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1. CN101522134 - Controlled steering of a flexible needle

Office China
Application Number 200780029191.2
Application Date 05.06.2007
Publication Number 101522134
Publication Date 02.09.2009
Grant Number 101522134
Grant Date 27.06.2012
Publication Kind B
IPC
A61B 19/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
19Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B1/-A61B18/149
A61B 17/34
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
34Trocars; Puncturing needles
CPC
A61B 17/3478
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
34Trocars; Puncturing needles
3478Endoscopic needles, e.g. for infusion
A61B 17/3403
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
34Trocars; Puncturing needles
3403Needle locating or guiding means
A61B 34/10
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
10Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/70
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
70Manipulators specially adapted for use in surgery
Applicants Technion Res & Dev Foundation
泰克尼恩研究和发展基金有限公司
Inventors Glozman Daniel
D·格洛兹曼
Shoham Moshe
M·肖哈姆
Agents wang yang
永新专利商标代理有限公司 72002
Priority Data 60/810,705 05.06.2006 US
Title
(EN) Controlled steering of a flexible needle
(ZH) 挠性针的受控导向
Abstract
(EN)
A robotic system for steering a flexible needle during insertion into soft-tissue using imaging to determine the needle position. The control system calculates a needle tip trajectory that hits the desired target while avoiding potentially dangerous obstacles en route. Using an inverse kinematics algorithm, the maneuvers required of the needle base to cause the tip to follow this trajectory are calculated, such that the robot can perform controlled needle insertion. The insertion of a flexible needle into a deformable tissue is modeled as a linear beam supported by virtual springs, where the stiffness coefficients of the springs varies along the needle. The forward and inverse kinematics of the needle are solved analytically, enabling both path planning and correction in real-time. The needle shape is detected by image processing performed on fluoroscopic images. The stiffness properties of the tissue are calculated from the measured shape of the needle.

(ZH)

一种机器人系统,其使用成像确定挠性针的位置,以在所述针插入软组织的过程中对其进行导向。控制系统计算击中期望靶的针尖端轨迹,同时避开途中潜在的危险障碍物。使用逆运动学算法,计算引起尖端遵循所述轨迹所需的对针底部的操纵,使得机器人能够执行受控的针插入。将挠性针插入到可变形组织模拟为由虚拟弹簧支撑的线性梁,其中,弹簧的刚度系数沿针变化。对针的运动学正解和运动学逆解进行分析性求解,以能够进行实时的路径计划和校正。通过在透视图像上执行的图像处理探测针的形状。由测得的针的形状计算组织的刚度特性。