NEEDLE STEERING BY SHAFT MANIPULATION
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Accused Products
Abstract
A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient'"'"'s body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.
162 Citations
45 Claims
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1-19. -19. (canceled)
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20. A system for manipulating a needle insertable into a body of a subject, comprising:
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a robotic platform having a plurality of degrees of freedom providing said needle with a desired pose; and a needle gripper attached to said robotic platform, the needle gripper being positioned distally to a base of said needle; wherein said robotic platform provides said needle with the desired pose by manipulating said needle gripper. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. A system for manipulating a needle insertable into a body of a subject, comprising:
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a robotic platform having a plurality of degrees of freedom providing said needle with a desired pose; and a needle gripper attached to said robotic platform, the needle gripper being positioned immediately juxtaposed a skin surface of the subject; wherein said robotic platform provides said needle with said desired pose by manipulating said needle gripper. - View Dependent Claims (37, 38, 39, 40, 41, 42)
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43. A method for manipulating a needle insertable into a body of a subject, comprising:
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providing a robotic platform having a plurality of degrees of freedom; providing a needle gripper; and manipulating said needle gripper to provide said needle with a desired pose; wherein said needle gripper is attached to said robotic platform distally from a base of said needle. - View Dependent Claims (44, 45)
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Specification