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US 12,690,938 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 device for performing surgery on a patient, the device comprising:
- a) an elongate device body sized to be positioned through an incision of a patient;
- b) a first robotic arm rotatably coupled to a distal end of the device body and comprising:
- i) a first upper arm segment;
- ii) a first lower arm segment;
- iii) a plurality of first arm actuators and a plurality of first arm gears constructed and arranged to transfer movement of the first arm actuators to movement of the first movable segmented robotic arm;
- and
- iv) a first operational component;
- and
- c) a second robotic arm rotatably coupled to the distal end of the device body and comprising:
- i) a second upper arm segment;
- ii) a second lower arm segment;
- and
- iii) a plurality of second arm actuators and second arm gears constructed and arranged to transfer movement of the second arm actuators to movement of the second movable segmented robotic arm;
- and
- iv) a second operational component,
- wherein the first and second robotic arms are capable of being positioned parallel with a longitudinal axis of the device body for insertion through the incision of the patient.
13 more elements
A surgical robotic system for performing minimally-invasive surgery on a patient, comprising:
- a) a robotic device comprising:
- i) an elongate device body sized to be positioned through an incision of a patient;
- ii) a first movable segmented robotic arm rotatably coupled to a distal end of the device body 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 transfer 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 rotatably coupled to the distal end of the device body 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 transfer movement of the second arm actuators to movement of the second movable segmented robotic arm;
- and
- D) a second operational component;
- and
- b) a controller in electrical communication with the robotic device, wherein the first and second moveable segmented robotic arms are capable of being positioned such that a cross-sectional profile of the first and second moveable segmented robotic arms is consistent with a cross-sectional profile of the device body for insertion through the incision of the patient.
15 more elements
A minimally invasive robotic surgical device comprising:
- a) an elongate device body sized to be positioned through an incision of a patient;
- b) a first robotic arm comprising:
- i) a first upper arm segment rotatably coupled to a distal end of the device body;
- ii) a first lower arm segment rotatably coupled to the first upper arm segment;
- iii) a plurality of first arm actuators and a plurality of first arm gears constructed and arranged to transfer movement of the first arm actuators to movement of the first robotic arm;
- and
- iv) a first operational component operably coupled to the first lower arm segment;
- and
- c) a second robotic arm comprising:
- i) a second upper arm segment rotatably coupled to the distal end of the device body;
- ii) a second lower arm segment rotatably coupled to the second upper arm segment;
- and
- iii) a plurality of second arm actuators and a plurality of second arm gears constructed and arranged to transfer movement of the second arm actuators to movement of the second robotic arm;
- and
- iv) a second operational component operably coupled to the second lower arm segment;
- wherein the robotic device is constructed and arranged for insertion and operation via:
- a) positioning the first and second robotic arms in line with a longitudinal axis of the device body prior to insertion the incision of the patient,
- b) inserting the distal end of the robotic device through the incision such that the first and second movable segmented robotic arms are disposed entirely within a body cavity and the elongate device body is disposed through the incision 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.
16 more elements
Dependencies are inferred from the claim text.