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Controlled steering of a flexible needle

A technology to control system, tissue properties, applied in trocars, surgical navigation systems, diagnostics, etc., can solve problems such as computational complexity, not allowing real-time simulation and control of needle insertion

Active Publication Date: 2009-09-02
TECHNION RES & DEV FOUND LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A limitation of this work is that it does not allow real-time simulation and control of needle insertion due to computational complexity

Method used

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  • Controlled steering of a flexible needle
  • Controlled steering of a flexible needle
  • Controlled steering of a flexible needle

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Experimental program
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Embodiment Construction

[0062] now refer to figure 1 , which schematically shows the tissue and needle interaction model represented by a series of distributed virtual springs with coefficient k 1 、k 2 、…k n , as used for the first time in the above-mentioned article MICCAI2003 published by the present inventors. exist figure 1 , the tissue surface is indicated by a dashed line. The model of flexible needle movement is based on the assumption of quasi-static motion; the needle is in equilibrium at each step. It is known that the deflection and strain of the needle are nonlinearly related due to the interaction with the biological soft tissue. However, for small displacements it is reasonable to assume a linear lateral force response. Therefore, the tissue force acting on the needle is modeled as a lateral virtual spring distributed along the curve of the needle and a friction force F tangential to the needle f The combination. Since the elastic modulus of the tissue changes according to the s...

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Abstract

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.

Description

technical field [0001] The present invention relates to the field of percutaneous insertion of needles for therapeutic or diagnostic purposes and in particular to methods of guiding said needles to their targets while avoiding sensitive organs en route. Background technique [0002] The trend in contemporary medicine is less interventional and more topical. Many routine treatments employed in modern clinical practice involve the percutaneous insertion of needles and catheters for biopsy and drug delivery. The purpose of the needle insertion procedure is to safely and precisely place the tip of an appropriate needle in a lesion, organ or vessel. Examples of treatments requiring needle insertion include vaccinations, blood / fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrolysis, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive procedures. [0003] Often, complications of percutaneous needle insertion are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/32
CPCA61B2019/507A61B17/3403A61B2019/5238A61B19/22A61B19/5212A61B19/52A61B19/2203A61B2019/5251A61B19/5244A61B19/50A61B2019/502A61B2019/2226A61B17/3478A61B34/10A61B34/20A61B34/30A61B34/70A61B90/36A61B90/361A61B2034/102A61B2034/107A61B2034/2051A61B2034/304A61B2090/376
Inventor D·格洛兹曼M·肖哈姆
Owner TECHNION RES & DEV FOUND LTD
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