Ultrasound-guided alignment and insertion of percutaneous cannulating instruments

US11963821B2 · kind B2 · utility

Assignee

• Rutgers, the State University of New Jersey · US

Inventors

• Martin L. Yarmush · Newton, US
• Alvin Chen · San Jose, US
• Max L. Balter · Boston, US
• Joshua Leipheimer · New Brunswick, US

Key dates

• Filing date: Oct 9, 2019
• Grant date: Apr 23, 2024
• Expiry date: Jul 20, 2040

Classification

• Technology area (CPC —): General

Abstract

A device and method for directing a cannula toward a target location under a patient's skin. The device is handheld and the device operations may be automated. The device includes an imaging probe for imaging the target location, a positioning unit for manipulating a cannula towards the target location, and a processor. The processor receives imaging data from the imaging probe, cannula pose data from at least one cannula position sensor, and device pose data from at least one device position sensor. The target location is identified from the imaging data, and a trajectory for manipulating the cannula towards the target location is determined based on the imaging data, the cannula pose data, and the device pose data. The processor may determine that the trajectory becomes misaligned with the target position, and may update to a corrected trajectory based on the imaging data, cannula pose data, and the device pose data.