Patents by Inventor Louis L. Whitcomb
Louis L. Whitcomb 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: 9968280Abstract: A method for tracking movement of a movable portion of an interventional device disposed within a natural or artificial body opening is provided. In particular, image data of fiducials is acquired and therefrom an initial position of an interventional device movable portion with respect to a given coordinate system is determined. Next, real time position data from the encoders is acquired as the movable portion is moved from the initial position, and a displaced position from the initial position is determined. From this acquired information, a position of the movable portion in the coordinate system is determined using both the initial position as determined from the image data and the real time displaced position as determined from the encoders.Type: GrantFiled: July 23, 2013Date of Patent: May 15, 2018Assignee: The Johns Hopkins UniversityInventors: Louis L. Whitcomb, Axel Krieger, Robert C. Susil, Gabor Fichtinger, Ergin Atalar, Iulian I. Iordachita
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Patent number: 9588195Abstract: The end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.Type: GrantFiled: March 7, 2014Date of Patent: March 7, 2017Assignee: The Johns Hopkins UniversityInventors: Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb, Robert C. Susil, Axel Krieger, Attila Tanacs
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Patent number: 9417091Abstract: A system and method for determining errors and calibrating to correct errors associated with field sensors, including bias, scale, and orthogonality, includes receiving and providing to a processor angular rate data and a first field vector relative to a first reference directional field and a second field vector relative to a second reference field from at least one field sensor. The processor is configured to relate the first field vector and the second field vector to the angular rate data to determine an error of the at least one field sensor. The processor is also configured to identify a compensation for the error of the at lease one field sensor needed to correct the first field vector and the second field vector and repeat the preceding to identify changes in the error over time and compensate for the changes in the error over time.Type: GrantFiled: May 13, 2013Date of Patent: August 16, 2016Assignee: The Johns Hopkins UniversityInventors: Giancarlo Troni-Peralta, Louis L. Whitcomb
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Publication number: 20140336970Abstract: A system and method for determining errors and calibrating to correct errors associated with field sensors, including bias, scale, and orthogonality, includes receiving and providing to a processor angular rate data and a first field vector relative to a first reference directional field and a second field vector relative to a second reference field from at least one field sensor. The processor is configured to relate the first field vector and the second field vector to the angular rate data to determine an error of the at least one field sensor. The processor is also configured to identify a compensation for the error of the at lease one field sensor needed to correct the first field vector and the second field vector and repeat the preceding to identify changes in the error over time and compensate for the changes in the error over time.Type: ApplicationFiled: May 13, 2013Publication date: November 13, 2014Inventors: Giancarlo Troni-Peralta, Louis L. Whitcomb
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Publication number: 20140187913Abstract: The end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.Type: ApplicationFiled: March 7, 2014Publication date: July 3, 2014Applicant: THE JOHNS HOPKINS UNIVERSITYInventors: Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb, Robert C. Susil, Axel Krieger, Attila Tanacs
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Patent number: 8706186Abstract: The end-effector (150) includes a sheath (152) and a medical device or needle carrier (154) that is disposed within the interior compartment (160) of the sheath. Aperture (162) is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.Type: GrantFiled: July 11, 2012Date of Patent: April 22, 2014Assignee: The Johns Hopkins UniversityInventors: Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb, Robert Charles Susil, Axel Krieger, Attila Tanacs
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Publication number: 20140039298Abstract: A device, system, and method for entering a medical device such as a needle into the body inside a medical imager such as a MRI scanner, CT, X-ray fluoroscopy, and ultrasound imaging, from within a body cavity (such as the rectum, vagina, or laparoscopically accessed cavity). A three degree-of-freedom mechanical device translates and rotates inside the cavity and enters a needle into the body, and steers the needle to a target point selected by the user. The device is guided by real-time images from the medical imager. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated within the imager, outside of the imager or remotely from outside the imager.Type: ApplicationFiled: July 23, 2013Publication date: February 6, 2014Applicant: THE JOHNS HOPKINS UNIVERSITYInventors: Louis L. Whitcomb, Axel Krieger, Robert Charles Susil, Gabor Fichtinger, Ergin Atalar, Iulian I. Iordachita
