Apparatus For Dilating Bodily Tissue And For Monitoring Neural Activity In The Dilated Bodily Tissue
Application
#2014022 Aug 14, 2014
Filed
Sep 7, 2012
Inventor
Mark W. Bender (Gainesville, FL) ·
MatthewPenny (Holly Springs, NC)
Appl. No.
14/342984
Assignee
Mark W. Bender (Gainesville, FL) ·
MatthewPenny (Holly Springs, NC)
International Classification
A61M 29/00, A61B 5/0492, A61B 5/00
U.S. Classification
606191
Abstract
An apparatus is provided herein for dilating bodily tissue and for monitoring neural activity in the distracted bodily tissue. In one aspect of the invention, the apparatus includes a first dilator having a tubular body with a distal end, a proximal end, and at least one electrode mounted about a circumference thereof; and, a second dilator having a tubular body of electrically-insulative material, the tubular body having a distal end, a proximal end, and a lumen extending therebetween sized to permit the second dilator to subsequently telescopically slide over the first dilator and come into overlapping coaxial alignment with the first dilator. A discrete window is formed through the tubular body, at or near the distal end, in communication with the lumen. With the second dilator being in overlapping coaxial alignment with the first dilator, the window is located to come into registration with at least one electrode such that, upon rotation of the second dilator relative to the first dilator, the window is positionally adjustable about the circumference of the first dilator. Advantageously, in addition to detecting the proximity of a nerve to the first dilator, the apparatus permits determination of the direction of the nerve from the first dilator. This facilitates more efficient re-positioning of the apparatus for avoidance of nerves, if a new path is necessary.
Blood Collection Safety Devices And Methods Of Use And Manufacture
An automatically locking safety device, e.g., for use in a blood collection procedure, can include a housing, first and second needle covers that are at least partly received in the housing, and a needle that is at least partly received in at least one of the first and second needle covers. The needle can include a proximal tip configured for placement into a patient and a distal tip configured for placement into a blood collection vial. In some embodiments, the first and second needle covers are biased by a biasing member. In some cases, one or both of the first and second needle covers can be locked to prevent axial movement thereof after the blood collection procedure. In certain embodiments, a distal end of the device is configured to connect with a medical connector, such as a needleless IV access device.
System And Method For Verifying End Effector/Instrument Engagement To A Robotic Manipulator
Application
#2020037 Dec 3, 2020
Filed
May 9, 2018
Inventor
Matthew R. Penny (Holly Springs, NC)
Appl. No.
15/975760
Assignee
Matthew R. Penny (Holly Springs, NC)
International Classification
A61B 34/30
Abstract
A robotic surgical system is configured to determine whether a surgical instrument has been properly mounted to an arm of the surgical system. As the surgical instrument is moved into engagement with the arm, a magnet on the arm exerts an attractive force on a plate on the surgical instrument. As the instrument engages to the arm, load cell measurements and inertial measurement unit (IMU) information from one or more sensors on the arm are monitored to determine the mass of the instrument as well as the acceleration of the instrument as it mates with the instrument engagement interface. The system compares the load cell measurements and IMU information with what those parameters are expected to be when a surgical device assembly or instrument of that type is mounted. If the load cell measurements and IMU information deviates from what is expected, the system provides a notification to the user and prevents use of the manipulator arm until the surgical device assembly or instrument is properly positioned.
Hydraulic Instrument Drive System For Minimally Invasive Surgery
A robotic surgical system includes a hydraulic drive system and a surgical instrument removably positioned in operative engagement with the hydraulic drive system.
Communication Of Detected Tissue Characterization In A Surgical Robotic Platform
Application
#2021030 Oct 7, 2021
Filed
Mar 12, 2018
Inventor
Matthew Robert Penny (Holly Springs, NC)
Appl. No.
