Surgery – Diagnostic testing – Detecting nuclear – electromagnetic – or ultrasonic radiation
Reexamination Certificate
2006-05-19
2010-10-26
Le, Long V (Department: 3768)
Surgery
Diagnostic testing
Detecting nuclear, electromagnetic, or ultrasonic radiation
Reexamination Certificate
active
07822458
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.
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Okazawa, S., et al.,Hand-Held Steerable Needle Device, IEEE/ASME Transactions on Mechatronics, vol. 10, No. 3, 2005, pp. 285-296.
Lefrançois, R., et al., Technical Note:A medical needle drive for the study of intersitial implant mechanics, Medical Engineering & Physics 25 (2003) pp. 255-258.
Glozman, D., et al.,Flexible Needle Steering and Optimal Trajectory Planning for Percutaneous Therapies, MICCAI 2004, pp. 137-144.
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Alterovitz Ron
Chirikjian Gregory
Cowan Noah J.
Goldberg Kenneth Y.
Okamura Allison M.
Daley Henry J.
Le Long V
Schwarz Steven J.
Selkin Saurel J
The Johns Hopkins University
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