公开(公告)号：US20210205032A1

公开(公告)日：2021-07-08

申请号：US17054960

申请日：2019-05-16

申请人： University of Maryland, College Park ,  The Johns Hopkins University ,  Children's National Medical Center

发明人： Hamed Saeidi ,  Axel Krieger ,  Simon Leonard ,  Justin Opfermann

IPC分类号： A61B34/30 ,  A61B34/00 ,  A61B17/32 ,  A61B34/32 ,  B25J9/16

摘要： The present disclosure provides a system and method for controlling an articulating member including a tool. The method includes determining a first confidence indicator based on a manual control mode for the articulating member, determining a second confidence indicator based on an autonomous control mode for the articulating member, generating an allocation function based on the first confidence indicator and the second confidence indicator, and generating a control command for the articulating member based on the allocation function.

公开(公告)号：US20210077195A1

公开(公告)日：2021-03-18

申请号：US17098990

申请日：2020-11-16

申请人： University of Maryland, College Park ,  The Johns Hopkins University ,  Children's National Medical Center

发明人： Hamed Saeidi ,  Axel Krieger ,  Simon Leonard ,  Justin Opfermann ,  Michael Kam

IPC分类号： A61B34/10 ,  A61B18/14 ,  A61B34/00 ,  A61B90/00 ,  A61B34/32

摘要： The present disclosure provides a system and method for controlling an articulating member including a tool. The system may include a dual camera system that captures near-infrared (NIR) images and point cloud images of a tissue or other substance that includes NIR markers. The system may generate a three-dimensional (3D) path based on identified positions of the NIR markers, may filter the generated path, and may generate a 3D trajectory for controlling the articulated arm of a robot having a tool to create an incision along the filtered path. In a shared control mode, an operator may generate manually control commands for the robot to guide the tool along such a path, while automated control commands are generated in parallel. One or more allocation functions may be calculated based on calculated manual and automated error models, and shared control signals may be generated based on the allocation functions.

公开(公告)号：US10034960B2

公开(公告)日：2018-07-31

申请号：US14895617

申请日：2014-06-06

申请人： University of Maryland, College Park ,  Children's National Medical Center

发明人： John Patrick Fisher ,  Anthony Melchiorri ,  Narutoshi Hibino ,  Axel Krieger ,  John P. Costello ,  Carolyn Cochenour

IPC分类号： A61L27/16 ,  C08G63/91 ,  A61L27/22 ,  A61L27/26 ,  A61L27/50 ,  A61L27/54 ,  A61L27/58 ,  C08F267/06 ,  B33Y10/00 ,  B33Y70/00 ,  B33Y80/00

CPC分类号： A61L27/16 ,  A61L27/22 ,  A61L27/26 ,  A61L27/507 ,  A61L27/54 ,  A61L27/58 ,  A61L2300/252 ,  A61L2300/256 ,  A61L2300/414 ,  A61L2430/20 ,  B33Y10/00 ,  B33Y70/00 ,  B33Y80/00 ,  C08F267/06 ,  C08G63/918 ,  C08K5/04 ,  C08L67/06 ,  C08K5/092 ,  C08K5/5397 ,  C08K5/132

摘要： A composition including PPF or a PPF copolymer that can be used to fabricate biodegradable structures. The composition can be used in 3-D patterning (e.g., 3-D printing and sterolighography) methods. For example, 3-D patternable compositions include PPF or a PPF copolymer, a photoinitiator or photoinitiators, and a resolution control inhibitor or inhibitors. The compositions can be used to make biodegradable structures (such as cardivascular scaffolds). The biodegradable structures can be surface functionalized. The biodegradable structures can be used in methods of blood delivery in an individual.

公开(公告)号：US10895020B2

公开(公告)日：2021-01-19

申请号：US15755149

申请日：2016-08-26

申请人： CHILDREN'S NATIONAL MEDICAL CENTER ,  RESEARCH INSTITUTE AT NATIONWIDE CHILDREN'S HOSPITAL ,  NANOFIBER SOLUTIONS LLC

发明人： Axel Krieger ,  Narutoshi Hibino ,  Jed Johnson ,  Justin Opfermann ,  Carolyn Cochenour Dorgan ,  Christopher K. Breuer

