IP Library › Granted Patent US 12,426,965
Granted Patent B2
US 12,426,965 · App. 18/210,257 · Granted Sep 30, 2025

Image-guided robotic arm for inserting a penetrating member into a body lumen

Inventors: William E. Cohn (Bellaire, TX); Russell Seiber (Asheville, NC); James Patrick Herlihy (Houston, TX); Kenneth Wayne Rennicks (Pearland, TX); Scott Nortman (Sunrise, FL)
Assignee: Obvius Robotics, Inc.
A61B34/30A61B17/3401A61B46/10A61B90/361A61B2034/301A61B2034/305
View Patent ↗
Loading inventors, assignments & file history…
Monitor This Case
Get email alerts when status or documents change.
Order Certified Copies
Most orders are placed with the USPTO same day — all within 24 business hours.
Order via The Patent Place →
Pre-filled with this patent's details
Quick Facts
Patent No.
US 12,426,965
App. No.
18/210,257
Granted
Sep 30, 2025
Kind
B2
Abstract

An image-guided robotic system for advancing a penetrating member into a body lumen located beneath a skin surface of a patient, the image-guided robotic system comprising: a detector for obtaining data representative of a location of the body lumen beneath the skin surface of the patient; a robotic arm comprising: a penetrating member; a linear actuator for linearly advancing the penetrating member into the body lumen; a vibrational actuator for vibrating the penetrating member at a selected frequency; a processor in communication with the detector, the linear actuator and the vibrational actuator, the processor being configured to: (i) receive the data representative of the location of the body lumen from the detector; (ii) calculate the distance to a preselected target point within the body lumen; (iii) transmit linear advancement instructions to the linear actuator to linearly advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein the linear advancement instructions comprise the speed and distance required for the linear actuator to advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the body lumen at the preselected target point within the body lumen; (iv) transmit vibrational instructions to the vibrational actuator to vibrate the penetrating member; and (v) automatically modify at least one of the linear advancement instructions and the vibrational instructions in order to account for resistance encountered by the penetrating member during advancement of the penetrating member through the skin surface, through the tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein at least one of the linear advancement instructions and the vibrational instructions is modified to mitigate deformation of the body lumen as the penetrating member advances through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen.

Claims (40)

1. An image-guided robotic system for advancing a penetrating member into a body lumen located beneath a skin surface of a patient, the image-guided robotic system comprising:

a detector for obtaining data representative of a location of the body lumen beneath the skin surface of the patient;

a robotic arm comprising:

a penetrating member;

a linear actuator for linearly advancing the penetrating member into the body lumen;

a vibrational actuator for vibrating the penetrating member at a selected frequency;

a processor in communication with the detector, the linear actuator and the vibrational actuator, the processor being configured to:

(i) receive the data representative of the location of the body lumen from the detector;

(ii) calculate the distance to a preselected target point within the body lumen;

(iii) transmit linear advancement instructions to the linear actuator to linearly advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein the linear advancement instructions comprise the speed and distance required for the linear actuator to advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the body lumen at the preselected target point within the body lumen;

(iv) transmit vibrational instructions to the vibrational actuator to vibrate the penetrating member; and

(v) automatically modify at least one of the linear advancement instructions and the vibrational instructions in order to account for resistance encountered by the penetrating member during advancement of the penetrating member through the skin surface, through the tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein at least one of the linear advancement instructions and the vibrational instructions is modified to mitigate deformation of the body lumen as the penetrating member advances through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen.

2. The image-guided robotic system of claim 1 wherein mitigating deformation of the body lumen comprises reducing the force required to advance the penetrating member into the body lumen.

3. The image-guided robotic system of claim 1 wherein mitigating deformation of the body lumen comprises mitigating at least one from the group consisting of:

movement of the body lumen from its original position as the penetrating member passes through the skin surface, through the tissue between the skin surface and the body lumen and into the preselected target point within the body lumen;

rolling of the body lumen as the penetrating member engages the body lumen; and

collapse of the body lumen as the penetrating member engages the body lumen.

4. The image-guided robotic system of claim 1 wherein at least one of the speed of distal advancement of the penetrating member and the vibration imparted on the penetrating member are adjusted to mitigate deformation of the body lumen as the penetrating member advances.

5. The image-guided robotic system of claim 1 wherein the linear actuator comprises a force load sensor for sensing the force load on the penetrating member.

6. The image-guided robotic system of claim 1 wherein the linear actuator comprises a current load sensor.

7. The image-guided robotic system of claim 1 wherein the vibrational actuator comprises a current load sensor.

8. The image-guided robotic system of claim 1 wherein the processor is further configured to stop movement of the penetrating member when the penetrating member reaches the preselected target point.

