US 12,402,868 B1
Robotic endoscopy system
John S. Fisher, Belleair, FL (US); Elizabeth F. Maynard, Tampa, FL (US); and James Lee, Vista, CA (US)
Assigned to Praxis Holding LLC, Tampa, FL (US)
Filed by Praxis Holding LLC, Tampa, FL (US)
Filed on Dec. 31, 2024, as Appl. No. 19/006,540.
Int. Cl. A61B 10/02 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 10/0283 (2013.01) [A61B 34/30 (2016.02); A61B 90/06 (2016.02); A61B 2034/305 (2016.02); A61B 2090/066 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A robotic medical device, comprising:
a needle assembly, the needle assembly including:
a hollow needle;
a needle gear at a proximal end of the hollow needle;
a luer hub with an O-ring, wherein the needle is configured to rotate relative to the luer hub;
a robotic arm, the robotic arm including:
multiple joints providing at least three degrees of freedom;
a translation guide and a needle translator configured to axially translate the needle assembly about a length of the translation guide;
a motor configured to operably engage the needle gear and thereby rotate the needle about a longitudinal axis of the needle;
a tissue chamber being established at least in part by a hollow interior of the needle and in fluidic communication with a vacuum source via a suction tube;
a proximal hub configured to house the proximal end of the needle and temporarily attach to the needle translator;
a distal hub configured to be temporarily coupled to the robotic arm at a distal location relative to the proximal hub;
wherein the needle translator is configured to axially translate the proximal hub and needle relative to the distal hub and rotate the needle about the longitudinal axis of the needle and the tissue chamber is subject to the vacuum.