利索-全球专利检索

  1. 登录
  2. 注册

搜索结果

95 条记录 (耗时 0.014 秒)

    GRIPPER FOR ROBOTIC IMAGE GUIDED NEEDLE INSERTION
    78.
    发明公开
    GRIPPER FOR ROBOTIC IMAGE GUIDED NEEDLE INSERTION 审中-公开
    格里菲尔·弗瑞恩·罗宾斯基BILDGEFÜHRTENADELEINFÜHRUNG

    公开(公告)号：EP3054862A4

    公开(公告)日：2017-05-31

    申请号：EP14851843

    申请日：2014-10-07

    申请人： TECHNION RES & DEV FOUNDATION

    发明人： GLOZMAN DANIEL ,  DASKAL GONEN ,  SHOHAM MOSHE ,  ARAD MICHAEL ,  PINSKY YOAV

    IPC分类号： A61B34/30 ,  A61B34/20 ,  A61B90/11

    CPC分类号： A61B34/30 ,  A61B17/3403 ,  A61B34/20 ,  A61B90/11 ,  A61B2017/00699 ,  A61B2017/3409 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2090/3762

    摘要： A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.

    摘要翻译： 一种系统和方法，用于根据预先计划或连续监测的插入步骤顺序确保针头安全且可容忍地插入到对象体内。 该系统包括夹持装置，用于夹持针以便执行机器人插入步骤，但是用于在这样的插入步骤之间释放夹持物，直到开始下一个插入步骤。 由此，机器人在插入步骤期间完全控制针，但不在插入之间限制针，使得对象的移动既不会造成损伤也不会造成不适。 握持和插入步骤可以协调以保持与受试者的呼吸周期同步，使得插入步骤可以在受试者胸部的每个运动周期的相同部分中执行。 抓手可以完全断开针头，或者可以部分断开，但限制运动。

    ULTRASOUND GUIDED ROBOT FOR FLEXIBLE NEEDLE STEERING
    79.
    发明公开
    ULTRASOUND GUIDED ROBOT FOR FLEXIBLE NEEDLE STEERING 有权
    ULTRASCHALL-GEFÜHRTERROBOTER ZUR FLEXIBLEN NADELSTEUERUNG

    公开(公告)号：EP2296745A4

    公开(公告)日：2016-12-14

    申请号：EP09754349

    申请日：2009-05-31

    申请人： TECHNION RES & DEV FOUNDATION

    发明人： NEUBACH ZIPI ,  SHOHAM MOSHE

    IPC分类号： A61B34/20 ,  A61B8/08 ,  A61B17/34 ,  A61B34/30 ,  A61M25/04

    CPC分类号： A61B90/11 ,  A61B8/485 ,  A61B17/3403 ,  A61B34/20 ,  A61B34/30 ,  A61B2017/3409 ,  A61B2017/3413 ,  A61B2034/107 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/378

    摘要： A robotic system for flexible needle steering under ultrasound imaging. A robot is used to steer the needle along a predetermined curved trajectory by maneuvering the needle base. The needle tip position is detected by an ultrasound sensor and the tracking error of the needle tip from a predetermined needle path is input to a controller which solves the inverse kinematic based on the needle position, and the needle and tissue properties. The control algorithm uses a novel method to detect the elastic properties of the tissue by analyzing tissue motion at the region in front of the needle tip. The inverse kinematic solution may be performed on a model of the needle as a flexible beam having laterally connected virtual springs to simulate lateral forces exerted by the tissue elasticity. The system is able to direct the needle to a target within the tissue while circumventing forbidden regions.

    摘要翻译： 一种机器人系统，用于超声波成像下的柔性针头转向。 机器人用于通过操纵针座来沿着预定的弯曲轨迹转动针头。 针尖位置由超声波传感器检测，并且针尖从预定针路径的跟踪误差输入到基于针位置解决反向运动学的控制器以及针和组织性质。 控制算法采用新颖的方法，通过分析针尖前面区域的组织运动来检测组织的弹性特性。 反向运动解决方案可以在针的模型上作为具有横向连接的虚拟弹簧的柔性梁执行，以模拟由组织弹性施加的横向力。 系统能够将针引导到组织内的靶，同时避开禁区。