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US 10,376,323 B2Granted
Multifunctional operational component for robotic devices
AssigneeBoard of Regents of the University of Nebraska
InventorsShane Farritor, Amy Lehman, Mark Rentschler, Nathan Wood, Jason Dumpert, Dmitry Oleynikov
Life of this patent
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Abstract
The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.
Claims20
A robotic device, comprising:
- (a) an elongate device body constructed and arranged to be positionable within a cavity of a patient;
- (b) a connection component operably coupled with the elongate device body;
- (c) a first operational arm comprising:
- (i) a first inner arm segment operably coupled with the device body via a first shoulder joint at a first end of the elongate device body;
- (ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint;
- and
- (iii) a first procedural tool operably coupled with the first outer arm segment;
- (e) a second operational arm comprising:
- (i) a second inner arm segment operably coupled with the device body via a second shoulder joint at a second end of the elongate device body;
- (ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint;
- and
- (iii) a second procedural tool operably coupled with the second outer arm segment;
- and
- (f) at least one actuator disposed within each arm, the at least one actuator being configured to actuate movement of the arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component.
11 more elements
A robotic device, comprising:
- (a) an elongate device body constructed and arranged to be positionable within a cavity of a patient, the elongate device body comprising a first shoulder joint at a first end and a second shoulder joint at a second end opposite the first end;
- (b) a connection component operably coupled with the elongate device body;
- (c) a first operational arm comprising:
- (i) a first inner arm segment operably coupled with the device body via the first shoulder joint;
- (ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint;
- and
- (iii) a first procedural tool operably coupled with the first outer arm segment;
- (d) a second operational arm comprising:
- (i) a second inner arm segment operably coupled with the device body via the second shoulder joint;
- (ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint;
- and
- (iii) a second procedural tool operably coupled with the second outer arm segment;
- (f) at least one actuator disposed within each arm, the at least one actuator being configured to actuate movement of the arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component;
- and
- (g) at least one imaging component operably coupled with the device body.
12 more elements
A method of surgery comprising:
- making an incision in a patient, wherein the incision provides access to a target cavity in the patient;
- inserting a robotic device through the incision and into the target cavity in the patient, the robotic device comprising:
- (a) an elongate device body;
- (b) a connection component operably coupled with the device body;
- (c) a first operational arm comprising:
- (i) a first inner arm segment operably coupled with the device body via a first shoulder joint at a first end of the elongate device body;
- (ii) a first outer arm segment operably coupled with the first inner arm segment via a first elbow joint;
- and
- (iii) a first operational component operably coupled with the first outer arm segment;
- (e) a second operational arm comprising:
- (i) a second inner arm segment operably coupled with the device body via a second shoulder joint at a second end of the elongate device body;
- (ii) a second outer arm segment operably coupled with the second inner arm segment via a second elbow joint;
- and
- (iii) a second operational component operably coupled with the second outer arm segment;
- and
- (f) at least one actuator disposed within each arm, the at least one actuator being configured to actuate movement of the arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component;
- and
- performing a procedure in the target cavity of the patient using at least the robotic device.
15 more elements
Dependencies are inferred from the claim text.