Patents by Inventor Nabil Simaan

Nabil Simaan 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).

  • Publication number: 20200015657
    Abstract: A steerable endoscope system includes a continuum manipulator, a plurality of syringes, and a steerable tip. The continuum manipulator includes a plurality of spaced discs and a plurality of backbones each extending through all discs. A bending movement of the continuum manipulator changes a varying linear displacement of each backbone. Each backbone is further coupled to a different one of the syringes such that the linear displacement of each backbone pushes or pulls a piston of the corresponding syringe by a varying amount. The steerable tip includes a plurality of bellows each pneumatically coupled to a different syringe such that movement of the piston of a syringe causes the corresponding bellow to inflate or deflate. Because the distal end of each bellow is fixedly coupled to the same end effector, variations in the amount of inflation or deflation on each bellow causes a bending of the steerable tip.
    Type: Application
    Filed: December 1, 2017
    Publication date: January 16, 2020
    Inventors: Nicolo Garbin, Pietro Valdastri, Keith L. Obstein, Nabil Simaan, Piotr Robert Slawinski
  • Patent number: 10500002
    Abstract: A rotatable wrist connecting a gripper tool to the distal end of a positioning shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to an actuatable device (e.g., a gripper). A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.
    Type: Grant
    Filed: June 8, 2017
    Date of Patent: December 10, 2019
    Assignee: Vanderbilt University
    Inventors: Nabil Simaan, Roger E. Goldman, Andrea Bajo
  • Patent number: 10406026
    Abstract: A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye.
    Type: Grant
    Filed: May 18, 2009
    Date of Patent: September 10, 2019
    Assignee: The Johns Hopkins University
    Inventors: Nabil Simaan, Russell H. Taylor, James T. Handa
  • Patent number: 10300599
    Abstract: Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.
    Type: Grant
    Filed: January 6, 2017
    Date of Patent: May 28, 2019
    Assignee: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett, Roger E. Goldman
  • Patent number: 10058390
    Abstract: Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.
    Type: Grant
    Filed: January 14, 2013
    Date of Patent: August 28, 2018
    Assignee: The Johns Hopkins University
    Inventors: Nabil Simaan, Russell H. Taylor, Paul Flint, Gregory Chirikjian, David Stein
  • Patent number: 9956042
    Abstract: Systems and methods are described for using a robotic system to perform procedures within a cavity using a virtual fixture. The robotic system includes a rigid central stem including an access channel positioned longitudinally along the rigid central stem and a dexterous arm at least partially positioned within the access channel of the central stem. The dexterous arm includes a plurality of individually adjustable segments. A control system receives a positioning command from a manipulator control indicative of a desired movement of a distal end of the dexterous arm. A virtual fixture is defined that is representative of the access channel of the rigid central stem. The position of the dexterous arm is adjusted such that the distal end of the dexterous arm performs the desired movement while the portion of the dexterous arm that is positioned within the first access channel is not moved beyond the defined virtual fixture.
    Type: Grant
    Filed: May 6, 2014
    Date of Patent: May 1, 2018
    Assignee: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, Ryan B. Pickens, Stanley Duke Herrel
  • Publication number: 20170265950
    Abstract: A rotatable wrist connecting a gripper tool to the distal end of a positioning shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to an actuatable device (e.g., a gripper). A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.
    Type: Application
    Filed: June 8, 2017
    Publication date: September 21, 2017
    Inventors: Nabil Simaan, Roger E. Goldman, Andrea Bajo
  • Publication number: 20170182659
    Abstract: Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.
    Type: Application
    Filed: January 6, 2017
    Publication date: June 29, 2017
    Inventors: Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett, Roger E. Goldman
  • Patent number: 9687303
    Abstract: A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.
    Type: Grant
    Filed: April 19, 2013
    Date of Patent: June 27, 2017
    Assignee: Vanderbilt University
    Inventors: Nabil Simaan, Roger E. Goldman, Andrea Bajo
  • Patent number: 9549720
    Abstract: A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.
