robot 1998-04-07 Suyaman et al.
5728599 Printable superconductive leadframes for semiconductor device assembly 1998-03-17 Rosteker et al.
5674030 Device and method for repairing building branch lines in inacessible sewer mains 1997-10-07 Sigel
5657584 Concentric joint mechanism 1997-08-19 Hamlin
5632761 Inflatable devices for separating layers of tissue, and methods of using 1997-05-27 Smith et al.
5624398 Endoscopic robotic surgical tools and methods 1997-04-29 Smith et al. 604/95.01
5623582 Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects 1997-04-22 Rosenberg
5458598 Cutting and coagulating forceps 1995-10-17 Feinberg et al.
5458583 Gastrostomy catheter system 1995-10-17 McNeely et al.
5458131 Method for use in intra-abdominal surgery 1995-10-17 Wilk
5388528 Vehicle for use in pipes 1995-02-14 Pelrine et al.
5307447 Control system of multi-joint arm robot apparatus 1994-04-26 Asano et al.
5304899 Energy supply system to robot within pipe 1994-04-19 Sasaki et al.
5297536 Method for use in intra-abdominal surgery 1994-03-29 Wilk
5284096 Vehicle for use in pipes 1994-02-08 Pelrine et al.
5263382 Six Degrees of freedom motion device 1993-11-23 Brooks et al.
5195388 Articulated robot 1993-03-23 Zona et al.
5187032 Solid polymer electrolytes 1993-02-16 Sasaki et al.
5178032 Robot wrist 1993-01-12 Zona et al.
5176649 Insertion device for use with curved, rigid endoscopic instruments and the like 1993-01-05 Wakabayashi
5172639 Cornering pipe traveler 1992-12-22 Wiesman et al.
5108140 Reconfigurable end effector 1992-04-28 Bartholet
4990050 Wrist mechanism 1991-02-05 Tsuge et al.
4922755 Wrist mechanism of industrial robot 1990-05-08 Oshiro et al.
4897014 Device for interchange of tools 1990-01-30 Tietze
4852391 Pipeline vehicle 1989-08-01 Ruch et al.
4771652 Manipulator-head drive assembly 1988-09-20 Zimmer
4736645 Gear unit for a manipulator 1988-04-12 Zimmer
4623183 Robot hand 1986-11-18 Amori
4568311 Flexible wrist mechanism 1986-02-04 Miyaki
4538594 Rectoscope 1985-09-03 Boebel et al.
4278077 Medical camera system 1981-07-14 Mizumoto
4246661 Digitally-controlled artificial hand 1981-01-27 Pinson
3989952 Dental apparatus 1976-11-02 Timberlake et al.
3870264 Stand 1975-03-11 Robinson
0041862 N/A
0041076 N/A
0038617 N/A
EP2286756 February, 2011 Surgical manipulator means
JP2004144533 May, 1990 MINUTE LIGHT SOURCE LOCATING SYSTEM
JP5115425 May, 1993
JP200716235 June, 1993
JP2006507809 September, 1994
JP07136173 May, 1995
JP7306155 November, 1995
JP08224248 September, 1996
JP2003220065 August, 2003 ANASTOMOTIC SYSTEM TO PERFORM ANASTOMOSIS IN VIVO
JP2004322310 June, 2004 TELEOPERATOR SYSTEM AND TELEPRESENCE METHOD
JP2004180781 July, 2004 ENDOSCOPIC SURGERY ROBOT
JP2004329292 November, 2004 SMALL-SIZED PHOTOGRAPHING DEVICE
JP2006508049 March, 2006
JP2007181682 July, 2007 DEVICE, SYSTEM AND METHOD FOR INTRACORPOREAL SENSING OF INTRACORPOREAL LUMEN
WO/1992/021291 December, 1992 APPARATUS AND METHOD FOR PERITONEAL RETRACTION
WO/2002/082979 October, 2002 NAVIGATING AND MANEUVERING OF AN IN VIVO VECHICLE BY EXTRACORPOREAL DEVICES
WO/2002/100256 December, 2002 MINIATURE INGESTIBLE CAPSULE
WO/2005/009211 July, 2004 INSERTABLE DEVICE AND SYSTEM FOR MINIMAL ACCESS PROCEDURE
WO/2006/052927 August, 2005 BIOPTOME
WO/2006/005075 January, 2006 APPARATUS AND METHODS FOR CAPSULE ENDOSCOPY OF THE ESOPHAGUS
WO/2006/079108 January, 2006 MODULAR MANIPULATOR SUPPORT FOR ROBOTIC SURGERY
WO/2007/111571 October, 2007 SURGICAL ROBOTIC SYSTEM FOR FLEXIBLE ENDOSCOPY
WO/2007/149559 December, 2007 MAGNETICALLY COUPLEABLE ROBOTIC DEVICES AND RELATED METHODS
WO/2009/023851 August, 2008 MODULAR AND COOPERATIVE MEDICAL DEVICES AND RELATED SYSTEMS AND METHODS
WO/2009/144729 December, 2009 LAPAROSCOPIC CAMERA ARRAY
WO/2010/042611 April, 2010 SYSTEMS, DEVICES, AND METHOD FOR PROVIDING INSERTABLE ROBOTIC SENSORY AND MANIPULATION PLATFORMS FOR SINGLE PORT SURGERY
WO/2010/046823 April, 2010 ENDOLUMINAL ROBOTIC SYSTEM
WO/2011/118646 September, 2011 ROBOT HAND AND ROBOT DEVICE
WO/2011/135503 November, 2011 ROBOTIC APPARATUS FOR MINIMALLY INVASIVE SURGERY
WO/2013/009887 January, 2013 ROBOTIC SURGICAL DEVICES, SYSTEMS AND RELATED METHODS
Phee et al., “Analysis and Development of Locomotion Devices for the Gastrointestinal Tract,” IEEE Transaction on Biomedical Engineering, vol. 49, No. 6, Jun. 2002, pp. 613-616.
Phee et al., “Development of Microrobotic Devices for Locomotion in the Human Gastrointestinal Tract,” International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2001), Nov. 28-30, 2001, Singapore.
Platt et al., “In Vivo Robotic Cameras can Enhance Imaging Capability During Laparoscopic Surgery,” in the Proceedings of the Society of American Gastrointestinal Endoscopic Surgeons (SAGES) Scientific Conference, Ft. Lauderdale, FL, Apr. 13-16, 2005, 1 pg.
