Back to results
US 12,622,761 B2Granted
Fluid-driven robotic needle positioner for image-guided percutaneous interventions
AssigneeThe University of Hong Kong
InventorsKa Wai Kwok, Zhuoliang He, Ziyang Dong, Justin Di-Lang Ho, Ge Fang
Life of this patent
Estimating the term…
Abstract
Disclosed are systems and methods for biopsy, drainage, drug administration, electrode implantation and/or tumor ablation employing percutaneous procedures for diagnostic or therapeutic purposes, performed by inserting a needle or probe through the skin of patient towards target anatomy using a patient mounted robot.
Claims20
A method of performing a medical procedure, comprising:
- medical imaging to obtain a dataset of a region of interest;
- identifying a target position on or within a patient and positioning a patient on an operating table;
- identifying the target position relative to the robot position;
- determining a needle insertion path, an incision port and robot position based on the data set and the target position;
- non-invasive mounting of the robot on the patient at the determined incision port and robot position;
- coarse adjustment of the robot performed manually by a surgeon with visual feedback provided by the robot to indicate adjustment accuracy in-situ;
- fine adjustment of the robot after coarse adjustment for automatic needle guide positioning guided by one or both of intra-operative medical imaging or robot encoding;
- coarse locking of the needle guide after the coarse adjustment,
- wherein the coarse locking comprises use of an outer cover,
- wherein the outer cover partially encloses a granular jamming mechanism comprising an elastic membrane having granules enclosed therewithin, and wherein the elastic membrane encloses the needle guide, and
- wherein the outer cover comprises an expandable ring that is fixed in place around the needle guide, and wherein the fixing comprises installing a locking slider over a locking tab of the outer cover, thereby fixing the outer cover in a fixed shape around the needle guide;
- fine locking of the needle guide, after the fine adjustment, by actuating the granular jamming mechanism that provides granular jamming of the needle guide, thereby further limiting movement of the needle guide;
- and
- performing the medical procedure on the region of interest.
11 more elements
A patient-mounted robotic device for image-guided percutaneous procedures, comprising:
- a needle guide;
- a coarse adjustment mechanism that is manually operated by the surgeon to perform coarse adjustment;
- a fine adjustment mechanism that is automatically operated under intra-operative real-time imaging guidance and/or robot encoding to perform fine adjustment;
- a fiber-optic light that is configured to provide visual feedback to the surgeon during manual operation to indicate targeting accuracy,
- wherein the needle guide accommodates a needle-like surgical instrument,
- wherein the needle guide pose is measured with encoders and imaging fiducial markers, and
- wherein the fine adjustment mechanism comprises:
- multiple co-planar fluid-driven soft actuator chambers that act in concert to adjust the needle guide pose;
- a master actuation console that provides hydraulic transmission to the soft chambers,
- wherein both the coarse adjustment mechanism and the fine adjustment mechanisms pivot the needle guide about a remote center of motion,
- wherein the needle guide is lockable through a granular jamming mechanism that limits movement of the needle guide,
- wherein the granular jamming mechanism is coarsely jammable by latching an outer cover that partially encloses the granular jamming mechanism, and
- wherein the outer cover comprises a ring having an expandable central opening, wherein the latching comprises installing a locking slider over locking tabs of the outer cover, thereby reducing a size of the central opening, and
- a base component that allows mounting of the robotic device on the patient using noninvasive attachment to the patient.
11 more elements
A method of performing a medical procedure, comprising:
- medical imaging to obtain a dataset of a region of interest;
- identifying a target position on or within a patient and positioning a patient on an operating table;
- identifying the target position relative to the robot position;
- determining a needle insertion path, an incision port and robot position based on the data set and the target position;
- non-invasive mounting of the robot on the patient at the determined incision port and robot position;
- coarse adjustment of the robot performed manually by a surgeon with visual feedback provided by the robot to indicate adjustment accuracy in-situ;
- fine adjustment of the robot after coarse adjustment for automatic needle guide positioning guided by one or both of intra-operative medical imaging or robot encoding;
- granular jamming of the needle guide, by actuating a granular jamming mechanism, thereby limiting movement of the needle guide;
- enclosing of the granular jamming mechanism by latching an outer cover at least partially over the granular jamming mechanism,
- wherein the outer cover comprises a non-continuous ring, and wherein the latching comprises installing a locking slider over locking tabs of the outer cover, thereby fixing the position of the locking tabs relative to one another;
- and
- performing the medical procedure on the region of interest.
9 more elements
Dependencies are inferred from the claim text.