WO2005046461B1 - Robot for minimally invasive interventions - Google Patents

Robot for minimally invasive interventions

Info

Publication number
WO2005046461B1
WO2005046461B1 PCT/US2004/036910 US2004036910W WO2005046461B1 WO 2005046461 B1 WO2005046461 B1 WO 2005046461B1 US 2004036910 W US2004036910 W US 2004036910W WO 2005046461 B1 WO2005046461 B1 WO 2005046461B1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
control system
cables
cable
additionally
Prior art date
Application number
PCT/US2004/036910
Other languages
French (fr)
Other versions
WO2005046461A1 (en
Inventor
Cameron N Riviere
Nicholas A Patronik
Marco A Zenati
George D Stetten
Original Assignee
Univ Carnegie Mellon
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Carnegie Mellon filed Critical Univ Carnegie Mellon
Priority to JP2006538503A priority Critical patent/JP2007510470A/en
Priority to EP04818635.7A priority patent/EP1689289B1/en
Publication of WO2005046461A1 publication Critical patent/WO2005046461A1/en
Publication of WO2005046461B1 publication Critical patent/WO2005046461B1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00156—Holding or positioning arrangements using self propulsion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • A61B2017/0474—Knot pushers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • A61B2017/0475—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery using sutures having a slip knot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/06066—Needles, e.g. needle tip configurations
    • A61B2017/06076—Needles, e.g. needle tip configurations helically or spirally coiled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/30—Surgical pincettes without pivotal connections
    • A61B2017/306—Surgical pincettes without pivotal connections holding by means of suction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Abstract

Rather than trying to immobilize a living, moving organ to place the organ in the fixed frame of reference of a table-mounted robotic device, the present disclosure teaches mounting a robot in the moving frame of reference of the organ. That task can be accomplished with a wide variety of robots including a miniature crawling robotic device (10) designed to be introduced, in the case of the heart, into the pericardium through a port, attach itself to the epicardial surface, and then, under the direct control of the surgeon, travel to the desired location for treatment. The problem of beating-heart motion is largely avoided by attaching the device directly to the epicardium. The problem of access is resolved by incorporating the capability for locomotion. The device and technique can be used on other organs and on other living bodies such as pets, farm animals, etc.

Claims

Replacement Sheet AMENDED CLAIMS [received by the International Bureau on 05 May 2005 (05.05.2005) original claims 1-21, replaced by amended claims 1-13]. What is claimed is:
1. A robot comprising means for locomotion; means for providing visual feedback; and a control system for controlling said robot, characterized in that said means for locomotion includes prehension means extending from a single side of said robot and configured to enable said robot to move along a surface of an organ located within a loosely bounded body cavity.
2. The robot of claim 1 wherein said means for locomotion includes a plurality of body sections and means for serially interconnecting said body sections in a manner that enables said sections to move relative to one another, said means for serially interconnecting being responsive to said control system.
3. The robot of claim 2 wherein said means for prehension includes one of suction pads, synthetic gecko foot hair, or a tacky foot carried by at least two of said plurality of body sections for attachment to soft tissue.
4. The robot of claim 2 wherein said means for serially interconnecting said body sections includes a one of a plurality of wires, cables or flexible drive shafts, said means for interconnecting said body sections additionally serially connecting said control system to a proximal body section.
5. The robot of claim 4 wherein said control system includes a handle and said wires, cables or flexible drive shafts are carried, for at least part of their length, in sheaths.
6. The robot of claim 1 wherein said robot additionally comprising a shell covering said means for locomotion.
7. The robot of claim 1 additionally comprising a tool including one of an ultrasound transducer, diagnostic aid or other sensor, drug delivery system, therapeutic device, or surgical tool.
8. The robot of claim 1 wherein said means for providing visual feedback includes one of a camera or fiberscope.
9. The robot of claim 8 wherein said means for providing visual feedback is positionable so as to provide navigation information and a view of an area to receive attention.
10. The robot of claim 8 additionally comprising a second camera or fiberscope.
11. The robot of claim 2 wherein said means for serially interconnecting said body sections include cables for serially interconnecting said control system to a distal body, said cables passing through a proximal body; and flexible sheaths carrying said cables between said control system and said proximal body.
12. A method of moving a robot along a surface of an organ located within a loosely bounded body cavity, comprising: establishing a length of a first cable between a control system and a proximal body and a length of a second cable between the control system and a distal body, said second cable passing through the proximal body and connected to the distal body;
20 Replacement Sheet anchoring the proximal body through the use of a prehension device extending from a single side of said robot ; moving the distal body by changing the length of the second cable; anchoring the distal body through the use of a prehension device extending from the same single side of said robot, and releasing the proximal body; and moving the proximal body by changing the length of said first cable.
13. The method of claim 12 additionally comprising sheaths for carrying said first and said second cables to reduce bending of said first and said second cables during said moving steps.
PCT/US2004/036910 2003-11-07 2004-11-05 Robot for minimally invasive interventions WO2005046461A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2006538503A JP2007510470A (en) 2003-11-07 2004-11-05 Minimally invasive intervention robot
EP04818635.7A EP1689289B1 (en) 2003-11-07 2004-11-05 Robot for minimally invasive interventions

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US51858203P 2003-11-07 2003-11-07
US60/518,582 2003-11-07

Publications (2)

Publication Number Publication Date
WO2005046461A1 WO2005046461A1 (en) 2005-05-26
WO2005046461B1 true WO2005046461B1 (en) 2005-07-28

Family

ID=34590277

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2004/036910 WO2005046461A1 (en) 2003-11-07 2004-11-05 Robot for minimally invasive interventions

Country Status (4)

Country Link
US (2) US8162925B2 (en)
EP (1) EP1689289B1 (en)
JP (2) JP2007510470A (en)
WO (1) WO2005046461A1 (en)

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EP1689289B1 (en) 2016-12-21
US9265582B2 (en) 2016-02-23
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US20120271318A1 (en) 2012-10-25
US20050154376A1 (en) 2005-07-14

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