Rentschler et al., “In Vivo Robots for Laparoscopic Surgery,” Studies in Health Technology and Infonnatics—Medicine Meets Virtual Reality, ISO Press, Newport Beach, CA, 2004a, 98: 316-322.
Rentschler et al., “Mechanical Design of Robotic in Vivo Wheeled Mobility,” ASME Journal of Mechanical Design, 2006a, pp. I-II.
Rosen et al., “Objective Laparoscopic Skills Assessments of Surgical Residents Using Hidden Markov Models Based on Haptic Information and Tool/Tissue Interactions,” Studies in Health Technology and Infonnatics-Medicine Meets Virtual Reality, Jan. 2001, 7 pp.
Rosen et al., “Task Decomposition of Laparoscopic Surgery for Objective Evaluation of Surgical Residents Learning Curve Using Hidden Markov Model,” Computer Aided Surgery, vol. 7, pp. 49-61, 2002.
Ruurda et al., “Robot-Assisted surgical systems: a new era in laparoscopic surgery,” Ann R. Coll Surg Engl., 2002; 84: 223-226.
Ruurda et al., “Feasibility of Robot-Assisted Laparoscopic Surgery,” Surgical Laparoscopy, Endoscopy & Percutaneous Techniques, 2002; 12(1):41-45.
Schurr et al., “Robotics and Telemanipulation Technologies for Endoscopic Surgery,” Surgical Endoscopy, 2000; 14: 375-381.
Smart Pill “Fantastic Voyage: Smart Pill to Expand Testing,” http://www.smartpilldiagnostics.com, Apr. 13, 2005, 1 pg.
Stefanini et al., “Modeling and Experiments on a Legged Microrobot Locomoting in a Tubular Compliant and Slippery Environment,” Int. Journal of Robotics Research, vol. 25, No. 5-6, pp. 551-560, May-Jun. 2006.
Stiff et al.., “Long-term Pain: Less Common After Laparoscopic than Open Cholecystectomy,” British Journal of Surgery, 1994; 81: 1368-1370.
Tendick et al.. (1993), “Sensing and Manipulation Problems in Endoscopic Surgery: Experiment, Analysis, and Observation,” Presence 2( 1): 66-81.
Fuller et al., “Laparoscopic Trocar Injuries: A Report from a U.S. Food and Drug Administration (FDA) Center for Devices and Radiological Health (CDRH) Systematic Technology Assessment of Medical Products (STAMP) Committee,” U.S. Food and Drug Administration, available at http://www.fda.gov, Finalized: Nov. 7, 2003; Updated: Jun. 24, 2005, 11 pp.
Hanly et al., “Value of the SAGES Learning Center in introducing new technology,” Surgical Endoscopy, 2004; 19(4): 477-483.
Menciassi et al., “Robotic Solutions and Mechanisms for a Semi-Autonomous Endoscope,” Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Svstems, Oct. 2002; 1379-1384.
Rosen et al., “Spherical Mechanism Analysis of a Surgical Robot for Minimally Invasive Surgery—Analytical and Experimental Approaches,” Studies in Health Technology and Infonnatics—Medicine Meets Virtual Reality, pp. 442-448, Jan. 2005.
Rosen et al., “Objective Laparoscopic Skills Assessments of Surgical Residents Using Hidden Markov Models Based on Haptic Information and Tool/Tissue Interactions,” Studies in Health Technology and Infonnatics—Medicine Meets Virtual Reality, Jan. 2001, 7 pp.
Stiff et al., “Long-term Pain: Less Common After Laparoscopic than Open Cholecystectomy,” British Journal of Surgery, 1994; 81: 1368-1370.
Way et al (editors), “Fundamentals of Laparoscopic Surgery,” Churchill Livingstone Inc., 1995, 14 pp.
Rosen et al., “Force Controlled and Teleoperated Endoscopic, Grasper for Minimally Invasive Surgery—Experimental Performance Evaluation,” IEEE Transactions of Biomedical Engineering, Oct. 1999; 46(10): 1212-1221.
Bauer et al., “Case Report: Remote Percutaneous Renal Access Using a New Automated Telesurgical Robotic System,” Telemedicine Journal and e-Health 2001; (4): 341-347.
Fireman et al., “Diagnosing small bowel Crohn's disease with wireless capsule endoscopy,” Gut 2003; 52: 390-392.
Fearing et al., “Wing Transmission for a Micromechanical Flying Insect,” Proceedings of the 2000 IEEE International Conference on Robotics & Automation, Apr. 2000; 1509-1516.
Worn et al., “Espirit Project No. 33915: Miniaturised Robot for Micro Manipulation (MINIMAN)”, Nov. 1998; http://www.ipr.ira.ujka.de/microbot/miniman.
Allendorf et al., “Postoperative Immune Function Varies Inversely with the Degree of Surgical Trauma in a Murine Model,” Surgical Endoscopy 1997; 11: 427-430.
Ang, “Active Tremor Compensation in Handheld Instrument for Microsurgery,” Doctoral dissertation, tech report CMU-RI-TR-04-28, Robotics Institute, Carnegie Mellon University, May 2004, 167 pp.
Bailey et al., “Complications of Laparoscopic Surgery,” Quality Medical Publishers, Inc., 1995, 25 pp.
Begos et al., “Laparoscopic Cholecystectomy: From Gimmick to Gold Standard,” J Clin Gastroenterol, 1994; I9(4): 325-330.
Calafiore et al., “Multiple Arterial Conduits Without Cardiopulmonary Bypass: Early Angiographic Results,” Ann Thorac Surg, 1999; 67: 450-456.
Camarillo et al., “Robotic Technology in Surgery: Past, Present, and Future,” The American Journal of Surgery, 2004; 188: 2S-15.
Cavusoglu et al., “Telesurgery and Surgical Simulation: Haptic Interfaces to Real and Virtual Surgical Environments,” In McLaughlin, M. L., Hespanha, J. P., and Sukhatme, G., editors. Touch in virtual environments, IMSC Series in Multimedia 2001, 28 pp.
Choi et al., “Flexure-based Manipulator for Active Handheld Microsurgical Instrument,” Proceedings ofthe 27th Annual International Conference ofthe IEEE Engineering in Medicine and Biology Society (EMBS), Sep. 2005, 4 pp.