9. The image-guided robotic system of claim 1 wherein the angular disposition of the penetrating member relative to the skin surface of the patient is adjustable.

10. The image-guided robotic system of claim 1 wherein the penetrating member is mounted to the robotic arm with a magnetic connection.

11. The image-guided robotic system of claim 1 wherein the penetrating member comprises a funnel-shaped guide for guiding an instrument through the penetrating member.

12. The image-guided robotic system of claim 1 wherein the robotic arm comprises a needle guide for preventing the penetrating member from bending as the penetrating member penetrates through the skin of the patient.

13. The image-guided robotic system of claim 1 further comprising a drape for covering the robotic arm.

14. The image-guided robotic system of claim 13 wherein the drape is mounted to the robotic arm so that the penetrating member is disposed outside of the drape.

15. The image-guided robotic system of claim 1 further comprising a display configured to present the image data representative of the location of the body lumen.

16. The image-guided robotic system of claim 15 wherein the display is further configured to present a visual representation of the preselected target point within the body lumen.

17. The image-guided robotic system of claim 16 wherein the display is interactive and the visual representation of the preselected target point within the body lumen can be moved on the display.

18. The image-guided robotic system of claim 1 further comprising a handle for gripping by a user.

19. The image-guided robotic system of claim 1 wherein the vibrational actuator is configured to vibrate the penetrating member at approximately 125-175 Hz.

20. The image-guided robotic system of claim 1 wherein the vibrational actuator is configured to vibrate the penetrating member with displacements up to 1 mm.

21. A method for advancing a penetrating member into a body lumen located beneath a skin surface of a patient, the method comprising:

obtaining data representative of a location of a preselected target point within the body lumen;

calculating a distance to the preselected target point within the body lumen;

advancing the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen; and

vibrating the penetrating member during advancement of the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen;

wherein at least one of speed of distal advancement of the penetrating member and frequency of vibration are modified during advancement of the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen in order to mitigate deformation of the body lumen as the penetrating member advances through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen.

