Patents by Inventor Christian Di Natali
Christian Di Natali has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10758111Abstract: Systems and methods are provided for controlling lateral movement of a medical capsule system. A capsule housing is configured to be inserted into an anatomical structure of a patient. The multichannel tether is coupled to a rear of the capsule and includes at least one liquid exhaust channel conveying liquid to the capsule housing. The plurality of liquid exhaust ports are positioned around an outer circumference of the capsule housing and each configured to controllably expel liquid laterally from the capsule housing at varying rates to affect lateral movement of the capsule housing.Type: GrantFiled: September 9, 2015Date of Patent: September 1, 2020Assignee: Vanderbilt UniversityInventors: Pietro Valdastri, Keith Obstein, Robert Caprara, Christopher Lyne, Federico Campisano, Gabrielmaria Scozzarro, Alexander Vartanian, William Jones, Christian Di Natali, Marco Beccani, Erdem Erdemir, Douglas R. Morgan
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Patent number: 10485409Abstract: Systems and methods are described for determining an orientation and position of a capsule inserted into the body of a patient. A magnetic field is applied to an area of the patient where the capsule is located. Sensor data, including inertial data from an inertial sensor and magnetic field data indicative of the applied magnetic field as detected by at least one magnetic field sensor, is wirelessly received from the capsule. An orientation angle of the capsule is determined based at least in part on the inertial data. The magnetic field data is compared to known characteristics of the applied magnetic field and a location of the capsule is determined based on the comparison.Type: GrantFiled: January 17, 2014Date of Patent: November 26, 2019Assignee: Vanderbilt UniversityInventors: Christian Di Natali, Marco Beccani, Pietro Valdastri, Keith L. Obstein
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Patent number: 9826904Abstract: A system and method for detecting a tissue property. The system comprises a first unit positioned outside a patient body and a second unit positioned inside the patient's body. The first unit includes a first housing, and a magnetic field source supported by the first housing. The second unit includes a second housing, a pressure sensor supported by the second housing, a localization module supported by the second housing, a controller, and a power source. The pressure sensor is configured to detect an indentation force applied to the tissue, and the second unit is configured to wirelessly transmit the indentation force data and localization data to a computer to generate a volumetric stiffness map for the tissue.Type: GrantFiled: March 20, 2014Date of Patent: November 28, 2017Assignee: Vanderbilt UniversityInventors: Pietro Valdastri, Marco Beccani, Christian Di Natali
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Publication number: 20170245741Abstract: Systems and methods are provided for controlling lateral movement of a medical capsule system. A capsule housing is configured to be inserted into an anatomical structure of a patient. The multichannel tether is coupled to a rear of the capsule and includes at least one liquid exhaust channel conveying liquid to the capsule housing. The plurality of liquid exhaust ports are positioned around an outer circumference of the capsule housing and each configured to controllably expel liquid laterally from the capsule housing at varying rates to affect lateral movement of the capsule housing.Type: ApplicationFiled: September 9, 2015Publication date: August 31, 2017Inventors: Pietro Valdastri, Keith Obstein, Robert Caprara, Christopher Lyne, Federico Campisano, Gabrielmaria Scozzarro, Alexander Vartanian, William Jones, Christian Di Natali, Marco Beccani, Erdem Erdemir
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Patent number: 9737364Abstract: A method of actuating a surgical device is described. A surgical tool is inserted into a body cavity of a patient through a natural orifice. A distal end of an actuation tool is inserted through a surgical access port in the body of the patient. The distal end of the actuation tool is positioned proximal to an external wall of the body cavity opposite the surgical tool. A magnetic coupling is established between the distal end of the actuation tool and the surgical tool. When the magnetic coupling is established, distal end of the actuation tool is located at the external wall of the body cavity and the surgical tool is located at the internal wall of the body cavity. The surgical tool is manipulated using the actuation tool through the magnetic coupling.Type: GrantFiled: May 14, 2013Date of Patent: August 22, 2017Assignee: Vanderbilt UniversityInventors: Pietro Valdastri, Alan J. Herline, Christian Di Natali