Dumpert et al., “Improving in Vivo Robot Vision Quality,” from the Proceedings of Medicine Meets Virtual Reality, Long Beach, CA, Jan. 26-29, 2005, 1 pg.
Faraz et al., “Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS),” Kluwer Academic Publishers (Boston), 2000, 13 pp.
Fukuda et al., “Micro Active Catheter System with Multi Degrees of Freedom,” Proceedings of the IEEE International Conference on Robotics and Automation, May, 1994, pp. 2290-2295.
Wolfe et al, “Endoscopic Cholecystectomy: An analysis of Complications,” Arch. Surg. Oct. 1991; 126: 1192-1196.
Tendick et al. (1993), “Sensing and Manipulation Problems in Endoscopic Surgery: Experiment, Analysis, and Observation,” Presence 2( 1): 66-81.
Chanthasopeephan et al. (2003), “Measuring Forces in Liver Cutting: New Equipment and Experimental Results,” Annals of Biomedical Engineering 31: 1372-1382.
International Search Report and Written Opinion from international application No. PCT/US2008/073369, mailed Nov. 12, 2008, 12 pp.
U.S. Appl. No. 11/947,097, filed Nov. 29, 2007.
U.S. Appl. No. 12/192,663, filed Aug. 15, 2008.
Cavusoglu et al, “Telesurgery and Surgical Simulation: Haptic Interlaces to Real and Virtual Surgical Environments,” In McLaughliin, M.L., Hespanha, J.P., and Sukhatme, G., editors. Touch in virtual environments, IMSC Series in Multimedia 2001, 28pp.
Cavusoglu et al, “Robotics for Telesurgery: Second Generation Berkeley/UCSF Laparoscopic Telesurgical Workstation and Looking Towards the Future Applications,” Industrial Robot: An International Journal, 2003; 30(1): 22-29.
Fraulob et al., “Miniature assistance module for robot-assisted heart surgery,” Biomed. Tech. 2002, 47 Suppl. 1, Pt. 1:12-15.
Fukuda et al, “Mechanism and Swimming Experiment of Micro Mobile Robot in Water,” Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1994: 814-819.
Fukuda et al, “Micro Active Catheter System with Multi Degrees of Freedom,” Proceedings of the IEEE International Conference on Robotics and Automation, May 1994, pp. 2290-2295.
International Search Report and Written Opinion issued in PCT/US2008/069822, mailed Aug. 5, 2009, 10 pages.
U.S. Appl. No. 12/324,364, filed Nov. 26, 2008.
Midday, Jeff et al., “Material Handling System for Robotic natural Orifice Surgery”, Proceedings of the 2011 Design of medical Devices Conference, Apr. 12-14, 2011, Minneapolis, MN, 4 pages.
This application claims priority to Provisional Application No. 60/956,032, filed Aug. 15, 2007; Provisional Application No. 60/990,076, filed Nov. 26, 2007; Provisional Application No. 60/990,106, filed Nov. 26, 2007; Provisional Application No. 61/025,346, filed Feb. 1, 2008; and Provisional Application No. 61/030,617, filed Feb. 22, 2008, all of which are hereby incorporated herein by reference in their entireties.
1. A modular medical device system, the system comprising: (a) a first modular component configured to be disposed inside a cavity of a patient, the first modular component comprising: (i) a first body; (ii) a first operational component operably coupled to the first body; (iii) at least one first actuator disposed within the first body or the first operational component, wherein the at least one first actuator is configured to actuate the first body or the first operational component; and (iv) at least one first coupling component associated with the first body; and (b) a second modular component configured to be disposed inside a cavity of a patient, the second modular component comprising: (i) a second body; (ii) a second operational component operably coupled to the second body; and (iii) at least one second coupling component associated with the second body, the at least one second coupling component configured to be coupleable with the at least one first coupling component; and (c) a third modular component configured to be disposed inside a cavity of a patient, the third modular component comprising: (i) a third body; (ii) a third operational component operably coupled to the third body; and (iii) at least one third coupling component associated with the third body, the at least one third coupling component configured to be coupleable with the at least one first coupling component and the at least one second coupling component.
2. The system of claim 1, wherein the third operational component is chosen from a group consisting of an imaging component, an operational arm component, a sensor component, and a lighting component.
3. The system of claim 1, wherein the third modular component is disposed between the first and second modular components, wherein the third operational component comprises an imaging component, wherein the first and second operational components comprise operational arm components.
4. The system of claim 1, wherein the first, second, and third modular components are coupled in a triangular configuration, wherein the third operational component comprises an imaging component, wherein the first and second operational components comprise operational arm components.
5. A modular medical device system, the system comprising: (a) a first modular component configured to be disposed inside a cavity of a patient, the first modular component comprising: (i) a first body; (ii) a first arm operably coupled to the first body; (iii) a first end effector operably coupled to the first arm; and (iv) at least one first coupling component associated with the first body; (b) a second modular component configured to be disposed inside a cavity of a patient, the second modular component comprising: (i) a second body; (ii) a second arm operably coupled to the second body; (iii) a second end effector operably coupled to the second arm; and (iv) at least one second coupling component associated with the second body, the at least one second coupling component configured to be coupleable with the at least one first coupling component; and (c) a third modular component positioned between the first and second modular components, the third modular component comprising: (i) a third body; and (iii) at least one third coupling component associated with the third body, the at least one third coupling component configured to be coupleable with the at least one first coupling component and the at least one second coupling component.
6. The system of claim 5, wherein the third modular component further comprises a first imaging component operably coupled to the third body.
7. The system of claim 6, wherein the third modular component further comprises at least one operational component chosen from a group consisting of a second imaging component, a sensor component, and a lighting component.
8. The system of claim 5, wherein the first end effector comprises a cautery component and the second end effector comprises a grasper.
9. The system of claim 5, further comprising an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to at least one of the first, second, and third modular components via a connection component.
10. The system of claim 9, wherein the external controller comprises at least one arm controller component operably coupled to the first and second arms.
11. The system of claim 9, wherein the external controller comprises an image display component operably coupled to the first imaging component via the connection component.
12. The system of claim 5, wherein the first and second bodies are coupled to the third body such that a combination body is formed, wherein the first arm is coupled to the first body at a first end of the combination body and the second arm is coupled to the second body at a second end of the combination body.
