公开(公告)号：US20220378529A1

公开(公告)日：2022-12-01

申请号：US17880823

申请日：2022-08-04

Applicant: Board of Regents of the University of Nebraska

Inventor： Tom Frederick ,  Eric Markvicka ,  Shane Farritor ,  Dmitry Oleynikov

IPC: A61B34/30 ,  A61B18/14 ,  B25J9/00 ,  B25J9/10 ,  B25J9/04

Abstract: The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.

公开(公告)号：US11361678B2

公开(公告)日：2022-06-14

申请号：US14896166

申请日：2014-06-06

Applicant: The Board of Regents of the University of Nebraska

Inventor： Ka-Chun Siu ,  Carl Nelson ,  Mohsen Zahiri ,  Dmitry Oleynikov

IPC: G09B23/28 ,  G09B19/24 ,  G09B9/00

Abstract: The present disclosure is directed to a system and method for surgical training with low cost, reusable materials and a highly customizable virtual environment for skill-building. According to various embodiments, a surgical training tool is usable in conjunction with a support structure configured to at least partially constrain the tool movement. Meanwhile, the tool is tracked in real-time with off-tool detectors to generate a tool path driving a virtual rendering of the surgical training tool in an operative environment. The virtual rendering may be visually observable via a display device and may include a customizable and/or selectable operative environment with one or more structures that can be operated on by the virtual surgical training tool. By tracking the virtual tool interaction with the virtual structures, a task path may be established for documenting and/or objectively assessing the performance of one or more operative tasks.

公开(公告)号：US10376322B2

公开(公告)日：2019-08-13

申请号：US14938667

申请日：2015-11-11

Applicant: Board of Regents of the University of Nebraska

Inventor： Tom Frederick ,  Eric Markvicka ,  Shane Farritor ,  Dmitry Oleynikov

IPC: A61B34/30 ,  A61B18/14 ,  A61B18/08 ,  A61B17/00 ,  A61B18/00 ,  A61B18/12

Abstract: The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.

公开(公告)号：US10111711B2

公开(公告)日：2018-10-30

申请号：US14800423

申请日：2015-07-15

Applicant: Board of Regents of the University of Nebraska

Inventor： Shane Farritor ,  Tyler Wortman ,  Kyle Strabala ,  Ryan McCormick ,  Amy Lehman ,  Dmitry Oleynikov

IPC: G05B19/00 ,  A61B19/00 ,  B25J9/00 ,  B25J9/06 ,  A61B90/30 ,  A61B34/30 ,  A61B90/00

Abstract: The embodiments relate to various medical device components, including components that are incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

公开(公告)号：US20180153631A1

公开(公告)日：2018-06-07

申请号：US15888723

申请日：2018-02-05

Applicant: Board of Regents of the University of Nebraska

Inventor： Shane Farritor ,  Amy Lehman ,  Mark Rentschler ,  Nathan Wood ,  Jason Dumpert ,  Dmitry Oleynikov

IPC: A61B34/30 ,  A61B90/30 ,  A61B90/00 ,  B33Y80/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B90/30 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00283 ,  B33Y80/00

Abstract: The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

公开(公告)号：US09403281B2

公开(公告)日：2016-08-02

申请号：US14074078

申请日：2013-11-07

Applicant: Board of Regents of the University of Nebraska

Inventor： Shane M. Farritor ,  Dmitry Oleynikov ,  Stephen R. Platt ,  Mark Rentschler ,  Jason Dumpert ,  Adnan Hadzialic ,  Nathan A. Wood

IPC: B25J5/00 ,  B25J9/18 ,  B25J18/00 ,  A61B1/00 ,  A61B1/313 ,  A61B19/00 ,  A61B17/29 ,  A61B17/00 ,  A61M5/19 ,  A61M5/20

CPC classification number: A61B34/30 ,  A61B1/00156 ,  A61B1/00188 ,  A61B1/313 ,  A61B10/06 ,  A61B17/29 ,  A61B34/72 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00039 ,  A61B2017/00044 ,  A61B2017/00221 ,  A61B2017/00734 ,  A61B2017/2943 ,  A61B2034/302 ,  A61B2090/306 ,  A61M5/19 ,  A61M5/20 ,  A61M5/2066 ,  B25J18/00 ,  B33Y80/00 ,  Y10S901/02 ,  Y10S901/28 ,  Y10S901/30

Abstract: Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices has an arm. The arm can have two arm components coupled at a joint.

