Patents by Inventor Frank Dewaele
Frank Dewaele 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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Publication number: 20240138953Abstract: Provided is a stable mounting for a robotic arm, a tool changer for a robotic arm, a motion restrictor for a robotic-arm controlled steerable tool, a dispenser unit for applying a sterile drape over a robotic arm, and a tool radial actuation assembly (TRAA), a robotic arm fitting radial actuation assembly (FRAA).Type: ApplicationFiled: November 16, 2023Publication date: May 2, 2024Applicant: Steerable Instruments NVInventors: Frank Dewaele, Lieven Maene, Bart Blanckaert, Cyriel Mabilde, Alain Kalmar
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Patent number: 11844581Abstract: Provided is a system comprising a tool (50) and a stator unit (500). The tool (50) comprises an instrument (100, 102) having a proximal end (20) and a distal (40) end, an end effector (300) at the distal end (40) actuated by torque, and a rotor unit (400) body (410) having at least two cammed surfaces to provide the torque. The stator unit (500) comprises a plurality of stator pushers (530-Ua, 530-Va, 530-Wa, 530-Ub, 530-Vb, 530-Wb, 530-Uc, 530-Vc, 530-Wc) configured for movement in a direction radial to a centre of rotation (405) of the body (410) of the rotor unit (400) and for the application of the radial force, whereby movement of the stator pushers induces rotation of the body (410) around the axis of rotation (210).Type: GrantFiled: May 27, 2019Date of Patent: December 19, 2023Assignee: Steerable Instruments NVInventors: Bart Blanckaert, Cyriel Mabilde, Frank Dewaele
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Patent number: 11832997Abstract: Provided is a stable mounting for a robotic arm, a tool changer for a robotic arm, a motion restrictor for a robotic-arm controlled steerable tool, a dispenser unit for applying a sterile drape over a robotic arm, and a tool radial actuation assembly (TRAA), a robotic arm fitting radial actuation assembly (FRAA).Type: GrantFiled: November 15, 2018Date of Patent: December 5, 2023Assignee: Steerable Instruments NVInventors: Frank Dewaele, Lieven Maene, Bart Blanckaert, Cyriel Mabilde, Alain Kalmar
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Patent number: 11576735Abstract: A steerable instrument (100) controllable by a robotic arm (200), having a proximal end (20) and a distal (40) end comprising: a cylindrical shaft (130), a cylindrical bendable proximal part (120) and a cylindrical bendable distal part (140), a connector (110) configured for dismountable attachment to the robotic arm (200), attached in fixed rotational relation to the bendable proximal part (120), an end effector (150) attached in fixed rotational relation to the bendable distal part (140), the steerable instrument (100) configured such that: the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), and the end effector (150) is rotatable when the bendable distal part (140) is in a bent position by a complementary rotation of the connector (110), the shaft (130) is pivotable around a fulcrum zone (134) on the shaft (130) and changes direction responsive to a complementary movement of the connector (110), thereby providing control of the shaft (130) direction, bending of tType: GrantFiled: November 15, 2018Date of Patent: February 14, 2023Assignee: Steerable Instruments N.V.Inventors: Bart Blanckaert, Frank Dewaele, Cyriel Mabilde, Lieven Maene, Alain Kalmar
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Patent number: 11457904Abstract: A longitudinal steerable tool (100) having a proximal (20) and distal (40) end comprising a sub-region that is a proximal amplifier region, PAR, (136) wherein the LMs (110) are arranged around a fictive tube (180) exhibiting size-decremental plane sections in a distal direction, and comprising a sub-region that is a distal attenuating region, DAR, (138) wherein the LMs (110) are arranged around a fictive tube (180) exhibiting size-incremental plane sections in a distal direction. Further provided is a longitudinal steerable tool (100) having a sheath unit (430) disposed at least partially over each of a bendable proximal part (130) and/or bendable distal part (134), the sheath unit (430) having less compliance in a radial direction compared with in an axial direction.Type: GrantFiled: November 15, 2018Date of Patent: October 4, 2022Assignee: Steerable Instruments NVInventors: Frank Dewaele, Bart Blanckaert, Cyriel Mabilde, Lieven Maene, Alain Kalmar
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Publication number: 20210369359Abstract: A steerable instrument (100) controllable by a robotic arm (200), having a proximal end (20) and a distal (40) end comprising: a cylindrical shaft (130), a cylindrical bendable proximal part (120) and a cylindrical bendable distal part (140), a connector (110) configured for dismountable attachment to the robotic arm (200), attached in fixed rotational relation to the bendable proximal part (120), an end effector (150) attached in fixed rotational relation to the bendable distal part (140), the steerable instrument (100) configured such that: the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), and the end effector (150) is rotatable when the bendable distal part (140) is in a bent position by a complementary rotation of the connector (110), the shaft (130) is pivotable around a fulcrum zone (134) on the shaft (130) and changes direction responsive to a complementary movement of the connector (110), thereby providing control of the shaft (130) direction, bending of tType: ApplicationFiled: November 15, 2018Publication date: December 2, 2021Applicant: Steerable Instruments NVInventors: Bart Blanckaert, Frank Dewaele, Cyriel Mabilde, Lieven Maene, Alain Kalmar
