US 12,245,831 B2
Apparatus and method for robotic procedures with magnetizable tools
Axel Krieger, Fulton, MD (US); Yancy Diaz-Mercado, College Park, MD (US); Xiaolong Liu, Baltimore, MD (US); Matthew Fan, College Park, MD (US); Lamar Mair, Baltimore, MD (US); Irving Weinberg, Chevy Chase, MD (US); Sagar Chowdhury, Peoria, IL (US); Will Pryor, Baltimore, MD (US); Yotam Barnoy, Baltimore, MD (US); Suraj Raval, College Park, MD (US); and Önder Erin, Baltimore, MD (US)
Assigned to THE JOHNS HOPKINS UNIVERSITY, Baltimore, MD (US); UNIVERSITY OF MARYLAND, College Park, MD (US); and WEINBERG MEDICAL PHYSICS, INC, North Bethesda, MD (US)
Filed by THE JOHNS HOPKINS UNIVERSITY, Baltimore, MD (US); University of Maryland, College Park, MD (US); and Weinberg Medical Physics, Inc, North Bethesda, MD (US)
Filed on Apr. 15, 2022, as Appl. No. 17/721,575.
Claims priority of provisional application 63/175,657, filed on Apr. 16, 2021.
Prior Publication US 2022/0338944 A1, Oct. 27, 2022
Int. Cl. A61B 34/32 (2016.01); A61B 5/055 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/32 (2016.02) [A61B 5/055 (2013.01); A61B 34/73 (2016.02); A61B 2017/00398 (2013.01); A61B 2034/2055 (2016.02); A61B 90/361 (2016.02); A61B 2090/378 (2016.02)] 18 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a controller;
an imaging device; and
one or more magnetic actuators, wherein one or more magnetizable tools are manipulated by at least one of the one or more magnetic actuators robotically using information about a state of the one or more magnetizable tools collected by the imaging device, wherein the state of the one or more magnetizable tools comprise, a velocity, a magnetization, or combinations thereof,
wherein the controller is configured to operate using a closed-loop control using the information about the state of the one or more magnetizable tools and a density map information of a region of interest and surrounding areas of the region of interest obtained from the imaging device that provides the controller with expected force requirements for moving within the region of interest and the surrounding areas, wherein the closed-loop control comprises proportional-derivative (PD) control, proportional-integral-derivative (PID) control, proportional (P) control, integral (I) control, proportional-integral (PI) control, or proportional-derivative control.