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Patent number: 8521257Abstract: A device, system, and method for entering a medical device such as a needle into the body inside a medical imager such as a MRI scanner, CT, X-ray fluoroscopy, and ultrasound imaging, from within a body cavity (such as the rectum, vagina, or laparoscopically accessed cavity). A three degree-of-freedom mechanical device translates and rotates inside the cavity and enters a needle into the body, and steers the needle to a target point selected by the user. The device is guided by real-time images from the medical imager. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated within the imager, outside of the imager or remotely from outside the imager.Type: GrantFiled: March 14, 2007Date of Patent: August 27, 2013Assignee: The Johns Hopkins UniversityInventors: Louis L. Whitcomb, Axel Krieger, Robert Charles Susil, Gabor Fichtinger, Ergin Atalar, Iulian I. Iordachita
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Publication number: 20120310112Abstract: The end-effector (150) includes a sheath (152) and a medical device or needle carrier (154) that is disposed within the interior compartment (160) of the sheath. Aperture (162) is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.Type: ApplicationFiled: July 11, 2012Publication date: December 6, 2012Applicant: The Johns Hopkins UniversityInventors: Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb, Robert C. Susil, Attila Tanacs, Axel Krieger
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Patent number: 8244327Abstract: The end-effector (150) includes a sheath (152) and a medical device or needle carrier (154) that is disposed within the interior compartment (160) of the sheath. Aperture (162) is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.Type: GrantFiled: April 22, 2003Date of Patent: August 14, 2012Assignee: The Johns Hopkins UniversityInventors: Gabor Fichtinger, Ergin Atalar, Louis L. Whitcomb, Robert C. Susil, Attila Tanacs, Axel Krieger
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Publication number: 20100056900Abstract: A device, system, and method for entering a medical device such as a needle into the body inside a medical imager such as a MRI scanner, CT, X-ray fluoroscopy, and ultrasound imaging, from within a body cavity (such as the rectum, vagina, or laparoscopically accessed cavity). A three degree-of-freedom mechanical device translates and rotates inside the cavity and enters a needle into the body, and steers the needle to a target point selected by the user. The device is guided by real-time images from the medical imager. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated within the imager, outside of the imager or remotely from outside the imager.Type: ApplicationFiled: March 14, 2007Publication date: March 4, 2010Applicant: The John Hopkins UniversityInventors: Louis L. Whitcomb, Axel Krieger, Robert Charles Susil, Gabor Fichtinger, Ergin Atalar, Iulian I. Iordachita
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Patent number: 7021173Abstract: A remote center of motion robotic system including a base unit and a plurality of linking units. The base unit is rotatable about a first axis. The plurality of linking units are coupled with one another. At least two of the linking units are kept parallel to each another during motion. The plurality of linking units are coupled with that base unit at a first end. The plurality of linking units are rotatable about a second axis by changing an angle between each of the plurality of links.Type: GrantFiled: February 6, 2003Date of Patent: April 4, 2006Assignee: The John Hopkins UniversityInventors: Dan Stoianovici, Louis L. Whitcomb, Dumitru Mazilu, Russell H. Taylor, Louis R. Kavoussi
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Patent number: 6857609Abstract: A positioning arm for positioning and holding a device within a medical imaging environment workspace has: (a) a free-end link in the form of a circular cylinder having a distal end face and an adjoining end face, with the adjoining end face forming a specified angle with the cylinder's centerline and the distal end face adapted to allow for the connection of the device to the free-end link, (b) a plurality of intermediate links, each in the form of a circular cylinder having end faces that form a specified angle with the links' centerline, and each of these intermediate links having a channel connecting their end faces, (c) a base link in the form of a circular cylinder having a base end face and an adjoining end face, with the adjoining end face forming a specified angle with the link's centerline and the base end face adapted to allow for the connection of the arm to a supporting surface, (d) a cable that passes through the link channels so that one cable end attaches to the free-end link and the other endType: GrantFiled: January 9, 2004Date of Patent: February 22, 2005Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Keenan A. Wyrobek, Dumitru Mazilu, Louis L. Whitcomb
