Methods of treatment with a robotic surgical system
Inventors
Danitz, David J. • Hinman, Cameron D. • Krieg, Kenneth R. • Moss, Kevin L. • Foster, Christopher J. • Uecker, Darrin R.
Assignees
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Publication Number
US-12569673-B2
Publication Date
2026-03-10
Expiration Date
Abstract
Described herein are methods and systems for using the treatment tip apparatuses and high-voltage connectors with robotic surgical systems. For example, retractable treatment tip apparatuses (e.g., devices, systems, etc.) including one, or more preferably a plurality, of electrodes that are protected by a housing (which may be retractable) until pressed against the tissue for deployment of the electrodes and delivery of a therapeutic treatment, are disclosed. In particular, these apparatuses may include a plurality of treatment needle electrodes and may be configured for the delivery of nanosecond pulsed electric fields. Also described herein are high-voltage connectors configured to provide high-voltage energy, such as nsPEF pulses, from a generator to the retractable treatment tip apparatuses.
Core Innovation
The disclosed method treats target tissue with a robotic system by positioning a treatment instrument coupled to a movable arm relative to the target tissue. The treatment instrument comprises an electrode housing extending from a distal end of a treatment tip housing and configured to retract proximally into it. Proximal retraction of the electrode housing exposes a plurality of treatment electrodes that apply sub-microsecond electric pulses to the target tissue.
The disclosure further describes robotic workflows, controller units, pulse generators, and retractable treatment tip assemblies operable between exposed and enclosed electrode states. Associated configurations include tissue-impedance measurement for confirming positioning and controlling treatment delivery, high-voltage connectors designed to increase electrical clearance and reduce arcing, insulating tip structures, and protection for undeployed curved needle electrodes. The problem being solved is not explicitly stated.
Claims Coverage
Independent claim 1 covers a method of treating target tissue with a robotic system and contains three inventive features.
Positioning a treatment instrument with a retractable electrode housing
Positioning a treatment instrument coupled to a movable arm of the robotic system relative to the target tissue, the treatment instrument comprising an electrode housing extending from a distal end of a treatment tip housing and configured to retract proximally into the treatment tip housing.
Retracting the electrode housing to expose treatment electrodes
Retracting the electrode housing proximally into the treatment tip housing to expose a plurality of treatment electrodes.
Applying sub-microsecond electric pulses
Applying sub-microsecond electric pulses to the target tissue from the plurality of treatment electrodes.
The independent claim combines robotic positioning of an instrument with a retractable electrode housing, proximal retraction to expose the treatment electrodes, and application of sub-microsecond electric pulses to target tissue.
Stated Advantages
The retractable electrode housing protects needle electrodes when they are undeployed.
The high-voltage connectors are designed to increase electrical clearance and reduce arcing.
Documented Applications
Treatment of target tissue during a surgical procedure using a robotic surgical system, including organ, respiratory, lung, breast, and liver tissue, and treatment of cancer, benign tumors, precancerous tumors, cherry angioma, warts, keloids or scars, molluscum angioma, necrobiosis lipoidica (NBL), melisma, lipoma, epidermal or sebaceous cysts, basal cell carcinoma, and aging skin.
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