13. A method of performing a medical procedure with a modular medical device system, the method comprising: forming an incision accessing a cavity of a patient; inserting a first modular component into the cavity through the incision, the first modular component comprising: (a) a first body; (b) a first operational arm component operably coupled to the first body; and (c) at least one first coupling component associated with the first body; inserting a second modular component into the cavity through the incision, the second modular component comprising: (a) a second body; (b) a second operational arm component operably coupled to the second body; and (c) at least one second coupling component associated with the second body, the at least one second coupling component configured to be coupleable with the at least one first coupling component; positioning a third modular component through the incision, the third modular component comprising: (a) a third body; and (b) at least one third coupling component associated with the third body, the at least one third coupling component configured to be coupleable with the at least one first coupling component and the at least one second coupling component; and coupling the at least one first coupling component and the at least one second coupling component to the at least one third coupling component while the first, second, and third modular components are positioned through the incision.
14. The method of claim 13, whereby the third modular component is positioned between the first and second modular components.
15. The method of claim 13, further comprising controlling the modular medical device system with a controller operably coupled to at least one of the first, second, or third modular components via a connection component.
16. The method of claim 13, further comprising, after completing the medical procedure, uncoupling the at least one first coupling component and the at least one second coupling component from the at least one third coupling component and removing the first, second, and third modular components through the incision.
17. The system of claim 1, wherein the first operational component is chosen from a group consisting of an imaging component, an operational arm component, a sensor component, and a lighting component.
18. The system of claim 1, wherein the second operational component is chosen from a group consisting of an imaging component, an operational arm component, a sensor component, and a lighting component.
19. The system of claim 1, further comprising an external controller configured to be positioned outside the cavity of the patient, the external controller being operably coupled to at least one of the first, second, and third modular components via a connection component.
20. The system of claim 1, wherein the first and second bodies are coupled to the third body such that a combination body is formed, wherein the first operational component comprises a first operational arm component coupled to the first body at a first end of the combination body and the second operational component comprises a second operational arm coupled to the second body at a second end of the combination body.
Another embodiment disclosed herein relates to a modular medical device or system having a body configured to be disposed inside a cavity of a patient. The device also has at least a first modular component coupleable to the body, the first modular component having a first operational component. In another embodiment, the device also as a second modular component coupleable to the body, the second modular component having a second operational component. In further alternatives, the device can also have third and fourth modular components or more.
FIG. 18A is a front view of a modular medical device with a payload space, according to one embodiment.
FIG. 18B is another front view of the device of FIG. 18A.
FIG. 19A is a perspective view of a modular medical device, according to another embodiment.
FIG. 19B is a perspective bottom view of the device of FIG. 19A.
FIG. 20A is a perspective top view of the device of FIG. 19A.
FIG. 20B is a perspective side view of the device of FIG. 19A.
FIG. 20C is a perspective close-up view of a portion of the device of FIG. 19A.
FIG. 21 is a perspective bottom view of the device of FIG. 19A.
FIG. 22 is a perspective side view of the device of FIG. 19A.
FIG. 23 is a top view of the device of FIG. 19A.
FIG. 24 is a perspective view of modular medical device control and visualization system, according to one embodiment.
FIG. 25 is a perspective view of a modular medical device, according to one embodiment.
FIG. 26 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to one embodiment.
FIG. 27 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to another embodiment.
FIG. 28 is a perspective cutaway view of various medical devices operating cooperatively in a body cavity, according to a further embodiment.
For example, the various embodiments disclosed herein can be incorporated into or used with any of the medical devices and systems disclosed in copending U.S. application Ser. No. 11/932,441 (filed on Oct. 31, 2007 and entitled “Robot for Surgical Applications”), Ser. No. 11/695,944 (filed on Apr. 3, 2007 and entitled “Robot for Surgical Applications”), Ser. No. 11/947,097 (filed on Nov. 27, 2007 and entitled “Robotic Devices with Agent Delivery Components and Related Methods), Ser. No. 11/932,516 (filed on Oct. 31, 2007 and entitled “Robot for Surgical Applications”), Ser. No. 11/766,683 (filed on Jun. 21, 2007 and entitled “Magnetically Coupleable Robotic Devices and Related Methods”), Ser. No. 11/766,720 (filed on Jun. 21, 2007 and entitled “Magnetically Coupleable Surgical Robotic Devices and Related Methods”), Ser. No. 11/966,741 (filed on Dec. 28, 2007 and entitled “Methods, Systems, and Devices for Surgical Visualization and Device Manipulation”), Ser. No. 12/171,413 (filed on Jul. 11, 2008 and entitled “Methods and Systems of Actuation in Robotic Devices”), 60/956,032 (filed on Aug. 15, 2007), 60/983,445 (filed on Oct. 29, 2007), 60/990,062 (filed on Nov. 26, 2007), 60/990,076 (filed on Nov. 26, 2007), 60/990,086 (filed on Nov. 26, 2007), 60/990,106 (filed on Nov. 26, 2007), 60/990,470 (filed on Nov. 27, 2007), 61/025,346 (filed on Feb. 1, 2008), 61/030,588 (filed on Feb. 22, 2008), and 61/030,617 (filed on Feb. 22, 2008), all of which are hereby incorporated herein by reference in their entireties.
Another advantage of the combination devices such as that shown in FIGS. 1A-1C, according to one implementation, is the capacity to increase the number of a particular type of component in the device. For example, one embodiment of a combination device similar to the device 10 in FIGS. 1A-1C could have lighting components on more than one of the modular components 12, 14, 16, and further could have more than one lighting component on any giving modular component. Thus, the combination device could have a number of lighting components ranging from one to any number of lighting components that could reasonably be included on the device. The same is true for any other component that can be included in two or more of the modular components.
In use, the various modular components and combination devices disclosed herein can be utilized with any known medical device control and/or visualization systems, including those system disclosed in the applications incorporated above. These modular components and combination devices can be utilized and operated in a fashion similar to any medical devices disclosed in those applications. For example, as shown in FIGS. 5A and 5B, a combination device or modular component 60 can be utilized with an external magnetic controller 62. In this embodiment, the device 60 has magnetic components (not shown) that allow the device 60 to be in magnetic communication with the external controller 62. It is understood that the device 60 can operate in conjunction the external controller 62 in the same fashion described in the applications incorporated above, such that the external controller 62 is located on an external surface 66A of a patient's cavity wall 64 while the combination device 60 is positioned against the internal surface 66B of the cavity wall 64.