Assignments (5)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Aug 1, 2025
From: NORTMAN, SCOTT
To: OBVIUS ROBOTICS, INC.
Reel/Frame 071913/0820 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 13, 2023
From: COHN, WILLIAM E.
To: OBVIUS ROBOTICS, INC.
Reel/Frame 065543/0885 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 13, 2023
From: HERLIHY, JAMES PATRICK
To: OBVIUS ROBOTICS, INC.
Reel/Frame 065543/0938 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 13, 2023
From: RENNICKS, KENNETH WAYNE
To: OBVIUS ROBOTICS, INC.
Reel/Frame 065544/0042 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 13, 2023
From: SEIBER, RUSSELL
To: OBVIUS ROBOTICS, INC.
Reel/Frame 065544/0118 →
Continuity (1)
Related Publication 20240415585A1 · Dec 19, 2024
References Cited (303)
US 4428748A · Peyman et al. · 1984 [cited by applicant]
US 4527569A · Kolb · 1985 [cited by applicant]
US 4553541A · Burns · 1985 [cited by applicant]
US 4623335A · Jackson · 1986 [cited by applicant]
US 4648406A · Miller · 1987 [cited by applicant]
US 4771660A · Yacowitz · 1988 [cited by applicant]
US 4801293A · Jackson · 1989 [cited by applicant]
US 4911161A · Schechter · 1990 [cited by applicant]
US 5024662A · Menes et al. · 1991 [cited by applicant]
US 5095910A · Powers · 1992 [cited by applicant]
US 5221282A · Wuchinich · 1993 [cited by applicant]
US 5320613A · Houge · 1994 [cited by applicant]
US 5403276A · Schechter et al. · 1995 [cited by applicant]
US 5449370A · Vaitekunas · 1995 [cited by applicant]
US 5471102A · Becker et al. · 1995 [cited by applicant]
US 5526820A · Khoury · 1996 [cited by applicant]
US 5575789A · Bell et al. · 1996 [cited by applicant]
US 5647373A · Palteli · 1997 [cited by applicant]
US 5647851A · Pokras · 1997 [cited by applicant]
US 5681283A · Brownfield · 1997 [cited by applicant]
US 5711302A · Lampropoulos · 1998 [cited by applicant]
US 5728089A · Lal et al. · 1998 [cited by applicant]
US 5728130A · Ishikawa et al. · 1998 [cited by applicant]
US 5729077A · Newnham et al. · 1998 [cited by applicant]
US 5735813A · Lewis · 1998 [cited by applicant]
US 5769086A · Ritchart · 1998 [cited by applicant]
US 5840026A · Uber, III et al. · 1998 [cited by applicant]
US 5865764A · Moorhead · 1999 [cited by applicant]
US 5871470A · McWha · 1999 [cited by applicant]
US 5885226A · Rubinstein et al. · 1999 [cited by applicant]
US 5954701A · Matalon · 1999 [cited by applicant]
US 6019775A · Sakurai · 2000 [cited by applicant]
US 6019776A · Preissman et al. · 2000 [cited by applicant]
US 6068604A · Krause et al. · 2000 [cited by applicant]
US 6096004A · Meglan et al. · 2000 [cited by applicant]
US 6190333B1 · Valencia · 2001 [cited by applicant]
US 6245028B1 · Furst et al. · 2001 [cited by applicant]
US 6273861B1 · Bates et al. · 2001 [cited by applicant]
US 6379371B1 · Novak et al. · 2002 [cited by applicant]
US 6402769B1 · Boukhny · 2002 [cited by applicant]
US 6423014B1 · Churchill et al. · 2002 [cited by applicant]
US 6443910B1 · Krueger et al. · 2002 [cited by applicant]
US 6465936B1 · Knowles et al. · 2002 [cited by applicant]
US 6491708B2 · Madan et al. · 2002 [cited by applicant]
US 6497714B1 · Ishikawa et al. · 2002 [cited by applicant]
US 6514267B2 · Jewett · 2003 [cited by applicant]
US 6602229B2 · Coss · 2003 [cited by applicant]
US 6623429B2 · Percival et al. · 2003 [cited by applicant]
US 6629922B1 · Puria · 2003 [cited by applicant]
US 6664712B2 · Rayner · 2003 [cited by applicant]
US 6673086B1 · Hofmeier et al. · 2004 [cited by applicant]
US 6689087B2 · Pal et al. · 2004 [cited by applicant]
US 6718196B1 · Mah et al. · 2004 [cited by applicant]
US 6726698B2 · Cimino · 2004 [cited by applicant]
US 6730043B2 · Krueger et al. · 2004 [cited by applicant]
US 6785572B2 · Yanof et al. · 2004 [cited by applicant]
US 6817973B2 · Merril et al. · 2004 [cited by applicant]
US 6869439B2 · White et al. · 2005 [cited by applicant]
US 6939317B2 · Zacharias · 2005 [cited by applicant]
US 6942677B2 · Nita et al. · 2005 [cited by applicant]
US 6984220B2 · Wuchinich · 2006 [cited by applicant]
US 7018343B2 · Plishka · 2006 [cited by applicant]
US 7025774B2 · Freeman et al. · 2006 [cited by applicant]
US 7206626B2 · Quaid, III · 2007 [cited by applicant]
US 7297131B2 · Nita · 2007 [cited by applicant]
US 7328064B2 · Mathiesen et al. · 2008 [cited by applicant]