15/917897
Assignee
Matthew Robert Penny (Holly Springs, NC)
International Classification
A61B 90/00, A61B 34/00
Abstract
A system and method for displaying tissue information on a display screen includes a camera capturing an image of an anatomical working site including a surgical instrument, and a display displaying the image. A tissue information detection device determines information about the health, pathology etc. of tissue in contact with a surgical instrument, or about an interaction between the surgical instrument and the tissue. The system renders overlays depicting the tissue information with the image on the display.
Device And Method For Delivery Of Therapeutic Agents Via Internal Implants
BIOSHAPE SOLUTIONS INC (RESEARCH TRIANGLE PARK, NC)
International Classification
A61M 5/00
U.S. Classification
604175
Abstract
A device is provided for use with a medical implant for delivering an agent to a designated site of action in a body of a patient. The agent-delivery device comprises a body member having an inner surface and a projection on the inner surface of the body member. An agent-delivery medium is associated with the body member. The agent-delivery medium includes a therapeutic agent for treating the body of the patient. The body member is adapted to be secured to the medical implant such that the projection operatively engages the medical implant for spacing the inner surface of the body member from the implant, and the agent-delivery medium is configured to release the therapeutic agent after implantation in the body of the patient. In alternative embodiments, the agent-delivery device comprises a first body member having an inner surface and a second body member having an inner surface. When connected, the inner surfaces of the first body member and the second body member define a cavity adapted to receive the medical implant. The body member may also define an opening therethrough, the opening configured to receive an anchor member for fixing the body member in a body of a patient.
A cannula connector adapted for a resealable septum component and assemblies comprising a combination of connectors are provided. The connectors are reversibly engageable and lockable to provide a fluid path between the components. Assemblies comprising the connector and various septum components are provided.
Telescoping Reinforcements For Instrument Channel Shafts
An instrument channel device for receiving a medical instrument having a distal tip includes an elongate tubular shaft including a proximal shaft portion and a distal shaft portion positionable within a body cavity. The shaft defines a lumen for passage of the distal tip of a flexible medical instrument therethrough, allowing positioning of the medical instrument such that its distal tip is disposed distally of the distal shaft portion. A telescoping reinforcement is positioned on the distal shaft portion. The reinforcement has a collapsed position in which the telescoping reinforcement has a length that is shorter than the length of the telescoping reinforcement in an expanded position. As an instrument is advanced from the distal end of the lumen, the telescoping reinforcement is engaged by a distal portion of the instrument such that advancement of the distal tip to a position beyond a distal end of the telescoping reinforcement moves the telescoping reinforcement to the expanded position. The reinforcement minimizes unintended flexion of the portion of the instrument shaft that extends beyond the distal end of the lumen.
Blood Collection Safety Devices And Methods Of Use And Manufacture
An automatically locking safety device, e.g., for use in a blood collection procedure, can include a housing, first and second needle covers that are at least partly received in the housing, and a needle that is at least partly received in at least one of the first and second needle covers. The needle can include a proximal tip configured for placement into a patient and a distal tip configured for placement into a blood collection vial. In some embodiments, the first and second needle covers are biased by a biasing member. In some cases, one or both of the first and second needle covers can be locked to prevent axial movement thereof after the blood collection procedure. In certain embodiments, a distal end of the device is configured to connect with a medical connector, such as a needleless IV access device.
Identification And Assignment Of Instruments In A Surgical System Using Camera Recognition
In a surgical system in which surgical instruments are manipulated using robotic arms that move in response to user input from a plurality of input devices. Images capturing an instrument positioned within view of a camera are received. At least one characteristic of the surgical instrument is determined by the system based on the image data. The system automatically assigns the surgical instrument to a user input device, or controls movement of the robotic manipulator carrying the instrument, based on the at least one characteristic. The surgical instrument is then robotically maneuvered by the corresponding robotic arm based on user input to the user input device.
