System, method, and apparatus for configuration, design, and operation of an active cannula robot

US10548630B2 · kind B2 · utility

Assignee

• VANDERBILT UNIVERSITY · US

Inventors

• Philip J. Swaney · Nashville, US
• Ray Lathrop · Nashville, US
• Jessica Burgner · Hannover, DE
• Kyle Weaver · Spring Hill, US
• Hunter B. Gilbert · Nashville, US
• Robert J. Webster · Nashville, US
• David B. Comber · Nashville, US

Key dates

• Filing date: Feb 11, 2014
• Grant date: Feb 4, 2020
• Expiry date: Mar 4, 2036

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/103
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

The present invention relates to a system and apparatus for implementing a method for identifying tube parameters of a curved tube of an active cannula for operating on a target in a patient. The method includes the step (a) of acquiring a model of the patient anatomy including the target. The method also includes the step (b) of selecting a set of parameters characterizing a curved tube. The method also includes the step (c) of computing a workspace for an active cannula having the selected curved tube parameters. The method also includes the step (d) of comparing the workspace to the anatomical model to determine the degree to which an active cannula having the selected curved tube parameters covers the target. The method also includes the step (e) of repeating steps (b) through (d) through a defined number of curved tube parameter sets. The method also includes the step (f) of identifying the curved tube parameters that provide an active cannula with an optimal degree of target coverage.