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公开(公告)号：US12011246B2
公开(公告)日：2024-06-18
申请号：US18075859
申请日：2022-12-06
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Aaron Gunn , Philip Weissbrod , Michael Yip
CPC classification number: A61B34/71 , A61B34/35 , A61M25/0026 , A61B2018/00541 , A61B2018/00577 , A61B18/24 , A61B2034/301 , A61B2034/742 , A61B34/76
Abstract: A multicatheter subsystem is provided for a steerable catheter robotic system. The subsystem includes a flexible output sheath, a plurality of flexible multi-lumen assemblies and a plurality of robotic instruments for performing a surgical procedure. The plurality of flexible multi-lumen assemblies extends through the outer sheath. Each of the multi-lumen assemblies has a proximal end and a distal end. Each of the robotic instruments is operatively and removably attachable to the distal end of one of the multi-lumen assemblies such that each instrument is teleoperable independently of every other robotic instrument. At least a first of the robotic instruments includes a plurality of interconnected articulating segments. Each of the articulating segments is operatively and removably attachable to a different one of the multi-lumen assemblies.
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2.发明申请公开(公告)号：US20220378524A1
公开(公告)日：2022-12-01
申请号：US17744390
申请日：2022-05-13
Applicant: The Regents of the University of California
Inventor： Dimitrious A. Schreiber , Michael Yip
Abstract: A surgical robotic platform operates within a constrained space of an imaging scanner in which a patient resides. The platform includes a gross positioning stage configured to be located outside of the constrained space An end-effector having a rotatable shaft is extendable from the gross positioning stage and into the constrained space of the imaging scanner. The shaft has a proximal end operatively coupled to the positioning stage outside of the constrained space and a distal end configured to be located in the constrained space. The distal end has a medical instrument gripper for holding a medical instrument used in a percutaneous procedure. The end-effector further includes a joint arrangement operatively coupling the shaft to the medical gripper for providing motion to the medical instrument gripper for enabling position and/or orientation control of the medical instrument. A drive module controls the joint arrangement.
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公开(公告)号：US12150730B2
公开(公告)日：2024-11-26
申请号：US17307649
申请日：2021-05-04
Applicant: The Regents of the University of California
Inventor： Michael Yip , Phillip Weissbrod
IPC: A61B1/00 , A61B1/005 , A61B1/018 , A61B1/05 , A61B34/00 , A61B34/35 , A61B17/00 , A61B34/30 , A61M25/00 , A61M25/01
Abstract: A handheld, steerable catheter robotic system includes a catheter having a flexible outer sheath, at least one flexible multi-lumen assembly and a robotic instrument for performing a surgical procedure. The catheter is removably insertable into an instrument channel of an endoscope. The flexible multi-lumen assembly extends through the outer sheath. The robotic instrument is operatively and removably attachable to a distal end of the multi-lumen assembly such that the robotic instrument is teleoperable. The catheter robotic system also includes a handle operatively and removably attachable to a proximal end of the catheter. The handle is configured for hand-held operation and includes a joystick for steering the robotic instrument.
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公开(公告)号：US11547509B2
公开(公告)日：2023-01-10
申请号：US16620007
申请日：2018-06-06
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Aaron Gunn , Philip Weissbrod , Michael Yip
Abstract: A multicatheter subsystem is provided for a steerable catheter robotic system. The subsystem includes a flexible output sheath, a plurality of flexible multi-lumen assemblies and a plurality of robotic instruments for performing a surgical procedure. The plurality of flexible multi-lumen assemblies extends through the outer sheath. Each of the multi-lumen assemblies has a proximal end and a distal end. Each of the robotic instruments is operatively and removably attachable to the distal end of one of the multi-lumen assemblies such that each instrument is teleoperable independently of every other robotic instrument. At least a first of the robotic instruments includes a plurality of interconnected articulating segments. Each of the articulating segments is operatively and removably attachable to a different one of the multi-lumen assemblies.
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公开(公告)号：US11504194B2
公开(公告)日：2022-11-22
申请号：US16468804
申请日：2017-12-13
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Michael Yip , Jun Zhang , Alex Tran , Winnie Kuang
Abstract: Systems and methods according to present principles provide for three axis force sensing in a convenient and manufacturable way. In one implementation, a vibrating motor is attached at the fixed end of an anisotropic structure, such as a rod, which then vibrates in a circular motion. A monitor such as a 3-axis accelerometer is also attached to the anisotropic structure. The resulting motion is then mapped electronically for analysis. With no force applied, a circular motion is achieved. When a net force is applied to the free, vibrating end of the rod, the circular pattern which is traced out becomes distorted, e.g., progressively flattened into an ellipse, in a repeatable way which is directly proportional to the applied force. The axis of the applied force can be ascertained according to the direction in which the ellipse forms. Systems and methods according to present principles may be used in any application in which force sensing is needed, e.g., robotics, including robotic surgery.