In use, the various modular components and combination devices disclosed herein can be utilized with any known medical device control and/or visualization systems, including those system disclosed in the applications incorporated above. These modular components and combination devices can be utilized and operated in a fashion similar to any medical devices disclosed in those applications. For example, as shown in FIGS. 5A and 5B, a combination device or modular component 60 can be utilized with an external magnetic controller 62. In this embodiment, the device 60 has magnetic components (not shown) that allow the device 60 to be in magnetic communication with the external controller 62. It is understood that the device 60 can operate in conjunction the external controller 62 in the same fashion described in the applications incorporated above.
In another similar example as depicted in FIGS. 6A and 6B, a combination device or modular component 70 can be utilized with an external controller and visualization component 72. In this embodiment, the device 70 has magnetic components (not shown) that allow the device 70 to be in magnetic communication with the external controller 72 and further has arms 74A, 74B that can be operated using the controller 72. It is understood that the device 70 can operate in conjunction the external component 72 in the same fashion described in the applications incorporated above, such that the external controller 72 is located on an external surface 78A of a patient's cavity wall 76 while the combination device 70 is positioned against the internal surface 78B of the cavity wall 76.
In another similar example as depicted in FIGS. 6A and 6B, a combination device or modular component 70 can be utilized with an external controller and visualization component 72. In this embodiment, the device 70 has magnetic components (not shown) that allow the device 70 to be in magnetic communication with the external controller 72 and further has arms 74A, 74B that can be operated using the controller 72. It is understood that the device 70 can operate in conjunction the external component 72 in the same fashion described in the applications incorporated above.
In a further alternative embodiment as best shown in FIG. 9, any of the modular components disclosed or contemplated herein are inserted separately into the target cavity and subsequently assembled with the modular components being connected end-to-end (in contrast to a side-by-side configuration similar to that depicted in FIGS. 1A-1C). More specifically, the combination device 130 in FIG. 9 has three modular components 132, 134, 136. One of the components is a camera modular component 132, while the other two are robotic arm modular components 134, 136. These three components 132, 136, 136 are connected to form the tripod-like combination device 130 as shown.
Alternatively, additional modular components could be added to a tripod-like combination device such as the devices of FIGS. 9 and 10. For example, one or more additional modular components could be positioned adjacent and parallel to one or more of the three previously-coupled modular components such that one or more side of the three sides have a “stacked” configuration with at least two modular components stacked next to each other.
The modular components can include any known procedural or operational component, including any component discussed elsewhere herein (such as those depicted in FIGS. 1A-4, and/or 8A-10) or any component disclosed in the applications incorporated above that can be used as modular component. For example, the various modular components depicted in FIGS. 11-17 include a variety of different operational components or other types of components.
In use, as also described in the above-incorporate application, a reversibly lockable tube and robotic device (such as, for example, the tube 156 and device 150 depicted in FIG. 11) can be used together to accomplish various tasks. That is, the tube can be operably coupled to the device (as shown in FIG. 11, for example) and contain any required connection components such as connections for hydraulic, pneumatic, drive train, electrical, fiber optic, suction, or irrigation systems, or any other systems or connections that require physical linkages between the device positioned in the patient's body and some external component or device. In one embodiment, the robotic device is first positioned at the desired location in the patient's body and then the tube is inserted and connected to the device. Alternatively, the robotic device can be coupled to the tube prior to insertion, and then both the device and the tube are inserted into the patient's body and the device is then positioned at the desired location.
Another example of a combination device that is made up a suite of modular components is set forth in FIG. 14. The combination device 180 has an imaging modular component 182 (also referred to as a “module”), two cautery arms or modules 184A, 184B, and two grasper arms or modules 186A, 186B. It is understood that the imaging module 182 in this embodiment is the body 182 of the device 180, but could also be an arm in another implementation. It is further understood that the various modules 184, 186 coupled to the device 180 could be configured in any configuration.
Modular components need not be arms or other types of components having operational components or end effectors. According to various alternative embodiments, the modular components can be modular mechanical and electrical payload packages that can be used together in various combinations to provide capabilities such as obtaining multiple tissue samples, monitoring physiological parameters, and wireless command, control and data telemetry. It is understood that the modular payload components can be incorporated into all types of medical devices, including the various medical devices discussed and incorporated herein, such as magnetically controllable devices and/or wheeled devices similar to those disclosed in the applications incorporated above.
FIG. 18A shows one embodiment of a device 220 having a payload area 222 that can accommodate various modular components such as environmental sensors, biopsy actuator system, and/or camera systems. More specifically, the payload area 222 is configured to receive any one of several modular components, including such components as the sensor, controller, and biopsy components discussed herein. It is understood that in addition to the specific modular components disclosed herein, the payload areas of the various embodiments could receive any known component to be added to a medical procedural device.
It is further understood that the robotic device having the payload area can be any known robotic device, including any device that is positioned substantially adjacent to or against a patient cavity wall (such as via magnetic forces), and is not limited to the robotic devices described in detail herein. Thus, while the robotic device embodiments depicted in FIGS. 18A and 18B (discussed below) are mobile devices having wheels, the various modular components described herein could just as readily be positioned or associated with a payload area in any other kind of robotic device or can further be used in other medical devices and applications that don't relate to robotic devices.
Returning to FIG. 18A, in this embodiment, the device is not tethered and is powered by an onboard battery 224. Commands can be sent to and from the device using an RF transceiver placed on a circuit board 226. Alternatively, the device 220 can be tethered and commands and power can be transmitted via the tether.
In the embodiment of FIG. 18A, the wheels 228A and 228B are powered by onboard motors 230A and 230B. Alternatively, the wheels 228A, 228B and other components can be actuated by any onboard or external actuation components. The wheels 228 in this implementation are connected to the motors 230 through a bearing 232 and a set of spur gears 234 and 236. Alternatively, any known connection can be used. The use of independent wheels allows for forward, reverse, and turning capabilities. In this embodiment, a small retraction ball 238 is attached to the outside of each wheel for retraction using a surgical grasper. Alternatively, no retraction component is provided. In a further alternative, any known retraction component can be included.
