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公开(公告)号：US11207500B2
公开(公告)日：2021-12-28
申请号：US16107184
申请日：2018-08-21
Applicant: WORCESTER POLYTECHNIC INSTITUTE
Inventor： Gregory S. Fischer , Hao Su
Abstract: A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. A method and system controls the needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.
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Patent Agency Ranking
公开(公告)号：US20190108770A1
公开(公告)日：2019-04-11
申请号：US16214873
申请日：2018-12-10
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Hao Su , Laurie Dickstein-Fischer , Kevin Harrington , Elizabeth V. Alexander
IPC: G09B19/00
Abstract: Methods and systems for observing/analyzing interactive behavior are presented. In one instance, the method for observing/analyzing interactive behavior includes interacting, using a robot, with a subject and obtaining data from interaction between the subject and the robot, the data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot includes data acquisition components, interaction inducing components (such as, but not limited to, movable eyelids, movable appendages, sound generating components), a control component operatively connected to the interaction inducing components and a processing component operatively connected to the control component and the data acquisition components, the processing component being configured to obtain data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot is integrated with a computer-aided system for diagnosis, monitoring, and therapy.
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公开(公告)号：US20220280755A1
公开(公告)日：2022-09-08
申请号：US17562785
申请日：2021-12-27
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Hao Su
Abstract: A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. A method and system controls the needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.
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公开(公告)号：US20210093304A1
公开(公告)日：2021-04-01
申请号：US16870414
申请日：2020-05-08
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Hao Su
Abstract: A system for MRI-guided interventional needle procedures comprises a master device providing haptic feedback to and receiving position commands from the operator, a robot controller receiving position commands and providing force information to said master device, a navigation component receiving images from an MRI scanner; said navigation component providing trajectory planning information to said robot controller, a slave robot driving a needle, the slave robot receiving control information from the robot controller, and a fiber optic sensor operatively connected to said slave robot. The fiber optic sensor provides data to the robot controller to provide force information to the master device. The master device, robot controller, navigation component, slave robot and sensor are compatible with an MRI environment and operate inside an MRI scanner room.
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公开(公告)号：US10052458B2
公开(公告)日：2018-08-21
申请号：US14056205
申请日：2013-10-17
Applicant: WORCESTER POLYTECHNIC INSTITUTE
Inventor： Gregory S. Fischer , Hao Su
CPC classification number: A61M25/0152 , A61B34/30 , A61B34/37 , A61B34/76 , A61B2034/301 , A61B2034/302 , A61M5/3287 , A61M5/46 , A61M25/0116 , A61M2005/3289 , A61M2205/50
Abstract: A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. The present teaching describes a method and system for controlling needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.
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公开(公告)号：US20240090881A1
公开(公告)日：2024-03-21
申请号：US18519758
申请日：2023-11-27
Applicant: Worcester Polytechnic Institute
Inventor： Gregory S. Fischer , Hao Su
CPC classification number: A61B10/0241 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/11 , A61B2090/064
Abstract: A system for MRI-guided interventional needle procedures comprises a master device providing haptic feedback to and receiving position commands from the operator, a robot controller receiving position commands and providing force information to said master device, a navigation component receiving images from an MRI scanner; said navigation component providing trajectory planning information to said robot controller, a slave robot driving a needle, the slave robot receiving control information from the robot controller, and a fiber optic sensor operatively connected to said slave robot. The fiber optic sensor provides data to the robot controller to provide force information to the master device. The master device, robot controller, navigation component, slave robot and sensor are compatible with an MRI environment and operate inside an MRI scanner room.
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