The Johns Hopkins University

Woods Hole Oceanographic' Institution

Louis Litchfield Whitcomb

Gabor Fichtinger

Ergin Atalar

Axel Krieger

Robert Charles Susil

Dan Stoianovici

Russell H Taylor

Attila Tanacs

Iulian Ioan Iordachita

Louis R Kavoussi

Dumitru Mazilu

Dana Yoerger

Robert McCabe

Andy Bowen

Todd Kelley

Sayeed Choudhury

Stephen A Basile

Roger D Demaree

Jeffrey A Cadeddu

Katrina Rieflin Ubell

Fred A Lenz

Sami S Kanderian, Jr

Randal P Goldberg

Barbara J De Lateur

Ioan Julian Iordachita

Richard Matthew Wiard

Giancarlo Troni-Peralta

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

The end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.

Apparatus for insertion of a medical device during a medical imaging process

A system and method for determining errors and calibrating to correct errors associated with field sensors, including bias, scale, and orthogonality, includes receiving and providing to a processor angular rate data and a first field vector relative to a first reference directional field and a second field vector relative to a second reference field from at least one field sensor. The processor is configured to relate the first field vector and the second field vector to the angular rate data to determine an error of the at least one field sensor. The processor is also configured to identify a compensation for the error of the at lease one field sensor needed to correct the first field vector and the second field vector and repeat the preceding to identify changes in the error over time and compensate for the changes in the error over time.

System and method for determining and correcting field sensors errors

The end-effector () includes a sheath () and a medical device or needle carrier () that is disposed within the interior compartment () of the sheath. Aperture () is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.

A device, system, and method for entering a medical device such as a needle into the body inside a medical imager such as a MRI scanner, CT, X-ray fluoroscopy, and ultrasound imaging, from within a body cavity (such as the rectum, vagina, or laparoscopically accessed cavity). A three degree-of-freedom mechanical device translates and rotates inside the cavity and enters a needle into the body, and steers the needle to a target point selected by the user. The device is guided by real-time images from the medical imager. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated within the imager, outside of the imager or remotely from outside the imager.

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

Systems for tethering an underwater vehicles using a low strength optical fiber tether. The tether system includes, a mechanical fuse that prevents a high load from acting on and severing the tether that is attached to the underwater vehicle, thus allowing use of far smaller cables than typically used. Upon separation of the fuse, a cable payout system pays out an optical fiber that keeps the underwater vehicle, typically a robotic craft, in communication with the surface vessel. The relatively light weight glass fiber may be reinforced and extended to lengths greater than 40 km allowing deep-sea exploration at depths up to 11,000 m.

Systems and methods for tethering underwater vehicles

Featured is an apparatus that places or locates a proximal end portion of a penetrating member in a target area of a body. Such an apparatus or needle driver is particularly suited for locating a percutaneous needle in a soft tissue target area of a body particularly a body having inhomogeneous soft tissues. The apparatus includes a first arm that is configured and arranged so as to support a distal portion of the penetrating member and a first drive mechanism that is coupled to the first arm. The first drive mechanism is configured and arranged to move or translate the first arm from an initial position to any of a number of other positions that are spaced from the initial position and correspondingly translate the proximal end portion of the penetrating member. In another embodiment, the first arm also rotatably supports the penetrating member and the apparatus further includes a second drive mechanism coupled to the penetrating member distal portion and which is configured an arranged to rotate the penetrating member about the translational axis.

Controllable motorized device for percutaneous needle placement in soft tissue target and methods and systems related thereto

A remote center of motion robotic system including a base unit and a plurality of linking units. The base unit is rotatable about a first axis. The plurality of linking units are coupled with one another. At least two of the linking units are kept parallel to each another during motion. The plurality of linking units are coupled with that base unit at a first end. The plurality of linking units are rotatable about a second axis by changing an angle between each of the plurality of links.

Remote center of motion robotic system and method

A positioning arm for positioning and holding a device within a medical imaging environment workspace has: (a) a free-end link in the form of a circular cylinder having a distal end face and an adjoining end face, with the adjoining end face forming a specified angle with the cylinder's centerline and the distal end face adapted to allow for the connection of the device to the free-end link, (b) a plurality of intermediate links, each in the form of a circular cylinder having end faces that form a specified angle with the links' centerline, and each of these intermediate links having a channel connecting their end faces, (c) a base link in the form of a circular cylinder having a base end face and an adjoining end face, with the adjoining end face forming a specified angle with the link's centerline and the base end face adapted to allow for the connection of the arm to a supporting surface, (d) a cable that passes through the link channels so that one cable end attaches to the free-end link and the other end attaches to the base link, and (e) a locking mechanism that attaches to the cable and applies tension to the cable so as to pull adjoining end faces into contact so as to lock them together by frictional, wherein these components are fabricated from MRI compatible materials (e.g., plastics, glass, ceramics, rubbers, composites, and certain non-ferrous metals such as aluminum, titanium, brass, and nitilol).

Medical imaging environment compatible positioning arm

Quantification of muscle tone

A method for performing radiological-image-guided percutaneous surgery with a system which includes a radiological image generating device for generating an image of a target anatomy of a patient, and a needle insertion mechanism disposed adjacent the image generating device and having a needle adapted to be inserted into the patient. The method includes the steps of: determining a needle trajectory of the needle by positioning the image generating device for aligning, in the image generated by the image generating device, a desired skin insertion site of the patient with a target region of the target anatomy; locking the needle in a direction of the needle trajectory; and repositioning the image generating device to obtain a lateral view of the needle trajectory for viewing an insertion depth and path of the needle during its insertion into the patient. Moreover, a motion transmission mechanism includes an output shaft and an output shaft driver which has two rotational components having respective contact faces between which the output shaft is pressed for frictional engagement therewith. The frictional engagement creates a force between the output shaft and the rotational components which is parallel to the rotational axis of the rotational components for allowing the rotational components to impart a translational motion to the output shaft by virtue of their rotational motion.

Friction transmission with axial loading and a radiolucent surgical needle driver

A computer assisted method for conducting library research from a first location which is remote from the printed work storage location includes identifying at the first location a book to be viewed and delivering the request through computers and telecommunications apparatus to the book storage location followed by delivering the book to a book viewing station and remotely reviewing digital images of at least portions of the book created by a digital imaging system. The computer is programmed to permit a user at the first location to adjust the digital imaging system at the second location and to identify pages of the book to be viewed. Robots may be employed to deliver the book to the book viewing station from the book storage area and to return the book from the book viewing station to the book storage area. Hard copies of the digital image of one or more pages of the book may be made at the first location. Instructions after viewing the book at the book viewing station may be provided from the first location to request return of the book to the book storage area or delivery of the book to a location other than the book storage location. A robot may be employed to turn the pages of the book. Corresponding apparatus is also disclosed.

Growing community of inventors

Baltimore, MD, United States of America

Louis Litchfield Whitcomb