Intuitive Surgical Operations, Inc.

Massachusetts Institute of Technology

Samuel Au

Giuseppe Maria Prisco

Hugh Miller Herr

Jeff Anthony Weber

Lee Harris Magnusson

Andreas G Hofmann

Benjamin B Aisen

Bruce Wayne Deffenbaugh

A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed.

Curved cannula surgical system control

A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Powered ankle-foot prothesis

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Sunnyvale, CA, United States of America

Samuel Au