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公开(公告)号：US20090171271A1
公开(公告)日：2009-07-02
申请号：US12084979
申请日：2006-11-15
IPC分类号： A61M5/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre-formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.
摘要翻译： 公开了一种外科用针或主动插管，其能够跟随穿过患者解剖结构内的空腔和组织的复杂路径。 针具有多个重叠的柔性管，每个柔性管具有预先形成的曲率和预定的灵活性。 多个柔性管中的每一个基于它们各自的预先形成的曲率和柔性来选择，使得给定的重叠配置导致重叠的柔性管的组合形成基本匹配通过解剖结构的期望路径的预定形状。 通过单独控制每个柔性管的平移和角度取向，可以根据期望的路径将外科用针引导通过解剖结构。
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公开(公告)号：US08715226B2
公开(公告)日：2014-05-06
申请号：US13416772
申请日：2012-03-09
IPC分类号： A61M31/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.
摘要翻译： 用于引导具有多个重叠的柔性管的手术插管的方法包括确定期望的插管路径; 选择多个柔性管，其中多个中的每个柔性管具有预先形成的曲率和柔性; 确定所述多个柔性管的最终重叠构型，使得所述重叠构型的最终曲率基本上对应于所述套管路径; 以及确定所述多个柔性管的多个中间重叠配置。 每个中间构造对应于所需的插管路径。
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公开(公告)号：US20130018303A1
公开(公告)日：2013-01-17
申请号：US13416772
申请日：2012-03-09
IPC分类号： A61M25/092
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.
摘要翻译： 用于引导具有多个重叠的柔性管的手术插管的方法包括确定期望的插管路径; 选择多个柔性管，其中多个中的每个柔性管具有预先形成的曲率和柔性; 确定所述多个柔性管的最终重叠构型，使得所述重叠构型的最终曲率基本上对应于所述套管路径; 以及确定所述多个柔性管的多个中间重叠配置。 每个中间构造对应于所需的套管路径。
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公开(公告)号：US08152756B2
公开(公告)日：2012-04-10
申请号：US12084979
申请日：2006-11-15
IPC分类号： A61M31/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective preformed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.
摘要翻译： 公开了一种外科用针或主动插管，其能够跟随穿过患者解剖结构内的空腔和组织的复杂路径。 针具有多个重叠的柔性管，每个柔性管具有预先形成的曲率和预定的灵活性。 多个柔性管中的每一个基于它们各自预先形成的曲率和柔性来选择，使得给定的重叠构型使重叠的柔性管的组合形成基本匹配通过解剖结构的期望路径的预定形状。 通过单独控制每个柔性管的平移和角度取向，可以根据期望的路径将外科用针引导通过解剖结构。
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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。
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