Wristed Instrument With Shared Pitch And Yaw Axes Existing At The Jaw Pivot
Application
#2021001 Jan 21, 2021
Filed
Jul 17, 2019
Inventor
Matthew Robert Penny (Holly Springs, NC)
Appl. No.
16/513710
Assignee
Matthew Robert Penny (Holly Springs, NC)
International Classification
A61B 17/29
Abstract
A surgical instrument includes a shaft and a pair of jaw members disposed on the shaft and extending from an at least partially spherical element. The jaw members are moveable in pitch and yaw relative to the center of the sphere in response to actuation forces applied to a proximal drive mechanism of the instrument. The surgical instrument may include a manually operated handle for manual input of actuation forces by a user, or it may be removably mounted to a drive component of a robotic system such that its proximal drive mechanism is operatively engaged with actuators that generate mechanical output that is transferred to the proximal drive mechanism.
Instrument End Effector Identification
Application
#2021030 Oct 7, 2021
Filed
May 9, 2018
Inventor
Matthew R. Penny (Holly Springs, NC)
Appl. No.
15/975765
Assignee
Matthew R. Penny (Holly Springs, NC)
International Classification
A61B 34/00, A61B 34/30, A61B 46/10
Abstract
A mechanical assembly is used to communicate to a robotic system information about a type of instrument mounted to a robotic manipulator arm. The assembly includes a sensor and a receiving component on the robotic manipulator arm. The receiving component includes a member moveable relative to said at least one sensor. A first surgical instrument is attachable to the robotic manipulator arm and is provided with a first mechanical identification feature positioned to cause movement of the moveable member relative to the sensor, causing a first response at the sensor. A second surgical instrument is similarly attachable, but causes a second response at the sensor that differs from the first response. This allows the robotic system to determine instrument type based on the response of the sensor from attachment of an instrument.
Device And Method For Delivery Of Therapeutic Agents Via Artificial Internal Implants
A device is provided for use with a medical implant for delivering an agent to a designated site of action in a body of a patient. The agent-delivery device comprises a body member adapted to be secured to the medical implant and an agent-delivery component associated with the body member. The agent-delivery component includes a therapeutic agent for treating the body of the patient. The agent-delivery component is configured to release the therapeutic agent after implantation in the body of the patient.
Dispenser and methods of dispensing substances is provided. The dispenser comprises a housing having a longitudinal axis, the housing configured to receive a packet comprising at least one collapsible cavity containing at least one substance, a support member positioned in the housing, the support member having a longitudinal axis essentially parallel to the longitudinal axis of the housing, a wedge coupled to the support member, the wedge configured to move in a plane substantially parallel within the longitudinal axis of the housing, the wedge receiving a force directed substantially normal to the longitudinal axis of the housing, and a reciprocating actuator coupled to the housing and engagable with the support member, the actuator moveable between a first position and a second position whereby the wedge advances a single predetermined increment collapsing a portion of the cavity.
Blood Collection Safety Devices And Methods Of Use And Manufacture
An automatically locking safety device, e.g., for use in a blood collection procedure, can include a housing, first and second needle covers that are at least partly received in the housing, and a needle that is at least partly received in at least one of the first and second needle covers. The needle can include a proximal tip configured for placement into a patient and a distal tip configured for placement into a blood collection vial. In some embodiments, the first and second needle covers are biased by a biasing member. In some cases, one or both of the first and second needle covers can be locked to prevent axial movement thereof after the blood collection procedure. In certain embodiments, a distal end of the device is configured to connect with a medical connector, such as a needleless IV access device.
Dispenser and methods of dispensing substances is provided. The dispenser comprises a housing having a longitudinal axis, the housing configured to receive a packet comprising at least one collapsible cavity containing at least one substance, a support member positioned in the housing, the support member having a longitudinal axis essentially parallel to the longitudinal axis of the housing, a wedge coupled to the support member, the wedge configured to move in a plane substantially parallel within the longitudinal axis of the housing, the wedge receiving a force directed substantially normal to the longitudinal axis of the housing, and a reciprocating actuator coupled to the housing and engagable with the support member, the actuator moveable between a first position and a second position whereby the wedge advances a single predetermined increment collapsing a portion of the cavity.
