Children's National Medical Center

Johns Hopkins University

University System of Maryland

Invivo Corporation

Research Institute at Nationwide Children's Hospital

Weinberg Medical Physics Inc

Nanofiber Solutions, LLC

Axel Krieger

Justin Opfermann

Peter Kim

Ergin Atalar

Gabor Fichtinger

Louis Litchfield Whitcomb

Robert Charles Susil

Azad Shademan

Simon Leonard

Yonjae Kim

Stephen Abellera

Peter C W Kim

Attila Tanacs

Ryan Decker

Cameron Anthony Piron

Iulian Ioan Iordachita

Narutoshi Hibino

Peng Cheng

Charles Berul

Bradley Clark

Irving N Weinberg

Jin Ung Kang

Jed Johnson

John Patrick Fisher

Christopher K Breuer

Chris Wilson

Lamar Odell Mair

Nael Fakhry Osman

Michael A Jacobs

Sagar Chowdhury

Kenneth Bradshaw

Jaepyeong Cha

Chris Luginbuhl

Anthony John Melchiorri

Paige Mass

Carolyn T Cochenour

Suraj Raval

Yotam Barnoy

Will Pryor

Matthew Fan

Yancy Diaz-mercado

Michael Kam

Xiaolong Liu

Hamed Saeidi

Önder Erin

Christine Iris Elliott

Ahmed Samir Fahmy

Rohan Kumthekar

Austeja Staneviciute

Tanya Davis

Carolyn Cochenour Dorgan

Mahdi Azizian

John P Costello

Iris Elliott

Jeremy Bluvol

Daniel Wayers

Chris Luglnbuhl

Alex Wang

Peter Cw Kim

Iulian I Iordachita

Peter CW Kim

Jin U Kang

Methods and apparatuses are provided for performing surgery and other interventional procedures on human and non-human animals with a semi-autonomous and/or fully autonomous robotic system. The methods and apparatuses include a system for controlling magnetic fields to dynamically detect the location of magnetizable tools and to manipulate said tools in order to obtain a favorable therapeutic or diagnostic outcome.

Apparatus and method for robotic procedures with magnetizable tools

The present disclosure provides a system and method for controlling an articulating member including a tool. The method includes determining a first confidence indicator based on a manual control mode for the articulating member, determining a second confidence indicator based on an autonomous control mode for the articulating member, generating an allocation function based on the first confidence indicator and the second confidence indicator, and generating a control command for the articulating member based on the allocation function.

Confidence-based robotically-assisted surgery system

The present disclosure provides a system and method for controlling an articulating member including a tool. The system may include a dual camera system that captures near-infrared (NIR) images and point cloud images of a tissue or other substance that includes NIR markers. The system may generate a three-dimensional (3D) path based on identified positions of the NIR markers, may filter the generated path, and may generate a 3D trajectory for controlling the articulated arm of a robot having a tool to create an incision along the filtered path. In a shared control mode, an operator may generate manually control commands for the robot to guide the tool along such a path, while automated control commands are generated in parallel. One or more allocation functions may be calculated based on calculated manual and automated error models, and shared control signals may be generated based on the allocation functions.

The present disclosure relates to devices used to access the pericardial space of the heart. In particular, the present disclosure describes an apparatus to enable an operator to access the pericardial space of the heart, and deliver cardiac therapies to the pericardial space, under direct visualization through a single, small incision.

Apparatus for accessing the pericardial space

A method is provided for making an appendage of a soft surgical tool, including: receiving a set of mechanical constraints for a surgical procedure; calculating a set of articulation states based on the set of mechanical constraints; generating a plurality of print commands for printing an appendage configured to form the set of articulation states based on the calculation; and printing an appendage based on the plurality of print commands. Multiple printed appendages can be formed into an orienting assembly.

Soft surgical tools

The present disclosure is a device and method associated with the delivery of medical devices in the pericardial space using a minimally invasive approach with direct visualization. More specifically, the device can be used to deliver permanent pacing, defibrillation and cardiac resynchronization leads, as well as leadless pacemakers for cardiac rhythm management to the epicardial surface of the heart. A subxiphoid procedure is proposed as a minimally invasive alternative to thoracotomy, while the delivery tool incorporates a camera for direct visualization of the procedure. The tool also incorporates a steerable catheter to provide selective control of the placement and orientation of the medical device in the pericardial space.

Delivery tool and method for devices in the pericardial space

A method for generating a electro spun fiber medical implant including determining dimensions of a portion of anatomy of a patient corresponding to the electro spun fiber medical implant via medical imaging, generating a model of the portion of the anatomy based on the dimensions, the model including one or more solid areas and one or more void areas encompassed within the one or more solid areas, inverting the model to generate a mandrel model, the mandrel model generated based on the one or more void areas, generating the mandrel based on the mandrel model, the mandrel including at least one electrically conductive material therein, and applying an electro-spinning process to the mandrel to generate the electro spun fiber medical implant which circumscribes the mandrel, wherein the mandrel is removable from within the electro spun fiber medical implant after a disassembly process.

