Distal bevel-tip needle control device and algorithm

US7822458B2 · kind B2 · utility

Assignee

• THE JOHNS HOPKINS UNIVERSITY · US

Inventors

• Robert J. Webster · Nashville, US
• Allison M. Okamura · Towson, US
• Noah J. Cowan · Baltimore, US
• Gregory Chirikjian · Towson, US
• Kenneth Y. Goldberg · Bethlehem, US
• Ron Alterovitz · Berkeley, US

Key dates

• Filing date: May 19, 2006
• Grant date: Oct 26, 2010
• Expiry date: Mar 19, 2029

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/376
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

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.