Carnegie Mellon University

Medrobotics Corporation

Amir Degani

Brett Zubiate

Howie Choset

Howard Choset

Sarjoun Skaff

Michael B Schwerin

J Christopher Flaherty

Anthony Kolb

Kevin P GilMartin

Kevin P Gilmartin

A device for performing a procedure may include an elongate tube having a proximal end and a distal end and an adapted link having a proximal end and a distal end. The distal end may include a first mating surface, where the proximal end may be configured to attach to the distal end of the elongate tube. The device may also include a rotating link having a second mating surface configured to rotatably interface with the adapted link first mating surface.

Multi-linked endoscopic device with spherical distal assembly

A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable.

Steerable multi-linked device having multiple working ports

A system for releasably attaching a steerable disposable multi-linked device to a durable device may include a disposable portion and a durable portion. The disposable portion may include a connecting member connected to the disposable portion and the durable portion and a steerable multi-linked device. The steerable multi-linked device may include a first link, a plurality of intermediate links, a second link movably coupled to a second one of the intermediate links, and a cable which passes through the first link and intermediate links and extends beyond a first end of the first link. A first one of the intermediate links may be movably coupled to the first link. The durable portion may include an axial member which defines an opening therethrough and a feeder mechanism.

System for releasably attaching a disposable device to a durable device

An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera.

Articulated device with visualization system

An apparatus for positioning a device. The apparatus includes a coupling member, a first arm, a second arm, and a sloped support member. The coupling member defines a first opening and a second opening. The first arm passes through the first opening, and the coupling member is movably connected to the first arm. The second arm passes through the second opening. The sloped support member is releasably connected to the second arm. The apparatus has at least five degrees of freedom.

Apparatus for positioning a device

A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base.

Growing community of inventors

Pittsburgh, PA, United States of America

Amir Degani