US 7335997B2 · Wiener · 2008 [cited by applicant]
US 7364567B2 · Beyerlein · 2008 [cited by applicant]
US 7374544B2 · Freeman et al. · 2008 [cited by applicant]
US 7518479B2 · Mask et al. · 2009 [cited by applicant]
US 7585280B2 · Wilson · 2009 [cited by applicant]
US 7618409B2 · Hochman · 2009 [cited by applicant]
US 7648468B2 · Boecker et al. · 2010 [cited by applicant]
US 7651475B2 · Angel et al. · 2010 [cited by applicant]
US 7651490B2 · Boukhny et al. · 2010 [cited by applicant]
US 7654825B2 · Ray · 2010 [cited by applicant]
US 7776027B2 · Manna et al. · 2010 [cited by applicant]
US 7896833B2 · Hochman · 2011 [cited by applicant]
US 7922689B2 · Lechner · 2011 [cited by applicant]
US 7955301B1 · McKay · 2011 [cited by applicant]
US 8043229B2 · Mulvihill et al. · 2011 [cited by applicant]
US 8043308B2 · Bittenson · 2011 [cited by applicant]
US 8075496B2 · Deck · 2011 [cited by applicant]
US 8142365B2 · Miller · 2012 [cited by applicant]
US 8177753B2 · Vitullo et al. · 2012 [cited by applicant]
US 8231645B2 · List · 2012 [cited by applicant]
US 8308741B2 · Hyde et al. · 2012 [cited by applicant]
US 8328738B2 · Frankhouser et al. · 2012 [cited by applicant]
US 8777871B2 · Frankhouser et al. · 2014 [cited by applicant]
US 8870865B2 · Frankhouser et al. · 2014 [cited by applicant]
US 8945011B2 · Sheldon et al. · 2015 [cited by applicant]
US 8951195B2 · Sheldon et al. · 2015 [cited by applicant]
US 8992439B2 · Mulvihill et al. · 2015 [cited by applicant]
US 9033880B2 · Sheldon et al. · 2015 [cited by applicant]
US 9220483B2 · Frankhouser et al. · 2015 [cited by applicant]
US 9408571B2 · Gilgunn et al. · 2016 [cited by applicant]
US 9420992B2 · Sheldon et al. · 2016 [cited by applicant]
US 9427207B2 · Sheldon et al. · 2016 [cited by applicant]
US 9763661B2 · Zergiebel · 2017 [cited by examiner]
US 9861739B2 · Sheldon · 2018 [cited by examiner]
US 9987468B2 · Bagwell · 2018 [cited by examiner]
US 9999440B2 · Sheldon et al. · 2018 [cited by applicant]
US 10052458B2 · Fischer et al. · 2018 [cited by applicant]
US 10219832B2 · Bagwell et al. · 2019 [cited by applicant]
US 11648070B2 · Wilson et al. · 2023 [cited by applicant]
US 20010014785A1 · Sussman et al. · 2001 [cited by applicant]
US 20020010390A1 · Guice · 2002 [cited by applicant]
US 20020026127A1 · Balbierz et al. · 2002 [cited by applicant]
US 20020042594A1 · Lum · 2002 [cited by applicant]
US 20020049462A1 · Friedman · 2002 [cited by applicant]
US 20020077589A1 · Tessari · 2002 [cited by applicant]
US 20020109433A1 · Rayner · 2002 [cited by applicant]
US 20020156376A1 · Wang et al. · 2002 [cited by applicant]
US 20020183774A1 · Witt et al. · 2002 [cited by applicant]
US 20020198555A1 · White et al. · 2002 [cited by applicant]
US 20030040737A1 · Merril · 2003 [cited by applicant]
US 20030078495A1 · Goodwin · 2003 [cited by applicant]
US 20030109871A1 · Johnson et al. · 2003 [cited by applicant]
US 20030195468A1 · Lal et al. · 2003 [cited by applicant]
US 20030199899A1 · Boecker et al. · 2003 [cited by applicant]
US 20030199909A1 · Boecker · 2003 [cited by applicant]
US 20030233046A1 · Ferguson · 2003 [cited by applicant]
US 20040010204A1 · Weber · 2004 [cited by applicant]
US 20040010251A1 · Pitaru · 2004 [cited by applicant]
US 20040024358A1 · Meythaler · 2004 [cited by applicant]
US 20040049216A1 · Verdaasdonk · 2004 [cited by applicant]
US 20040059285A1 · Mathiesen · 2004 [cited by applicant]
US 20040082884A1 · Pal · 2004 [cited by applicant]
US 20040106894A1 · Hunter et al. · 2004 [cited by applicant]
US 20040215080A1 · Lechner · 2004 [cited by applicant]
US 20040260240A1 · Beyerlein · 2004 [cited by applicant]
US 20050070458A1 · John · 2005 [cited by applicant]
US 20050131345A1 · Miller · 2005 [cited by applicant]
US 20050148940A1 · Miller · 2005 [cited by applicant]
US 20050177201A1 · Freeman · 2005 [cited by applicant]
US 20060058783A1 · Buchman, III · 2006 [cited by applicant]
US 20060122555A1 · Hochman · 2006 [cited by applicant]
US 20060129091A1 · Bonnette et al. · 2006 [cited by applicant]
US 20060135882A1 · Bleich · 2006 [cited by applicant]
US 20060142657A1 · Quaid et al. · 2006 [cited by applicant]
US 20060149141A1 · Sheets · 2006 [cited by applicant]
US 20060149161A1 · Wilson et al. · 2006 [cited by applicant]
US 20060195043A1 · Rutherford et al. · 2006 [cited by applicant]