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Publication number: 20040149874Abstract: A positioning arm for positioning and holding a device within a medical imaging environment workspace has: (a) a free-end link in the form of a circular cylinder having a distal end face and an adjoining end face, with the adjoining end face forming a specified angle with the cylinder's centerline and the distal end face adapted to allow for the connection of the device to the free-end link, (b) a plurality of intermediate links, each in the form of a circular cylinder having end faces that form a specified angle with the links' centerline, and each of these intermediate links having a channel connecting their end faces, (c) a base link in the form of a circular cylinder having a base end face and an adjoining end face, with the adjoining end face forming a specified angle with the link's centerline and the base end face adapted to allow for the connection of the arm to a supporting surface, (d) a cable that passes through the link channels so that one cable end attaches to the free-end link and the other endType: ApplicationFiled: January 9, 2004Publication date: August 5, 2004Applicant: The Johns Hopkins UniversityInventors: Dan Stoianovici, Keenan A. Wyrobek, Dumitru Mazilu, Louis L. Whitcomb
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Publication number: 20030221504Abstract: A remote center of motion robotic system including a base unit and a plurality of linking units. The base unit is rotatable about a first axis. The plurality of linking units are coupled with one another. At least two of the linking units are kept parallel to each another during motion. The plurality of linking units are coupled with that base unit at a first end. The plurality of linking units are rotatable about a second axis by changing an angle between each of the plurality of links.Type: ApplicationFiled: February 6, 2003Publication date: December 4, 2003Inventors: Dan Stoianovici, Louis L. Whitcomb, Dumitru Mazilu, Russell H. Taylor, Louis R. Kavoussi
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Patent number: 6589190Abstract: A method and device for the quantification of muscle tone, particularly the wrist, wherein non-sinusoidal and non ramp trajectories are used to drive the wrist. Equation 1 is utilized determine the stiffness, viscosity and inertial parameters. &tgr;s(t)=KH&thgr;(t)+BH&thgr;(t)+JT&thgr;(t)+&tgr;off [Eq. 1] wherein where &tgr;s is the total torque, &tgr;off is the offset torque, KH and BH are the angular stiffness and viscosity of the combined flexor and extensor muscle groups that act on the joint, JT is the combined inertia of the oscillating appendage, &thgr; is the angular displacement of the system, and θ . ⁢ ⁢ and ⁢ ⁢ θ ¨ are the velocity and acceleration.Type: GrantFiled: September 6, 2001Date of Patent: July 8, 2003Assignee: The John Hopkins UniversityInventors: Sami S. Kanderian, Jr., Randal P. Goldberg, Katrina Rieflin Ubell, Barbara J. De Lateur, Louis L. Whitcomb, Fred A. Lenz
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Publication number: 20020156399Abstract: A method and device for the quantification of muscle tone, particularly the wrist, wherein non-sinusoidal and non ramp trajectories are used to drive the wrist. Equation 1 is utilized determine the stiffness, viscosity and inertial parameters.Type: ApplicationFiled: September 6, 2001Publication date: October 24, 2002Inventors: Sami S. Kanderian, Randal P. Goldberg, Katrina Rieflin Obell, Barbara J. de Lateur, Louis L. Whitcomb, Fred A. Lenz
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Patent number: 6400979Abstract: A method for performing radiological-image-guided percutaneous surgery with a system which includes a radiological image generating device for generating an image of a target anatomy of a patient, and a needle insertion mechanism disposed adjacent the image generating device and having a needle adapted to be inserted into the patient. The method includes the steps of: determining a needle trajectory of the needle by positioning the image generating device for aligning, in the image generated by the image generating device, a desired skin insertion site of the patient with a target region of the target anatomy; locking the needle in a direction of the needle trajectory; and repositioning the image generating device to obtain a lateral view of the needle trajectory for viewing an insertion depth and path of the needle during its insertion into the patient.Type: GrantFiled: February 20, 1998Date of Patent: June 4, 2002Assignee: Johns Hopkins UniversityInventors: Dan Stoianovici, Louis R. Kavoussi, Louis L. Whitcomb, Russell H. Taylor, Jeffrey A. Cadeddu, Roger D. Demaree, Stephen A. Basile
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Patent number: 4639878Abstract: A method and system are provided for automatically determining the position and attitude of a three-dimensional body at a work station by utilizing three cameras each of which generates a non-overlapping plane of image data, including a single target point of the body without the use of structured light. The locations of the target points are determined and processed within a programmed computer together with calibration data relating to the expected position of the body in the work station to provide data relating to the position and attitude of the body with respect to the work station. The resultant data relating to the position and attitude of the body are subsequently transformed into a first set of offset data relating to the difference between the actual and expected positions of the body. The first set of offset data is then transformed into a second set of offset data in the coordinate system of a peripheral device such as a robot, programmable controller, numerically controlled machine, etc.Type: GrantFiled: June 4, 1985Date of Patent: January 27, 1987Assignee: GMF Robotics CorporationInventors: Chia P. Day, Kenneth W. Krause, Louis L. Whitcomb, Berthold K. P. Horn