Johns Hopkins University

Koninklijke Philips Corporation N.V.

Xingchi He

Russell H Taylor

Iulian Ioan Iordachita

Peter Louis Gehlbach

Molly Lara Flexman

David Paul Noonan

Paul Thienphrapa

Aryeh Leib Reinstein

Aleksandra Popovic

Marcin Arkadiusz Balicki

James Tahara Handa

Ron Kroon

Dirk Dijkkamp

Yuki Horise

Vincent Van Geirt

Marcin Balicki

Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.

Manipulator device and therapeutic and diagnostic methods

An optical shape sensing system includes an attachment device () coupled at an anatomical position relative to a bone. An optical shape sensing fiber () is coupled to the attachment device and configured to identify a position and orientation of the attachment device. An optical shape sensing module () is configured to receive feedback from the optical shape sensing fiber and register the position and orientation of the attachment device relative to an anatomical map.

Shape sensing for orthopedic navigation

A triggering device includes an optical fiber () configured for optical shape sensing. A supporting element () is configured to support a portion of the optical fiber. An interface element () is configured to interact with the optical fiber associated with the supporting element to cause a change in a property of the fiber. A sensing module () is configured to interpret an optical signal to determine changes in the property of the fiber and accordingly generate a corresponding trigger signal.

Triggering with optical shape sensing fiber

A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.

Tool and tool system having independent axial and transverse force sensing

A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the detection signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. The feedback system controls the robot to move in response to at least the magnitude and position of the lateral component of the force applied to the tool shaft when the position of the applied force is between the first and second positions so as to cancel the force applied to the tool shaft to thereby provide hands-free control of the at least one surgical tool.

Surgical system providing hands-free control of a surgical tool

A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions.

Multi-force sensing surgical instrument and method of use for robotic surgical systems

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Columbia, MD, United States of America

Xingchi He