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US 7,008,373 B2Granted
System and method for robot targeting under fluoroscopy based on image servoing
AssigneeThe Johns Hopkins University
InventorsDaniel Stoianovici, Alexandru Patriciu, Louis R. Kavoussi
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Abstract
A system and method for image guided instrument targeting including a robot unit coupled with an instrument, an imaging unit, and a first control unit, which is coupled with the robot unit and coupled with the imaging unit. The control unit receives the imaging data about a target and about the instrument from the imaging unit and controls the robot unit to properly orienting the instrument for insertion, based upon the imaging data.
Claims10
A method for guiding an instrument to a target position, said method comprising steps of:
- orienting an imager in a first imager orientation to image a target and an instrument to create first imager-orientation imaging data about said target and said instrument;
- placing said instrument in an initial position with a fulcrum end of the instrument at a fulcrum point;
- moving a moveable end of the instrument alone a curve while maintaining the fulcrum end of the instrument at the fulcrum point, whereby the instrument moves along a conical trajectory;
- determining a servo-plane based on the first imager-orientation imaging data taken while moving the instrument along the conical trajectory;
- orienting said imager in a second imager orientation to image said target and said instrument to create second imager-orientation imaging data about said target and said instrument;
- and
- performing allignment of said instrument in a second view while maintaining the instrument in the servo-plane, based on said second imager-orientation imaging data;
- wherein said first orientation and said second orientation are dissimilar.
5 more elements
Dependencies are inferred from the claim text.