US 2025/0049523 A1 · FLUOROSCOPIC IMAGE GUIDED ROBOTIC BLOOD VESSEL CANNULATION

Abstract

Various embodiments of a vessel cannulation system employs an interventional robot (110) and a vessel cannulation controller (80) for a blood vessel cannulation of a target blood vessel by an endovascular instrument (10) navigational within a transitory blood vessel having the target blood vessel branching therefrom. In operation, the vessel cannulation controller (80) (i) defines, within an image space, a virtual wall of the transitory blood vessel having a virtual entryway into the target blood vessel. (ii) commands the interventional robot (110) to execute a positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument (10), and (iii) detects the blood vessel cannulation of the target blood vessel by the distal section of the endovascular instrument (10) through the virtual entryway of the virtual wall during the positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument (10).

Claims24

Dependent claims

A vessel cannulation controller, comprising:

at least one processor;
and
a non-transitory machine-readable storage medium encoded with instructions for execution by the at least one processor of a blood vessel cannulation of a target blood vessel by a endovascular instrument having a proximal section connected to a interventional robot and a distal section navigational within a transitory blood vessel, wherein the non-transitory machine-readable storage medium includes instructions to:
define, within an image space encompassing the target blood vessel branching from the transitory blood vessel, a virtual wall of the transitory blood vessel having a virtual entryway into the target blood vessel;
command the interventional robot to execute a positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument;
and
detect the blood vessel cannulation of the target blood vessel by the distal section of the endovascular instrument through the virtual entryway of the virtual wall during the positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument.

4 more elements

A vessel cannulation method executable by a vessel cannulation controller for a blood vessel cannulation of a target blood vessel by an endovascular instrument having a proximal section connected to an interventional robot and a distal section navigational within a transitory blood vessel, wherein the vessel cannulation method comprises the vessel cannulation controller:

defining, within an image space encompassing the target blood vessel branching from the transitory blood vessel, a virtual wall of the transitory blood vessel having a virtual entryway into the target blood vessel;
commanding the interventional robot to execute a positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument;
and
detecting the blood vessel cannulation of the target blood vessel by the distal section of the endovascular instrument through the virtual entryway of the virtual wall during the positional wall sampling of the transitory blood vessel by the distal section of the endovascular instrument.

1 more element

Dependencies are inferred from the claim text.

Fluoroscopic image guided robotic blood vessel cannulation

Life of this patent

Fluoroscopic image guided robotic blood vessel cannulation

Life of this patent

Abstract

Claims24