US 20060224144A1 · Lee · 2006 [cited by applicant]
US 20070038129A1 · Kishimoto et al. · 2007 [cited by applicant]
US 20070063618A1 · Bromfield · 2007 [cited by applicant]
US 20070079455A1 · Brewer et al. · 2007 [cited by applicant]
US 20070088297A1 · Redding · 2007 [cited by applicant]
US 20070088376A1 · Zacharias · 2007 [cited by applicant]
US 20070123888A1 · Bleich et al. · 2007 [cited by applicant]
US 20070129628A1 · Hirsh · 2007 [cited by applicant]
US 20070129732A1 · Zacharias · 2007 [cited by applicant]
US 20070142766A1 · Sundar et al. · 2007 [cited by applicant]
US 20070191758A1 · Hunter et al. · 2007 [cited by applicant]
US 20070219496A1 · Kamen et al. · 2007 [cited by applicant]
US 20070250113A1 · Hegeman et al. · 2007 [cited by applicant]
US 20070255220A1 · King et al. · 2007 [cited by applicant]
US 20080009791A1 · Cohen et al. · 2008 [cited by applicant]
US 20080021490A1 · Briggs et al. · 2008 [cited by applicant]
US 20080031413A1 · Bouvier et al. · 2008 [cited by applicant]
US 20080055028A1 · Mask et al. · 2008 [cited by applicant]
US 20080097287A1 · Nelson et al. · 2008 [cited by applicant]
US 20080103413A1 · Cicenas et al. · 2008 [cited by applicant]
US 20080139961A1 · Slama et al. · 2008 [cited by applicant]
US 20080147094A1 · Bittenson · 2008 [cited by applicant]
US 20080154188A1 · Hochman · 2008 [cited by applicant]
US 20080228104A1 · Uber et al. · 2008 [cited by applicant]
US 20080255444A1 · Li · 2008 [cited by applicant]
US 20090005703A1 · Fasciano · 2009 [cited by applicant]
US 20090030339A1 · Cheng et al. · 2009 [cited by applicant]
US 20090069712A1 · Mulvihill et al. · 2009 [cited by applicant]
US 20090131830A1 · Freeman et al. · 2009 [cited by applicant]
US 20090131832A1 · Sacristan Rock et al. · 2009 [cited by applicant]
US 20090157044A1 · Liyanagama et al. · 2009 [cited by applicant]
US 20090204119A1 · Bleich et al. · 2009 [cited by applicant]
US 20090240205A1 · Wen · 2009 [cited by applicant]
US 20090247865A1 · Spohn et al. · 2009 [cited by applicant]
US 20090270759A1 · Wilson et al. · 2009 [cited by applicant]
US 20090275823A1 · Ayati et al. · 2009 [cited by applicant]
US 20100004558A1 · Frankhouser et al. · 2010 [cited by applicant]
US 20100010505A1 · Herlihy et al. · 2010 [cited by applicant]
US 20100036245A1 · Yu et al. · 2010 [cited by applicant]
US 20100036256A1 · Boukhny et al. · 2010 [cited by applicant]
US 20100069828A1 · Steen et al. · 2010 [cited by applicant]
US 20100069851A1 · Vad et al. · 2010 [cited by applicant]
US 20100094143A1 · Mahapatra et al. · 2010 [cited by applicant]
US 20100094310A1 · Warring et al. · 2010 [cited by applicant]
US 20110004159A1 · Nelson et al. · 2011 [cited by applicant]
US 20110125107A1 · Slocum et al. · 2011 [cited by applicant]
US 20110130758A9 · Bleich et al. · 2011 [cited by applicant]
US 20110224623A1 · Velez Rivera · 2011 [cited by applicant]
US 20110298628A1 · Vad et al. · 2011 [cited by applicant]
US 20120078231A1 · Hoshinouchi · 2012 [cited by applicant]
US 20120210569A1 · Schmitt · 2012 [cited by applicant]
US 20120220942A1 · Hall et al. · 2012 [cited by applicant]
US 20120232488A1 · Aviles · 2012 [cited by applicant]
US 20120259221A1 · Sheldon et al. · 2012 [cited by applicant]
US 20130072856A1 · Frankhouser et al. · 2013 [cited by applicant]
US 20130107569A1 · Suganuma · 2013 [cited by applicant]
US 20130131502A1 · Blaivas et al. · 2013 [cited by applicant]
US 20130172713A1 · Kirschenman · 2013 [cited by applicant]
US 20140005667A1 · Stulen et al. · 2014 [cited by applicant]
US 20140142553A1 · Poncon · 2014 [cited by applicant]
US 20140221968A1 · Ransbury et al. · 2014 [cited by applicant]
US 20140299568A1 · Browne · 2014 [cited by applicant]
US 20150065916A1 · Maguire et al. · 2015 [cited by applicant]
US 20150182232A1 · Peterson et al. · 2015 [cited by applicant]
US 20150216557A1 · Mulvihill et al. · 2015 [cited by applicant]
US 20150297449A1 · Browne et al. · 2015 [cited by applicant]
US 20150306358A1 · Duffy et al. · 2015 [cited by applicant]
US 20160317242A1 · Herlihy et al. · 2016 [cited by applicant]
US 20170188990A1 · Von Allmen et al. · 2017 [cited by applicant]
US 20180256862A1 · Bagwell et al. · 2018 [cited by applicant]
US 20180325547A1 · Bagwell et al. · 2018 [cited by applicant]
US 20180368883A1 · Rossa et al. · 2018 [cited by applicant]