IPC分类号： B29C33/44 ,  B29C33/48 ,  B29C33/52 ,  D01D5/00 ,  A61F2/06 ,  B29C64/106 ,  B29C64/112 ,  B29C33/38 ,  B33Y50/00 ,  B33Y80/00 ,  B29C64/386 ,  B29L31/00 ,  B33Y10/00 ,  A61B34/10

摘要： A method for generating a electro spun fiber medical implant including determining dimensions of a portion of anatomy of a patient corresponding to the electro spun fiber medical implant via medical imaging, generating a model of the portion of the anatomy based on the dimensions, the model including one or more solid areas and one or more void areas encompassed within the one or more solid areas, inverting the model to generate a mandrel model, the mandrel model generated based on the one or more void areas, generating the mandrel based on the mandrel model, the mandrel including at least one electrically conductive material therein, and applying an electro-spinning process to the mandrel to generate the electro spun fiber medical implant which circumscribes the mandrel, wherein the mandrel is removable from within the electro spun fiber medical implant after a disassembly process.

公开(公告)号：US20130274596A1

公开(公告)日：2013-10-17

申请号：US13863954

申请日：2013-04-16

申请人： CHILDREN'S NATIONAL MEDICAL CENTER

发明人： Mahdi AZIZIAN ,  Peter C.W. Kim ,  Axel Krieger ,  Simon Leonard ,  Azad Shademan

IPC分类号： A61B5/00 ,  A61M31/00 ,  A61B19/00 ,  A61B5/06 ,  A61M5/00

CPC分类号： A61B5/0071 ,  A61B5/0075 ,  A61B5/061 ,  A61B5/4836 ,  A61B5/7405 ,  A61B5/7425 ,  A61B5/7455 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/3941 ,  A61B2090/395 ,  A61M5/007 ,  A61M31/005

摘要： System and method for tracking and control in medical procedures. The system including a device that deploys fluorescent material on at least one of an organ under surgery and a surgical tool, a visual light source, a fluorescent light source corresponding to an excitation wavelength of the fluorescent material, an image acquisition and control element that controls the visual light source and the fluorescent light source, and captures and digitizes at least one of resulting visual images and fluorescent images, and an image-based tracking module that applies image processing to the visual and fluorescent images, the image processing detecting fluorescent markers on at least one of the organ and the surgical tool.

摘要翻译： 用于医疗程序跟踪和控制的系统和方法。 该系统包括在手术器官和手术工具中的至少一个上展开荧光材料的装置，视觉光源，对应于荧光材料的激发波长的荧光光源，控制的图像获取和控制元件 视觉光源和荧光光源，并且捕获并数字化所得到的视觉图像和荧光图像中的至少一个，以及将图像处理应用于视觉和荧光图像的基于图像的跟踪模块，图像处理检测荧光标记 至少一个器官和手术工具。

公开(公告)号：US11135028B2

公开(公告)日：2021-10-05

申请号：US15771689

申请日：2016-10-31

申请人： CHILDREN'S NATIONAL MEDICAL CENTER

发明人： Peter C. Kim ,  Justin D. Opfermann ,  Axel Krieger

IPC分类号： A61B34/37 ,  B25J9/14 ,  B25J15/10 ,  B25J15/12 ,  A61B17/02 ,  A61B17/28 ,  A61B34/00 ,  A61B90/00 ,  A61B17/29 ,  A61B17/32 ,  A61B17/00 ,  A61B1/313

摘要： A method is provided for making an appendage of a soft surgical tool, including: receiving a set of mechanical constraints for a surgical procedure; calculating a set of articulation states based on the set of mechanical constraints; generating a plurality of print commands for printing an appendage configured to form the set of articulation states based on the calculation; and printing an appendage based on the plurality of print commands. Multiple printed appendages can be formed into an orienting assembly.

公开(公告)号：US10675040B2

公开(公告)日：2020-06-09

申请号：US14939776

申请日：2015-11-12

申请人： Children's National Medical Center

发明人： Peter C Kim ,  Axel Krieger ,  Yonjae Kim ,  Azad Shademan ,  Simon Leonard

IPC分类号： A61B17/128 ,  A61B17/04 ,  A61B17/064 ,  A61B34/30 ,  A61B34/32 ,  G16H20/40 ,  A61B34/00 ,  A61B17/11 ,  A61B34/10 ,  A61B90/00 ,  A61B34/20

摘要： Described herein are an apparatus and methods for automating subtasks in surgery and interventional medical procedures. The apparatus consists of a robotic positioning platform, an operating system with automation programs, and end-effector tools to carry out a task under supervised autonomy. The operating system executes an automation program, based on one or a fusion of two or more imaging modalities, guides real-time tracking of mobile and deformable targets in unstructured environment while the end-effector tools execute surgical interventional subtasks that require precision, accuracy, maneuverability and repetition. The apparatus and methods make these medical procedures more efficient and effective allowing a wider access and more standardized outcomes and improved safety.

