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US 11,633,253 B2Granted
Robotic surgical devices, systems, and related methods
AssigneeVirtual Incision Corporation
InventorsShane Farritor, Chris Santoro, Jeff Shasho, Nishant Kumar, Mateusz Szczesiak, Jason Herman
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Abstract
The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.
Claims18
A surgical robotic system for performing surgery on a patient, comprising:
- a. a robotic device sized to be positioned into a cavity of the patient by way of a port positioned in an incision of a patient, the device comprising:
- i. a unitary elongate device body;
- ii. a first shoulder joint movably coupled to a distal end of the device body;
- iii. a second shoulder joint movably coupled to the distal end of the device body;
- iv. a first movable segmented robotic arm operably coupled to the first shoulder joint and comprising:
- A. a first upper arm segment;
- B. a first lower arm segment;
- C. a plurality of first arm actuators and a plurality of first arm gears constructed and arranged to translate movement of the first arm actuators to movement of the first movable segmented robotic arm;
- and
- D. a first operational component;
- and
- v. a second movable segmented robotic arm operably coupled to the second shoulder joint and comprising:
- A. a second upper arm segment;
- B. a second lower arm segment;
- and
- C. a plurality of second arm actuators and second arm gears constructed and arranged to translate movement of the second arm actuators to movement of the second movable segmented robotic arm;
- and
- D. a second operational component;
- and
- b. a console in electrical communication with the robotic device, the console configured to control the robotic device from outside the patient, wherein:
- a. the unitary device body is configured to be inserted into the port such that the distal end is within the cavity and at least a portion of the device body is external to the cavity, and
- b. the first and second moveable segmented arms are capable of being positioned substantially parallel with a longitudinal axis of the device body for insertion by way of the port.
19 more elements
A surgical robotic system for performing minimally-invasive surgery on a patient, comprising:
- a. a robotic device sized to be positioned into a patient body cavity, the device comprising:
- i. a unitary elongate device body constructed and sized to be positioned through an incision and into the body cavity of the patient;
- ii. a first shoulder joint movably coupled to a distal end of the unitary elongate device body;
- iii. a second shoulder joint movably coupled to the distal end of the unitary elongate device body;
- iv. a first movable segmented robotic arm operably coupled to the first shoulder joint and comprising:
- A. a first upper arm segment comprising a housing enclosing a plurality of first upper arm actuators;
- B. a first lower arm segment comprising a housing enclosing at least one first lower arm actuator;
- C. a plurality of first arm gears constructed and arranged to translate movement of the first arm actuators to movement of the first movable segmented robotic arm;
- and
- D. a first operational component;
- and
- v. a second movable segmented robotic arm operably coupled to the second shoulder joint and comprising:
- A. a second upper arm segment comprising a housing enclosing a plurality of second upper arm actuators;
- B. a second lower arm segment comprising a housing enclosing at least one second lower arm actuator;
- and
- C. a plurality of second arm gears constructed and arranged to translate movement of the second arm actuators to movement of the second movable segmented robotic arm;
- and
- D. a second operational component;
- and
- b. a console for control of the robotic device from outside the patient by way of a port positioned in the incision, the console in electrical communication with the robotic device.
17 more elements
A minimally invasive surgery system, comprising:
- a. a robotic device comprising:
- i. a unitary elongate device body having proximal and distal ends and being constructed and sized to be positioned through an incision and into the body cavity of the patient;
- ii. a first movable segmented robotic arm operably coupled to the distal end of the unitary elongate device body and comprising:
- A. a first shoulder joint movably coupled to the distal end of the device body;
- B. a first upper arm segment;
- C. a first elbow joint;
- D. a first lower arm segment;
- E. a plurality of first arm actuators and a plurality of first arm gears constructed and arranged to translate movement of the first arm actuators to movement of the first movable segmented robotic arm;
- and
- F. a first operational component;
- and
- iii. a second movable segmented robotic arm operably coupled to the distal end of the unitary elongate device body and comprising:
- A. a second shoulder joint movably coupled to the distal end of the device body;
- B. a second upper arm segment;
- C. a second elbow joint;
- D. a second lower arm segment;
- and
- E. a plurality of second arm actuators and a plurality of second arm gears constructed and arranged to translate movement of the second arm actuators to movement of the second movable segmented robotic arm;
- and
- F. a second operational component;
- wherein the robotic device is constructed and arranged for insertion and operation via:
- a. positioning the first and second moveable segmented arms substantially in line with a longitudinal axis of the device body prior to insertion into a body cavity of a patient,
- b. inserting the distal end of the robotic device into the body cavity of the patient through a port in communication with the body cavity such that the first and second movable segmented robotic arms are disposed entirely within the body cavity and the unitary elongate device body is disposed in the port such that the distal end of the device body is disposed within the body cavity and the proximal end of the device body is disposed outside the body cavity, and
- c. rotating the first and second moveable segmented arms such that the first and second elbow joints project outward from the longitudinal axis.
21 more elements
Dependencies are inferred from the claim text.