公开(公告)号：US11529205B2

公开(公告)日：2022-12-20

申请号：US15738482

申请日：2016-06-23

Applicant: The Regents of the University of California

Inventor： Stephen McKinley ,  Animesh Garg ,  Sachin Patil ,  Susan M. L. Lim ,  Ken Goldberg

IPC: A61B34/35 ,  A61M5/20 ,  A61B34/32 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30 ,  A61B10/02 ,  B25J9/16 ,  A61B17/3211

Abstract: According to some embodiments of the invention, a surgical robot includes a robot arm having an end effector, the end effector comprising a needle assembly. The surgical robot further includes a robot control system operatively connected to the robot arm, and an end effector control system operatively connected to the end effector. The robot control system provides control signals for operation of the robot arm to move the end effector to selected positions relative to a subject. The end effector control system is configured to provide signals for operation of the end effector to at least one of inject material through the needle assembly to a selected location within the subject's body or extract material through the needle assembly from the selected location within the subject's body.

公开(公告)号：US10286197B2

公开(公告)日：2019-05-14

申请号：US14907679

申请日：2014-07-28

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Jean Pouliot ,  Ken Goldberg ,  I-Chow Hsu ,  J. Adam M. Cunha ,  Animesh Garg ,  Sachin Patil ,  Pieter Abbeel ,  Timmy Siauw

IPC: A61M31/00 ,  A61B8/08 ,  A61B6/03 ,  A61N5/06 ,  A61N5/10 ,  A61N7/02 ,  A61B18/18 ,  A61B18/14 ,  A61B18/00 ,  A61B18/02 ,  B33Y10/00 ,  B33Y80/00 ,  A61B90/00 ,  A61F7/12 ,  B29K101/12 ,  B29L31/00 ,  B29C64/112 ,  B29C64/20

Abstract: The present invention offers an alternative for cancer treatment where radiation, thermotherapy, or another therapeutic modality must be delivered to an internal cavity of a subject, for example to treat mouth, anal, cervical, and vaginal cancers. The invention is a new approach that builds on recent results in 3D printing and steerable needle motion planning to create customized implants containing customized curvature-constrained internal channels that fit securely, minimize air gaps, and precisely guide treatment sources through internal printed channels to accurately reach tumors and minimize damage to healthy tissue.

公开(公告)号：US20190008103A1

公开(公告)日：2019-01-10

申请号：US15752474

申请日：2016-08-11

Applicant: The Regents of the University of California

Inventor： Ken Goldberg ,  Stefano Carpin ,  Stephen McKinley ,  Stavros Vougioukas ,  David Gealy

IPC: A01G25/16 ,  G01C21/00 ,  A01G25/02 ,  G05D1/02 ,  G06K7/10 ,  G05B19/10 ,  B25J11/00 ,  F16K47/04 ,  B25J5/00

Abstract: According to some embodiments of the invention, an adjusting device for adjusting a passive drip irrigation valve to enable precision irrigation includes a device body configured to be at least one of hand-held or attachable to a robot, the device body having a manipulator end, and a manipulator assembly contained within and extending from the manipulator end of the device body. The manipulator assembly includes a coarse alignment adjustment assembly constructed and arranged to align the adjusting device with the passive drip irrigation valve. The manipulator assembly also includes a fine actuator configured to rotate the passive drip irrigation valve by a specified angle.

公开(公告)号：US20180177558A1

公开(公告)日：2018-06-28

申请号：US15738482

申请日：2016-06-23

Applicant: The Regents of the University of California

Inventor： Stephen McKinley ,  Animesh Garg ,  Sachin Patil ,  Susan M. L. Lim ,  Ken Goldberg

IPC: A61B34/35 ,  A61B10/02 ,  A61M5/20 ,  A61B34/32 ,  A61B34/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B10/0233 ,  A61B17/3211 ,  A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B34/77 ,  A61B90/00 ,  A61B90/361 ,  A61B2010/0208 ,  A61M5/20 ,  A61M2205/50 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47

Abstract: According to some embodiments of the invention, a surgical robot includes a robot arm having an end effector, the end effector comprising a needle assembly. The surgical robot further includes a robot control system operatively connected to the robot arm, and an end effector control system operatively connected to the end effector. The robot control system provides control signals for operation of the robot arm to move the end effector to selected positions relative to a subject. The end effector control system is configured to provide signals for operation of the end effector to at least one of inject material through the needle assembly to a selected location within the subject's body or extract material through the needle assembly from the selected location within the subject's body.