Robert D Webster

US Patent:

8152756, Apr 10, 2012

Filed:

Nov 15, 2006

Appl. No.:

12/084979

Inventors:

Robert James Webster - Nashville TN, US
Allison M. Okamura - Ruxton MD, US
Noah J. Cowan - Baltimore MD, US
Russell H. Taylor - Severna Park MD, US

Assignee:

The Johns Hopkins University - Baltimore MD

International Classification:

A61M 31/00

US Classification:

604 9501

Abstract:

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.

US Patent:

20100113874, May 6, 2010

Filed:

Apr 4, 2007

Appl. No.:

12/594193

Inventors:

Marco Quirini - Monsummano Teme (Pistoia), IT
Robert J. Webster - Nashville TN, US
Arianna Menciassi - Pontedera (Pisa), IT
Paolo Dario - Livomo, IT

International Classification:

A61B 1/04

US Classification:

600109

Abstract:

Teleoperated endoscopic capsule for diagnostic and/or therapeutic purposes inside a cavity in a human body, comprising a body () having a front part () and a rear part (), locomotion legs () able to project from the body () and, moving means () for said legs () housed in the same body (), a source of energy (), means for image acquisition (), means for reception/transmission of signals () from and to an operator, for permitting capsule the control and transfer of acquired images. The legs () are hinged to the body () and are subdivided into two separate groups (). The moving means () comprise two driving devices () each one comprising a motor () connected to a corresponding worm screw () on which a translatable nut screw cursor () is engaged. The nut screw cursor () is kinematically connected to the legs () of a respective rou ().

US Patent:

20110083672, Apr 14, 2011

Filed:

Aug 12, 2010

Appl. No.:

12/855470

Inventors:

Robert J. Webster - Nashville TN, US
Todd Dutton - Mt. Airy MD, US
Sanjay M. Athavale - Nashville TN, US

Assignee:

Vanderbilt University - Nashville TN

International Classification:

A61M 16/04

US Classification:

12820715

Abstract:

A tracheostomy tube for use with a neck plate having an aperture. The tracheostomy tube comprises an elongate outer cannula having a lumen and configured to extend through the aperture; an elongate inner cannula having a lumen and an inflatable cuff, and configured to extend through the lumen of the outer cannula such that the cuff extends beyond a distal end of the outer cannula; and an interlocking mechanism configured to releasably secure a proximal end of the inner cannula to a proximal end of the outer cannula.

US Patent:

20130131868, May 23, 2013

Filed:

May 31, 2011

Appl. No.:

13/808994

Inventors:

Caleb Daniel Rucker - Nashville TN, US
Robert James Webster - Nashville TN, US

Assignee:

VANDERBILT UNIVERSITY - Nashville TN

International Classification:

B25J 9/16
B25J 15/12

US Classification:

700262, 294213, 901 31

Abstract:

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.

US Patent:

20220193412, Jun 23, 2022

Filed:

Apr 17, 2020

Appl. No.:

17/604125

Inventors:

- Nashville TN, US
Robert J. Webster - Nashville TN, US

International Classification:

A61N 1/36
A61N 1/05

Abstract:

A system and method for determining the location of an implant such as a cochlear implant relative to a structure of interest such as a tissue wall. The implant has an electrode array including a first electrode and a second electrode. The electrode array is insertable into an electrically-conductive volume relative to the inner wall of the scala tympani of the cochlea. A pulse generator generates a biphasic, constant-current pulse on the first and second electrodes. A controller measures the differential voltage across the pair of electrodes during the current pulse. The controller determines the proximity between the inner wall and the segment of the electrode array between the first and second electrodes based on the differential voltage between the first and second electrodes.

US Patent:

20200069331, Mar 5, 2020

Filed:

Oct 30, 2019

Appl. No.:

16/668291

Inventors:

- Nashville TN, US
Robert J. Webster - Nashville TN, US

International Classification:

A61B 17/34

Abstract:

A steerable surgical needle () includes an elongated needle shaft (), a beveled tip portion (), and a flexural element () that connects the needle shaft () with the tip portion () and permits the tip portion to deflect relative to the needle shaft. A method for steering the surgical needle () 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.

US Patent:

20190175288, Jun 13, 2019

Filed:

Jan 24, 2019

Appl. No.:

16/256291

Inventors:

- Nashville TN, US
Robert J. Webster - Nashville TN, US
Trevor Bruns - Nashville TN, US
Philip J. Swaney - Nashville TN, US
Richard Hendrick - Nashville TN, US

International Classification:

A61B 34/30
A61B 1/303
A61B 34/00
A61B 1/00
A61B 1/307

Abstract:

An apparatus () for performing endoscopic surgery on a patient () includes at least two concentric tube manipulators () adapted to carry devices () for performing a surgical operation. A transmission () operates the concentric tube manipulators (). An endoscope tube () has a proximal end portion fixed to the transmission (). The concentric tube manipulators () extend from the transmission () through an inner lumen () of the endoscope tube () and are operable to extend from a distal end () of the endoscope tube.

US Patent:

20180232951, Aug 16, 2018

Filed:

May 23, 2016

Appl. No.:

15/576619

Inventors:

Philip Joseph Swaney - Nashville TN, US
Hunter Bryant Gilbert - Nashville TN, US
Robert James Webster - Nashville TN, US
Richard Joseph Hendrick - Nashville TN, US

Assignee:

The University of North Carolina at Chapel Hill - Chapel Hill NC
Vanderbilt University - Nashville TN

International Classification:

G06T 19/00
A61B 1/01
A61B 34/30

Abstract:

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.