US 9,956,043 B2Granted

Methods, systems, and devices for surgical access and procedures

AssigneeBoard of Regents of the University of Nebraska

InventorsShane Michael Farritor, Mark Rentschler, Amy Lehman, Stephen R. Platt, Jeff Hawks

Life of this patent

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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 actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient's cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms.

Claims20

Dependent claims

A robotic surgical system, comprising:

(a) a robotic device sized to be positioned completely within a patient, the device comprising:
(i) a device body;
(ii) a first robotic arm operably coupled with the device body, the first robotic arm comprising:
(1) a first arm first link operably coupled to the device body via a first shoulder joint;
(2) a first arm second link operably coupled to the first arm first link via a first elbow joint;
and
(3) a first operational component operably coupled to the first arm second link;
and
(iii) a second robotic arm operably coupled with the device body;
(1) a second arm first link operably coupled to the device body via a second shoulder joint;
(2) a second arm second link operably coupled to the second arm first link via a second elbow joint;
and
(3) a second operational component operably coupled to the second arm second link;
(b) a tubular component comprising a distal end operably coupled to the device body, the tubular component comprising a first lumen;
and
(c) at least one connection component disposed through the first lumen of the tubular component, the at least one connection component comprising a distal end operably coupled to the robotic device.

13 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/454,035Filed 7 Aug 2014 · continuation
Priority: 12 Jul 2007
Published: US 2014/0350574 A127 Nov 2014
Granted: 1 May 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification12 codes

A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 17/00234
Surgical instruments, devices or methods: for minimally invasive surgery
A61B 34/70
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: manipulators specially adapted for use in surgery
A61B 34/71
Manipulators specially adapted for use in surgery: manipulators operated by drive cable mechanisms

Family

Application60/949,390Us provisional application · filed 12 Jul 2007
Application60/949,391Us provisional application · filed 12 Jul 2007
Application60/990,076Us provisional application · filed 26 Nov 2007
Application61/025,346Us provisional application · filed 1 Feb 2008
Application12/171,413Parent of this continuation · filed 11 Jul 2008
Application13/329,705Parent of this continuation · filed 19 Dec 2011
US 2014/0350574 A1Pre-grant publication · published 27 Nov 2014
US 8,828,024 B2Parent of this continuation
US 8,343,171 B2Parent of this continuation
US 2009/0054909 A1Published application
US 2012/0179168 A1Published application
US 9,956,043 B2This patent

From the US filing history. Foreign family members aren’t listed.