The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 26, 2010
Filed:
May. 19, 2006
Robert J. Webster, Iii, Baltimore, MD (US);
Allison M. Okamura, Ruxton, MD (US);
Noah J. Cowan, Baltimore, MD (US);
Gregory Chirikjian, Towson, MD (US);
Kenneth Y. Goldberg, San Francisco, CA (US);
Ron Alterovitz, Berkeley, CA (US);
Robert J. Webster, III, Baltimore, MD (US);
Allison M. Okamura, Ruxton, MD (US);
Noah J. Cowan, Baltimore, MD (US);
Gregory Chirikjian, Towson, MD (US);
Kenneth Y. Goldberg, San Francisco, CA (US);
Ron Alterovitz, Berkeley, CA (US);
The Johns Hopkins University, Baltimore, MD (US);
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.