Methods, Systems, and Devices for Surgical Access and Procedures

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.

1 . (canceled) 
     
     
         2 . A robotic surgical system comprising a robotic device, the device comprising;
 (a) a device body;   (b) a first robotic arm sized to be positioned within a patient, the first robotic arm comprising;
 (i) a first arm first link operably coupled to the device body via a first shoulder joint; 
 (ii) a first arm second link operably coupled to the first arm first link via a first elbow joint; 
 (iii) a first operational component operably coupled to the first arm second link; and 
 (iv) a first piston disposed within the first robotic arm, the first piston configured to actuate movement of the first robotic arm; and 
   (c) a second robotic arm sized to be positioned within the patient, the second robotic arm comprising:
 (i) a second arm first link operably coupled to the device body via a second shoulder joint; 
 (ii) a second arm second link operably coupled to the second arm first link via a second elbow joint; 
 (iii) a second operational component operably coupled to the second arm second link; and 
 (iv) a second piston disposed within the second robotic arm, the second piston configured to actuate movement of the second robotic arm. 
   
     
     
         3 . The robotic surgical system of  claim 2 , wherein actuation of the first piston causes movement of the first arm second link relative to the first arm first link. 
     
     
         4 . The robotic surgical system of  claim 2 , wherein the first piston is disposed within the first arm first link and operably coupled with the first arm second link. 
     
     
         5 . The robotic surgical system of  claim 2 , further comprising a third piston operably coupled with the first operational component such that actuation of the third piston causes actuation of the first operational component. 
     
     
         6 . The robotic surgical system of  claim 5 , wherein the third piston is disposed within the first arm second link. 
     
     
         7 . The robotic surgical system of  claim 2 , wherein each of the first piston and second piston is in fluid communication with a hydraulic connection line. 
     
     
         8 . The robotic surgical system of  claim 7 , wherein the hydraulic connection line extends from an interior of a patient to an exterior of a patient when the robotic device is positioned within the patient. 
     
     
         9 . A robotic surgical system comprising:
 (a) a tubular component comprising a first lumen, the tubular component configured to be positioned through an incision formed in a cavity wall of a patient or a port disposed within the incision;   (b) a device body;   (c) a first robotic arm sized to be positioned in the cavity of the patient through the tubular component, the first robotic arm comprising:
 (i) a first arm first link operably coupled to the device body via a first shoulder joint; 
 (ii) a first arm second link operably coupled to a second end of the first arm first link via a first elbow joint; 
 (iii) a first operational component operably coupled to the first arm second link; and 
 (iv) a first piston disposed within the first robotic arm, the first piston configured to actuate movement of the first robotic arm; and 
   (d) a second robotic arm sized to be positioned in the cavity of the patient through the tubular component, the second robotic arm comprising:
 (i) a second arm first link operably coupled to the device body via a second shoulder joint; 
 (ii) a second arm second link operably coupled to a second end of the second arm first link via a second elbow joint; 
 (iii) a second operational component operably coupled to the first arm second link; and 
 (iv) a second piston disposed within the second robotic arm, the second piston configured to actuate movement of the second robotic arm. 
   
     
     
         10 . The robotic surgical system of  claim 9 , further comprising 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. 
     
     
         11 . The robotic surgical system of  claim 10 , further comprising a power source operably coupled to a proximal end of the at least one connection component. 
     
     
         12 . The robotic surgical system of  claim 9 , further comprising a sliding component slidably positioned within the first arm, wherein the sliding component is operably coupled with the first operational component. 
     
     
         13 . The robotic surgical system of  claim 12 , wherein the first piston is operably coupled with the sliding component such that actuation of the first piston causes the sliding component to slide back and forth within the first arm. 
     
     
         14 . The robotic surgical system of  claim 12 , further comprising an actuator disposed within the sliding component, wherein the actuator actuates a movement of the first operational component. 
     
     
         15 . The robotic surgical system of  claim 9 , wherein the first piston is disposed within the first arm second link and the second piston is disposed within the second arm second link. 
     
     
         16 . A robotic surgical system comprising:
 (a) a tubular component comprising a first lumen, the tubular component configured to be positioned through an incision formed in a cavity wall of a patient or a port disposed within the incision;   (b) a device body;   (c) a first robotic arm sized to be positioned in the cavity of the patient through the tubular component, the first robotic arm comprising:
 (i) a first arm first link operably coupled to the device body via a first shoulder joint; 
 (ii) a first arm second link operably coupled to a second end of the first arm first link via a first elbow joint; 
 (iii) a first operational component operably coupled to the first arm second link; and 
 (iv) a first piston disposed within the first robotic arm, the first piston configured to actuate movement of the first robotic arm; 
   (d) a second robotic arm sized to be positioned in the cavity of the patient through the tubular component, the second robotic arm comprising:
 (i) a second arm first link operably coupled to the device body via a second shoulder joint; 
 (ii) a second arm second link operably coupled to a second end of the second arm first link via a second elbow joint; 
 (iii) a second operational component operably coupled to the first arm second link; and 
 (iv) a second piston disposed within the second robotic arm, the second piston configured to actuate movement of the second robotic arm; and 
   (e) 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.   
     
     
         17 . The robotic surgical system of  claim 16 , further comprising a power source operably coupled to a proximal end of the at least one connection component. 
     
     
         18 . The robotic surgical system of  claim 16 , wherein the at least one connection component comprises an electrical connection component. 
     
     
         19 . The robotic surgical system of  claim 16 , wherein the at least one connection component comprises a hydraulic tube or a pneumatic tube. 
     
     
         20 . The robotic surgical system of  claim 16 , wherein the first piston is disposed within the first arm first link. 
     
     
         21 . The robotic surgical system of  claim 20 , wherein the first elbow joint further comprises a pin, wherein the pin is coupled to a distal end of the first piston and the first arm second link, and wherein actuation of the first piston actuates the first arm second link relative to the first arm first link.