Vanderbilt University

David B Comber

Eric J Barth

Ray Adams Lathrop

Robert J Webster, Iii

Philip Joseph Swaney

Hunter Bryant Gilbert

Jonathon E Slightam

Vito Russel Gervasi

Kyle Weaver

Jessica Burgner

The present invention relates to a system and apparatus for implementing a method for identifying tube parameters of a curved tube of an active cannula for operating on a target in a patient. The method includes the step (a) of acquiring a model of the patient anatomy including the target. The method also includes the step (b) of selecting a set of parameters characterizing a curved tube. The method also includes the step (c) of computing a workspace for an active cannula having the selected curved tube parameters. The method also includes the step (d) of comparing the workspace to the anatomical model to determine the degree to which an active cannula having the selected curved tube parameters covers the target. The method also includes the step (e) of repeating steps (b) through (d) through a defined number of curved tube parameter sets. The method also includes the step (f) of identifying the curved tube parameters that provide an active cannula with an optimal degree of target coverage.

System, method, and apparatus for configuration, design, and operation of an active cannula robot

An apparatus for moving an elongate rod longitudinally and rotationally, and a method of moving the elongate rod longitudinally and rotationally, are provided. A translation member has a first translation member end held relatively stationary and a longitudinally spaced second translation member end which is selectively movable longitudinally with respect to the first translation member end via actuation of the translation member. The second translation member end is operatively connected to selectively impart longitudinal motion to the elongate rod. A rotation member has a first rotation member end held relatively stationary and a longitudinally spaced second rotation member end which is selectively rotatable with respect to the first rotation member end via actuation of the rotation member. The second rotation member end is operatively connected to selectively impart rotational motion to the elongate rod.

Apparatus and method for moving an elongate rod

A motive device for use in magnetically sensitive environments includes a front supporting plate, a rear supporting plate, and at least one guiding rail extending longitudinally between the front and rear supporting plates and supported thereby. At least one module is supported by the guiding rail, is located longitudinally between the front and rear supporting plates, and is configured to provide at least one of translational and rotational motions to a moved structure extending from the at least one module longitudinally toward and beyond the front supporting plate. The translational motion is guided by motion of the module between the front and rear supporting plates longitudinally along the at least one guiding rail. The module provides the at least one of translational and rotational motions to the moved structure entirely pneumatically. The structures comprising the motive device are all made entirely from non-ferromagnetic materials.

Motive device for use in magnetically-sensitive environments

Growing community of inventors

Nashville, TN, United States of America

David B Comber