Gripper for robotic image guided needle insertion

Patent metadata

Field	Value
Publication number	US-12042235-B2
Application number	US-202318195464-A
Country	US
Kind code	B2
Filing date	May 10, 2023
Priority date	Oct 7, 2013
Publication date	Jul 23, 2024
Grant date	Jul 23, 2024

Abstract

A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.

First claim

The invention claimed is:

1. A system for inserting a medical tool into a subject, the system comprising:
a capture unit configured for alternately and repeatedly gripping and releasing either of the medical tool or a holder configured for holding the medical tool;
a controllable drive mechanism configured for inserting the medical tool into the subject in a series of insertion steps, the controllable drive mechanism being further configured for synchronizing with the capture unit to enable gripping of the medical tool or the holder during an insertion step and partial releasing of the medical tool or the holder between insertion steps which leaves a partial limiting linkage with the capture unit, allowing the medical tool free movement with one or more limited degrees of freedom; and
a tracking system configured for determining the relative position between the medical tool or the holder and the capture unit;
wherein the system is configured for moving the capture unit toward the medical tool or the holder based on the relative position determined by the tracking system.

2. The system according to claim 1 , further comprising a breathing monitoring system configured for monitoring the breathing of the subject.

3. The system according to claim 2 , wherein the breathing monitoring system comprises at least one breathing tracking sensor.

4. The system according to claim 2 , wherein the system is configured to synchronize the releasing and the gripping of the medical tool or the holder with the breathing cycle of the subject, such that said capture unit can be commanded to grip the medical tool or the holder at a predetermined point in time of the subject's breathing cycle.

5. The system according to claim 1 , wherein the controllable drive mechanism is either a robotic actuator attached to the capture unit or a motion mechanism configured for moving the medical tool or the holder relative to the capture unit.

6. The system according to claim 1 , wherein the tracking system comprises at least one emitter and at least one sensor, and wherein one of the at least one emitter and the at least one sensor is disposed on the medical tool or the holder, and the other of the at least one emitter and the at least one sensor is disposed on the capture unit.

7. The system according to claim 4 , comprising a tracking sensor configured to determine the position of the body of said subject close to the point of insertion of said medical tool.

8. The system according to claim 5 , wherein said at least one tracking sensor is part of an external tracking system.

9. The system according to claim 1 , wherein:
the holder comprises a protrusion;
the capture unit comprises mechanical clamping jaws; and
the system further comprises an actuation mechanism configured for closing the clamping jaws on the protrusion,
wherein when the medical tool or a holder is released, it is constrained by the mechanical clamping jaws which constrain the medical tool position to within its confines.

10. The system according to claim 1 , wherein:
the holder comprises a first set of locating features and a locating spigot;
the capture unit comprises a second set of locating features configured for mating with the first set of locating features on the holder, and a clamping system configured for closing on the locating spigot; and
the system further comprises an actuating mechanism configured for closing the clamping system on the locating spigot after the first and second sets of locating features are mated.

11. The system according to claim 1 , wherein:
the holder comprises a first set of locating features and a ferromagnetic section;
the capture unit comprises a second set of locating features configured for mating with the first set of locating features on the holder, and a source of magnetic field; and
the system further comprises an actuation mechanism configured for activating the source of magnetic field.

12. A system for inserting a medical tool into a subject, the system comprising:
a controllable drive mechanism configured for inserting the medical tool into the subject in a series of insertion steps;
a capture unit configured for alternately and repeatedly gripping and releasing either of the medical tool or a holder configured for holding the medical tool; and
a tracking system configured for determining the position of the medical tool or the holder relative to the capture unit;
wherein the controllable drive mechanism is configured to be synchronized with the capture unit to enable gripping of the medical tool or the holder by the capture unit during an insertion step and partial releasing of the medical tool or the holder from the capture unit between insertion steps which leaves a partial limiting linkage with the capture unit, allowing the medical tool free movement with one or more limited degrees of freedom, and
wherein the system is configured to correlate the position of the capture unit to the position of the medical tool or the holder, using the tracking system, and to position the controllable drive mechanism such that each gripping action is executed at essentially the same position in space as the respective position of release of the medical tool or the holder following the previous insertion step.

13. The system according to claim 12 , further comprising a breathing monitoring system configured for monitoring the breathing cycle of the subject.

14. The system according to claim 13 , wherein the breathing monitoring system comprises at least one breathing tracking sensor.

15. The system according to claim 13 , wherein the system is configured to synchronize the insertion steps with the breathing cycle of the subject, such that the insertion steps and the releasing and gripping of the medical tool or the holder are performed in substantially the same part of each breathing cycle of the subject.

16. A method for controllably inserting a medical tool into a subject, the method comprising:
inserting the medical tool into the subject in a series of insertion steps;
activating a capture unit to grip either of the medical tool or a holder configured to hold the medical tool during an insertion step;
activating the capture unit to partial releasing the medical tool or the holder between insertion steps;
tracking the position of the medical tool or the holder relative to the capture unit using a tracking system;

monitoring the subject's breathing cycle using a tracking sensor, and
synchronizing the gripping of said medical tool or the holder with the subject's breathing cycle, such that the insertion steps are performed in substantially the same part of each breathing cycle of the subject.

17. The method according to claim 16 , further comprising the step of synchronizing the partial releasing of the medical tool or the holder with the subject's breathing cycle.

Assignees

• Technion Res & Dev Foundation

Inventors

• Glozman Daniel
• Daskal Gonen
• Shoham Moshe
• Arad Michael
• Pinsky Yoav

Classifications

• A61B17/3403

  Needle locating or guiding means · CPC title

• A61B2034/303

  specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B2090/3762

  using computed tomography systems [CT] · CPC title

• A61B2017/00699

  correcting for movement caused by respiration, e.g. by triggering · CPC title