    Type: Grant
    Filed: April 19, 2013
    Date of Patent: January 24, 2017
    Assignee: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo
  • Patent number: 9539726
    Abstract: Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
    Type: Grant
    Filed: May 6, 2014
    Date of Patent: January 10, 2017
    Assignee: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett, Roger E. Goldman
  • Publication number: 20160354924
    Abstract: Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
    Type: Application
    Filed: May 6, 2014
    Publication date: December 8, 2016
    Applicant: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett, Roger E. Goldman
  • Patent number: 9333650
    Abstract: A robotic system and methods for manipulation of multi-segment continuum robots. The methods relate to contact detection and estimation of contact location along a multi-segment continuum robot.
    Type: Grant
    Filed: May 10, 2013
    Date of Patent: May 10, 2016
    Assignee: Vanderbilt University
    Inventors: Andrea Bajo, Nabil Simaan
  • Patent number: 9089354
    Abstract: Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.
    Type: Grant
    Filed: January 14, 2013
    Date of Patent: July 28, 2015
    Assignee: The Johns Hopkins University
    Inventors: Nabil Simaan, Russell H. Taylor, Paul Flint, Gregory Chirikjian, David Stein
  • Publication number: 20150119900
    Abstract: A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.
    Type: Application
    Filed: April 19, 2013
    Publication date: April 30, 2015
    Inventors: Nabil Simaan, Andrea Bajo
  • Publication number: 20150073434
    Abstract: A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.
    Type: Application
    Filed: April 19, 2013
    Publication date: March 12, 2015
    Inventors: Nabil Simaan, Roger E. Goldman, Andrea Bajo
  • Publication number: 20140350337
    Abstract: The present disclosure relates to systems, devices, and methods for providing foldable, insertable robotic sensory and manipulation platforms for single port surgery. The device is referred to herein as an Insertable Robotic Effector Platform (IREP). The IREP provides a self-deployable insertable device that provides stereo visual feedback upon insertion, implements a backbone structure having a primary backbone and four secondary backbones for each of the robotic arms, and implements a radial expansion mechanism that can separate the robotic arms. All of these elements together provide an anthropomorphic endoscopic device.
    Type: Application
    Filed: March 21, 2014
    Publication date: November 27, 2014
    Applicant: THE TRUSTEES OF COLUMBIA UNIVERSITY IN THE CITY OF NEW YORK
    Inventors: Nabil SIMAAN, Kai XU, Roger GOLDMAN, Peter ALLEN, Dennis FOWLER, Jienan DING
  • Publication number: 20140330432
    Abstract: Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
    Type: Application
    Filed: May 6, 2014
    Publication date: November 6, 2014
    Applicant: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett
  • Publication number: 20140316434
    Abstract: Systems and methods are described for using a robotic system to perform procedures within a cavity using a virtual fixture. The robotic system includes a rigid central stem including an access channel positioned longitudinally along the rigid central stem and a dexterous arm at least partially positioned within the access channel of the central stem. The dexterous arm includes a plurality of individually adjustable segments. A control system receives a positioning command from a manipulator control indicative of a desired movement of a distal end of the dexterous arm. A virtual fixture is defined that is representative of the access channel of the rigid central stem. The position of the dexterous arm is adjusted such that the distal end of the dexterous arm performs the desired movement while the portion of the dexterous arm that is positioned within the first access channel is not moved beyond the defined virtual fixture.
    Type: Application
    Filed: May 6, 2014
    Publication date: October 23, 2014
    Applicant: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, Ryan B. Pickens, Stanely Duke Herrel
  • Publication number: 20140303663
    Abstract: Devices, methods, tools, and kits for surgically separating two pressure-sensitive vessels (e.g., arteriole, vein, and/or nerve) at a point of contact or within about 1 mm of the contact. The device includes a biocompatible sheet of material, such as a bridge or separator or external stent. The device is positioned between one or more pressure-sensitive vessels or nerves to alleviate compression with a the tool includes a deployment mechanism and a user interface (e.g., a controller or robot) for inserting the device between the two pressure-sensitive vessels or nerves.
    Type: Application
    Filed: October 25, 2012
    Publication date: October 9, 2014
    Inventors: Karen Joos, Jin Shen, Nabil Simaan