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1. US20090149867 - Controlled steering of a flexible needle

Office United States of America
Application Number 12303456
Application Date 05.06.2007
Publication Number 20090149867
Publication Date 11.06.2009
Grant Number 08348861
Grant Date 08.01.2013
Publication Kind B2
IPC
A61B 5/103
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
5Measuring for diagnostic purposes; Identification of persons
103Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
Applicants Technion Research & Development Foundation Ltd.
Inventors Glozman Daniel
Shoham Moshe
Agents Fish & Richardson P.C.
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 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.