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Patent number: 9579163Abstract: Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans-abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.Type: GrantFiled: May 31, 2012Date of Patent: February 28, 2017Inventors: Pietro Valdastri, Christian Di Natali, Massimiliano Simi, Tommaso Ranzani, Arianna Menciassi, Paolo Dario
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Publication number: 20150342501Abstract: Systems and methods are described for determining an orientation and position of a capsule inserted into the body of a patient. A magnetic field is applied to an area of the patient where the capsule is located. Sensor data, including inertial data from an inertial sensor and magnetic field data indicative of the applied magnetic field as detected by at least one magnetic field sensor, is wirelessly received from the capsule. An orientation angle of the capsule is determined based at least in part on the inertial data. The magnetic field data is compared to known characteristics of the applied magnetic field and a location of the capsule is determined based on the comparison.Type: ApplicationFiled: January 17, 2014Publication date: December 3, 2015Applicant: Vanderbilt UniversityInventors: Christian Di Natali, Marco Beccani, Pietro Valdastri, Keith L. Obstein
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Publication number: 20140358162Abstract: Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans-abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.Type: ApplicationFiled: May 31, 2012Publication date: December 4, 2014Applicant: VANDERBILT UNIVERSITYInventors: Pietro Valdastri, Christian Di Natali, Massimiliano Simi, Tommaso Ranzani, Arianna Menciassi, Paolo Dario
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Publication number: 20140206953Abstract: A system and method for detecting a tissue property. The system comprises a first unit positioned outside a patient body and a second unit positioned inside the patient's body. The first unit includes a first housing, and a magnetic field source supported by the first housing. The second unit includes a second housing, a pressure sensor supported by the second housing, a localization module supported by the second housing, a controller, and a power source. The pressure sensor is configured to detect an indentation force applied to the tissue, and the second unit is configured to wirelessly transmit the indentation force data and localization data to a computer to generate a volumetric stiffness map for the tissue.Type: ApplicationFiled: March 20, 2014Publication date: July 24, 2014Applicant: Vanderbilt UniversityInventors: Pietro Valdastri, Marco Beccani, Christian Di Natali
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Publication number: 20140081120Abstract: A system and method of detecting and assessing a tissue surface property without a separate access port to internal anatomical structures. The system includes a first unit positioned outside the patient's body and a second unit positioned inside the patient's body. The first unit includes a magnetic field source and a force sensor and is positioned outside the patient's body in a position that enables magnetic coupling with the second unit, which is inside the patient's body. The second unit includes a magnetic field source, a processor, a sensor, a telemetry unit, a power source, and an optional actuator or other components. The resulting attractive force between the internal and external magnetic field sources can be perceived by the force sensor of the first unit. By varying the distance between the two units, the attractive force triggers a variable stress on the tissue surrounding the second unit in the direction of the magnetic field source in the first unit.Type: ApplicationFiled: September 16, 2013Publication date: March 20, 2014Applicant: Vanderbilt UniversityInventors: Pietro Valdastri, Marco Beccani, Christian Di Natali
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Publication number: 20130298715Abstract: A method of actuating a surgical device is described. A surgical tool is inserted into a body cavity of a patient through a natural orifice. A distal end of an actuation tool is inserted through a surgical access port in the body of the patient. The distal end of the actuation tool is positioned proximal to an external wall of the body cavity opposite the surgical tool. A magnetic coupling is established between the distal end of the actuation tool and the surgical tool. When the magnetic coupling is established, distal end of the actuation tool is located at the external wall of the body cavity and the surgical tool is located at the internal wall of the body cavity. The surgical tool is manipulated using the actuation tool through the magnetic coupling.Type: ApplicationFiled: May 14, 2013Publication date: November 14, 2013Inventors: Pietro Valdastri, Alan J. Herline, Christian Di Natali