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US 2023/0404689 A1Published application
Medical robotic system
AssigneeMeditrina, Inc.
InventorsCsaba TRUCKAI, John H. SHADDUCK, Akos TOTH
Life of this patent
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Abstract
Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of multiple tools carried at a distal end of the robotic arm.
Claims23
A medical robot system for use in intrauterine procedures, comprising:
- a robotic arm having a plurality of moveable arm segments;
- an endoscope detachably coupled to a distal segment of the robotic arm, the endoscope having an elongate endoscope shaft with a working channel therein, the elongate endoscope shaft extending about a longitudinal axis to a distal end carrying an image sensor;
- a resecting device detachably coupled to the distal segment, the resecting device having an elongate resecting shaft configured for introduction through the working channel of the elongate endoscope shaft;
- and
- a retractor having an elongate retractor shaft configured for introduction through the working channel of the elongate endoscope shaft.
2 more elements
A method of treating tissue in a patient's uterine cavity, comprising:
- providing a robotic arm with an elongated electronic endoscope detachably coupled to a distal segment of the robotic arm, and a resecting device and retractor configured for introduction through a working channel of the elongated electronic endoscope;
- introducing the elongated electronic endoscope trans-cervically into the patient's uterine cavity;
- advancing the resecting device and retractor through the working channel of the elongated electronic endoscope into the patient's uterine cavity;
- actuating the retractor to engage and stabilize targeted tissue;
- and
- actuating the resecting device to resect the targeted tissue.
3 more elements
A surgical retractor combination adapted for engaging targeted tissue, comprising:
- an endoscope having an elongate endoscope shaft with a working channel therein, the elongate endoscope shaft extending about a longitudinal axis to a distal end carrying an image sensor;
- and
- a retractor having an elongate retractor shaft configured for introduction through the working channel in the elongate endoscope shaft;
- wherein a working end of the retractor comprises a resilient material having a curvilinear repose shape when extended outwardly from the working channel and is capable of tensioned axial straight shape when retracted into the working channel.
1 more element
A method of treating targeted tissue in a patient's uterine cavity, comprising:
- providing a robotic arm with an elongated electronic endoscope detachably coupled to a distal segment of the robotic arm, and a resecting device an ultrasound device configured for introduction through a working channel of the elongated electronic endoscope;
- introducing the elongated electronic endoscope trans-cervically into the patient's uterine cavity;
- advancing the resecting device and ultrasound device through the working channel of the elongated electronic endoscope into the patient's uterine cavity;
- actuating the ultrasound device to image the targeted tissue;
- and
- actuating the resecting device to resect the targeted tissue.
3 more elements
A method of treating targeted tissue in a uterine cavity of a patient's body, comprising:
- providing a robotic arm with an elongated electronic endoscope detachably coupled to a distal segment of the robotic arm, and a resecting device configured for introduction through a working channel of the elongated electronic endoscope;
- positioning at least one ultrasound transducer on an exterior of the patient's body to image the targeted tissue;
- introducing the electronic endoscope trans-cervically into the uterine cavity;
- advancing a resecting device and an ultrasound device through the working channel of the elongated electronic endoscope into the uterine cavity;
- and
- actuating the resecting device to resect the targeted tissue while contemporaneously observing ultrasound images of the targeted tissue.
3 more elements
Dependencies are inferred from the claim text.