Apparatus For Dilating Bodily Tissue And For Monitoring Neural Activity In The Dilated Bodily Tissue
Application
#2019030 Oct 10, 2019
Filed
May 23, 2019
Inventor
Mark W. Bender (Gainesville, FL) ·
MatthewPenny (Holly Springs, NC)
Appl. No.
16/420651
Assignee
Mark W. Bender (Gainesville, FL) ·
MatthewPenny (Holly Springs, NC)
International Classification
A61M 29/00, A61B 90/00, A61B 5/00, A61B 5/0492
Abstract
An apparatus is provided herein for dilating bodily tissue and for monitoring neural activity in the distracted bodily tissue. In one aspect of the invention, the apparatus includes a first dilator having a tubular body with a distal end, a proximal end, and at least one electrode mounted about a circumference thereof; and, a second dilator having a tubular body of electrically-insulative material, the tubular body having a distal end, a proximal end, and a lumen extending therebetween sized to permit the second dilator to subsequently telescopically slide over the first dilator and come into overlapping coaxial alignment with the first dilator. A discrete window is formed through the tubular body, at or near the distal end, in communication with the lumen. With the second dilator being in overlapping coaxial alignment with the first dilator, the window is located to come into registration with at least one electrode such that, upon rotation of the second dilator relative to the first dilator, the window is positionally adjustable about the circumference of the first dilator. Advantageously, in addition to detecting the proximity of a nerve to the first dilator, the apparatus permits determination of the direction of the nerve from the first dilator. This facilitates more efficient re-positioning of the apparatus for avoidance of nerves, if a new path is necessary.
Dynamic Control Of Surgical Instruments In A Surgical System Using Repulsion/Attraction Modes
Application
#2020020 Jul 2, 2020
Filed
Jan 2, 2020
Inventor
Matthew Robert Penny (Holly Springs, NC)
Appl. No.
16/733154
Assignee
Matthew Robert Penny (Holly Springs, NC)
International Classification
A61B 34/37, A61B 34/00
Abstract
A robot-assisted surgical system has a user interface operable by a user, a first robotic manipulator having a first surgical instrument, and a second robotic manipulator having a second surgical instrument. The system receives user input in response to movement of the input device by a user and causes the manipulator to move the first surgical instrument in response to the user input, determines a vector defined by the position of the first surgical instrument relative to the second surgical instrument, generates dynamic control signals based on the determined vector, and causes the manipulator to move the second surgical instrument in response to said dynamic control signals.
A surgical system comprising includes a light source, a sensor for detecting light, and a surgical device including an elongate shaft having a distal part positionable at a surgical working site within a body cavity. A first optical pathway transmits transmitting light from the light source to a distal part of the elongate shaft and onto tissue within the body cavity, and a second optical pathway receives light from tissue within the body cavity and transmits the received light to the sensor. A surgical drape, such as one covering a robotic manipulator arm housing components of the system, is positioned such that at least the first or second optical pathway includes an optically transmissive portion of the surgical drape.
Haptic User Interface For Robotically Controlled Surgical Instruments
A powered user interface for a robotic surgical system includes a handle on a linkage having a plurality of joints, a base, and actuators. The interface operates in accordance with a first mode of operation in which a plurality of its actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.
Device For Delivery Of A Local Anesthetic Agent To An Incision Site During A Surgical Procedure
Application
#2021003 Feb 11, 2021
Filed
Jul 17, 2020
Inventor
Matthew Robert Penny (Holly Springs, NC)
Appl. No.
16/932678
Assignee
Matthew Robert Penny (Holly Springs, NC)
International Classification
A61M 5/178, A61M 19/00
Abstract
A drug delivery trocar is configured to deliver medication at an incision site during surgery so as to reduce post-surgical incisional pain. The trocar includes an elongate tube having a lumen, and a fluid reservoir attached or attachable to the lumen.
