Patent application number | Description | Published |
20100331858 | SYSTEMS, DEVICES, AND METHODS FOR ROBOT-ASSISTED MICRO-SURGICAL STENTING - Systems, devices, and methods for robot-assisted microsurgical stenting are described herein. In some embodiments a tele-robotic microsurgical system for eye surgery include: a tele-robotic master and a slave hybrid-robot; wherein the tele-robotic master has at least one master slave interface controlled by a medical professional; wherein the slave hybrid-robot has at least one robotic arm attached to a frame releasably attached to a patient's head; wherein the at least one robotic arm has a parallel robot and a serial robot; and wherein the serial robot includes a stenting unit which includes a support tube, a pre-bent tube mounted within the support tube and a guide wire extending from the support tube for carrying a stent and for piercing a blood vessel. | 12-30-2010 |
20110066160 | SYSTEMS AND METHODS FOR INSERTING STEERABLE ARRAYS INTO ANATOMICAL STRUCTURES - Systems and Methods are provided for inserting a steerable array into an anatomical structure of the body. The system includes an insertion module for holding a proximal end of the steerable array and a force sensor configured to detect force on the steerable array and to produce force information. The system includes a position sensor configured to detect a position of the insertion module and to produce position information, the position information including a lateral position along an insertion axis and a first approach angle relative to a first reference axis. The system further includes a processor configured to receive the force information from the force sensor and the position information from the position sensor. The processor outputs performance information to a user. The performance information includes an indication of a first differential approach angle relative to an insertion path plan. | 03-17-2011 |
20110230894 | SYSTEMS, DEVICES, AND METHODS FOR PROVIDING INSERTABLE ROBOTIC SENSORY AND MANIPULATION PLATFORMS FOR SINGLE PORT SURGERY - The present disclosure relates to systems, devices, and methods for providing foldable, insertable robotic sensory and manipulation platforms for single port surgery. The device is referred to herein as an Insertable Robotic Effector Platform (IREP). The IREP provides a self-deployable insertable device that provides stereo visual feedback upon insertion, implements a backbone structure having a primary backbone and four secondary backbones for each of the robotic arms, and implements a radial expansion mechanism that can separate the robotic arms. All of these elements together provide an anthropomorphic endoscopic device. | 09-22-2011 |
20120109274 | ELECTRODE ARRAYS AND SYSTEMS FOR INSERTING SAME - Electrode arrays and systems for inserting same are disclosed. In some embodiments, electrode arrays are provided, the electrode arrays comprising: a passive-bending portion; an active-bending portion coupled to the passive bending portion; a plurality of electrodes located in at least one of the passive-bending portion and the active bending portion; and an actuator that causes the active-bending portion to deflect from the passive-bending portion. In some embodiments, systems for inserting an electrode array in the body are provided, the systems comprising: an insertion module for controllably inserting the electrode array in the body and sensing forces applied to the electrode array; a monitor for providing information to a user; and a controller coupled to the insertion module and the monitor, wherein the controller causes the insertion module to control an amount of force that is applied to the electrode array. | 05-03-2012 |
20130090763 | SYSTEMS AND METHODS FOR FORCE SENSING IN A ROBOT - A system for force sensing in a robot is provided. The robot includes an end disk and a plurality of backbones coupled to the end disk. A plurality of spacer disks are dispersed along the plurality of backbones, and keep the plurality of backbones separated from one another. A base disk provides an interconnection point to a lumen, and the lumen provides a channel to an actuation device. The actuation device provides actuation of the backbones. At least one sensor measures the force being applied on one of the plurality of backbones, and a processor receives force measurements from the at least one sensor and determines the displacement of at least one of the plurality of backbones. | 04-11-2013 |
20130300537 | METHOD AND SYSTEM FOR CONTACT DETECTION AND CONTACT LOCALIZATION ALONG CONTINUUM ROBOTS - A robotic system and methods for manipulation of multi-segment continuum robots. The methods relate to contact detection and estimation of contact location along a multi-segment continuum robot. | 11-14-2013 |
20130338433 | RAPIDLY DEPLOYABLE FLEXIBLE ROBOTIC INSTRUMENTATION - A robotic system and method are provided. The robotic system includes a continuum robot, an actuation unit, and a flexible positioning shaft. The continuum robot is configured to perform minimally invasive diagnostic, surgical or therapeutic techniques, and includes at least one continuum segment including a plurality of backbones. The continuum segment carries at least one diagnostic, surgical or therapeutic instrument in a flexible instrumentation housing that has a plurality of instrumentation channels. The actuation unit is configured to actuate the continuum robot by providing linear actuation to each of the plurality of backbones, and includes force sensors for measuring actuation forces. The flexible positioning shaft is configured to direct a position and orientation of the continuum robot and to couple the actuation unit to the continuum robot. | 12-19-2013 |
20140303663 | APPARATUS AND METHOD FOR VASCULAR AND NERVE SEPARATION AND BRIDGING - Devices, methods, tools, and kits for surgically separating two pressure-sensitive vessels (e.g., arteriole, vein, and/or nerve) at a point of contact or within about 1 mm of the contact. The device includes a biocompatible sheet of material, such as a bridge or separator or external stent. The device is positioned between one or more pressure-sensitive vessels or nerves to alleviate compression with a the tool includes a deployment mechanism and a user interface (e.g., a controller or robot) for inserting the device between the two pressure-sensitive vessels or nerves. | 10-09-2014 |
20140316434 | SYSTEMS AND METHODS FOR ROBOT-ASSISTED TRANSURETHRAL EXPLORATION AND INTERVENTION - Systems and methods are described for using a robotic system to perform procedures within a cavity using a virtual fixture. The robotic system includes a rigid central stem including an access channel positioned longitudinally along the rigid central stem and a dexterous arm at least partially positioned within the access channel of the central stem. The dexterous arm includes a plurality of individually adjustable segments. A control system receives a positioning command from a manipulator control indicative of a desired movement of a distal end of the dexterous arm. A virtual fixture is defined that is representative of the access channel of the rigid central stem. The position of the dexterous arm is adjusted such that the distal end of the dexterous arm performs the desired movement while the portion of the dexterous arm that is positioned within the first access channel is not moved beyond the defined virtual fixture. | 10-23-2014 |
20140330432 | SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS - Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement. | 11-06-2014 |
20140350337 | SYSTEMS, DEVICES, AND METHODS FOR PROVIDING INSERTABLE ROBOTIC SENSORY AND MANIPULATION PLATFORMS FOR SINGLE PORT SURGERY - The present disclosure relates to systems, devices, and methods for providing foldable, insertable robotic sensory and manipulation platforms for single port surgery. The device is referred to herein as an Insertable Robotic Effector Platform (IREP). The IREP provides a self-deployable insertable device that provides stereo visual feedback upon insertion, implements a backbone structure having a primary backbone and four secondary backbones for each of the robotic arms, and implements a radial expansion mechanism that can separate the robotic arms. All of these elements together provide an anthropomorphic endoscopic device. | 11-27-2014 |
20150073434 | DEXTEROUS WRISTS FOR SURGICAL INTERVENTION - A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments. | 03-12-2015 |