Abstract: A steerable surgical needle (10) includes an elongated needle shaft (12), a beveled tip portion (14), and a flexural element (16) that connects the needle shaft (12) with the tip portion (14) and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle (10) through tissue includes the steps of advancing the needle in the body tissue to induce tip flexure which causes the needle to follow a curved trajectory, and rotating the needle about its longitudinal axis in place, without advancement, to remove the tip flexure.

Abstract: The present invention relates to a system and apparatus for implementing a method for identifying tube parameters of a curved tube of an active cannula for operating on a target in a patient. The method includes the step (a) of acquiring a model of the patient anatomy including the target. The method also includes the step (b) of selecting a set of parameters characterizing a curved tube. The method also includes the step (c) of computing a workspace for an active cannula having the selected curved tube parameters. The method also includes the step (d) of comparing the workspace to the anatomical model to determine the degree to which an active cannula having the selected curved tube parameters covers the target. The method also includes the step (e) of repeating steps (b) through (d) through a defined number of curved tube parameter sets. The method also includes the step (f) of identifying the curved tube parameters that provide an active cannula with an optimal degree of target coverage.

Abstract: A steerable surgical needle (10) includes an elongated needle shaft (12), a beveled tip portion (14), and a flexural element (16) that connects the needle shaft (12) with the tip portion (14) and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle (10) through tissue includes the steps of advancing the needle in the body tissue to induce tip flexure which causes the needle to follow a curved trajectory, and rotating the needle about its longitudinal axis in place, without advancement, to remove the tip flexure.

Abstract: A steerable surgical needle (10) includes an elongated needle shaft (12), a beveled tip portion (14), and a flexural element (16) that connects the needle shaft (12) with the tip portion (14) and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle (10) through tissue includes the steps of advancing the needle in the body tissue to induce tip flexure which causes the needle to follow a curved trajectory, and rotating the needle about its longitudinal axis in place, without advancement, to remove the tip flexure.

Abstract: The present invention relates to a system and apparatus for implementing a method for identifying tube parameters of a curved tube of an active cannula for operating on a target in a patient. The method includes the step (a) of acquiring a model of the patient anatomy including the target. The method also includes the step (b) of selecting a set of parameters characterizing a curved tube. The method also includes the step (c) of computing a workspace for an active cannula having the selected curved tube parameters. The method also includes the step (d) of comparing the workspace to the anatomical model to determine the degree to which an active cannula having the selected curved tube parameters covers the target. The method also includes the step (e) of repeating steps (b) through (d) through a defined number of curved tube parameter sets. The method also includes the step (f) of identifying the curved tube parameters that provide an active cannula with an optimal degree of target coverage.

Abstract: A robotic surgical apparatus includes at least two tubes having a nested, concentric configuration with an inner tube positioned in an outer tube. The tubes are configured to deliver surgical therapy. A first tube carrier connected to the outer tube and a second tube carrier connected to the inner tube. The first tube carrier and its associated outer tube and the second tube carrier and its associated inner tube form a robotic arm assembly. An actuator for actuating the robotic arm assembly is configured to receive the robotic arm assembly via a tube insertion interface into which the robotic arm assembly can be inserted.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: A surgical robot system includes a support structure for positioning relative to a patient. The support structure includes a plurality of mounting structures. One or more robotic tool cassettes that are configured to interchangeably connect with any of the mounting structures. Each tool cassette includes a concentric tube manipulator and a transmission for operating the concentric tube manipulator. The support structure also includes a tube collector including a tube assembly associated with each of the mounting structures. The tube assemblies are configured to receive the concentric tube manipulators and guide the manipulators to extend along predetermined trajectories relative to each other.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. A needle-sized bendable joint design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The bendable joint includes of a nitinol tube with several asymmetric cutouts, actuated by a tendon.

