Patents by Inventor Robert James Webster
Robert James Webster 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).
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Patent number: 10846928Abstract: Systems for controlling concentric tube probes are disclosed. In some examples, the system includes a concentric tube position display interface and a control system. The concentric tube display interface includes a display for displaying visual feedback to a user indicating a position (and possibly orientation) of a tip of a concentric tube probe and a user input device for receiving user input from the user designating a goal position (and possibly orientation) for the tip of the concentric tube probe. The control system is configured for interactive-rate motion planning of the concentric tube probe by creating, in real-time or near real-time, a motion plan to move the tip of the concentric tube probe to the goal position (and possibly orientation) while avoiding contact by the concentric tube probe with one or more obstacles and for configuring the concentric tube probe as specified by the motion plan.Type: GrantFiled: May 23, 2016Date of Patent: November 24, 2020Assignees: UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL, VANDERBILT UNIVERSITYInventors: Ron Alterovitz, Luis Guillermo Torres, Philip Joseph Swaney, Hunter Bryant Gilbert, Robert James Webster, Richard Joseph Hendrick
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Patent number: 10803662Abstract: Methods, systems, and computer readable media for transoral lung access. In some examples, the system includes a bronchoscope, a concentric tube probe deployable from within the bronchoscope, and a steerable needle nested deployable from within the concentric tube probe. The system can include a control system for deploying the concentric tube probe from the bronchoscope into a lung to a location where a target is within a range of the steerable needle and for deploying the steerable needle from the location to the target.Type: GrantFiled: May 23, 2016Date of Patent: October 13, 2020Assignees: The University of North Carolina at Chapel Hill, Vanderbilt UniversityInventors: Ron Alterovitz, Richard Harry Feins, Bryan Irby Hartley, Alan David Kuntz, Erik Lamers, Arthur William Mahoney, Andria Annette Remirez, Philip Joseph Swaney, Robert James Webster, III
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Patent number: 10737398Abstract: Continuum robots and similar devices and methods and systems for controlling such devices are provided. The devices can include rods comprising strips, that are pre-curved, or both. Also provided is a system and method for modeling and controlling the configuration and operation of such devices.Type: GrantFiled: September 19, 2014Date of Patent: August 11, 2020Assignee: Vanderbilt UniversityInventors: Andria A. Remirez, Daniel Caleb Rucker, Robert James Webster, III
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Publication number: 20180232951Abstract: Systems for controlling concentric tube probes are disclosed. In some examples, the system includes a concentric tube position display interface and a control system. The concentric tube display interface includes a display for displaying visual feedback to a user indicating a position (and possibly orientation) of a tip of a concentric tube probe and a user input device for receiving user input from the user designating a goal position (and possibly orientation) for the tip of the concentric tube probe. The control system is configured for interactive-rate motion planning of the concentric tube probe by creating, in real-time or near real-time, a motion plan to move the tip of the concentric tube probe to the goal position (and possibly orientation) while avoiding contact by the concentric tube probe with one or more obstacles and for configuring the concentric tube probe as specified by the motion plan.Type: ApplicationFiled: May 23, 2016Publication date: August 16, 2018Applicants: The University of North Carolina at Chapel Hill, Vanderbilt University, Vanderbilt UniversityInventors: Ron Alterovitz, Luis Guillermo Torres, Philip Joseph Swaney, Hunter Bryant Gilbert, Robert James Webster, Richard Joseph Hendrick
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Publication number: 20180214010Abstract: Methods, systems, and computer readable media for transoral lung access. In some examples, the system includes a bronchoscope, a concentric tube probe deployable from within the bronchoscope, and a steerable needle nested deployable from within the concentric tube probe. The system can include a control system for deploying the concentric tube probe from the bronchoscope into a lung to a location where a target is within a range of the steerable needle and for deploying the steerable needle from the location to the target.Type: ApplicationFiled: May 23, 2016Publication date: August 2, 2018Inventors: Ron Alterovitz, Richard Harry Feins, Bryan Irby Hartley, Alan David Kuntz, Erik Lamers, Arthur William Mahoney, Andria Annette Remirez, Philip Joseph Swaney, Robert James Webster, III
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Patent number: 9289899Abstract: Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.Type: GrantFiled: May 31, 2011Date of Patent: March 22, 2016Assignee: VANDERBILT UNIVERSITYInventors: Daniel Caleb Rucker, Robert James Webster
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Publication number: 20160016319Abstract: Continuum robots and similar devices and methods and systems for controlling such devices are provided. The devices can include rods comprising strips, that are pre-curved, or both. Also provided is a system and method for modeling and controlling the configuration and operation of such devices.Type: ApplicationFiled: September 19, 2014Publication date: January 21, 2016Inventors: Andria A. Remirez, Caleb Daniel Rucker, Robert James Webster, III
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Patent number: 8715226Abstract: A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.Type: GrantFiled: March 9, 2012Date of Patent: May 6, 2014Assignee: The Johns Hopkins UniversityInventors: Robert James Webster, Allison M. Okamura, Noah J. Cowan, Russell H. Taylor
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Publication number: 20130131868Abstract: Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.Type: ApplicationFiled: May 31, 2011Publication date: May 23, 2013Applicant: VANDERBILT UNIVERSITYInventors: Caleb Daniel Rucker, Robert James Webster
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Publication number: 20130018303Abstract: A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.Type: ApplicationFiled: March 9, 2012Publication date: January 17, 2013Applicant: The Johns Hopkins UniversityInventors: Robert James Webster, Allison M. Okamura, Noah J. Cowan, Russell H. Taylor
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Patent number: 8152756Abstract: Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective preformed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.Type: GrantFiled: November 15, 2006Date of Patent: April 10, 2012Assignee: The Johns Hopkins UniversityInventors: Robert James Webster, Allison M. Okamura, Noah J. Cowan, Russell H. Taylor
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Publication number: 20090171271Abstract: Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre-formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.Type: ApplicationFiled: November 15, 2006Publication date: July 2, 2009Applicant: The Johns Hopkins UniversityInventors: Robert James Webster, Allison M. Okamura, Noah J. Cowan, Russell H. Taylor