Abstract: A steerable arm for use in endoscopic surgical procedures. The steerable arm cut from a tube of nitinol to provide flexibility and resilience by the structure into which the tube is cut. Typically, the cut tube comprises a spiralling coil, the loops of which are in contact on one lateral side of the tube and the tube is bent to open apart the loops on the other lateral side. The material which the tube is made of is capable of retaining memory of the bend. This provides a bias for restoring the tube to the bend whenever a force causing the tube to flex is removed.

Abstract: An optical soft skin system for multimodal sensing comprising: a flexible waveguide substrate (10) being able to change its light wave propagation when encountering different deformation patterns; at least one light source (12) located within the waveguide substrate (10) arranged so as to transmit light into the waveguide substrate (10); at least one light receptor (14) located within the waveguide substrate (10) to receive light that has passed through the waveguide substrate (10) and to provide a dataset of the properties of the received light; and a processor (20) for decoding the dataset into at least one of strain and displacement through a computational model to determine a sensing modality of the waveguide substrate (10).

Abstract: A neurosurgical robotic system for bilateral stereotaxy that integrates intraoperative MRI guidance is provided. The robotic system can be implemented in regular diagnostic MRI facilities. Navigation for bilateral brain targets can be performed independently and simultaneously. The robotic system includes a plurality of manipulators, a needle guide (31), a needle (12) disposed within the needle guide (31); and a mounting base (39) with a plurality of screw holes for bone mounting.

Abstract: Disclosed are systems and methods for biopsy, drainage, drug administration, electrode implantation and/or tumor ablation employing percutaneous procedures for diagnostic or therapeutic purposes, performed by inserting a needle or probe through the skin of patient towards target anatomy using a patient mounted robot.

Abstract: A surface shape determination system includes a surface shape sensor in the form of a flexible and stretchable elastomeric substrate with strain/displacement sensing elements embedded in it. The sensor may be a single-core optical fiber with a series of fiber Bragg Gratings (FBGs) located at predetermined positions along its length. A light source provides an incident light spectrum at one end of the fiber. Each grating of the fiber has index modulation which causes particular wavelengths of the light spectrum that do not satisfy the Bragg condition to be reflected back in the fiber. The refractive index of each grating changes with strain on the substrate due to deflection of it. An interrogator captures the reflected wavelengths and retrieves signal information therefrom. A processor receives the output of the interrogator and performs non-linear regression analysis on the information using a neural network to reconstruct the surface morphology in real-time.

Abstract: MRI-guided robotics offers possibility for physicians to perform interventions remotely on confined anatomy. While the pathological and physiological changes could be visualized by high-contrast volumetric MRI scan during the procedure, robots promise improved navigation with added dexterity and precision. In cardiac catheterization, however, maneuvering a long catheter (1-2 meters) to the desired location and performing the therapy are still challenging. To meet this challenge, this invention presents an MRI-conditional catheter robotic system that integrates intra-op MRI, MR-based tracking units and enhanced visual guidance with catheter manipulation. This system differs fundamentally from existing master/slave catheter manipulation systems, of which the robotic manipulation is still challenging due to the very limited image guidance. This system provides a means of integrating intra-operative MR imaging and tracking to improve the performance of tele-operated robotic catheterization.

Abstract: Example embodiments relate to endoscopic systems. The system includes first and second main bodies. First main body includes first end section, which includes a first anchor assembly and first proximal portion. First anchor assembly includes first and second expandable members and first negative pressure opening. First and second expandable members are each configured to transition between a non-expanded configuration and an expanded configuration. First negative pressure opening is configured to apply negative pressure. First proximal portion is secured to the first anchor assembly. First proximal portion includes a bendable portion configured to selectively move the first anchor assembly in a plurality of directions. Second main body includes first and second end sections and main cavity. First end section of second main body includes a second anchor assembly, which includes third and fourth expandable members and second negative pressure opening.

Abstract: Example embodiments relate to devices, systems, and methods for performing a diagnostic and/or therapeutic action. The system may comprise an elongated main body having a first end. The system may further comprise an anchor assembly attached to the main body near the first end of the main body. The anchor assembly may comprise a first expandable member. The first expandable member may be configurable to expand radially away from the main body. The anchor assembly may further comprise a second expandable member provided between the first expandable member and the first end of the main body. The second expandable member may be configurable to expand radially away from the main body. The anchor assembly may be operable to secure the main body with respect to an interior wall forming the cavity of the patient.

Abstract: Disclosed is a 3D physical replica of a cardiac structure or a vascular structure and a method for manufacturing the same. According to an embodiment, a method for manufacturing a 3D physical replica of a cardiac structure comprises: printing an inner mold according to a 3D model of the cardiac structure; casting a biomimetic material on an outer surface of the inner mold; and solidifying the casted material to form the 3D physical replica of the cardiac structure, wherein the solidified material is stretchable.

