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

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- Number: US 12,004,825 B2
- Document ID: US12004825B2
- Status: Granted
- Kind: B2
- Application number: 16/762,660
- Filed: 2018-11-06
- Published: 2021-06-17
- Granted: 2024-06-11
- Earliest claimed: 2017-11-13
- Assignees: Koninklijke Philips N.V.
- Applicants: Koninklijke Philips N.V.
- Inventors: Alexandru Patriciu; Aleksandra Popovic
- Web page: https://patentgrep.com/patent/US12004825B2

## CPC

- A61B 34/30: Surgical robots
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 34/72: {Micromanipulators}
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61B 2017/00243: {cardiac}
- A61B 2017/00247: {Making holes in the wall of the heart, e.g. laser Myocardial revascularization}
- A61B 2017/0034: {adapted to be inserted through a working channel of an endoscope}
- A61B 2017/00783: {Valvuloplasty}
- A61B 2018/00351: {Heart}
- A61B 2018/00369: {Heart valves}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/378: {using ultrasound}
- A61B 2090/3782: {transmitter or receiver in catheter or minimal invasive instrument}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61F 2/2427: {Devices for manipulating or deploying heart valves during implantation}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The multi-stage robot of claim 1,
wherein the sequential series arrangement of the flexible robot arm, the robot platform, the snake robot arm, and the end-effector define a channel extending from the flexible robot arm through the robot platform to the snake robot arm.

### Claim 3 (depends on 1)

The multi-stage robot of claim 1,
wherein the sequential series arrangement of the flexible robot arm, the robot platform, the snake robot arm, and the end-effector define a channel extending from the flexible robot arm through the robot platform and the snake robot arm to the end-effector.

### Claim 4 (depends on 1)

The multi-stage robot of claim 1,
wherein the flexible robot arm includes at least one shape sensor operable for sensing a shape of the flexible robot arm.

### Claim 5 (depends on 1)

The multi-stage robot of claim 1,
wherein the robot platform includes at least one motion tracking sensor operable for sensing a motion of the robot platform.

### Claim 6 (depends on 1)

The multi-stage robot of claim 1,
wherein the end-effector includes at least one ultrasound imaging device operable for imaging an interior of the anatomical structure.

### Claim 7 (depends on 1)

The multi-stage robot of claim 1,
wherein the sequential series arrangement includes a robot base, the flexible robot arm, the robot platform, the snake robot arm, and the end-effector.

### Claim 8 (depends on 7)

The multi-stage robot of claim 7,
wherein the robot base is structured to be attachable to the first incision or the first anatomical opening into the anatomical region.

### Claim 9 (depends on 7)

The multi-stage robot of claim 7,
wherein the robot base includes at least one marker operable for identifying a position of the robot base within an intervention space.

### Claim 10 (depends on 7)

The multi-stage robot of claim 7,
wherein the sequential series arrangement of the robot base, the flexible robot arm, the robot platform, the snake robot arm, and the end-effector define a channel extending from the robot base through the flexible robot arm and the robot platform to the snake robot arm.

### Claim 11 (depends on 7)

The multi-stage robot of claim 7,
wherein the sequential series arrangement of the flexible robot arm, the robot platform, the snake robot arm, and the end-effector define a channel extending from the robot base through the flexible robot arm, the robot platform and the snake robot arm to the end-effector.

### Claim 12 (depends on 1)

The multi-stage robot of claim 1, wherein the structure of the robot platform configured to attach to the second incision or the second anatomical opening comprises at least one of a cuff or a clip configured to attach to the second incision or the second anatomical opening.

### Claim 13

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.

### Claim 14 (depends on 13)

The intervention method of claim 13, further comprising:
determining a position of the end-effector within the anatomical structure relative to the robot platform based on at least one of:
a registration of a robot base of the multi-stage robot to an imaging modality,
a sensed shape of the flexible robot arm, and
a pose of the actuated snake robot arm relative to the robot platform.

### Claim 15 (depends on 14)

The intervention method of claim 14, further comprising:
determining a position of the end-effector within the anatomical structure based on at least one of:
a physiological motion of the anatomical structure as sensed by the robot platform, and
an ultrasound image of an interior of the anatomical structure generated by the end-effector.

### Claim 16 (depends on 13)

The intervention method of claim 13, further comprising:
attaching a robot base of the multi-stage robot to the first incision or the first anatomical opening into the anatomical region.

### Claim 17 (depends on 13)

The intervention method of claim 13, further comprising:
introducing the interventional tool through the multi-stage robot into the anatomical structure.

### Claim 18 (depends on 13)

The intervention method of claim 13, wherein a structure of the robot platform is configured to attach to the second incision or the second anatomical opening and comprises at least one of a cuff or a clip configured to attach to the second incision or the second anatomical opening.