Page 156 - Flexible Robotics in Medicine

142 Chapter 5
Table 5.11: Keywords.

Operator Terminology Rationale
AND “Flexible” MOJO prototype is a subset of this category of flexible manipulators
“Endoscope” MOJO prototype is a subset of endoscopes and including this term is relevant to
finding prototypes specific to MOJO application
“Bending” MOJO design focus is in the bending region, and robotic manipulators may have
designs that have fundamental principles similar to that of the MOJO bending
concept
“Surgical” MOJO prototype is positioned to have applications in surgery, not limited to
transoral tracheostomies but may be adapted to other surgical procedures
“Control,” MOJO prototype focuses on active control and steerability, and this is
“steer” important, so related patents should contain this property
OR “Cable- MOJO design is actuated by cables, and other designs using cables may have
driven” similar concepts that we wish to consider evaluating
“Origami” The use of an origami universal joint is what sets MOJO design different from
other manipulators. However, they may be used in applications requiring similar
mechanical specifications
“Modular” MOJO prototype is a subset of modular robots, and it would be relevant to
examine patents in this field
NOT “Dilator” MOJO prototype is not to be confused with a dilator and is designed for the
purpose of precise surgical manipulation
“Continuum” MOJO prototype is segmented and modular; not considering continuum
endoscopes will speed up the search

Table 5.12: List of relevant patents.
Publication
No. Patent title Patent no. Assignees date Note
1 A steerable endoscope US9138132B2 Intuitive September 22,
and improved method of Surgical Inc. 2015
insertion
2 Steerable segmented US9808140B2 Intuitive November 7, Priority 1: The most
endoscope and method Surgical Inc. 2017 relevant patent in terms
of insertion of design and function
3 Complex shape steerable US10092172B2 Intuitive October 9,
tissue visualization and Surgical Inc. 2018
manipulation catheter
4 Surgical positioning and US9091410B2 Medrobotics February 27,
support system Corporation 2018
5 Steerable catheter US10058235B2 Sanovas August 28, Priority 1: The most
Intellectual 2018 relevant patent in terms
Property, Llc of design and function
6 Medical device US10052013B2 Boston August 21, Priority 1: The most
comprising segments Scientific 2018 relevant patent in terms
Scimed, Inc. of design and function
7 Steerable device for US10034999B2 Pneumrx Inc. July 31, 2018
accessing a target site
and methods

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