FIG. 18B shows yet another embodiment of a device 240 having a payload area 242. In this embodiment, the modular component in the payload area 242 is a sensor component. It is further understood that, according to various other implementations, more than one modular component can be positioned in the payload area 242 of this device 240 or any other device having a payload area. For example, the payload area 242 could include both a biopsy component and a sensor component, or both a biopsy component and a controller component. Alternatively, the payload area 242 could include any combination of any known functional components for use in procedural devices.
In accordance with one implementation, one component that can be included in the payload area 242 is a sensor package or component. The sensor package can include any sensor that collects and/or monitors data relating to any characteristic or information of interest. In one example, the sensor package includes a temperature sensor. Alternatively, the package includes an ambient pressure sensor that senses the pressure inside the body cavity where the device is positioned. In a further alternative, the package can include any one or more of a relative humidity sensor, a pH sensor, or any other known type of sensor for use in medical procedures.
FIGS. 19A-24 depict a multi-segmented medical device 250, in accordance with one implementation. According to one embodiment, the device 250 is a robotic device 250 and further can be an in vivo device 250. This device embodiment 250 as shown includes three segments 252A, 252B, 254. Segments 252A and 252B are manipulator segments, while segment 254 is a command and imaging segment. Alternatively, the three segments can be any combination of segments with any combination of components and capabilities. For example, according to an alternative embodiment, the device could have one manipulator segment, one command and imaging segment, and a sensor segment. In a further alternative, the various segments can be any type of module, including any of those modules described above with respect to other modular components discussed herein.
As best shown in FIGS. 19A and 19B, segments 252A, 252B are rotatably coupled with the segment 254 via joints or hinges 256A, 256B. More specifically, segment 252A is rotatable relative to segment 254 about joint 256A around an axis as indicated by arrow B in FIG. 19B, while segment 252B is rotatable relative to segment 254 about joint 256B around an axis as indicated by arrow C in FIG. 19B.
In accordance with one embodiment, the device 250 has at least two configurations. One configuration is an extended or insertion configuration as shown in FIG. 19A in which the three segments 252A, 252B, 254 are aligned along the same axis. The other configuration is a triangle configuration as shown in FIG. 19B in which the manipulator segments 252A, 252B are each coupled to the segment 254 via the joints 256A, 256B and further are coupled to each other at a coupleable connection 258 at the ends of the segments 252A, 252B opposite the joints 256A, 256B.
As best shown in FIG. 20A, each of the manipulator segments 252A, 252B in this particular embodiment has an operational arm 260, 262 (respectively). Each arm 260, 262 is moveably coupled to its respective segment 252A, 252B at a joint 264A, 264B (respectively) (as best shown in FIG. 22). Further, segment 254 has a pair of imaging components (each also referred to herein as a “camera”) 266A, 266B (as best shown in FIG. 21).
In one embodiment, each arm 260, 262 is configured to rotate at its joint 264A, 264B in relation to its segment 252A, 252B to move between an undeployed position in which it is disposed within its segment 252A, 252B as shown in FIG. 19B and a deployed position as shown in FIG. 20A. In one example, arm 260 is rotatable relative to segment 252A about joint 264A in the direction shown by G in FIG. 22, while arm 262 is rotatable relative to segment 252B about joint 264B in the direction shown by H in FIG. 22. Alternatively, the arms 260, 262 are moveable in relation to the segments 252A, 252B in any known fashion and by any known mechanism.
According to one embodiment as best shown in FIG. 20A, each arm 260, 262 has three components: a proximal portion 260A, 262A, a distal portion 260B, 262B, and an operational component 260C, 262C coupled with the distal portion 260B, 262B, respectively. In this embodiment, the distal portion 260B, 262B of each arm 260, 262 extends and retracts along the arm axis in relation to the proximal portion 260A, 262A while also rotating around that axis in relation to the proximal portion 260A, 262A. That is, distal portion 260B of arm 260 can move back and forth laterally as shown by the letter K in FIG. 22 and further can rotate relative to the proximal portion 260A as indicated by the letter J, while distal portion 262B of arm 262 can move back and forth laterally as shown by the letter L in FIG. 22 and further can rotate relative to the proximal portion 262A as indicated by the letter I.
In accordance with one implementation, the operational components 260C, 262C (also referred to herein as “end effectors”) depicted in FIG. 20A are a grasper 260C and a cautery hook 262C. It is understood that the operational component(s) used with the device 250 or any embodiment herein can be any known operational component for use with a medical device, including any of the operational components discussed above with other medical device embodiments and further including any operational components described in the applications incorporated above. Alternatively, only one of the two arms 260, 262 has an operational component. In a further alternatively, neither arm has an operational component.
Alternatively, each arm 260, 262 comprises one unitary component or more than two components. It is further understood that the arms 260, 262 can be any kind of pivotal or moveable arm for use with a medical device which may or may not have operational components coupled or otherwise associated with them. For example, the arms 260, 262 can have a structure or configuration similar to those additional arm embodiments discussed elsewhere herein or in any of the applications incorporated above. In a further alternative, the device 250 has only one arm. In a further alternative, the device 250 has no arms. In such alternative implementations, the segment(s) not having an arm can have other components associated with or coupled with the segment(s) such as sensors or other types of components that do not require an arm for operation.
As discussed above, the segment 254 of the embodiment depicted in FIG. 21 has a pair of cameras 266A, 266B. Alternatively, the segment 254 can have a single camera or more than two cameras. It is understood that any known imaging component for medical devices, including in vivo devices, can be used with the devices disclosed herein and further can be positioned anywhere on any of the segments or on the arms of the devices.
In a further embodiment, the segment 254 as best shown in FIG. 21 can also include a lighting component 268. In fact, the segment 254 has four lighting components 268. Alternatively, the segment 254 can have any number of lighting components 268 or no lighting components. In a further alternative, the device 250 can have one or more lighting components positioned elsewhere on the device, such as one or both of segments 252A, 252B or one or more of the arms, etc.
