Patents by Inventor Peter L. Gehlbach
Peter L. Gehlbach 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: 20200275942Abstract: The present invention is directed to a device to firmly grasp and manipulate delicate tissues in microsurgery, while precisely measuring tool-tissue interaction forces in three dimensions (x-y-z). The design enables precise measurement of forces at the tool tip without being influenced by other forces that may act on the tool shaft. The device of the present invention is capable of measuring axial (z) forces together with the transverse forces (x-y) on an actuated (not static) instrument. Fiber optic sensors are embedded into strategic locations of the design to decouple and precisely detect force components (x-y-z) separately. The force information is used to provide feedback to the operator, or to a robotic platform. The exerted forces on critical tissues, such as the retina in eye surgery, can be maintained at a safe level, clinical complications due to excessive forces can be lessened, safety, and outcome of microsurgical procedures can be enhanced.Type: ApplicationFiled: October 26, 2018Publication date: September 3, 2020Inventors: Iulian Ioan Iordachita, Berk Gonenc, Russell H. Taylor, Peter L. Gehlbach, James T. Handa
-
Patent number: 10363164Abstract: A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.Type: GrantFiled: August 11, 2016Date of Patent: July 30, 2019Assignee: The Johns Hopkins UniversityInventors: Xingchi He, Iulian Iordachita, Russell H. Taylor, James T. Handa, Peter L. Gehlbach
-
Patent number: 10188808Abstract: A motion-compensated injector system includes a handheld tool having a hollow shaft with a distal end for insertion into tissue of a subject. The system also includes an optical coherence tomography-based optical detection system having an optical fiber with a distal end at a fixed distance from the distal end of the hollow shaft, and an optical sensor to receive a signal from the optical fiber. The system further includes an actuator to move the hollow shaft in an axial direction, and a control unit to control the actuator. The optical detection system can monitor a distance between the distal end of the optical fiber and a reference portion of the tissue of the subject, and the control unit can control the actuator to move the hollow shaft to compensate for relative motion between the handheld tool and the portion of the tissue.Type: GrantFiled: January 24, 2014Date of Patent: January 29, 2019Assignee: THE JOHNS HOPKINS UNIVERSITYInventors: Jin U. Kang, Peter L. Gehlbach
-
Patent number: 10188552Abstract: A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom.Type: GrantFiled: August 15, 2016Date of Patent: January 29, 2019Assignee: The Johns Hopkins UniversityInventors: Xingchi He, Iulian Iordachita, Yuki Horise, Russell H. Taylor, Peter L. Gehlbach
-
Patent number: 10188281Abstract: An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue. The illumination system is configured to illuminate the light-sensitive tissue with a reduced amount of light within a preselected wavelength range compared to multispectral illumination light, and the image of the portion of the light-sensitive tissue is compensated for the reduced amount of light within the preselected frequency range to approximate an image of the light-sensitive tissue under the multispectral illumination.Type: GrantFiled: March 30, 2016Date of Patent: January 29, 2019Assignee: The Johns Hopkins UniversityInventors: Russell H. Taylor, Seth D. Billings, Peter L. Gehlbach, Gregory D. Hager, James T. Handa, Jin U. Kang, Balazs P. Vagvolgyi, Raphael Sznitman, Zachary Pezzementi
-
Patent number: 10045882Abstract: A surgical instrument has a surgical tool that has a proximal end and a distal end, and an optical sensor that has at least a portion attached to the surgical tool. The surgical tool has a portion that is suitable to provide a reference portion of the surgical tool, and the optical sensor has an end fixed relative to the reference portion of the surgical tool such that the reference portion of the surgical tool can be detected along with tissue that is proximate or in contact with the distal end of the surgical tool while in use.Type: GrantFiled: November 1, 2010Date of Patent: August 14, 2018Assignee: The Johns Hopkins UniversityInventors: Marcin A. Balicki, Russell H. Taylor, Jin U. Kang, Peter L. Gehlbach, James T. Handa, Jaeho Han
-
