Vanderbilt University

Kyle Weaver

Ray Adams Lathrop

Robert J Webster, Iii

Philip Joseph Swaney

Hunter Bryant Gilbert

Richard Joseph Hendrick

Trevor L Bruns

Stanley Duke Herrell

Arthur William Mahoney

David B Comber

Paul T Russell

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

A surgical robot system includes a support structure for positioning relative to a patient. The support structure includes a plurality of mounting structures. One or more robotic tool cassettes that are configured to interchangeably connect with any of the mounting structures. Each tool cassette includes a concentric tube manipulator and a transmission for operating the concentric tube manipulator. The support structure also includes a tube collector including a tube assembly associated with each of the mounting structures. The tube assemblies are configured to receive the concentric tube manipulators and guide the manipulators to extend along predetermined trajectories relative to each other.

Modular sterilizable robotic system for endonasal surgery

Growing community of inventors

Thompson Station, TN, United States of America

Kyle Weaver