US 20200253670A1 · Doisneau et al. · 2020 [cited by applicant]
US 20200261113A1 · Bagwell · 2020 [cited by examiner]
US 20200405403A1 · Shelton, IV · 2020 [cited by examiner]
US 20210045711A1 · Brattain et al. · 2021 [cited by applicant]
CA 2999060 · 2017 [cited by applicant]
CA 2729803 · 2017 [cited by applicant]
CA 2967482 · 2017 [cited by applicant]
EP 0266058 · 1988 [cited by applicant]
EP 1647255 · 2006 [cited by applicant]
JP 9239031 · 1997 [cited by applicant]
JP 2001346874 · 2001 [cited by applicant]
JP 2012035010 · 2012 [cited by applicant]
JP 2013172549 · 2013 [cited by applicant]
WO WO2004091693 · 2004 [cited by applicant]
WO WO2008086560 · 2008 [cited by applicant]
WO WO2008097609 · 2008 [cited by applicant]
WO WO2009083600 · 2009 [cited by applicant]
WO WO2009092164 · 2009 [cited by applicant]
WO WO2009097621 · 2009 [cited by applicant]
WO WO2010006335 · 2010 [cited by applicant]
WO WO2012109621 · 2012 [cited by applicant]
WO WO2014066937 · 2014 [cited by applicant]
WO WO2015037418 · 2015 [cited by applicant]
Adebar, Troy K. et al., 3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue, IEEE Trans Biomed Eng, Dec. 2014, 61(12):2899-2910. [cited by applicant]
American College of Surgeons, Revised Statement on Recommendations for Use of Real-Time Ultrasound Guidance for Placement of Central Venous Catheters, Statements from the college, https://www.facs.org/about-acs/statemen… [cited by applicant]
Backlund, Brandon H. et al., Ultrasound Guidance for Central Venous Access by Emergency Physicians in Colorado, Western Journal of Emergency Medicine, Sep. 2012, pp. 320-325, vol. XIII, No. 4. [cited by applicant]
Begg, ND, et al., Audible Frequency Vibration of Puncture-Access Medical Devices. Medical Eng Phys 2014; 36:371-7. [cited by applicant]
Bernard, Robert W. et al., Subclavian Vein Catheterizations: A Prospective Study: I. Non-Infectious Complications, Annals of Surgery, Feb. 1971, pp. 184-190, vol. 173, No. 2. [cited by applicant]
Castelvecchi, D., This Bite Won't Hurt a Bit-Science News. Science News 2008: 11. [cited by applicant]
CDC, Guidelines for the Prevention of Intravascular Catheter-Related Infections, 2011, http://stacks.cdc.gov/view/cdc/5916/. [cited by applicant]
Chan, K.K., et al., The Mode of Action of Surgical Tissue Removing Devices, IEEE 1985 Ultrasonics Symposium, Oct. 1985. 16-18, 1985, p. 855-9. [cited by applicant]
Cleary, K. et al., Image-Guided Robotic Delivery System for Precise Placement of Therapeutic Agents, JJ. Controlled Release, 2001, vol. 74, No. 1, pp. 363-368. [cited by applicant]
Cohen, D., This Won't Hurt a Bit. New Scientist, 2002:21. [cited by applicant]
Dario, et al., Smart Surgical Tools and Augmenting Devices, IEEE Transactions on Robotics and Automation, vol. 19, No. 5, Oct. 2003, pp. 782-792. [cited by applicant]
Defalque, Ray J., M.D., Percutaneous Catheterization of the Internal Jugular Vein, Anesthesia and Analgesia, Jan.-Feb. 1974, pp. 116-121, vol. 53, No. 1. [cited by applicant]
Dodge, Kelly L., MD, et al., Use of Ultrasound Guidance Improves Central Venous Catheter Insertion Success Rates Among Junior Residents, Journal of Ultrasound Medicine, 2012, 31: 1519-26. [cited by applicant]
Elgezua, et al., Survey on Current State-of-the-Art in Needle Insertion Robots: Open Challenges for Application in Real Surgery, ProCedia CIRP 5 (2013) 94-99, Elsevier, Amsterdam, Netherlands. [cited by applicant]
European Patent Office, Communication Pursuant to Article 94(3) EPC, Communication from European Application No. 16847434.4; pp. 1-9, publisher European Patent Office, published Munich Ger-many, copyright and dated Apr.… [cited by applicant]
Froehlich, Curt D et al., Ultrasound-guided central venous catheter placement decreases complications and decreases placement attempts compared with the landmark technique in patients in a pediatric intensive care unit,… [cited by applicant]
Goethals, P., Tactile Feedback for Robot Assisted Minimally Inva-sive Surgery: An Overview, Division PMA, Department of Engineering, K.U. Leuven, Jul. 14, 2008. [cited by applicant]
Hind, Daniel et al., Ultrasonic locating devices for central venous cannulation: meta-analysis, BMJ, Aug. 16, 2003, pp. 1-7, vol. 327:361. [cited by applicant]
