Robotic catheter system for mri-guided cardiovascular interventions

一种机器人、机器人本体的技术，应用在医疗机器人领域，达到平顺手术工作流、通讯容易的效果

Pending Publication Date: 2019-05-03
VERSITECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These existing methods cannot provide stable, smooth and consistent control mapping in dynamic surgical environments

Method used

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  • Robotic catheter system for mri-guided cardiovascular interventions
  • Robotic catheter system for mri-guided cardiovascular interventions
  • Robotic catheter system for mri-guided cardiovascular interventions

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Experimental program
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Embodiment Construction

[0032] The present invention is a surgical catheter robot for remotely performing MRI-guided interventions in endovascular procedures. Components of the present invention may also be combined and integrated with various designs of other robotic platforms for interventional procedures that benefit from MRI intraoperative guidance, such as neurosurgery, prostate surgery, or breast biopsy. Particularly, figure 1 A robotic guidance device for a catheter 10 is shown, the tip 11 of which is shown enlarged in FIG. 4 . A catheter is guided through the patient's body. The robot is made of MRI safe / conditional material (or any non-ferromagnetic material such as plastic / polymer). The robot includes a robot body 15 and actuators 12, 14, 16 and 18, which provide 3 degrees of freedom of motion, ie, allow linear translation, roll and steering control of the catheter.

[0033] To achieve catheter push / pull movement, two actuator units 12, 16 are used for coarse movement and fine adjustment...

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PUM

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Abstract

MRI-guided robotics offers possibility for physicians to perform interventions remotely on confined anatomy. While the pathological and physiological changes could be visualized by high-contrast volumetric MRI scan during the procedure, robots promise improved navigation with added dexterity and precision. In cardiac catheterization, however, maneuvering a long catheter (1-2 meters) to the desiredlocation and performing the therapy are still challenging. To meet this challenge, the robot presents an MRI-conditional catheter robotic system that integrates intra-operative MRI, MR-based trackingunits and enhanced visual guidance with catheter manipulation. This system differs fundamentally from existing master / slave catheter manipulation systems, of which the robotic manipulation is still challenging due to the very limited image guidance. This system provides a means of integrating intra-operative MR imaging and tracking to improve the performance of tele-operated robotic catheterization.

Description

technical field [0001] The present invention relates to a medical robot, especially a surgical robot for magnetic resonance imaging (MRI)-guided interventional surgery. Background technique [0002] Catheterization involves the dexterous manipulation of long, thin, and flexible medical-grade instruments to precisely biopsy, drug delivery, or ablate a target anatomy through transluminal, intraluminal, intraluminal, or intracranial surgical approaches. This surgical manipulation can be applied to cardiovascular interventions, prostate surgery, stereotaxic neurosurgery, or breast biopsy. [0003] Cardiovascular disease remains the leading cause of death in the developed world, which also requires dexterous catheterization. Intravascular catheterization has been established along with interventional radiology and cardiology as a common treatment for this disease. Different imaging modalities, including radiography, ultrasound imaging, and MRI, have been used in cardiovascular ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20
CPCA61B5/066A61B18/1492A61B2018/00351A61B2018/00577A61B2034/301A61B34/30A61B2034/742A61B2090/3954A61B34/35A61B90/37A61B2090/374A61B5/055A61B2034/107A61B2034/2051A61B34/70
Inventor 郭嘉威董子洋郭子彦傅健忠李杰衡张沾利
Owner VERSITECH LTD
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