David J Noonan

US Patent:

20220378527, Dec 1, 2022

Filed:

Aug 2, 2022

Appl. No.:

17/816915

Inventors:

- Paris, FR
Nicolas LINARD - Montrouge, FR
David Paul NOONAN - San Francisco CA, US
Jeffery Byron ALVAREZ - San Carlos CA, US
Ritwik UMMALANENI - San Francisco CA, US
Jad FAYAD - Paris, FR

Assignee:

Moon Surgical SAS - Paris

International Classification:

A61B 34/30
A61B 90/98
A61B 34/00

Abstract:

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

US Patent:

20220370160, Nov 24, 2022

Filed:

Aug 2, 2022

Appl. No.:

17/816958

Inventors:

- Paris, FR
Nicolas LINARD - Montrouge, FR
David Paul NOONAN - San Francisco CA, US

Assignee:

Moon Surgical SAS - Paris

International Classification:

A61B 34/30
A61B 34/00

Abstract:

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

US Patent:

20220296312, Sep 22, 2022

Filed:

Apr 8, 2022

Appl. No.:

17/716962

Inventors:

- Redwood City CA, US
Yanwei WANG - Cambridge MA, US
Elif AYVALI - Redwood City CA, US
David Paul NOONAN - San Francisco CA, US

International Classification:

A61B 34/20
A61B 1/04
A61B 34/37
A61B 34/10
G06N 3/04
G06N 3/08

Abstract:

Anatomical feature tracking involves advancing a medical instrument to a treatment site of a patient, the medical instrument comprising an imaging device, generating a first image of at least a portion of the treatment site using the imaging device of the medical instrument when a distal end of the medical instrument is in a first position, generating a first silhouette of a first target anatomical feature represented in the first image, generating a second image of at least a portion of the treatment site using the imaging device of the medical instrument when the distal end of the medical instrument is in a second position, generating a second silhouette of a second target anatomical feature represented in the second image, and determining a target position at the treatment site based at least in part on the first silhouette and the second silhouette.

US Patent:

20230114137, Apr 13, 2023

Filed:

Nov 18, 2022

Appl. No.:

18/057191

Inventors:

- Paris, FR
Jad FAYAD - Paris, FR
David Paul NOONAN - San Francisco CA, US
Jeffery Byron ALVAREZ - San Carlos CA, US
Ehsan BASAFA - Redwood City CA, US

Assignee:

Moon Surgical SAS - Paris

International Classification:

A61B 17/00
A61B 34/30

Abstract:

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

US Patent:

20210153956, May 27, 2021

Filed:

Feb 4, 2021

Appl. No.:

17/167468

Inventors:

- Redwood City CA, US
Ryan Jeffrey Connolly - San Carlos CA, US
Allen Jiang - Fremont CA, US
David Paul Noonan - San Francisco CA, US
Douglas Bruce Dull - San Jose CA, US

International Classification:

A61B 34/20
A61B 34/30

Abstract:

A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool. The introducer tube may be configured to guide the surgical tool into the port. The patient introducer may also include an alignment member connected to the introducer tube and including a first shape and a first alignment marking. The alignment member may be configured to interface with a manipulator assembly of a robotic system. The manipulator assembly may include a second shape and a second alignment marking, the first shape being complementary to the second shape. The first alignment marking of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.

US Patent:

20210137609, May 13, 2021

Filed:

Jan 22, 2021

Appl. No.:

17/155842

Inventors:

- Redwood City CA, US
David Paul Noonan - San Francisco CA, US
David Burdick Berman - San Mateo CA, US
Brian Matthew Patenaude - Mountain View CA, US

International Classification:

A61B 34/20
A61B 90/00
A61B 34/10

Abstract:

Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

US Patent:

20210137617, May 13, 2021

Filed:

Jan 22, 2021

Appl. No.:

17/155963

Inventors:

- Redwood City CA, US
Ritwik Ummalaneni - San Mateo CA, US
David Paul Noonan - San Francisco CA, US
Prasanth Jeevan - San Mateo CA, US

International Classification:

A61B 34/30
A61B 34/20

Abstract:

Provided are systems and methods for path-based navigation of tubular networks. In one aspect, the method includes receiving location data from at least one of a set of location sensors and a set of robot command inputs, the location data being indicative of a location of an instrument configured to be driven through a luminal network. The method also includes determining a first estimate of the location of the instrument at a first time based on the location data, determining a second estimate of the location of the instrument at the first time based on the path, and determining the location of the instrument at the first time based on the first estimate and the second estimate.

US Patent:

20200268459, Aug 27, 2020

Filed:

Jan 27, 2020

Appl. No.:

16/773740

Inventors:

- Redwood City CA, US
David P. Noonan - San Francisco CA, US

International Classification:

A61B 34/30
A61B 1/00
A61B 34/10
A61B 1/267
A61B 1/005

Abstract:

A robotic system is described for determining and using an insertion force threshold to avoid too much force being applied to a flexible instrument placed within a patient. The robotic system comprises a medical instrument comprising an elongate body, and further comprises a robotic arm coupled to the instrument as well as a controller configured to receive instrument data based in part on a current location of the elongate body, access patient data associated with the patient, determine an insertion force threshold, receive an insertion force detected by a force sensor coupled to the robotic arm, compare the insertion force with the insertion force threshold, and responsive to the insertion force exceeding the force threshold, generate a recommendation signal for the robotic system.