公开(公告)号：US20190108770A1

公开(公告)日：2019-04-11

申请号：US16214873

申请日：2018-12-10

Applicant: Worcester Polytechnic Institute

Inventor： Gregory S. Fischer ,  Hao Su ,  Laurie Dickstein-Fischer ,  Kevin Harrington ,  Elizabeth V. Alexander

IPC: G09B19/00

Abstract: Methods and systems for observing/analyzing interactive behavior are presented. In one instance, the method for observing/analyzing interactive behavior includes interacting, using a robot, with a subject and obtaining data from interaction between the subject and the robot, the data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot includes data acquisition components, interaction inducing components (such as, but not limited to, movable eyelids, movable appendages, sound generating components), a control component operatively connected to the interaction inducing components and a processing component operatively connected to the control component and the data acquisition components, the processing component being configured to obtain data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot is integrated with a computer-aided system for diagnosis, monitoring, and therapy.

公开(公告)号：US12082979B2

公开(公告)日：2024-09-10

申请号：US17499600

申请日：2021-10-12

Applicant: Worcester Polytechnic Institute

Inventor： Gregory S. Fischer ,  Benjamin Piecuch ,  Dino Kasvikis ,  Perry A. Genova

IPC: A61B90/14 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B50/13 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B90/14 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00199 ,  A61B34/30 ,  A61B50/13 ,  A61B90/37 ,  A61B90/50

Abstract: A surgical head clamp and robotics platform secures a head of a patient and positions an instrument relative to the head for a medical procedure. The head clamp and robotics platform comprises a planar C-shaped frame for at least partially encircling the head of a patient. An instrument arm is mounted is to a free distal end of one arm member of the frame. The instrument arm extends away from the arm member in a direction transverse to the plane of the frame. The instrument arm includes a base mounted to the arm member for movement along three degrees of freedom relative to the frame, a proximal portion extending from and pivotally connected to the base, and a distal instrument holder extending from and pivotally connected to the proximal portion. The instrument arm functions to selectively position the instrument in an angular position relative to the head clamp.

公开(公告)号：US20220280755A1

公开(公告)日：2022-09-08

申请号：US17562785

申请日：2021-12-27

Applicant: Worcester Polytechnic Institute

Inventor： Gregory S. Fischer ,  Hao Su

IPC: A61M25/01 ,  A61M5/32 ,  A61M5/46 ,  A61B34/30 ,  A61B34/37

Abstract: A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. A method and system controls the needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.

公开(公告)号：US20180049826A1

公开(公告)日：2018-02-22

申请号：US15727266

申请日：2017-10-06

Applicant: WORCESTER POLYTECHNIC INSTITUTE ,  UNIVERSITY OF MASSACHUSETTS

Inventor： Gregory S. Fischer ,  Gregory A. Cole ,  Julie G. Pilitsis

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B2034/301 ,  A61B2090/374

Abstract: A system and method for image guided assisted medical procedures using modular units, such that a controller, under the direction of a computer and imaging device, can be utilized to drive and track low cost, purpose specific manipulators. The system utilizes modular actuators, self tracking, and linkages. The systems can be optimized at a low cost for most effectively performing surgical procedures, while reusing the more costly components of the system, e.g. the control, driving, and tracking systems. The system and method may utilize MRI real time guidance during the above procedures.