Patent number: 9907696Abstract: A motion-compensated cutting system includes a hand-held tool body, and an actuator connected to the tool body. A shaft of the actuator is movable relative to the tool body so that a distal end of a cutting implement attached to the shaft is axially movable relative to the tool body. An optical coherence tomography system includes an optical fiber with a distal end fixed relative to the distal end of the cutting implement. The system includes a control unit that can determine a position of the distal end of the cutting implement relative to a reference surface based on input from the optical coherence tomography system. The control unit can control the cutting implement to compensate for relative motion between the tool body and the reference surface, and can maintain a predetermined depth of the distal end of the cutting implement with respect to the reference surface.Type: GrantFiled: April 18, 2014Date of Patent: March 6, 2018Assignee: THE JOHNS HOPKINS UNIVERSITYInventors: Jin U. Kang, Peter L. Gehlbach
-
Patent number: 9872692Abstract: A motion-compensated micro-forceps system, including a manually-operable micro-forceps assembly having a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system having an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremorType: GrantFiled: April 24, 2014Date of Patent: January 23, 2018Assignee: The Johns Hopkins UniversityInventors: Jin U. Kang, Peter L. Gehlbach
-
Patent number: 9814392Abstract: A visual tracking and annotation system for surgical intervention includes an image acquisition and display system arranged to obtain image streams of a surgical region of interest and of a surgical instrument proximate the surgical region of interest and to display acquired images to a user; a tracking system configured to track the surgical instrument relative to the surgical region of interest; a data storage system in communication with the image acquisition and display system and the tracking system; and a data processing system in communication with the data storage system, the image acquisition and display system and the tracking system. The data processing system is configured to annotate images displayed to the user in response to an input signal from the user.Type: GrantFiled: November 1, 2010Date of Patent: November 14, 2017Assignee: THE JOHNS HOPKINS UNIVERSITYInventors: Marcin A. Balicki, Russell H. Taylor, Gregory D. Hager, Peter L. Gehlbach, James T. Handa, Rajesh Kumar
-
Publication number: 20170156928Abstract: A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.Type: ApplicationFiled: August 11, 2016Publication date: June 8, 2017Inventors: Xingchi He, Iulian Iordachita, Russell H. Taylor, James T. Handa, Peter L. Gehlbach
-
Publication number: 20170042730Abstract: A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom.Type: ApplicationFiled: August 15, 2016Publication date: February 16, 2017Inventors: Xingchi He, Iulian Iordachita, Yuki Horise, Russell H. Taylor, Peter L. Gehlbach
-
Publication number: 20160262605Abstract: An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue.Type: ApplicationFiled: March 30, 2016Publication date: September 15, 2016Applicant: The Johns Hopkins UniversityInventors: Russell H. Taylor, Seth D. Billings, Peter L. Gehlbach, Gregory D. Hager, James T. Handa, Jin U. Kang, Balazs P. Vagvolgyi, Raphael Sznitman, Zachary Pezzementi
-
Patent number: 9320428Abstract: An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue. The illumination system is configured to illuminate the light-sensitive tissue with a reduced amount of light within a preselected wavelength range compared to multispectral illumination light, and the image of the portion of the light-sensitive tissue is compensated for the reduced amount of light within the preselected frequency range to approximate an image of the light-sensitive tissue under the multispectral illumination.Type: GrantFiled: August 5, 2010Date of Patent: April 26, 2016Assignee: The Johns Hopkins UniversityInventors: Russell H. Taylor, Seth D. Billings, Peter L. Gehlbach, Gregory D. Hager, James T. Handa, Jin Ung Kang, Balazs Vagvolgyi, Raphael Sznitman, Zachary Pezzementi
-
Publication number: 20150305761Abstract: A motion-compensated micro-forceps system, including a manually-operable micro-forceps assembly having a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system having an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremorType: ApplicationFiled: April 24, 2014Publication date: October 29, 2015Applicant: The Johns Hopkins UniversityInventors: Jin U. Kang, Peter L. Gehlbach
-