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Publication number: 20210204941Abstract: Provided is a steerable fusing device (50) comprising: a steerable instrument (100) having a proximal end (20) and a distal (40) end comprising a shaft (130), a bendable proximal part (120) and a bendable distal part (140), the steerable instrument (100) configured such that the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), fusing head (302) attached in fixed rotational relation to the bendable distal part (140) configured for fusing tissue captured between jaws (310, 320) of the fusing head (300), wherein the fusing head (300) is rotatable when the bendable distal part (140) is in a bent position by a complementary rotation of the bendable proximal part (120).Type: ApplicationFiled: May 29, 2019Publication date: July 8, 2021Applicant: Steerable Instruments NVInventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert, Lieven Maene, Alain Kalmar
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Publication number: 20210196409Abstract: Provided is a system comprising a tool (50) and a stator unit (500). The tool (50) comprises an instrument (100, 102) having a proximal end (20) and a distal (40) end, an end effector (300) at the distal end (40) actuated by torque, and a rotor unit (400) body (410) having at least two cammed surfaces to provide the torque. The stator unit (500) comprises a plurality of stator pushers (530-Ua, 530-Va, 530-Wa, 530-Ub, 530-Vb, 530-Wb, 530-Uc, 530-Vc, 530-Wc) configured for movement in a direction radial to a centre of rotation (405) of the body (410) of the rotor unit (400) and for the application of the radial force, whereby movement of the stator pushers induces rotation of the body (410) around the axis of rotation (210).Type: ApplicationFiled: May 27, 2019Publication date: July 1, 2021Applicant: Steerable Instruments NVInventors: Bart Blanckaert, Cyriel Mabilde, Frank Dewaele
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Patent number: 10962093Abstract: Disclosed is a steerable tool with proximal and distal ends comprising a mechanical transmission system (MTS), shaft region, omnidirectionally moveable bendable proximal part (BPP), and omnidirectionally moveable bendable distal part responsive to movement of the BPP, where the MTS comprises longitudinal members (LM) each having proximal and distal ends, arranged in a longitudinal direction around a fictive tube, and has a corresponding transmission shaft region (TSR), transmission bendable proximal part (TBPP) and transmission bendable distal part (TBDP), wherein a plane section of at least one LM has an anisotropic area moment of inertia, and the majority of the LMs are axially rotationally constrained at one or more constraining points along the TBDP or TSR, the LMs are longitudinally slidable with respect to each constraining point, and the MTS is configured such that the TBDP tip is axially rotatable in a bent position by a complementary rotation of the TBPP.Type: GrantFiled: August 27, 2015Date of Patent: March 30, 2021Assignee: STEERABLE INSTRUMENTS NVInventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert, Alain Kalmar, Lieven Maene
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Publication number: 20200397421Abstract: A longitudinal steerable tool (100) having a proximal (20) and distal (40) end comprising a sub-region that is a proximal amplifier region, PAR, (136) wherein the LMs (110) are arranged around a fictive tube (180) exhibiting size-decremental plane sections in a distal direction, and comprising a sub-region that is a distal attenuating region, DAR, (138) wherein the LMs (110) are arranged around a fictive tube (180) exhibiting size-incremental plane sections in a distal direction. Further provided is a longitudinal steerable tool (100) having a sheath unit (430) disposed at least partially over each of a bendable proximal part (130) and/or bendable distal part (134), the sheath unit (430) having less compliance in a radial direction compared with in an axial direction.Type: ApplicationFiled: November 15, 2018Publication date: December 24, 2020Applicant: Steerable Instruments NVInventors: Frank Dewaele, Bart Blanckaert, Cyriel Mabilde, Lieven Maene, Alain Kalmar
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Publication number: 20200315738Abstract: Provided is a stable mounting for a robotic arm, a tool changer for a robotic arm, a motion restrictor for a robotic-arm controlled steerable tool, a dispenser unit for applying a sterile drape over a robotic arm, and a tool radial actuation assembly (TRAA), a robotic arm fitting radial actuation assembly (FRAA).Type: ApplicationFiled: November 15, 2018Publication date: October 8, 2020Applicant: Steerable Instruments NVInventors: Frank Dewaele, Lieven Maene, Bart Blanckaert, Cyriel Mabilde, Alain Kalmar