Claim
1.
Surgeon Interfaces Using Augmented Reality
Application
#2021012 Apr 29, 2021
Filed
Oct 6, 2020
Inventor
Matthew Robert Penny (Holly Springs, NC) ·
Sevan Abashian (Morrisville, NC) ·
Bryan Peters (Morrisville, NC)
Appl. No.
17/064334
Assignee
Matthew Robert Penny (Holly Springs, NC) ·
Sevan Abashian (Morrisville, NC) ·
Bryan Peters (Morrisville, NC)
International Classification
A61B 34/00, A61B 34/37, G02B 27/01
Abstract
A system for visualizing and controlling tasks during surgical procedures, the system comprising a display for displaying information to a user and a user interface operable to generate input commands to a surgical system in response to surgeon movement.
Articulating Lumen With A Grasping End Effector
Application
#2021030 Oct 7, 2021
Filed
Dec 31, 2018
Inventor
Matthew Robert Penny (Holly Springs, NC)
Appl. No.
16/237430
Assignee
Matthew Robert Penny (Holly Springs, NC)
International Classification
A61B 17/29, A61B 34/30, A61B 34/00
Abstract
A surgical system includes a robotic manipulator, a first surgical instrument removably mountable to the robotic manipulator and maneuverable within a body cavity by the robotic manipulator. The instrument has end effector and a working channel proportioned to receive an implement therethrough. Robotic control of the first surgical and, optionally, the implement, is managed using input from a user interface.
System And Method For Controlling A Robotic Surgical System Based On Identified Structures
Application
#2021039 Dec 23, 2021
Filed
Dec 31, 2018
Inventor
Matthew R. Penny (Holly Springs, NC) ·
Mohan Nathan (Chapel Hill, NC)
Appl. No.
16/237444
Assignee
Matthew R. Penny (Holly Springs, NC) ·
Mohan Nathan (Chapel Hill, NC)
A robotic surgical system comprises a surgical instrument moveable by a robotic manipulator within a work area. A processor is configured to receive input identifying a structure at the operative site to be avoided by the surgical instrument, to automatically determine whether the surgical instrument is approaching contact with the structure, and to initiate an avoidance step if the system determines that the surgical instrument is approaching contact with the structure.
Blood Collection Safety Devices And Methods Of Use And Manufacture
An automatically locking safety device, e.g., for use in a blood collection procedure, can include a housing, first and second needle covers that are at least partly received in the housing, and a needle that is at least partly received in at least one of the first and second needle covers. The needle can include a proximal tip configured for placement into a patient and a distal tip configured for placement into a blood collection vial. In some embodiments, the first and second needle covers are biased by a biasing member. In some cases, one or both of the first and second needle covers can be locked to prevent axial movement thereof after the blood collection procedure. In certain embodiments, a distal end of the device is configured to connect with a medical connector, such as a needleless IV access device.
A multi-container transfer and deliver device and methods of mixing and transferring, the device configured to allow multiple containers to transfer and mix their respective materials and for receiving of the mixed materials to a fluid delivery device. The transfer device comprises a plurality of flow conduits for fluid flow between the multiple containers and the fluid delivery device. A drug mixing kit and optional packaging comprising a multi-container housing with a plurality of flow conduits and a plurality of sections for receiving containers and a fluid transfer device is described.
An applicator device for applying a fluid is provided. The applicator device may include a handle. The handle may comprise an elongate hollow body having a proximal end and a distal end and at least one longitudinal, interior rib disposed on an inner surface of an outer wall of the hollow body and configured to orient and guide a container for containing the fluid when the container is disposed within the hollow body. In addition, the applicator device may include a base at the distal end of the hollow body. Further, the applicator device may include an applicator pad coupled to the base.