In accordance with a further embodiment as best shown in FIGS. 19B and 21, each of the segments 252A, 252B, 254 has two cylindrical components—an outer cylindrical component and an inner cylindrical component—that are rotatable in relation to each other. More specifically, the segment 252A has an outer cylindrical component 270A and an inner cylindrical component 270B that rotates relative to the outer component 270A around an axis indicated by arrow F in FIG. 21. Similarly, the segment 252B has an outer cylindrical component 272A and an inner cylindrical component 272B that rotates relative to the outer component 272A around an axis indicated by arrow E in FIG. 21. Further, the segment 254 has an outer cylindrical component 274A and an inner cylindrical component 274B that rotates relative to the outer component 274A around an axis indicated by arrow D in FIG. 21.
In use, the embodiments having rotatable cylindrical components as described in the previous paragraph can provide for enclosing any arms, cameras, or any other operational components within any of the segments. Further, any segment having such rotatable components provide for two segment configurations: an open configuration and a closed configuration. More specifically, segment 252A has an outer cylindrical component 270A with an opening 276 as shown in FIG. 21 through which the arm 260 can move between its deployed and undeployed positions. Similarly, segment 252B has an outer cylindrical component 272A with an opening 278 as shown in FIG. 21 through which the arm 262 can move between its deployed and undeployed positions. Further, segment 254 has an outer cylindrical component 274A with an opening 280 as shown in FIG. 21 through which the imaging component(s) 266A, 266B can capture images of a procedural or target area adjacent to or near the device 250.
FIG. 19B depicts the segments 252A, 252B, 254 in their closed configurations. That is, each of the inner cylindrical components 270B, 272B, 274B are positioned in relation to the respective outer cylindrical component 270A, 272A, 274A such that each opening 276, 278, 280, respectively, is at least partially closed by the inner component 270B, 272B, 274B such that the interior of each segment 252A, 252B, 254 is at least partially inaccessible from outside the segment.
More specifically, in the closed position, inner cylindrical component 270B of segment 252A is positioned in relation to outer cylindrical component 270A such that the arm 260 is at least partially enclosed within the segment 252A. According to one embodiment, the inner cylindrical component 270B is configured such that when it is in the closed position as shown in FIG. 19B, it closes off the opening 276 entirely. In a further embodiment, the inner cylindrical component 270B in the closed position fluidically seals the interior of the segment 252A from the exterior.
Similarly, in the closed position, inner cylindrical component 272B of segment 252B is positioned in relation to the outer cylindrical component 272A such that the arm 262 is at least partially enclosed within the segment 252B. According to one embodiment, the inner cylindrical component 272B is configured such that when it is in the closed position as shown in FIG. 19B, it closes off the opening 278 entirely. In a further embodiment, the inner cylindrical component 272B in the closed position fluidically seals the interior of the segment 252B from the exterior.
Further, in the closed position, inner cylindrical component 274B of segment 254 is positioned in relation to the outer cylindrical component 274A such that the imaging component(s) is not positioned within the opening 280. According to one embodiment, the inner cylindrical component 274B is configured such that when it is in the closed position as shown in FIG. 19B, the imaging component(s) and any lighting component(s) are completely hidden from view and not exposed to the exterior of the segment 254. In a further embodiment, the inner cylindrical component 274B in the closed position fluidically seals the interior of the segment 254 from the exterior.
In contrast, FIGS. 20A and 21 depict the segments 252A, 252B, 254 in their open configurations. In these configurations, each of the inner cylindrical components 270B, 272B, 274B are positioned such that the openings 276, 278, 280 are open.
In use, according to one embodiment, the inner cylindrical components 270B, 272B, 274B can thus be actuated to move between their closed and their open positions and thereby convert the device 250 between a closed or non-operational configuration (in which the operational components such as the arms 260, 262 and/or the imaging components 266 and/or the lighting components 268 are inoperably disposed within the segments 252A, 252B, 254) and an open or operational configuration (in which the operational components are accessible through the openings 276, 278, 280 and thus capable of operating). Thus, according to one implementation, the device 250 can be in its closed or non-operational configuration during insertion into a patient's body and/or to a target area and then can be converted into the open or operational configuration by causing the inner cylindrical components 270B, 272B, 274B to rotate into the open configurations.
It is understood that the various embodiments of the device 250 disclosed herein include appropriate actuation components to generate the force necessary to operate the arms and/or the rotatable cylinders in the segments. In one embodiment, the actuation components are motors. For example, segment 252A has a motor (not shown) operably coupled with the arm 260 and configured to power the movements of the arm 260. Similarly, segment 252B also has a motor (not shown) operably coupled with the arm 262 and configured to power the movements of the arm 260. In further embodiments, each of the segments 252A, 252B, 254 also have motors (not shown) operably coupled to one or both of the inner and outer cylinder of each segment to power the rotation of the cylinders in relation to each other. In one embodiment, each segment can have one motor to power all drivable elements (arms, cylinders, etc.) associated with that segment. Alternatively, a separate motor can be provided for each drivable element.
In one embodiment, the joints 256A, 256B are configured to urge the segments 252A, 252B from the insertion configuration of FIG. 19A into the triangular configuration of FIG. 19B. That is, the joints 256A, 256B have torsion springs or some other known mechanism for urging the segments 252A, 252B to rotate around their joints 256A, 256B. For example, FIG. 20C depicts one embodiment in which the joint 256A has torsion springs 282 that are configured to urge segment 252A toward the triangular configuration.
In use, in accordance with one implementation, the device 250 in the insertion configuration as shown in FIG. 19A can be inserted into a patient's body through an incision, a trocar port, or natural orifice in the direction indicated by arrow A. Alternatively, the device 250 can be inserted in the other direction as well. After insertion and/or as the device 250 enters the target area or procedural area in the patient's body, the joints 256A, 256B with the torsion springs (or other standard mechanisms) urge the segments 252A, 252B from their insertion position to their triangular position. As the segments 252A, 252B contact each other to form joint 258, the two segments are coupled together with mating components that semi-lock the segments 252A, 252B together. That is, the two segments 252A, 252B can only be separated at the joint 258 by a force sufficient to overcome the semi-lock. Any such known mating component or coupling component, including any mechanical or magnetic mating component(s), can be incorporated into the device 250 for this purpose.
Thus, according to one embodiment, the device 250 can be in its insertion configuration during insertion into the patient. As the device 250 enters the target cavity and exits the port or incision, the torsion springs or other mechanisms at the joints 256A, 256B cause the two segments 252A, 252B to move toward each other until they couple to form the triangular configuration. The device 250 can then be attached to the abdominal wall by some method such as an external magnetic handle. Alternatively, the device 250 can be positioned anywhere in the cavity of the patient as desired by the user. The device 250 is then used to perform some sort of procedure.
