US 12,004,825 B2 · Multi-stage robot for anatomical structure interventions

Abstract

A multi-stage robot (10) comprises a sequential series arrangement of a flexible robot arm (30), a robot platform (40), a snake robot arm (50) and an end-effector (60). In operation, the multi-state robot (10) is introduced through an incision or an anatomical opening into an anatomical region enclosing an anatomical structure, and the snake robot arm (50) and the end-effector (60) are further introduced through an incision or an anatomical opening into the anatomical structure. The robot platform (40) is thereafter attached to the incision or the anatomical opening of the anatomical structure to facilitate an actuation of the snake robot arm (50) relative to the robot platform (40) to thereby target position the end-effector (60) within the anatomical structure. The multi-stage robot (10) may further comprise a robot base at the proximal end of the multi-stage robot (10) and attachable to the incision or the anatomical opening into the anatomical region.

Claims18

Dependent claims

A multi-stage robot for delivery of an intervention tool within an anatomical structure, the multi-stage robot comprising:

a sequential series arrangement of a flexible robot arm, a robot platform, a snake robot arm, and an end-effector, wherein (i) a proximal end of the robot platform is attached to a distal end of the flexible robot arm and (ii) a distal end of the robot platform is attached to a proximal end of the snake robot arm,
wherein the flexible robot arm, the robot platform, the snake robot arm, and the end-effector are structured to be introduced through a first incision or a first anatomical opening into an anatomical region enclosing the anatomical structure,
wherein the snake robot arm and the end-effector are further structured to be introduced through a second incision or a second anatomical opening into the anatomical structure,
wherein the robot platform comprises a structure configured to attach to the second incision or the second anatomical opening into the anatomical structure and position the flexible robot arm within the anatomical region and the snake robot arm within the anatomical structure, and
wherein the snake robot arm is actuatable relative to the robot platform to target position the end-effector within the anatomical structure.

2 more elements

An intervention method for delivery of an intervention tool within an anatomical structure, the intervention method comprising:

introducing a multi-stage robot including a flexible robot arm, a robot platform, a snake robot arm, and an end-effector through a first incision or a first anatomical opening into an anatomical region enclosing the anatomical structure, wherein (i) a proximal end of the robot platform is attached to a distal end of the flexible robot arm and (ii) a distal end of the robot platform is attached to a proximal end of the snake robot arm;
introducing the snake robot arm and the end-effector through a second incision or a second anatomical opening into the anatomical structure;
attaching the robot platform to the second incision or the second anatomical opening of the anatomical structure, such that the robot platform positions the flexible robot arm within the anatomical region and positions the snake robot arm within the anatomical structure;
and
actuating the snake robot arm within the anatomical structure relative to the robot platform to target position the end-effector within the anatomical structure.

2 more elements

Dependencies are inferred from the claim text.

Multi-stage robot for anatomical structure interventions

Life of this patent

Multi-stage robot for anatomical structure interventions

Life of this patent

Abstract

Claims18