公开(公告)号：WO2022136836A1

公开(公告)日：2022-06-30

申请号：PCT/GB2021/053296

申请日：2021-12-15

Applicant: UCL BUSINESS LTD

Inventor： LINDENROTH, Lukas ,  MANJALY, Joseph ,  BANO, Sophia ,  STILLI, Agostino ,  DWYER, George ,  STOYANOV, Danail

IPC: A61B1/00 ,  A61B1/12 ,  A61B1/227

Abstract: The present invention relates to a system (10) for positioning a medical tool within a lumen. The system (10) comprises a positioning device (11) and a control system (12). The positioning device (11) comprises a cylindrical body (110), configured to receive the medical tool, and an actuator (120) configured to apply a force to an internal wall of the lumen to move the cylindrical body (110) in a radial direction within the lumen. The control system (12) is configured to: receive an input signal indicative of a target position of the cylindrical body (110), and provide an output signal to control the actuator (120) to move the cylindrical body (110) to adopt the target position. The system (10) may comprise a camera and utilise image recognition to identify a target location in an image captured by the camera to determine the target position of the cylindrical body (110). The system (10) may be configured such that the cylindrical body (110) is automatically moved to the target position. The system (10) may also be configured to compensate for unintended movement of the cylindrical body (110) away from the target position. The system (10) may be particularly applicable to positioning a needle within an ear canal to perform an intra tympanic injection.