Single site robotic device and related systems and methods

{
  "publication_number": "US12171512B2",
  "country": "US",
  "kind": "B2",
  "title": "Single site robotic device and related systems and methods",
  "abstract": "Disclosed herein are various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Also disclosed are various medical devices for in vivo medical procedures. Included herein, for example, is a surgical robotic device having an elongate device body, a right robotic arm coupled to a right shoulder assembly, and a left robotic arm coupled to a left shoulder assembly.",
  "claims": [
    "1. A method of performing a surgical procedure, the method comprising: positioning a robotic device through an incision into a cavity of a patient, the robotic device comprising: a) an elongate device body comprising proximal and distal ends; b) a right shoulder assembly disposed at the distal end of the device body; c) at least one right motor disposed within the device body; d) a right robotic arm operably coupled to the right shoulder assembly; e) a left shoulder assembly disposed at the distal end of the device body; f) at least one left motor disposed within the device body; and g) a left robotic arm operably coupled to the left shoulder assembly; and performing a procedure within the cavity of the patient with the robotic device.",
    "2. The method of claim 1, wherein the positioning the robotic device through the incision into the cavity of the patient further comprises positioning the device body such that a distal portion is disposed within the cavity and a proximal portion is disposed externally in relation to the cavity.",
    "3. The method of claim 1, further comprising coupling an operations system to the robotic device.",
    "4. The method of claim 3, further comprising controlling the robotic device from a location external to the patient via the operations system.",
    "5. The method of claim 1, wherein the robotic device further comprises: (a) a first end effector operably coupled to the right robotic arm; and (b) a second end effector operably coupled to the left robotic arm.",
    "6. The method of claim 5, wherein the performing the procedure further comprises using at least one of the first and second end effectors to perform the procedure.",
    "7. The method of claim 1, wherein the robotic device further comprises a camera disposed between the right and left robotic arms.",
    "8. The method of claim 7, further comprising capturing images of the right and left robotic arms via the camera.",
    "9. The method of claim 1, further comprising positioning the right and left robotic arms into an insertion position before positioning the robotic device through the incision, wherein the insertion position comprises the right and left robotic arms being substantially parallel with a longitudinal axis of the elongate device body.",
    "10. A method of performing a surgical procedure, the method comprising: positioning a robotic device through an incision into a cavity of a patient, the robotic device comprising: a) an elongate device body comprising proximal and distal ends; b) a right shoulder assembly disposed at the distal end of the device body; c) at least one right motor disposed within the device body; d) a right robotic arm operably coupled to the right shoulder assembly; e) a left shoulder assembly disposed at the distal end of the device body; f) at least one left motor disposed within the device body; and g) a left robotic arm operably coupled to the left shoulder assembly, whereby a distal portion of the elongate device body is disposed within the cavity and a proximal portion of the elongate device body is disposed externally in relation to the cavity; and performing a procedure within the cavity of the patient with the robotic device.",
    "11. The method of claim 10, further comprising coupling an operations system to the robotic device.",
    "12. The method of claim 11, further comprising controlling the robotic device from a location external to the patient via the operations system.",
    "13. The method of claim 10, wherein the robotic device further comprises: (a) a first end effector operably coupled to the right robotic arm; and (b) a second end effector operably coupled to the left robotic arm.",
    "14. The method of claim 13, wherein the performing the procedure further comprises using at least one of the first and second end effectors to perform the procedure.",
    "15. The method of claim 10, wherein the robotic device further comprises a camera disposed between the right and left robotic arms.",
    "16. The method of claim 15, further comprising capturing images of the right and left robotic arms via the camera.",
    "17. The method of claim 10, further comprising positioning the right and left robotic arms into an insertion position before positioning the robotic device through the incision, wherein the insertion position comprises the right and left robotic arms being substantially parallel with a longitudinal axis of the elongate device body.",
    "18. A method of performing a surgical procedure, the method comprising: positioning a robotic device through an incision into a cavity of a patient, the robotic device comprising: a) an elongate device body comprising proximal and distal ends; b) a right shoulder assembly disposed at the distal end of the device body; c) at least one right motor disposed within the device body; d) a right robotic arm operably coupled to the right shoulder assembly, the right robotic arm comprising a first end effector; e) a left shoulder assembly disposed at the distal end of the device body; f) at least one left motor disposed within the device body; and g) a left robotic arm operably coupled to the left shoulder assembly, the left robotic arm comprising a second end effector, whereby a distal portion of the elongate device body is disposed within the cavity and a proximal portion of the elongate device body is disposed externally in relation to the cavity; and performing a procedure within the cavity of the patient with at least one of the first and second end effectors.",
    "19. The method of claim 10, further comprising: coupling an operations system to the robotic device; and controlling the robotic device from a location external to the patient via the operations system.",
    "20. The method of claim 10, further comprising capturing images of the right and left robotic arms via a camera disposed between the right and left robotic arms."
  ],
  "description_excerpt": "The embodiments disclosed herein relate to various medical devices and related components, including robotic and/or in vivo medical devices and related components. Certain embodiments include various robotic medical devices, including robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Further embodiment relate to methods of operating the above devices.\n\nInvasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred. However, known minimally invasive technologies such as laparoscopy are limited in scope and complexity due in part to 1) mobility restrictions resulting from using rigid tools inserted through access ports, and 2) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc., located in Sunnyvale, CA) are also restricted by the access ports, as well as having the additional disadvantages of being very large, very expensive, unavailable in most hospitals, and having limited sensory and mobility capabilities. There is a need in the art for improved surgical methods, systems, and devices.\n\nFIG. 1 is a top perspective view of a robotic surgical system according to one embodiment. FIG. 2 is the same perspective view of the device of FIG. 1. FIG. 3 is the same perspective view of the device of FIG. 1. FIG. 4 A is a schematic view of the robotic medical device body from the top, according to one embodiment. FIG.",
  "cpc": [
    "A61B 34/30",
    "A61B 17/00234",
    "A61B 2017/2906",
    "A61B 2034/2048",
    "A61B 2034/2051",
    "A61B 2034/302",
    "A61B 34/20",
    "A61B 90/361",
    "B25J 9/0084",
    "B25J 9/0087"
  ],
  "ipc": [
    "A61B 17/00",
    "A61B 17/29",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 90/00",
    "B25J 9/00"
  ],
  "assignees": [
    "UNIV NEBRASKA"
  ],
  "inventors": [
    "MONDRY JACK",
    "FARRITOR SHANE",
    "MARKVICKA ERIC",
    "FREDERICK THOMAS",
    "BARTELS JOE"
  ],
  "filing_date": "2023-10-12",
  "publication_date": "2024-12-24",
  "grant_date": "2024-12-24",
  "priority_date": "2012-05-01",
  "application_number": "US-202318485601-A",
  "family_id": "49916634",
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