Vanderbilt University

Titan Medical Inc.

Covidien LP

Andrea Bajo

Rene Robert

David Allen Zitnick

Leonard M Faria

Nabil Simaan

Peter John Kenneth Cameron

Roger E Goldman

James Netterville

C Gaelyn Garrett

Ryan B Pickens

Stanley Duke Herrel

A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

Articulated tool positioner and system employing same

An articulated tool positioning apparatus comprising a base member, an intermediate member, an end member and a first tool holder arranged in succession, each of the base member, intermediate member, end member and tool holder having a respective central opening. A first plurality of coupled guides id positioned between the base member and the intermediate member and a second plurality of coupled guides is positioned between the intermediate member and the end member. A third plurality of coupled guides is diposed between the end member and the tool holder. The base member, intermediate member, end member, first tool holder and first second and third pluralities of coupled guides all have a central opening and guide openings or securing points for securing pluralities of flexible control links to the base member or to an object separated from the base member. Pushing or pulling control links of a first plurality of control links causes the base member, the first plurality of coupled guides, the intermediate member, the second plurality of coupled guides and the end member to selectively define a continuous curve. A second plurality of control links causes the end member to maintain an orientation generally the same as the base member, when any of the other flexible control links is pushed or pulled. Pushing or pulling control links of a third plurality of control links causes the tool holder to be selectively moved into any of a plurality of orientations, such that the third plurality of coupled guides between the end member and the tool holder defines a continuous curve from the end member to the tool holder. At least one mechanism for pushing and pulling the flexible control links is described and a use of the apparatus for positioning a tool for laparoscopic surgery applications is described.

A rotatable wrist connecting a gripper tool to the distal end of a positioning 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 an actuatable device (e.g., a 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 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.

Dexterous wrists

Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.

Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots

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.

Systems and methods for robot-assisted transurethral exploration and 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.

Dexterous wrists for surgical intervention

A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.

Robotic device for establishing access channel

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.

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.

Growing community of inventors

Fort Lauderdale, FL, United States of America

Andrea Bajo