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1. EP2029035 - CONTROLLED STEERING OF A FLEXIBLE NEEDLE

Office European Patent Office
Application Number 07736422
Application Date 05.06.2007
Publication Number 2029035
Publication Date 04.03.2009
Publication Kind B1
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
Inventors GLOZMAN DANIEL
SHOHAM MOSHE
Designated States
Priority Data 2007000682 05.06.2007 IL
81070506 05.06.2006 US
Title
(DE) KONTROLLIERTE STEUERUNG EINER FLEXIBLEN NADEL
(EN) CONTROLLED STEERING OF A FLEXIBLE NEEDLE
(FR) GUIDAGE CONTROLÉ D'UNE AIGUILLE FLEXIBLE
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.

(FR)
L'invention concerne un système de robotique permettant de guider une aiguille flexible pendant son insertion dans un tissu mou utilisant l'imagerie pour déterminer la position de l'aiguille. Le système de commande calcule une trajectoire de pointe d'aiguille qui atteint la cible désirée tout en évitant les obstacles potentiellement dangereux en route. A l'aide d'un algorithme de cinématique inverse, les manœuvres requises de la base de l'aiguille pour que la pointe suive cette trajectoire sont calculées, de telle sorte que le robot puisse réaliser une insertion de l'aiguille contrôlée. L'insertion d'une aiguille flexible dans un tissu déformable est modélisée comme un faisceau linéaire supporté par des ressorts virtuels, les coefficients de rigidité des ressorts variant le long de l'aiguille. Les cinématiques directes et inverses de l'aiguille sont résolues de façon analytique, permettant à la fois une planification du trajet et une correction en temps réel. La forme de l'aiguille est détectée par un traitement d'image réalisé sur des images fluoroscopiques. Les propriétés de rigidité du tissu sont calculées à partir de la forme mesurée de l'aiguille.