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1. IN75/DELNP/2009 - "CONTROLLED STEERING OF A FLEXIBLE NEEDLE"

Office India
Application Number 75/DELNP/2009
Application Date 05.01.2009
Publication Number 75/DELNP/2009
Publication Date 20.08.2010
Grant Number 323668
Grant Date 24.10.2019
Publication Kind B
IPC
A61F 2/32
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
02Prostheses implantable into the body
30Joints
32for the hip
Applicants TECHNION RESEARCH & DEVELOPMENT FOUNDATION LTD.,
Inventors GLOZMAN DANIEL
SHOHAM MOSHE
Priority Data 60/810,705 05.06.2006 US
Title
(EN) "CONTROLLED STEERING OF A FLEXIBLE NEEDLE"
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 ...