Abstract: A mechanism for actuation and control of a device, such as an interventional device, in two dimensions via a cable-driven arrangement. The mechanism can include multiple spring-loaded cam followers and a conical control surface acting as the cam. The translation of the conical cam results in the perpendicular linear motion of the cam followers. With the cables coupled to the cam followers from one end, and to the device of interest at the other end, the motion of the followers results in cable displacements that lead to the manipulation of the interventional device. Adjustment of the cable lengths are made possible with a proportion determined by the cam. This allows maintaining a set tension and while avoiding sagging. The resulting system can be an entirely passive mechanism in some embodiments that allows for accurate device position control, position estimation, and haptic feedback.

Abstract: An intraoperative imaging system combines a gamma probe and an ultrasound probe. The probes are linked to provide co-registration of gamma radiation detected by the gamma probe with an image acquired by the ultrasound probe. The gamma probe has a converging collimator made of a metal block having a plurality of channels therein, which converge from an output face toward an input face. Each channel extends between and opens out at the faces such that openings at the input face have smaller cross-sectional areas than openings at the output face so that each channel tapers inwardly from the output face to the input face. The collimator has an external focal point distant from the input face. The system improves identification and localization of cancerous cells, facilitating more accurate biopsy data and more complete surgical resection. The gamma probe increases sensitivity, while maintaining spatial resolution, and increasing depth of view.

Abstract: A steering device and navigation system for interventional procedures. Included are devices, systems, and methods that incorporate a steering device which consists of an expandable structure that can be controlled to spread out within the vessel lumen, or cardiac chamber, and may apply circumferential force to the tissue. This structure, once spread out, can anchor relative to the anatomy and provides support for an internal catheter through a set of strings connected to the internal catheter. The internal catheter is configured to allow an interventional device, such as a guidewire or catheter, to pass through it. Using the strings that are connected to actuation mechanisms within the device's handle, the internal catheter can be manipulated to allow controlling the position of a device that runs within it or is connected to it and can be used for the purpose of navigation of devices and obtaining measurements from known positions.

Abstract: A bone cement mold for a bone cement spacer, the bone cement mold including: a first mold component defining a first cavity shaped to form at least a majority of a head portion of the spacer; a second mold component defining a second cavity shaped to form a first part of a stem portion of the spacer; a third mold component defining a third cavity shaped to form a second part of the stem portion of the spacer; the second mold component and the third mold component combining to define a cavity shaped to form at least a majority of the stem portion; an abutting combination of the first mold component, second mold component, and third component defining a communicative cavity shaped to form the head portion integrally connected with the stem portion. Bone cement spacers formed from the bone cement mold, and computer methods and systems for selecting and operating the bone cement mold are also described.

Abstract: Embodiments relate to systems and methods for catheter manipulation. In particular, systems as described herein can be used to drive a catheter while maintaining control along three degrees of freedom. Systems as described herein can be used in a wide variety of settings, including MRI in which small, non-magnetic robot systems having motors that remain stationary during use are advantageous.

Abstract: An intraoperative imaging system combines a gamma probe and an ultrasound probe. The probes are linked to provide co-registration of gamma radiation detected by the gamma probe with an image acquired by the ultrasound probe. The gamma probe has a converging collimator made of a metal block having a plurality of channels therein, which converge from an output face toward an input face. Each channel extends between and opens out at the faces such that openings at the input face have smaller cross-sectional areas than openings at the output face so that each channel tapers inwardly from the output face to the input face. The collimator has an external focal point distant from the input face. The system improves identification and localization of cancerous cells, facilitating more accurate biopsy data and more complete surgical resection. The gamma probe increases sensitivity, while maintaining spatial resolution, and increasing depth of view.

Abstract: Embodiments relate to systems and methods for catheter manipulation. In particular, systems as described herein can be used to drive a catheter while maintaining control along three degrees of freedom. Systems as described herein can be used in a wide variety of settings, including MRI in which small, non-magnetic robot systems having motors that remain stationary during use are advantageous.

Abstract: A method of controlling an ultrasonic motor coupled to a motor driver circuit, comprises receiving a temperature signal representing the temperature of the ultrasonic motor, receiving a position signal output by a first encoder representing the position of the ultrasonic motor, calculating an error between the position of the ultrasonic motor represented by the position signal and a target position, calculating a control signal based on the temperature of the ultrasonic motor represented by the temperature signal and the calculated error, and sending the control signal to the motor driver circuit to control the ultrasonic motor.

Abstract: A method for controlling an ultrasonic motor coupled to a motor driver circuit, comprises obtaining a position of a first encoder coupled to the ultrasonic motor, calculating an error between the position of the first encoder and a target position, and sending a control signal to the motor driver circuit to control the ultrasonic motor to adjust the position of the first encoder based the calculated error.

Abstract: A method of controlling an ultrasonic motor coupled to a motor driver circuit, comprises receiving a temperature signal representing the temperature of the ultrasonic motor, receiving a position signal output by a first encoder representing the position of the ultrasonic motor, calculating an error between the position of the ultrasonic motor represented by the position signal and a target position, calculating a control signal based on the temperature of the ultrasonic motor represented by the temperature signal and the calculated error, and sending the control signal to the motor driver circuit to control the ultrasonic motor.