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Patent number: 10792061Abstract: The present invention relates to mechanical transmission system (100, MTS) having a proximal (20) and distal end (40), for a longitudinal steerable tube (500), which MTS (100) comprises a set of longitudinal members, LM, (110) arranged in a longitudinal direction around a fictive tube (180) maintained at an essentially constant circumferential and radial position with respect to the fictive tube (180) and being slidable relative to the fictive tube (180), and has a transmission bendable proximal part (134, TBPP), transmission bendable distal part (130, TBDP), and transmission shaft region, TSR (132) between the TBDP (130) and TBPP (134) wherein movements of the TBPP (134) are transmitted to the TBDP (130) along the TSR (132) by the LMs (110), wherein the MTS (100) comprises a sub-region that is a transmission amplifier region, TAR, (135) in which the fictive tube (180) contains at least one plane-section (182) larger than that (184) of the TBDP (130).Type: GrantFiled: December 8, 2015Date of Patent: October 6, 2020Assignee: Steerable Instruments NVInventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert, Alain Kalmar, Lieven Maene
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Publication number: 20200275983Abstract: A steerable tube (100), comprising a hollow elongate tubular member (1) having a proximal end (2), distal end (3), a wall surface disposed between said proximal (2) and distal end (4), a bend-resistive zone (6) flanked by a proximal bendable zone (4) that forms a controller and a distal bendable zone (5) that forms an effector that moves responsive to movements of the controller, whereby the wall of the tubular member (1) in the bend-resistive zone (6) comprises a structure that is a plurality of longitudinal slits (7), forming a plurality of longitudinal strips (8, 8?), the wall of the tubular member (1) in the proximal bendable zone (4) and the distal bendable zone (5) comprises a structure that is a plurality of longitudinal wires (9, 9?, 10, 10?), at least one strip (8) is in connection with a wire (9) in the proximal bendable zone (4) and a wire (10) in the distal bendable zone (5), such that translation by said wire (9) in the controller is transmitted via the strip (8) to said wire (10) in the effectorType: ApplicationFiled: October 7, 2019Publication date: September 3, 2020Inventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert
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Patent number: 10542878Abstract: The invention relates to a longitudinal member, LM, guide (300) for guiding a set of LMs (110) for a mechanical transmission system, MTS, (100) for a steerable tool (500), which LM guide (300) comprises a body (302) having a proximal side (342), a distal side (344) and an outside edge (316), wherein the body (302) of the LM guide (300) comprises a set of channels (310) arranged around a fictive tube (320), each channel (310) passing from the proximal side (342) to the distal side (344) of the body (302), configured to retain an LM (110) of the set in a fixed radial position around the fictive tube (32), being connected to the outside edge (316) of the body (302) via a slot (314), wherein the slot has a width (326) narrower than the channel (310) width (320).Type: GrantFiled: December 8, 2015Date of Patent: January 28, 2020Assignee: Steerable Instruments NVInventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert, Alain Kalmar, Lieven Maene
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Patent number: 10449010Abstract: A steerable tube (100), comprising a hollow elongate tubular member (1) having a proximal end (2), distal end (3), a wall surface disposed between said proximal (2) and distal end (4), a bend-resistive zone (6) flanked by a proximal bendable zone (4) that forms a controller and a distal bendable zone (5) that forms an effector that moves responsive to movements of the controller, whereby the wall of the tubular member (1) in the bend-resistive zone (6) comprises a structure that is a plurality of longitudinal slits (7), forming a plurality of longitudinal strips (8, 8?), the wall of the tubular member (1) in the proximal bendable zone (4) and the distal bendable zone (5) comprises a structure that is a plurality of longitudinal wires (9, 9?, 10, 10?), at least one strip (8) is in connection with a wire (9) in the proximal bendable zone (4) and a wire (10) in the distal bendable zone (5), such that translation by said wire (9) in the controller is transmitted via the strip (8) to said wire (10) in the effectorType: GrantFiled: February 24, 2017Date of Patent: October 22, 2019Assignee: Steerable Instruments NVInventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert
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Publication number: 20180146841Abstract: The invention relates to a longitudinal member, LM, guide (300) for guiding a set of LMs (110) for a mechanical transmission system, MTS, (100) for a steerable tool (500), which LM guide (300) comprises a body (302) having a proximal side (342), a distal side (344) and an outside edge (316), wherein the body (302) of the LM guide (300) comprises a set of channels (310) arranged around a fictive tube (320), each channel (310) passing from the proximal side (342) to the distal side (344) of the body (302), configured to retain an LM (110) of the set in a fixed radial position around the fictive tube (32), being connected to the outside edge (316) of the body (302) via a slot (314), wherein the slot has a width (326) narrower than the channel (310) width (320).Type: ApplicationFiled: December 8, 2015Publication date: May 31, 2018Applicant: Steerable Instruments NVInventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert, Alain Kalmar, Lieven Maene
