公开(公告)号：US07822458B2

公开(公告)日：2010-10-26

申请号：US11436995

申请日：2006-05-19

申请人： Robert J. Webster, III ,  Allison M. Okamura ,  Noah J. Cowan ,  Gregory Chirikjian ,  Kenneth Y. Goldberg ,  Ron Alterovitz

发明人： Robert J. Webster, III ,  Allison M. Okamura ,  Noah J. Cowan ,  Gregory Chirikjian ,  Kenneth Y. Goldberg ,  Ron Alterovitz

IPC分类号： A61B5/05

CPC分类号： A61B17/3403 ,  A61B8/0833 ,  A61B10/0233 ,  A61B34/10 ,  A61B90/10 ,  A61B2017/00274 ,  A61B2017/3409 ,  A61B2018/00547 ,  A61B2090/376

摘要： Disclosed is a system for percutaneously steering a surgical needle. Needle steering is accomplished by taking advantage of a deflection force imparted on the bevel tip of the needle by the tissue medium as the needle is pushed through the tissue. By controlling the translation speed and rotation angle of the bevel, a flexible needle may be steered substantially without deflecting or distorting the tissue. The control inputs (translation speed and rotation angle) are computed based on a “bicycle” non-holonomic kinematic model that is a function of mechanical properties of the tissue medium. The system may be used with image-based feedback, which may provide for feedback-based refinement of the model as the needle propagates through the tissue.

摘要翻译： 公开了一种用于经皮转向外科用针的系统。 通过利用当针被推过组织时由组织介质施加在针的斜面尖端上的偏转力来实现针转向。 通过控制斜面的平移速度和旋转角度，柔性针可以基本上转向，而不会使组织变形或变形。 基于作为组织介质的机械特性的函数的“自行车”非完整运动学模型来计算控制输入（平移速度和旋转角度）。 该系统可以与基于图像的反馈一起使用，这可以在针传播通过组织时提供模型的基于反馈的细化。

公开(公告)号：US20070016067A1

公开(公告)日：2007-01-18

申请号：US11436995

申请日：2006-05-19

申请人： Robert Webster ,  Allison Okamura ,  Noah Cowan ,  Gregory Chirikjian ,  Kenneth Goldberg ,  Ron Alterovitz

发明人： Robert Webster ,  Allison Okamura ,  Noah Cowan ,  Gregory Chirikjian ,  Kenneth Goldberg ,  Ron Alterovitz

IPC分类号： A61B8/14

CPC分类号： A61B17/3403 ,  A61B8/0833 ,  A61B10/0233 ,  A61B34/10 ,  A61B90/10 ,  A61B2017/00274 ,  A61B2017/3409 ,  A61B2018/00547 ,  A61B2090/376

摘要： Disclosed is a system for percutaneously steering a surgical needle. Needle steering is accomplished by taking advantage of a deflection force imparted on the bevel tip of the needle by the tissue medium as the needle is pushed through the tissue. By controlling the translation speed and rotation angle of the bevel, a flexible needle may be steered substantially without deflecting or distorting the tissue. The control inputs (translation speed and rotation angle) are computed based on a “bicycle” non-holonomic kinematic model that is a function of mechanical properties of the tissue medium. The system may be used with image-based feedback, which may provide for feedback-based refinement of the model as the needle propagates through the tissue.

摘要翻译： 公开了一种用于经皮转向外科用针的系统。 通过利用当针被推过组织时由组织介质施加在针的斜面尖端上的偏转力来实现针转向。 通过控制斜面的平移速度和旋转角度，柔性针可以基本上转向，而不会使组织变形或变形。 基于作为组织介质的机械特性的函数的“自行车”非完整运动学模型来计算控制输入（平移速度和旋转角度）。 该系统可以与基于图像的反馈一起使用，这可以在针传播通过组织时提供模型的基于反馈的细化。