Hing, et al., Reality-Based Estimation of Needle and Soft-Tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation, Program for Robotics, Intelligent Sensing, and Mechatron-ics (PRISM) Labaor… [cited by applicant]
Hing, et al., Reality-Based Needle Insertion Simulation for Haptic Feedback in Prostate Brachytherapy, Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 2006. [cited by applicant]
Huang, Y., et al., A Piezoelectric Vibration-Based Syringe for Reducing Insertion Force, IOP Conference Series: Materials Sci-ence and Engineering, 2012, 42:012020. [cited by applicant]
International Preliminary Report on Patentability for PCT Applica-tion No. PCT/AU2008/000019, dated Jul. 21, 2009. [cited by applicant]
International Search Report for PCT Application No. PCT/US2009/060387, dated May 18, 2010. [cited by applicant]
International Search Report for PCT Application No. PCT/US2009/056864, dated Apr. 26, 2010. [cited by applicant]
International Searching Authority; International Search Report and Written Opinion of the International Searching Authority; Interna-tional Application No. PCT/US2016/041499; Patent Cooperation Treaty; pp. 1-8; publishe… [cited by applicant]
International Searching Authority; International Search Report and Written Opinion of the International Searching Authority; Interna-tional Application No. PCT/US2016/052228; Patent Cooperation Treaty; pp. 1-9; publishe… [cited by applicant]
International Searching Authority; International Search Report and Written Opinion of the International SearchingAuthority;International Application No. PCT/US2014/062099; Patent Cooperation Treaty; pp. 1-10; publisher … [cited by applicant]
Khalaji, I., et al., Analysis of Needle-Tissue Friction During Vibration-Assisted Needle Insertion, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on; Nov. 3-7, 2013, 2013, pp. 4099-4104. [cited by applicant]
Kong, XQ, et al., Mosquito Proboscis: An Elegant Biomicroelectromechanical System. Phys Rev E Stat Nonlin Soft Matter Phys 2010, 82:011910. [cited by applicant]
Krell, Kenneth, MD, Critical care workforce, Crit Care Med, 2008, pp. 1350-1353, vol. 36, No. 4. [cited by applicant]
Kwon, et al., Realistic Force Reflection in the Spine Biopsy Simulator, IEEE International Conference on Robotics and Auto-mation, 2001. Proceedings 2001 ICRA, May 21-26, 2001, Seoul, Korea 2001, vol. 2, 1358-1363. [cited by applicant]
Lal, A., Silicon-Based Ultrasonic Surgical Actuators, Member, IEEE; Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vol. 20, No. 6, 1998, pp. 2785-2790. [cited by applicant]
Loeffel, et al., Development of an Advanced Injection Device for Highly Viscous Materials, European Cells and Materials, vol. 11, Supp. 1, 2006, p. 51. [cited by applicant]
Luis, J., et al., Rectangular Cymbal Arrays for Improved Ultrasonic Transdermal Insulin Delivery, J. Acoust. Soc. Am., vol. 122, Issue 4, Oct. 2007. [cited by applicant]
Mahvash, M., et al., Fast Needle Insertion to Minimize Tissue Deformation and Damage. IEEE International Conference on Robot-ics and Automation 2009: 3097-102. [cited by applicant]
Mahvash, M., et al., Mechanics of Dynamic Needle Insertion into a Biological Material. IEEE Trans Biomed Eng 2009. [cited by applicant]
Mark V ProVis Angiographic Injection System, Medrad, Inc., Copyright 2006-2010. [cited by applicant]
Marx, J.A., et al., The Effect of Vibration on the Needle Dynamics of Sclerotherapy, Australian College of Phlebology, 12th Annual Scientific Meeting, 2008; Gold Coast, Australia. [cited by applicant]
McGee David C., M.D et al., Preventing Complications of Central Venous Catheterization, The New England Journal of Medicine, Mar. 20, 2003, pp. 1123-1133, 348;12. [cited by applicant]
Meyer, Jr., R.J., et al., Displacement Amplification of Electroactive Materials Using the Cymbal Flextensional Transducer, Sensors and Actuators A 87 (2001) 157-162. [cited by applicant]
Muralidliaran, K., Mechanics of Soft Tissue Penetration By a Vibrating Needle, Baltimore, Maryland, University of Maryland Baltimore County, 2007. [cited by applicant]
Okazawa, Stephen et al., Hand-Held Steerable Needle Device, IEEE/ ASME Transactions on Mechatronics, Jun. 2005, vol. 10, Issue 3. [cited by applicant]
Piccin, et al., “A Robotized Needle Insertion Device for Percutane-ous Procedures”, Proceedings of IDETC/CIE 2005, 2006 ASME International Design Engineering Technical Conferences and Com-puters and Information in Engin… [cited by applicant]