Subsequently, when the procedure is complete, the device 250 can be retracted from the cavity. To do so, the surgeon uses a grasping or retrieval tool such as a Endo Babcock grasper made by Covidien in Mansfield, Mass., to attach to or otherwise grasp the ball 284 at the joint 258 and apply sufficient force to overcome the semi-lock of the joint 258. Alternatively, any retrieval component can be positioned at the end of segment 252A or elsewhere on the device 250 for grasping or otherwise coupling to for purposes of removing the device 250 from the patient's body. When the coupling of the semi-lock is overcome, the force urges the segments 252A, 252B away from each other, thereby making it possible for the surgeon to pull the ball 284 through a port or incision and out of the patient, thereby forcing the device 250 into its insertion configuration.
The multiple segments provided in the various embodiments of the device disclosed herein result in significantly more payload space than a single cylindrical body. The increased payload space results in increased capabilities for the device in the form of more, bigger, or more complex operational components, more, bigger, or more complex motors, magnets (as described below) and other similar benefits relating to the availability of more space for more, bigger, or more complex components. For example, FIG. 20B depicts a side view of the device 250 according to one embodiment that shows the payload space available in segment 252B. More specifically, segment 252B and its coupled arm 262 have payload spaces 286, 288, 290, 292, 294 that can be used to accommodate motors, operational components, sensors, magnets (as described below) or any other type of component that could be useful for a procedural device. Similarly, each segment 252A, 252B, 254 can have such payload spaces. In addition, the segments 252A, 252B, 254 allow for maximization of the payload space available across the segments 252A, 252B, 254 by distributing the components such as motors, operational components, or magnets to maximize their effectiveness while minimizing the amount of space required by each such component. For example, it might maximize effectiveness of the device 250 while minimizing the utilized space to have one large motor in one segment that provides force for operation of components in more than one segment.
It is understood that various embodiments of the segmented devices disclosed herein are in vivo devices that can be inserted into and positioned within a patient's body to perform a procedure. In one embodiment, an external controller is also provided that transmits signals to the device 250 to control the device 250 and receives signals from the device 250. In one embodiment, the controller communicates with the device 250 wirelessly. Alternatively, the controller and the device 250 are coupled via a flexible communication component such as a cord or wire (also referred to as a “tether”) that extends between the device 250 and the controller.
It is also understood that various embodiments of the devices disclosed herein can be used in conjunction with known attachment components to attach or otherwise position the device near, against, or adjacent to an interior cavity wall inside the patient. In one embodiment, the attachment components are one or more magnets, disposed within the device, that communicate magnetically with one or more magnets positioned outside the patient's body. The device magnets can be positioned on or in the device in any suitable configuration. For example, the device magnets in one embodiment can be positioned within the segments 252A, 252B, 254 at positions 296, 298, 300 as shown in FIG. 23. It is understood that the external magnets can be used outside the body to position and/or move the device 250 inside the body.
It is further understood that various embodiments of the devices disclosed herein can be used in conjunction with known visualization and control components, such as the console 310 depicted in FIG. 24. The console 310 has a display 312 and magnets 314 and is positioned outside the patient such that the magnets 314 can be in magnetic communication with the device magnets (not shown) disposed within or otherwise coupled with the device 250. The console 310 can be used to move the device 250 by moving the console 310 outside the body such that the device 250 is urged to move inside the body, because the console magnets 250 are magnetically coupled with the device magnets (not shown) within the device 250 such that the device 250 remains substantially fixed in relation to the console 310. In addition, it is understood that the triangular (and quandrangular) devices disclosed and described in relation to FIGS. 19A-25 can be used in conjunction with any of the external controller or visualization components and systems disclosed and discussed above and in the applications incorporated above.
The segmented device 250, according to one embodiment, provides greater stability and operability for the device 250 in comparison to other in vivo devices. That is, a device having more than one segment such as device 250 provides for a configuration with a larger “footprint” for the device 250, thereby resulting in greater stability and leverage during use of the device 250. For example, the device 250 with the triangular configuration in FIG. 24 that is urged against the interior cavity wall of the patient by the console magnets 314 has greater stability and leverage in comparison to a device that has a smaller “footprint.” That is, the device 250 can have at least three magnets (not shown) disposed at the three corners of the triangular configuration such that when the device 250 is magnetically positioned against the interior cavity wall, the arms of the device 250 can apply greater force to the target tissues while maintaining the position of the device 250 than a corresponding single cylindrical device body.
It is understood that the device embodiments disclosed herein are not limited to a triangular configuration. FIG. 25 depicts a device 320 having a quadrangular configuration with four segments. Similarly, devices are contemplated herein having any number of segments ranging from two segments to any number of segments that can be used for a device that can be positioned inside a patient's body. For example, a device incorporating the components and structures disclosed herein could have six or eight segments or more.
FIGS. 26-28 depict three different embodiments of cooperative use of two or more medical devices together. In FIG. 26, the devices that are positioned with a cavity of a patient include a device with operational arms 330, two lighting devices 332A, 332B, and a cylindrical device having a winch component with an end effector 334. These devices can be operated at the same time using one or more external controllers and/or visualization components according to the various embodiments disclosed above or in the applications incorporated above.
Similarly, FIG. 27 depicts a cooperative procedure implementation using a cylindrical device having a winch component with an end effector 340, a lighting device 342, and a cylindrical device 344. The cylindrical device 344 can have an imaging component and/or additional operational components such as sensors, etc.
Another embodiment is depicted in FIG. 28, in which a cooperative procedure is performed using a device with arms 350 and a lighting device 352.
In one embodiment, two or more devices positioned in a body cavity can be coupled to each other in some fashion. It is understood that the coupling does not necessarily result in a rigidly coupling of the devices to each other in all degrees. As such, the configuration(s) of two or more devices may adapt to the varying geometry of each patient, disturbances to the abdominal wall, and respiration cycle. According to one implementation, one benefit of coupling the devices is to maintain a set distance between the devices for vision, lighting, tissue manipulation, and other procedural purposes.
<- Previous Patent (Infusion pump system...) | Next Patent (Adjustable device ha...) ->