Medical robot having multiple manipulation means and methods of use thereof
An articulated medical device having a hollow core, capable of large degrees of maneuverability through small cavities to reach a target with minimal invasiveness, wherein the medical device is capable of manual and robotic manipulation.
1 . A method comprising:
providing a medical apparatus comprising:
a bendable body including at least a first bendable section and a second bendable section;
at least one control wire slideably situated in the bendable body and attached to a distal end of the bendable body;
an actuator configured to actuate the at least one control wire to manipulate the first bendable section and/or the second bendable section;
a supporting insertion unit configured to removably couple with the bendable body, for manual manipulation and/or robotic manipulation of the bendable body; and
a controller:
manually moving, by a user, the bendable body, with the bendable body not coupled to the supporting insertion unit;
coupling the bendable body to the supporting insertion unit;
manually manipulating, by the user, the medical apparatus, while the bendable body is coupled on the supporting insertion unit; and
receiving, from the user, instructions to robotically manipulate the medical apparatus, while the bendable body is coupled to the supporting insertion unit,
wherein the controller is configured to control the first bendable section directly associated with an input from the user, and to control the second bendable section associated with an algorithm in the controller.
2 . The method of claim 1 ,
wherein the controller is configured to control movement of the at least one control wire.
3 . The method of claim 1 ,
wherein the controller is configured to robotically manipulate the at least one control wire.
4 . The method of claim 1 ,
wherein the actuator is configured for the manual manipulation of the medical apparatus, when the medical apparatus is not coupled to the supporting insertion unit.
5 . The method of claim 1 ,
wherein the actuator is configured to be held by the user when the bendable body is not coupled to the supporting insertion unit.
6 . The method of claim 1 ,
wherein the supporting insertion unit comprises at least one force sensor configured to measure a force applied to the bendable body.
7 . The method of claim 1 ,
wherein, during the manual manipulation of the medical apparatus, the medical apparatus is coupled to and guided by the supporting insertion unit.
8 . The method of claim 1 ,
wherein the medical apparatus includes a tool channel extending along at least a part of a length of the bendable body of the medical apparatus.
9 . The method of claim 8 ,
wherein the tool channel is configured to accommodate a biopsy tool, a camera, or the like.
10 . The medical apparatus of claim 1 ,
wherein the tool channel is configured to accommodate a biopsy tool, a camera, or the like.
11 . The method of claim 1 ,
wherein the bendable body includes at least a third bendable section, and
wherein, during the robotic manipulation, the controller is configured to control movement of the first bendable section, the second bendable section and/or the third bendable section via the actuator and the supporting insertion unit in a plurality of degrees of freedom.
12 . A medical apparatus comprising:
a bendable body including at least a first bendable section and a second bendable section;
at least one control wire slideably situated in the bendable body and attached to a distal end of the bendable body;
an actuator configured to actuate the at least one control wire to manipulate the first bendable section and/or the second bendable section;
a supporting insertion unit configured to removably couple with the bendable body, for manual manipulation and/or robotic manipulation of the bendable body; and
a controller,
wherein, during the manual manipulation of the medical apparatus, the medical apparatus is supported by the supporting insertion unit, and
wherein the controller is configured to control the first bendable section directly associated with an input from the user, and to control the second bendable section associated with an algorithm in the controller.
13 . The medical apparatus of claim 12 ,
wherein the controller is further configured to manipulate the at least one control wire.
14 . The medical apparatus of claim 12 ,
wherein the controller is configured to robotically manipulate the at least one control wire.
15 . The medical apparatus of claim 12 ,
wherein the actuator is configured for the manual manipulation of the medical apparatus, when the medical apparatus is not coupled to the supporting insertion unit.
16 . The medical apparatus of claim 12 ,
wherein the actuator is configured to be held by a user when the bendable body is not coupled to the supporting insertion unit.
17 . The medical apparatus of claim 12 ,
wherein the supporting insertion unit comprises at least one force sensor configured to measure a force applied to the bendable body.
18 . The medical apparatus of claim 12 , further comprising a tool channel extending along at least a part of a length of the bendable body of the medical apparatus.
19 . The medical apparatus of claim 12 ,
wherein the bendable body includes a third bendable section, and
wherein, during the robotic manipulation, the controller is configured to control movement of the first bendable section, the second bendable section and/or the third bendable section via the actuator and the supporting insertion unit in a plurality of degrees of freedom.