Vanderbilt University

The University of Tennessee Research Foundation

Louisiana State University and Agricultural & Mechanical College

Daniel Caleb Rucker

Robert J Webster, Iii

Ryan Ponten

Katherine E Riojas

Kaitlin Oliver Butler

Michael I Miga

Robert James Webster

Andria Annette Remirez

Hunter Bryant Gilbert

A small diameter surgical tool implements an agonist-antagonist deflectable joint. The deflectable joint is an actuatable bendable structure that uses push-pull, agonist-antagonist action of a pair of nested tubes to actuate the joint. The tubes are designed to have non-central, offset neutral axes, and they are fixed together at locations distal to the deflectable joint, such as at their distal ends. Axial translations of the tubes relative to each other causes a push-pull, agonist-antagonist action between the tubes, which causes the deflectable joint to bend. In one implementation, a deflectable joint can be created in nested tubes by configuring radial portions of the tube sidewalls extending along the joint to have an axial region of reduced stiffness. As a result, axial agonist-antagonist motion between the tubes can cause bending of the deflectable joint.

Surgical device tip with deflectable joint

A concentric tube steerable device includes a plurality of tubes having a nested, concentric configuration. The tubes include an outer tube and an inner tube that extends coaxially within the outer tube. The inner tube terminates at a tip, and a pose of the tip is effectuated through individual or collective rotation or translation of the tubes about a tube axis. The concentric tube steerable device includes an actuator for rotating at least one tube about a respective tube axis, and a translator for translating at least one tube along a respective tube axis. Each tube includes a precurved portion and a corresponding axis of precurvature. For at least one tube, a flexural rigidity of the tube along its axis of precurvature is less than a flexural rigidity of the tube along a second axis that is perpendicular to the axis of precurvature, thereby improving stability of the tube.

Methods for improving stability of concentric tube steerable devices using asymmetric flexural rigidity

Continuum robots and similar devices and methods and systems for controlling such devices are provided. The devices can include rods comprising strips, that are pre-curved, or both. Also provided is a system and method for modeling and controlling the configuration and operation of such devices.

Continuum devices and control methods thereof

Systems and methods are provided for collecting and processing physical space data for use while performing an image-guided surgical (IGS) procedure. A method includes performing a rigid alignment of a computer model of a non-rigid structure of interest in a patient and surface data in a patient space associated with at least a portion of said non-rigid structure, and computing a deformation of the computer model that provides a non-rigid alignment of said computer model and an organ geometric representation of data, said deformation computed using a set of boundary conditions and field variables defined for said computer model based on said rigid alignment and a parameterization function.

Enhanced method for correcting data for deformations during image guided procedures

Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.

Growing community of inventors

Nashville, TN, United States of America

Daniel Caleb Rucker