Abstract translation: 本文公开了各种机器人装置和相关医疗程序。 各种机器人装置中的每一个具有臂。 臂可以具有在关节处联接的两个臂组件。

公开(公告)号：US20160133158A1

公开(公告)日：2016-05-12

申请号：US14896166

申请日：2014-06-06

Applicant: The Board of Regents of The University of Nebraska

Inventor： Ka-Chun Sui ,  Carl Nelson ,  Mohsen Zahiri ,  Dmitry Oleynikov

IPC: G09B23/28

CPC classification number: G09B23/285

Abstract: The present disclosure is directed to a system and method for surgical training with low cost, reusable materials and a highly customizable virtual environment for skill-building. According to various embodiments, a surgical training tool is usable in conjunction with a support structure configured to at least partially constrain the tool movement. Meanwhile, the tool is tracked in real-time with off-tool detectors to generate a tool path driving a virtual rendering of the surgical training tool in an operative environment. The virtual rendering may be visually observable via a display device and may include a customizable and/or selectable operative environment with one or more structures that can be operated on by the virtual surgical training tool. By tracking the virtual tool interaction with the virtual structures, a task path may be established for documenting and/or objectively assessing the performance of one or more operative tasks.

Abstract translation: 本公开涉及一种用于外科训练的系统和方法，其具有低成本，可重复使用的材料和用于技能培养的高度可定制的虚拟环境。 根据各种实施例，外科手术训练工具可与配置成至少部分地限制工具运动的支撑结构一起使用。 同时，使用工具外检测器实时跟踪该工具，以产生在操作环境中驱动外科手术训练工具的虚拟呈现的工具路径。 虚拟渲染可以通过显示设备在视觉上可观察到，并且可以包括具有一个或多个可由虚拟外科手术训练工具操作的结构的可定制和/或可选择的操作环境。 通过跟踪与虚拟结构的虚拟工具交互，可以建立任务路径用于记录和/或客观地评估一个或多个操作任务的性能。

公开(公告)号：US11406458B2

公开(公告)日：2022-08-09

申请号：US16538902

申请日：2019-08-13

Applicant: Board of Regents of the University of Nebraska

Inventor： Tom Frederick ,  Eric Markvicka ,  Shane Farritor ,  Dmitry Oleynikov

IPC: A61B34/30 ,  A61B18/14 ,  B25J9/00 ,  B25J9/10 ,  B25J9/04 ,  A61B18/12 ,  A61B18/08 ,  A61B17/00 ,  A61B18/00

Abstract: The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.

公开(公告)号：US20210344554A1

公开(公告)日：2021-11-04

申请号：US17340669

申请日：2021-06-07

Applicant: Board of Regents of the University of Nebraska

Inventor： Shane Farritor ,  Tyler Wortman ,  Kyle Strabala ,  Ryan McCormick ,  Amy Lehman ,  Dmitry Oleynikov ,  Eric Markvicka

IPC: H04L12/24 ,  A61B90/30 ,  B25J9/00 ,  B25J9/06 ,  A61B34/30 ,  H04L12/26

Abstract: Various medical devices and related systems, including robotic and/or in vivo medical devices, and various robotic surgical devices for in vivo medical procedures. Included herein, for example, is a robotic surgical system having a support beam positionable through an incision, and a robotic device having a device body, first and second rotating shoulder components coupled to the device body, and first and second robotic arms coupled to the first and second shoulder components, respectively.

公开(公告)号：US10959790B2

公开(公告)日：2021-03-30

申请号：US16538913

申请日：2019-08-13

Applicant: Board of Regents of the University of Nebraska

Inventor： Shane Farritor ,  Amy Lehman ,  Mark Rentschler ,  Nathan Wood ,  Jason Dumpert ,  Dmitry Oleynikov

IPC: A61B34/30 ,  A61B90/30 ,  A61B90/00 ,  A61B17/00

Abstract: The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.