Publication number: 20150297404Abstract: A motion-compensated cutting system includes a hand-held tool body, and an actuator connected to the tool body. A shaft of the actuator is movable relative to the tool body so that a distal end of a cutting implement attached to the shaft is axially movable relative to the tool body. An optical coherence tomography system includes an optical fiber with a distal end fixed relative to the distal end of the cutting implement. The system includes a control unit that can determine a position of the distal end of the cutting implement relative to a reference surface based on input from the optical coherence tomography system. The control unit can control the cutting implement to compensate for relative motion between the tool body and the reference surface, and can maintain a predetermined depth of the distal end of the cutting implement with respect to the reference surface.Type: ApplicationFiled: April 18, 2014Publication date: October 22, 2015Applicant: THE JOHNS HOPKINS UNIVERSITYInventors: Jin U. Kang, Peter L. Gehlbach
-
Patent number: 9116262Abstract: An illumination system includes a light source, an optical waveguide that has a proximal end and a distal end such that the proximal end is arranged to receive light from the light source and the distal end is suitable to illuminate an object of interest; and an optical coupler constructed and arranged to couple light from the light source into the optical waveguide. The optical coupler includes a reflective surface that reflects at least some light diverging from the light source to be coupled into the optical waveguide.Type: GrantFiled: April 20, 2011Date of Patent: August 25, 2015Assignee: The Johns Hopkins UniversityInventors: Jin U. Kang, Seth D. Billings, Peter L. Gehlbach, James T. Handa, Yong Huang, Russell H. Taylor, Yi Yang
-
Publication number: 20150209527Abstract: A motion-compensated injector system includes a handheld tool having a hollow shaft with a distal end for insertion into tissue of a subject. The system also includes an optical coherence tomography-based optical detection system having an optical fiber with a distal end at a fixed distance from the distal end of the hollow shaft, and an optical sensor to receive a signal from the optical fiber. The system further includes an actuator to move the hollow shaft in an axial direction, and a control unit to control the actuator. The optical detection system can monitor a distance between the distal end of the optical fiber and a reference portion of the tissue of the subject, and the control unit can control the actuator to move the hollow shaft to compensate for relative motion between the handheld tool and the portion of the tissue.Type: ApplicationFiled: January 24, 2014Publication date: July 30, 2015Applicant: The Johns Hopkins UniversityInventors: Jin U. Kang, Peter L. Gehlbach
-
Publication number: 20130033887Abstract: An illumination system includes a light source, an optical waveguide that has a proximal end and a distal end such that the proximal end is arranged to receive light from the light source and the distal end is suitable to illuminate an object of interest; and an optical coupler constructed and arranged to couple light from the light source into the optical waveguide. The optical coupler includes a reflective surface that reflects at least some light diverging from the light source to be coupled into the optical waveguide.Type: ApplicationFiled: April 20, 2011Publication date: February 7, 2013Applicant: The Johns Hopkins UniversityInventors: Jin U. Kang, Seth D. Billings, Peter L. Gehlbach, James T. Handa, Yong Huang, Russell H. Taylor, Yi Yang
-
Publication number: 20120226150Abstract: A visual tracking and annotation system for surgical intervention includes an image acquisition and display system arranged to obtain image streams of a surgical region of interest and of a surgical instrument proximate the surgical region of interest and to display acquired images to a user; a tracking system configured to track the surgical instrument relative to the surgical region of interest; a data storage system in communication with the image acquisition and display system and the tracking system; and a data processing system in communication with the data storage system, the image acquisition and display system and the tracking system. The data processing system is configured to annotate images displayed to the user in response to an input signal from the user.Type: ApplicationFiled: November 1, 2010Publication date: September 6, 2012Applicant: The Johns Hopkins UniversityInventors: Marcin A. Balicki, Russell H. Taylor, Gregory D. Hager, Peter L. Gehlbach, James Handa, Rajesh Kumar
-
Publication number: 20120130258Abstract: An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue.Type: ApplicationFiled: August 5, 2010Publication date: May 24, 2012Applicant: The Johns Hopkins UniversityInventors: Russell H. Taylor, Seth D. Billings, Peter L. Gehlbach, Gregory D. Hager, James T. Handa, Jin Ung Kang, Balazs Vagvolgyi, Raphael Sznitman, Zachary Pezzementi