公开(公告)号：US10398519B2

公开(公告)日：2019-09-03

申请号：US15706532

申请日：2017-09-15

申请人： Children's National Medical Center

发明人： Peter C. W. Kim ,  Yonjae Kim ,  Peng Cheng ,  Axel Krieger ,  Justin Opfermann ,  Ryan Decker

IPC分类号： A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B34/20 ,  A61B90/18 ,  A61B18/14 ,  A61B90/00

摘要： The present disclosure describes a method and system for performing robot-assisted surgical procedures. The system includes a robotic arm system assembly, an end effector assembly, and a hybrid control mechanism for robotic surgery. The robotic arm is a lightweight, bedside robot with a large range of motion, which can be easily manipulated to position endoscope and surgical instruments. The control console is mounted at the distal end of the robotic arm to enable robotic arm to follow operators arm movement, provide physical support, filter out hand tremor, and constrain motion. A universal adapter is also described as an interface to connect traditional laparoscopic tools to the robotic arm.

公开(公告)号：US20150025666A1

公开(公告)日：2015-01-22

申请号：US14333234

申请日：2014-07-16

申请人： Children's National Medical Center

发明人： Laura Olivieri ,  Axel Krieger ,  Craig Sable ,  Peter Kim ,  Xin Kang ,  Dilip Nath ,  Yue-Hin Loke ,  Carolyn T. Cochenour

IPC分类号： B29C67/00 ,  G06F17/50

CPC分类号： G06F17/50 ,  B33Y50/00

摘要： A system and method of creating a 3-dimensional (3D) replica of a patient's anatomy. The method includes acquiring 3D echo images of the patient's anatomy using ultrasound waves, selecting a filter that reduces noise in the 3D echo images, selecting a segmentation algorithm to segment the filtered 3D echo images, selecting at least one additional segmentation algorithm to subsequently segment the segmented 3D echo images, creating a 3D digital model, and outputting the 3D digital model as the 3D replica of the patient's anatomy. The method also includes acquiring other 3D images using MRI/CT scans, creating another 3D digital model, determining a scaling factor to scale the other 3D digital model to correspond to a size of the 3D digital model created using ultrasound waves, combining the 3D digital model and the other 3D digital model, and outputting the combined 3D digital models.

摘要翻译： 创建患者解剖结构的三维（3D）复本的系统和方法。 该方法包括使用超声波获取患者解剖结构的3D回波图像，选择降低3D回波图像中的噪声的滤波器，选择分割算法来分割滤波的3D回波图像，选择至少一个附加分割算法以随后分割 分割的3D回波图像，创建3D数字模型，并输出3D数字模型作为患者解剖结构的3D复本。 该方法还包括使用MRI / CT扫描获取其他3D图像，创建另一3D数字模型，确定缩放因子以缩放其他3D数字模型以对应于使用超声波创建的3D数字模型的尺寸，将3D数字 模型和其他3D数字模型，并输出组合的3D数字模型。

公开(公告)号：US10925474B2

公开(公告)日：2021-02-23

申请号：US14625350

申请日：2015-02-18

申请人： CHILDREN'S NATIONAL MEDICAL CENTER

发明人： Charles Berul ,  Justin Opfermann ,  Axel Krieger ,  Peter Kim ,  Tanya Davis ,  Bradley Clark

IPC分类号： A61B1/05 ,  A61B1/018 ,  A61B5/00 ,  A61N1/05 ,  A61B1/00 ,  A61B1/313

摘要： The present disclosure is a device and method associated with the delivery of medical devices in the pericardial space using a minimally invasive approach with direct visualization. More specifically, the device can be used to deliver permanent pacing, defibrillation and cardiac resynchronization leads, as well as leadless pacemakers for cardiac rhythm management to the epicardial surface of the heart. A subxiphoid procedure is proposed as a minimally invasive alternative to thoracotomy, while the delivery tool incorporates a camera for direct visualization of the procedure. The tool also incorporates a steerable catheter to provide selective control of the placement and orientation of the medical device in the pericardial space.