Multifunctional operational component for robotic devices

Abstract

The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

1 . (canceled) 
     
     
         2 . A robotic device, comprising:
 (a) an elongate device body constructed and arranged to be positionable within a cavity of a patient;   (b) a connection component operably coupled with the elongate device body;   (c) at least one robotic arm comprising:
 (i) an upper arm segment operably coupled with the device body via a shoulder joint at an end of the elongate device body; 
 (ii) a forearm segment operably coupled with the upper arm segment via a elbow joint; and 
 (iii) an end effector operably coupled with the forearm segment; and 
   (d) at least one actuator disposed within the device, the at least one actuator being configured to actuate movement of the at least one robotic arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component.   
     
     
         3 . The robotic device of  claim 2 , wherein the at least one robotic arm comprises first and second robotic arms, wherein the first robotic arm is operably coupled with the elongate device body at a first end of the elongate device body and the second robotic arm is operably coupled with the elongate device body at a second end of the elongate device body. 
     
     
         4 . The robotic device of  claim 2 , wherein the at least one robotic arm has at least four degrees of freedom. 
     
     
         5 . The robotic device of  claim 2 , further comprising:
 (a) at least one imaging component operably coupled to the device body; and   (b) an external controller operably coupled to the device body, the external controller comprising:
 (i) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and 
 (ii) at least one joystick operably coupled to the at least one robotic arm, the at least one joystick configured to control the at least one robotic arm via the physical linkage. 
   
     
     
         6 . The robotic device of  claim 2 , wherein the at least one robotic arm has at least three degrees of freedom. 
     
     
         7 . The robotic device of  claim 2 , wherein the end effector is chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe. 
     
     
         8 . The robotic device of  claim 2 , wherein the connection component is a tether. 
     
     
         9 . The robotic device of  claim 2 , wherein the external component is an external power source operably coupled to the physical linkage. 
     
     
         10 . The robotic device of  claim 9 , wherein the physical linkage is an actuation system. 
     
     
         11 . The robotic device of  claim 9 , further comprising an external controller operably coupled to the at least one robotic arm and the at least one imaging component. 
     
     
         12 . The robotic device of  claim 11 , wherein the external controller comprises:
 (a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and   (b) at least one joystick operably coupled to the at least one robotic arm, the at least one joystick configured to control the at least one robotic arm.   
     
     
         13 . A robotic device, comprising:
 (a) an elongate device body constructed and arranged to be positionable within a cavity of a patient, the elongate device body comprising at least one shoulder joint at an end of the device body;   (b) a connection component operably coupled with the elongate device body;   (c) at least one robotic arm comprising:
 (i) an upper arm segment operably coupled with the at least one shoulder joint; 
 (ii) a forearm segment operably coupled with the upper arm segment via a elbow joint; and 
 (iii) an end effector operably coupled with the forearm segment; and 
   (d) at least one actuator disposed within the device, the at least one actuator being configured to actuate movement of the at least one robotic arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component; and   (e) at least one imaging component operably coupled with the device body.   
     
     
         14 . The robotic device of  claim 13 , wherein the at least one robotic arm comprises first and second robotic arms, wherein the at least one shoulder joint comprises a first shoulder joint at a first end of the device body and a second shoulder joint at a second end of the device body, wherein the first robotic arm is operably coupled with the first shoulder joint and the second robotic arm is operably coupled with the second shoulder joint. 
     
     
         15 . The robotic device of  claim 13 , wherein the at least one robotic arm has at least three degrees of freedom. 
     
     
         16 . The robotic device of  claim 13 , wherein the at least one robotic arm has at least four degrees of freedom. 
     
     
         17 . The robotic device of  claim 13 , further comprising an external controller operably coupled to the at least one imaging component and the at least one robotic arm, the external controller comprising:
 (a) an image display component operably coupled to the at least one imaging component, the image display component configured to display images acquired by the at least one imaging component; and   (b) at least one joystick operably coupled to the at least one robotic arm, the at least one joystick configured to control the at least one robotic arm.   
     
     
         18 . The robotic device of  claim 13 , wherein the end effector is chosen from a group consisting of a scalpel, a biopsy tool, a cauterizer, a forceps, a dissector, clippers, a stapler, and an ultrasound probe. 
     
     
         19 . A method of surgery comprising:
 making an incision in a patient, wherein the incision provides access to a target cavity in the patient;   inserting a robotic device through the incision and into the target cavity in the patient, the robotic device comprising:   (a) an elongate device body;   (b) a connection component operably coupled with the device body;   (c) at least one robotic arm comprising:
 (i) an upper arm segment operably coupled with the device body via a shoulder joint at an end of the elongate device body; 
 (ii) a forearm segment operably coupled with the upper arm segment via an elbow joint; and 
 (iii) an end effector operably coupled with the forearm segment; and 
   (d) at least one actuator disposed within the robotic device, the at least one actuator being configured to actuate movement of the at least one robotic arm, wherein the at least one actuator is operably coupled to a physical linkage extending to an external component; and   
       performing a procedure in the target cavity of the patient using at least the robotic device. 
     
     
         20 . The method of  claim 19 , wherein the at least one robotic arm comprises first and second robotic arms, wherein the at least one shoulder joint comprises a first shoulder joint at a first end of the device body and a second shoulder joint at a second end of the device body, wherein the first robotic arm is operably coupled with the first shoulder joint and the second robotic arm is operably coupled with the second shoulder joint. 
     
     
         21 . The method of  claim 19 , wherein the external component is an external controller comprising an external power source operably coupled to the at least one actuator, wherein performing the procedure further comprises operating the external controller, wherein the external power source is configured to transmit force to the at least one actuator via the physical linkage for actuating movement of the at least one robotic arm.