Abstract: A multipurpose tissue sampling device is provided for extracting at least one tissue sample from a tissue sampling site. An outer sheath has a cutting surface and an outer sheath lumen extending from an outer sheath proximal end to an outer sheath distal end. An inner stylet has a solid inner stylet cutting tip, sampling notch, and an inner stylet lumen extending from an inner stylet proximal end to the sampling notch. The inner stylet exterior wall is configured to pass through the outer sheath lumen. A fine needle aspiration needle has an FNA needle body configured to pass through the inner stylet lumen. The FNA needle has an FNA needle lumen and a sampling feature. An actuator has a proximal port and a distal port with inner port walls that are configured to accept at least a portion of at least one of the outer sheath and inner stylet.

Abstract: A surgical robot system includes a support structure for positioning relative to a patient. The support structure includes a plurality of mounting structures. One or more robotic tool cassettes that are configured to interchangeably connect with any of the mounting structures. Each tool cassette includes a concentric tube manipulator and a transmission for operating the concentric tube manipulator. The support structure also includes a tube collector including a tube assembly associated with each of the mounting structures. The tube assemblies are configured to receive the concentric tube manipulators and guide the manipulators to extend along predetermined trajectories relative to each other.

Abstract: A multipurpose tissue sampling device is provided for extracting at least one tissue sample from a tissue sampling site. An outer sheath has a cutting surface and an outer sheath lumen extending from an outer sheath proximal end to an outer sheath distal end. An inner stylet has a solid inner stylet cutting tip, sampling notch, and an inner stylet lumen extending from an inner stylet proximal end to the sampling notch. The inner stylet exterior wall is configured to pass through the outer sheath lumen. A fine needle aspiration needle has an FNA needle body configured to pass through the inner stylet lumen. The FNA needle has an FNA needle lumen and a sampling feature. An actuator has a proximal port and a distal port with inner port walls that are configured to accept at least a portion of at least one of the outer sheath and inner stylet.

Abstract: A robotic surgical apparatus includes at least two tubes having a nested, concentric configuration with an inner tube positioned in an outer tube. The tubes are configured to deliver surgical therapy. A first tube carrier connected to the outer tube and a second tube carrier connected to the inner tube. The first tube carrier and its associated outer tube and the second tube carrier and its associated inner tube form a robotic arm assembly. An actuator for actuating the robotic arm assembly is configured to receive the robotic arm assembly via a tube insertion interface into which the robotic arm assembly can be inserted.

Abstract: The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. A needle-sized bendable joint design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The bendable joint includes of a nitinol tube with several asymmetric cutouts, actuated by a tendon.

Abstract: The present invention relates to a system and apparatus for implementing a method for identifying tube parameters of a curved tube of an active cannula for operating on a target in a patient. The method includes the step (a) of acquiring a model of the patient anatomy including the target. The method also includes the step (b) of selecting a set of parameters characterizing a curved tube. The method also includes the step (c) of computing a workspace for an active cannula having the selected curved tube parameters. The method also includes the step (d) of comparing the workspace to the anatomical model to determine the degree to which an active cannula having the selected curved tube parameters covers the target. The method also includes the step (e) of repeating steps (b) through (d) through a defined number of curved tube parameter sets. The method also includes the step (f) of identifying the curved tube parameters that provide an active cannula with an optimal degree of target coverage.

Abstract: An apparatus (20) for performing endoscopic surgery on a patient (12) includes at least two concentric tube manipulators (150) adapted to carry devices (152, 154) for performing a surgical operation. A transmission (200) operates the concentric tube manipulators (150). An endoscope tube (106) has a proximal end portion fixed to the transmission (200). The concentric tube manipulators (150) extend from the transmission (200) through an inner lumen (102) of the endoscope tube (106) and are operable to extend from a distal end (104) of the endoscope tube.

Abstract: A steerable surgical needle (10) includes an elongated needle shaft (12), a beveled tip portion (14), and a flexural element (16) that connects the needle shaft (12) with the tip portion (14) and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle (10) through tissue includes the steps of advancing the needle in the body tissue to induce tip flexure which causes the needle to follow a curved trajectory, and rotating the needle about its longitudinal axis in place, without advancement, to remove the tip flexure.