Method for determining an insertion trajectory of a tool in a deformable tissular matrix and robotic system executing the method
US9265587B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | May 3, 2011 |
| Grant date | Feb 23, 2016 |
| Priority date | — |
| Expiry date | Mar 12, 2033 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/107
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method for determining an insertion trajectory of a tool for reaching a moving target object prior to its insertion into a tissular matrix. The method comprises acquiring images of the tissular matrix, constructing a three-dimensional representation of the tissular matrix, determining coordinates of the initial position of the target object and any obstacles, and determining at least one potential trajectory of the tool from the coordinates of any obstacles and the initial position of the target object. The method further comprises simulating insertion of the tool in the tissular matrix to determine displacement of the target object during insertion of the tool up to the initial position of the target object along a potential trajectory, determining a new position of the target object based on the determined displacement, and determining the insertion trajectory for the new position of the target object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.