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Publication number: 20170273702Abstract: The present invention relates to mechanical transmission system (100, MTS) having a proximal (20) and distal end (40), for a longitudinal steerable tube (500), which MTS (100) comprises a set of longitudinal members, LM, (110) arranged in a longitudinal direction around a fictive tube (180) maintained at an essentially constant circumferential and radial position with respect to the fictive tube (180) and being slidable relative to the fictive tube (180), and has a transmission bendable proximal part (134, TBPP), transmission bendable distal part (130, TBDP), and transmission shaft region, TSR (132) between the TBDP (130) and TBPP (134) wherein movements of the TBPP (134) are transmitted to the TBDP (130) along the TSR (132) by the LMs (110), wherein the MTS (100) comprises a sub-region that is a transmission amplifier region, TAR, (135) in which the fictive tube (180) contains at least one plane-section (182) larger than that (184) of the TBDP (130).Type: ApplicationFiled: December 8, 2015Publication date: September 28, 2017Applicant: Steerable Instruments NVInventors: Frank DEWAELE, Cyriel MABILDE, Bart BLANCKAERT, Alain KALMAR, Lieven MAENE
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Publication number: 20170234411Abstract: A mechanical transmission system, MTS (100), for a steerable tool (500) which steerable tool (500) has a proximal end (20) and distal end (40) and comprises a shaft region (532), a bendable proximal part, BPP (534) that is omnidirectionally moveable, and a bendable distal part, BDP, (530) that is omnidirectionally moveable and moves responsive to movement of the BPP (534), which MTS (100) comprises a plurality of longitudinal members, LM (110) each having a proximal (20) and distal end (40), arranged in a longitudinal direction around a fictive tube (120), and has a corresponding transmission shaft region, TSR (132), transmission bendable proximal part, TBPP (134) and transmission bendable distal part, TBDP (130), wherein a plane section (114) of at least one LM (110) demonstrates an anisotropic area moment of inertia, and the majority of the LMs (110) are each axially rotationally constrained at 1 or more constraining points along the TBDP (130) or along the TSR (132) wherein the LMs are longitudinally slidaType: ApplicationFiled: August 27, 2015Publication date: August 17, 2017Inventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert, Lieven Maene, Alain Kalmar
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Publication number: 20170172678Abstract: A steerable tube (100), comprising a hollow elongate tubular member (1) having a proximal end (2), distal end (3), a wall surface disposed between said proximal (2) and distal end (4), a bend-resistive zone (6) flanked by a proximal bendable zone (4) that forms a controller and a distal bendable zone (5) that forms an effector that moves responsive to movements of the controller, whereby the wall of the tubular member (1) in the bend-resistive zone (6) comprises a structure that is a plurality of longitudinal slits (7), forming a plurality of longitudinal strips (8, 8?), the wall of the tubular member (1) in the proximal bendable zone (4) and the distal bendable zone (5) comprises a structure that is a plurality of longitudinal wires (9, 9?, 10, 10?), at least one strip (8) is in connection with a wire (9) in the proximal bendable zone (4) and a wire (10) in the distal bendable zone (5), such that translation by said wire (9) in the controller is transmitted via the strip (8) to said wire (10) in the effectorType: ApplicationFiled: February 24, 2017Publication date: June 22, 2017Inventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert
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Patent number: 9622729Abstract: The present invention relates to a bodily invasive steerable device (100) having a proximal (201) and distal (205) end comprising a steering mechanism (50) having a proximal bending part (202), a distal bending part (204), and an intermediate part (203) disposed between the proximal bending part (202) and the distal bending part (204) configured mechanically to transmit forces applied at the proximal end (201) to the distal end (205). The steering is mechanism configured such that the distal bending part (204) moves responsive to movements of the proximal bending part (202). The device also comprises a handle (206) coupled to the proximal bending part (202) to effect manual bending. The handle (206) comprises at least one grip member (210) that extends distally (205), at least over the proximal terminal end (171) of the proximal bending part (202).Type: GrantFiled: October 4, 2013Date of Patent: April 18, 2017Assignee: Steerable Instruments NVInventors: Frank Dewaele, Bart Blanckaert, Cyriel Mabilde