Podder, T.K., et al., Effects of Velocity Modulation During Surgical Needle Insertion, Proceedings of the 2005 IEEE, Engineering in Medicine and Biology 27th Annual Conference, Sep. 1-4, 2005. [cited by applicant]
Proceedings of The First Phantom Users Research Symposium, May 21-22, 1999, Deutsches Krebsfordschungszentrum, Heidelberg, Germany. [cited by applicant]
R&D 100 Awards Winners Reveal 21st Century Technologies, 38th Annual R&D Awards, R&D Research & Development, Sep. 2000, p. 135. [cited by applicant]
Ramasubranianian, MK, et al., Mechanics of a Mosquito Bite With Applications to Microneedle Design. Raleigh, NC 27695-7810, USA, North Carolina State University, 2008. [cited by applicant]
Randolph, Adrienne G. MD, et al., Ultrasound guidance for place-ment of central venous catheters: A meta-analysis of the literature, Crit Care Med, Dec. 1996, pp. 2053-2058, 24. [cited by applicant]
Rothschild, Jeffrey M., MD, MPH, Ultrasound Guidance of Central Vein Catheterization, On Making Health Care Safer: A Critical Analysis of Patient Safety Practices. Rockville, MD: AHRQ, Publications; 200 I; Chapter 21: 2… [cited by applicant]
Schweber, Bill, Medical Design, Medical “Vampire” Robot Seeks Human Vein, Inserts Needle, Sucks Blood, Jul. 30, 2020, https:// www.machinedesign.com/medical-design/article/21137988/medical-vampire-robot-seeks-human-vein… [cited by applicant]
Seldinger, Sven Ivar, Catheter Replacement of the Needle in Percutaneous Arteriography: A new technique, Acta Radiologica, 1953, pp. 368-376, 39:5. [cited by applicant]
Shin-Ei T, et al., Reduction of Insertion Force of Medical Devices Into Biological Tissues By Vibration, Japm1ese Journal of Medical Electronics and Biological Engineering, (2001) 39:292-296 (with English translation). [cited by applicant]
Sznajder, J. I., et al., Central Vein Catheterization. Failure and Complication Rates by Three Percutaneous Approaches, Arch. Intern. Med., 1986, pp. 259-261, 146. [cited by applicant]
Terrett, et al., 3538 Study Assessing the Effectiveness of a Vibrating Dental Syringe Attachment, Pain Management, Oral Pathology, Malodor, and Indices, Mar. 13, 2004. [cited by applicant]
United States Patent and Trademark Office; Office Action; Office Action from U.S. Appl. No. 13/222,363;copyright and dated Dec. 11, 2014; pp. 1-9; publisher United States Patent and Trademark Office; Published Alexandri… [cited by applicant]
United States Patent and Trademark Office; Office Action; Office Action from U.S. Appl. No. 14/329,177; copyright and dated Nov. 18, 2014; pp. 1-19; publisher United States Patent and Trademark Office; Published Alexand… [cited by applicant]
United States Patent and Trademark Office; Office Action; Office Action from U.S. Appl. No. 15/205,357; pp. 1-16; publisher United States Patent and Trademark Office;published Alexandria, Virginia, USA; copyright and da… [cited by applicant]
United States Patent and Trademark Office; Office Action; Office Action from U.S. Appl. No. 15/205,357; pp. 1-48; publisher United States Patent and Trademark Office;published Alexandria, Virginia, USA; copyright and da… [cited by applicant]
Van Gerwen, D.J., et al., Needle-Tissue Interaction Forces-A Survey of Experimental Data. Med Eng Phys 2012; 34:665-80. [cited by applicant]
Visiontech Partners, 2020, Xact Medical Uses Robotics to “Stick” Patients and Wants You to Join Them, http://visiontech-partners. corn/blog/xact-medical-uses-robotics-to-stick-patients-and-wants-you-to-join-thern/. [cited by applicant]
Xact Medical, Inc., 2018, https://xactmedical.corn/. [cited by applicant]
Yang, M., et al., Microneedle Insertion Force Reduction Using Vibratory Actuation. Biomed Microdevices, 2004, 6: 177-182, Kluwer Academic Publishers, The Netherlands. [cited by applicant]
Yonei, Akitomo, M.D. et al., Real-time Ultrasonic Guidance for Percutaneous Puncture of the Internal Jugular Vein, Anesthesiology, Jun. 1986, pp. 830-831, vol. 64, No. 6. [cited by applicant]
Zevallos, N. et al., Toward Robotically Automated Femoral Vascu-lar Access, ArXiv, Jul. 6, 2021. [cited by applicant]
Zorcolo, et al., “Catheter Insertion Simulation with Combined Visual and Haptic Feedback”, Center for Advanced Studies, Research and Development in Sardinia, 09101 Uta (CA) Italy. [cited by applicant]