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公开(公告)号：US20240423748A1
公开(公告)日：2024-12-26
申请号：US18827256
申请日：2024-09-06
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Benjamin Piecuch , Dino Kasvikis , Perry A. Genova
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.
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公开(公告)号：US20220031420A1
公开(公告)日：2022-02-03
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
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.
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公开(公告)号：US11207500B2
公开(公告)日：2021-12-28
申请号：US16107184
申请日：2018-08-21
Applicant: WORCESTER POLYTECHNIC INSTITUTE
Inventor： Gregory S. Fischer , Hao Su
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.
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公开(公告)号：US20240130808A1
公开(公告)日：2024-04-25
申请号：US18400038
申请日：2023-12-29
Inventor： Gregory S. Fischer , Gregory A. Cole , Julie G. Pilitsis
IPC: A61B34/30
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.
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公开(公告)号：US11602266B2
公开(公告)日：2023-03-14
申请号：US16817280
申请日：2020-03-12
Applicant: Worcester Polytechnic Institute
Inventor： Loris Fichera , Kevin O'Brien , Zachary R. Boyer , Cory T. Brolliar , Benjamin G. Mart , Gregory S. Fischer , Kenneth Stafford , Thomas Carroll , Karim A. Tarabein
Abstract: An articulating, steerable surgical probe includes an elongated, flexible transfer tube adapted for insertion into a surgical region for endoscopic laryngeal laser surgery. A lumen is defined by an interior of the transfer tube, and a laser fiber extends through the lumen for delivering a therapeutic laser signal to a distal end of the laser fiber. An articulating tip at the distal end of the transfer tube is responsive to articulating forces from a retractable tether for directing the treatment probe in a direction of the articulation, and a linkage to the tether from a control module effects controlled retraction of the tether for articulating the tip towards a surgical target, such that the articulating tip imposing a bend radius based on a signal loss through the laser fiber.
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Patent Agency Ranking
公开(公告)号：US20210093304A1
公开(公告)日：2021-04-01
申请号：US16870414
申请日：2020-05-08
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Hao Su
Abstract: A system for MRI-guided interventional needle procedures comprises a master device providing haptic feedback to and receiving position commands from the operator, a robot controller receiving position commands and providing force information to said master device, a navigation component receiving images from an MRI scanner; said navigation component providing trajectory planning information to said robot controller, a slave robot driving a needle, the slave robot receiving control information from the robot controller, and a fiber optic sensor operatively connected to said slave robot. The fiber optic sensor provides data to the robot controller to provide force information to the master device. The master device, robot controller, navigation component, slave robot and sensor are compatible with an MRI environment and operate inside an MRI scanner room.
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公开(公告)号：US10052458B2
公开(公告)日：2018-08-21
申请号：US14056205
申请日：2013-10-17
Applicant: WORCESTER POLYTECHNIC INSTITUTE
Inventor： Gregory S. Fischer , Hao Su
CPC classification number: A61M25/0152 , A61B34/30 , A61B34/37 , A61B34/76 , A61B2034/301 , A61B2034/302 , A61M5/3287 , A61M5/46 , A61M25/0116 , A61M2005/3289 , A61M2205/50
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. The present teaching describes a method and system for controlling 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.
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公开(公告)号：US20240090881A1
公开(公告)日：2024-03-21
申请号：US18519758
申请日：2023-11-27
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Hao Su
CPC classification number: A61B10/0241 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/11 , A61B2090/064
Abstract: A system for MRI-guided interventional needle procedures comprises a master device providing haptic feedback to and receiving position commands from the operator, a robot controller receiving position commands and providing force information to said master device, a navigation component receiving images from an MRI scanner; said navigation component providing trajectory planning information to said robot controller, a slave robot driving a needle, the slave robot receiving control information from the robot controller, and a fiber optic sensor operatively connected to said slave robot. The fiber optic sensor provides data to the robot controller to provide force information to the master device. The master device, robot controller, navigation component, slave robot and sensor are compatible with an MRI environment and operate inside an MRI scanner room.
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公开(公告)号：US20200289201A1
公开(公告)日：2020-09-17
申请号：US16817280
申请日：2020-03-12
Applicant: Worcester Polytechnic Institute
Inventor： Loris Fichera , Kevin O'Brien , Zachary R. Boyer , Cory T. Brolliar , Benjamin G. Mart , Gregory S. Fischer , Kenneth Stafford , Thomas Carroll
Abstract: An articulating, steerable surgical probe includes an elongated, flexible transfer tube adapted for insertion into a surgical region for endoscopic laryngeal laser surgery. A lumen is defined by an interior of the transfer tube, and a laser fiber extends through the lumen for delivering a therapeutic laser signal to a distal end of the laser fiber. An articulating tip at the distal end of the transfer tube is responsive to articulating forces from a retractable tether for directing the treatment probe in a direction of the articulation, and a linkage to the tether from a control module effects controlled retraction of the tether for articulating the tip towards a surgical target, such that the articulating tip imposing a bend radius based on a signal loss through the laser fiber.
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公开(公告)号：US20190223972A1
公开(公告)日：2019-07-25
申请号：US16253891
申请日：2019-01-22
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Benjamin Piecuch , Dino Kasvikis , Perry A. Genova
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 min 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.
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