Abstract: A neurosurgical robotic system for bilateral stereotaxy that integrates intraoperative MRI guidance is provided. The robotic system can be implemented in regular diagnostic MRI facilities. Navigation for bilateral brain targets can be performed independently and simultaneously. The robotic system includes a plurality of manipulators, a needle guide (31), a needle (12) disposed within the needle guide (31); and a mounting base (39) with a plurality of screw holes for bone mounting.

Abstract: Systems and methods for an effective solution to MR safe actuation in all MRI-guided (robot-assisted) procedures are provided. The present integrated hydraulic transmission method or system uses piston-based cylinders (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) to provide continuous bi-lateral rotation with unlimited range in an MRI environment. Positional and torque control can also be achieved.

Abstract: An MR marker (501, 601, 803, 902) for magnetic resonance imaging (MRI) guided intervention and method of fabricating same. The tracking device can be integrated with an MRI-guided robotic system to provide precise positional tracking of the interventional tools and robotic components, allowing safe operation inside the human body. The MR tracking device includes a plurality of stacked flexible printed circuit boards; a plurality of flat planar spirals comprised of a non-ferromagnetic material and directly disposed on a top surface and a bottom surface side of each flexible printed circuit board, a biocompatible, non-ferromagnetic material encapsulating the flexible printed circuit boards; and an adhesive bonding the flexible printed circuit boards. In another aspect, an orientation-independent device is provided including three or more markers (501, 601, 803, 902) in an array around a cylindrical substrate.

Abstract: Example embodiments relate to devices, systems, and methods for performing a diagnostic and/or therapeutic action. The system may comprise an elongated main body having a first end. The system may further comprise an anchor assembly attached to the main body near the first end of the main body. The anchor assembly may comprise a first expandable member. The first expandable member may be configurable to expand radially away from the main body. The anchor assembly may further comprise a second expandable member provided between the first expandable member and the first end of the main body. The second expandable member may be configurable to expand radially away from the main body. The anchor assembly may be operable to secure the main body with respect to an interior wall forming the cavity of the patient.

Abstract: A surface shape determination system includes a surface shape sensor in the form of a flexible and stretchable elastomeric substrate with strain/displacement sensing elements embedded in it. The sensor may be a single-core optical fiber with a series of fiber Bragg Gratings (FBGs) located at predetermined positions along its length. A light source provides an incident light spectrum at one end of the fiber. Each grating of the fiber has index modulation which causes particular wavelengths of the light spectrum that do not satisfy the Bragg condition to be reflected back in the fiber. The refractive index of each grating changes with strain on the substrate due to deflection of it. An interrogator captures the reflected wavelengths and retrieves signal information therefrom. A processor receives the output of the interrogator and performs non-linear regression analysis on the information using a neural network to reconstruct the surface morphology in real-time.

Abstract: MRI-guided robotics offers possibility for physicians to perform interventions remotely on confined anatomy. While the pathological and physiological changes could be visualized by high-contrast volumetric MRI scan during the procedure, robots promise improved navigation with added dexterity and precision. In cardiac catheterization, however, maneuvering a long catheter (1-2 meters) to the desired location and performing the therapy are still challenging. To meet this challenge, this invention presents an MRI-conditional catheter robotic system that integrates intra-op MRI, MR-based tracking units and enhanced visual guidance with catheter manipulation. This system differs fundamentally from existing master/slave catheter manipulation systems, of which the robotic manipulation is still challenging due to the very limited image guidance. This system provides a means of integrating intra-operative MR imaging and tracking to improve the performance of tele-operated robotic catheterization.

Abstract: Example embodiments relate to devices, systems, and methods for performing a diagnostic and/or therapeutic action. The system may comprise an elongated main body having a first end. The system may further comprise an anchor assembly attached to the main body near the first end of the main body. The anchor assembly may comprise a first expandable member. The first expandable member may be configurable to expand radially away from the main body. The anchor assembly may further comprise a second expandable member provided between the first expandable member and the first end of the main body. The second expandable member may be configurable to expand radially away from the main body. The anchor assembly may be operable to secure the main body with respect to an interior wall forming the cavity of the patient.

Abstract: Example embodiments relate to devices, systems, and methods for performing a diagnostic and/or therapeutic action. The system may comprise an elongated main body having a first end. The system may further comprise an anchor assembly attached to the main body near the first end of the main body. The anchor assembly may comprise a first expandable member. The first expandable member may be configurable to expand radially away from the main body. The anchor assembly may further comprise a second expandable member provided between the first expandable member and the first end of the main body. The second expandable member may be configurable to expand radially away from the main body. The anchor assembly may be operable to secure the main body with respect to an interior wall forming the cavity of the patient.