Method for generating an electro spun fiber medical implant

Described herein are an apparatus and methods for automating subtasks in surgery and interventional medical procedures. The apparatus consists of a robotic positioning platform, an operating system with automation programs, and end-effector tools to carry out a task under supervised autonomy. The operating system executes an automation program, based on one or a fusion of two or more imaging modalities, guides real-time tracking of mobile and deformable targets in unstructured environment while the end-effector tools execute surgical interventional subtasks that require precision, accuracy, maneuverability and repetition. The apparatus and methods make these medical procedures more efficient and effective allowing a wider access and more standardized outcomes and improved safety.

Automated surgical and interventional procedures

The present disclosure describes a method and system for performing robot-assisted surgical procedures. The system includes a robotic arm system assembly, an end effector assembly, and a hybrid control mechanism for robotic surgery. The robotic arm is a lightweight, bedside robot with a large range of motion, which can be easily manipulated to position endoscope and surgical instruments. The control console is mounted at the distal end of the robotic arm to enable robotic arm to follow operators arm movement, provide physical support, filter out hand tremor, and constrain motion. A universal adapter is also described as an interface to connect traditional laparoscopic tools to the robotic arm.

Hybrid control surgical robotic system

The present disclosure is related to a method and apparatus for providing recommendation for a medical surgical procedure, including acquiring, using circuitry, a plurality of multispectral images representing a portion of an anatomy of a patient, performing image processing on each of the plurality of multispectral images to form a plurality of value maps, each value map identifying aspects of the portion of the anatomy by assigned values, combining the plurality of value maps into a single recommendation map, determining optimal points for performing the medical surgical procedure based on the single recommendation map, and displaying the optimal points for the medical surgical procedure by overlaying the optimal points on an original image of the portion of the anatomy or applying the optimal points to a robotic medical surgical procedure.

Method and system for providing recommendation for optimal execution of surgical procedures

A system and method for corrected imaging including an optical camera that captures at least one optical image of an area of interest, a depth sensor that captures at least one depth map of the area of interest, and circuitry that correlates depth information of the at least one depth map to the at least one optical image to generate a depth image, corrects the at least one optical image by applying a model to address alteration in the respective at least one optical image, the model using information from the depth image, and outputs the corrected at least one optical image for display in 2D and/or as a 3D surface.

3D corrected imaging

A composition including PPF or a PPF copolymer that can be used to fabricate biodegradable structures. The composition can be used in 3-D patterning (e.g., 3-D printing and sterolighography) methods. For example, 3-D patternable compositions include PPF or a PPF copolymer, a photoinitiator or photoinitiators, and a resolution control inhibitor or inhibitors. The compositions can be used to make biodegradable structures (such as cardivascular scaffolds). The biodegradable structures can be surface functionalized. The biodegradable structures can be used in methods of blood delivery in an individual.

Compositions and methods for making biodegradable structures

A method for tracking movement of a movable portion of an interventional device disposed within a natural or artificial body opening is provided. In particular, image data of fiducials is acquired and therefrom an initial position of an interventional device movable portion with respect to a given coordinate system is determined. Next, real time position data from the encoders is acquired as the movable portion is moved from the initial position, and a displaced position from the initial position is determined. From this acquired information, a position of the movable portion in the coordinate system is determined using both the initial position as determined from the image data and the real time displaced position as determined from the encoders.

Method for insertion of a medical device within a body during a medical imaging process

An intervention apparatus is described having a probe with an orifice insertion portion, the insertion portion being configured for insertion into an orifice of a patient. The apparatus also having an intervention tool securement and adjustment mechanism removably attached to the probe. The probe providing support to hold the mechanism in a position relative to the patient, and the adjustment mechanism providing adjustment of an entry point and an angle of entry for an intervention tool to the patient. In embodiments, magnetic resonance imaging, trans-orifice intervention and transperineal intervention are described. Methods for imaging and/or intervention are also described.

Systems and methods for MRI guided trans-orifice and transperineal intervention apparatus with adjustable biopsy needle insertion

A tool to fasten tissue or to fasten a prosthetic to tissue includes a gripper to hold one or more tissue portions, a needle, an actuator to drive the needle, a fastener cartridge to store one or more tissue fasteners, a holder cartridge to store one or more holders, and a holder applier to secure one of the holders on one of the fasteners. The actuator drives the needle and the needle pulls a first fastener from the fastener cartridge. The actuator drives the needle through the one or more tissue portions held by the gripper to form a hole in the tissue portions. The needle pulls a leading portion of the first fastener through the hole without a trailing portion of the first fastener being pulled through the hole. The holder applier secures a first holder from the holder cartridge onto the leading portion of the first fastener.

Anastomosis clipping tool with half-loop clip

Growing community of inventors

Alexandria, VA, United States of America

Axel Krieger