Patents by Inventor Iulian I. Iordachita
Iulian I. Iordachita 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: 11911123Abstract: A body mountable robot may include a set of stages disposed in a parallel configuration. The body mountable robot may include a set of actuating joints, wherein an actuating joint, of the set of actuating joints, is configured to rotate with respect to a corresponding stage of the set of stages. The body mountable robot may include at least one actuator, wherein the at least one actuator is configured to actuate at least one actuating joint of the set of actuating joints. The body mountable robot may include a set of scissor mechanisms, wherein a scissor mechanism, of the set of scissor mechanisms, that is coupled to the actuating joint, is supported by the corresponding stage, and wherein the scissor mechanism is configured to translate with respect to the corresponding stage.Type: GrantFiled: November 26, 2018Date of Patent: February 27, 2024Assignee: The Johns Hopkins UniversityInventors: Iulian I. Iordachita, Jin Seob Kim, David Levi, Kevin Cleary, Reza Monfaredi
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Publication number: 20230414306Abstract: A dexterous manipulation device is provided that includes disc element and actuation wires. In preferred systems, the disc elements each have a curved top surface and a corresponding curved bottom surface. The actuation wires are threaded through apertures of each disc element. In certain aspects, the disc elements are stacked alternating with the curved top and bottom surfaces of adjacent disc elements forming a rolling joint. In preferred systems, the device has a total of 45 degrees of bending motion with two degrees of freedom.Type: ApplicationFiled: November 17, 2021Publication date: December 28, 2023Inventors: Iulian I. Iordachita, Makoto Jinno
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Patent number: 11457987Abstract: Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.Type: GrantFiled: May 13, 2016Date of Patent: October 4, 2022Assignee: The Johns Hopkins UniversityInventors: Xingchi He, Iulian I. Iordachita, Vincent Van Geirt, Peter Gehlbach, Russell Taylor
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Publication number: 20220117684Abstract: A body mountable robot may include a set of stages disposed in a parallel configuration. The body mountable robot may include a set of actuating joints, wherein an actuating joint, of the set of actuating joints, is configured to rotate with respect to a corresponding stage of the set of stages. The body mountable robot may include at least one actuator, wherein the at least one actuator is configured to actuate at least one actuating joint of the set of actuating joints. The body mountable robot may include a set of scissor mechanisms, wherein a scissor mechanism, of the set of scissor mechanisms, that is coupled to the actuating joint, is supported by the corresponding stage, and wherein the scissor mechanism is configured to translate with respect to the corresponding stage.Type: ApplicationFiled: November 26, 2018Publication date: April 21, 2022Inventors: Iulian I. IORDACHITA, Jin Seob KIM, David LEVI, Kevin CLEARY, Reza MONFAREDI
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Patent number: 10335116Abstract: According to some embodiments of the invention, a robot-assisted ultrasound system includes a first ultrasound probe, a robot comprising a manipulator arm having a tool end, and a second ultrasound probe attached to the tool end of the manipulator arm. The robot-assisted ultrasound system further includes a robot control system configured to control at least one of a position or a pose of the second ultrasound probe based on a contemporaneous position and pose of the first ultrasound probe, and an ultrasound processing and display system configured to communicate with at least one of the first and second ultrasound probes to receive and display an ultrasound image based on the first and second ultrasound probes acting in conjunction with each other.Type: GrantFiled: April 17, 2015Date of Patent: July 2, 2019Assignee: The Johns Hopkins UniversityInventors: Emad M. Boctor, Iulian I. Iordachita, Xiaoyu Guo, Alexis Cheng, Haichong Zhang, Fereshteh Aalamifar
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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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Publication number: 20180125596Abstract: Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.Type: ApplicationFiled: May 13, 2016Publication date: May 10, 2018Inventors: Xingchi He, Iulian I. Iordachita, Vincent Van Geirt, Peter Gehlbach, Russell Taylor
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Publication number: 20150297177Abstract: According to some embodiments of the invention, a robot-assisted ultrasound system includes a first ultrasound probe, a robot comprising a manipulator arm having a tool end, and a second ultrasound probe attached to the tool end of the manipulator arm. The robot-assisted ultrasound system further includes a robot control system configured to control at least one of a position or a pose of the second ultrasound probe based on a contemporaneous position and pose of the first ultrasound probe, and an ultrasound processing and display system configured to communicate with at least one of the first and second ultrasound probes to receive and display an ultrasound image based on the first and second ultrasound probes acting in conjunction with each other.Type: ApplicationFiled: April 17, 2015Publication date: October 22, 2015Inventors: Emad M. Boctor, Iulian I. Iordachita, Xiaoyu GUO, Alexis Cheng, Haichong Kai Zhang, Fereshteh Alamifar
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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: 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