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。