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Patent Agency Ranking
公开(公告)号：US20210401372A1
公开(公告)日：2021-12-30
申请号：US17472734
申请日：2021-09-13
Applicant: The Regents of the University of California
Inventor： Harinath Garudadri , Andrew Skalsky , Tse Nga Ng , Michael Yip , Leanne Chukoskie
Abstract: A hypertonicity measuring device comprises at least one wearable item. The hypertonicity measuring device comprises at least one communication pathway. The at least one communication pathway is configured to communicate with a processing device. The hypertonicity measuring device comprises a sensor array. The sensor array is disposed to the at least one wearable item. The sensor array comprises a plurality of capacitive pressure sensors. The sensor array is configured to communicate capacitive pressure sensor data to the processing device employing the at least one communication pathway. The plurality of capacitive pressure sensors comprises at least one structured dielectric. The hypertonicity measuring device comprises an inertial measurement unit. The inertial measurement unit is disposed to the at least one wearable item. The inertial measurement unit is configured to communicate motion data to the processing device employing the at least one communication pathway.
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公开(公告)号：US11123013B2
公开(公告)日：2021-09-21
申请号：US15807380
申请日：2017-11-08
Applicant: The Regents of the University of California
Inventor： Harinath Garudadri , Andrew Skalsky , Tse Nga Ng , Michael Yip , Leanne Chukoskie
Abstract: A hypertonicity measuring device comprises at least one wearable item. The hypertonicity measuring device comprises at least one communication pathway. The at least one communication pathway is configured to communicate with a processing device. The hypertonicity measuring device comprises a sensor array. The sensor array is disposed to the at least one wearable item. The sensor array comprises a plurality of capacitive pressure sensors. The sensor array is configured to communicate capacitive pressure sensor data to the processing device employing the at least one communication pathway. The plurality of capacitive pressure sensors comprises at least one structured dielectric. The hypertonicity measuring device comprises an inertial measurement unit. The inertial measurement unit is disposed to the at least one wearable item. The inertial measurement unit is configured to communicate motion data to the processing device employing the at least one communication pathway.
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公开(公告)号：US20230360336A1
公开(公告)日：2023-11-09
申请号：US17980438
申请日：2022-11-03
Applicant: Konrad Davis , THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Nadir Weibel , Michael Yip , Danilo Gasques Rodrigues , Thomas Sharkey , Janet Johnson , Konrad Davis
CPC classification number: G06T19/006 , A61B90/361 , A61B90/37 , G06T13/40 , G06F3/014
Abstract: Embodiments of the presently disclosed technology enable skilled surgeons and novices to share the same virtual space. Expert surgeons in remote sites can use Virtual Reality to access a 3D reconstruction of a patient's body and can instruct novice surgeons on complex procedures as if they were together in the operating room. Novice surgeons in the field can focus on saving the patient's life while being guided through an intuitive Augmented Reality interface.
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公开(公告)号：US20210338355A1
公开(公告)日：2021-11-04
申请号：US17307649
申请日：2021-05-04
Applicant: The Regents of the University of California
Inventor： Michael Yip , Phil Weissbrod
Abstract: A handheld, steerable catheter robotic system includes a catheter having a flexible outer sheath, at least one flexible multi-lumen assembly and a robotic instrument for performing a surgical procedure. The catheter is removably insertable into an instrument channel of an endoscope. The flexible multi-lumen assembly extends through the outer sheath. The robotic instrument is operatively and removably attachable to a distal end of the multi-lumen assembly such that the robotic instrument is teleoperable. The catheter robotic system also includes a handle operatively and removably attachable to a proximal end of the catheter. The handle is configured for hand-held operation and includes a joystick for steering the robotic instrument.
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公开(公告)号：US20200281666A1
公开(公告)日：2020-09-10
申请号：US16652968
申请日：2018-10-02
Applicant: The Regents of the University of California
Inventor： Aaron Gunn , Michael Yip , Philip WEISSBROD
Abstract: A surgical arrangement includes an endoscope having an insertion tube with an imaging system disposed on its distal end and at least one instrument channel extending therethrough. A catheter subsystem of a steerable catheter robotic system is removably insertable into the instrument channel. The catheter subsystem includes a flexible outer sheath having a proximal end and a distal end. At least one flexible multi-lumen assembly extends through the outer sheath. The multi-lumen assembly has a proximal end and a distal end. A robotic instrument for performing a surgical procedure is operatively and removably attachable to the distal end of the multi-lumen assembly such that the robotic instrument is teleoperable
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