Apparatus and method for robotic procedures with magnetizable tools

Patent metadata

Field	Value
Publication number	US-12245831-B2
Application number	US-202217721575-A
Country	US
Kind code	B2
Filing date	Apr 15, 2022
Priority date	Apr 16, 2021
Publication date	Mar 11, 2025
Grant date	Mar 11, 2025

Abstract

Methods and apparatuses are provided for performing surgery and other interventional procedures on human and non-human animals with a semi-autonomous and/or fully autonomous robotic system. The methods and apparatuses include a system for controlling magnetic fields to dynamically detect the location of magnetizable tools and to manipulate said tools in order to obtain a favorable therapeutic or diagnostic outcome.

First claim

The invention claimed is:

1. An apparatus comprising:
a controller;
an imaging device; and
one or more magnetic actuators, wherein one or more magnetizable tools are manipulated by at least one of the one or more magnetic actuators robotically using information about a state of the one or more magnetizable tools collected by the imaging device, wherein the state of the one or more magnetizable tools comprise, a velocity, a magnetization, or combinations thereof,
wherein the controller is configured to operate using a closed-loop control using the information about the state of the one or more magnetizable tools and a density map information of a region of interest and surrounding areas of the region of interest obtained from the imaging device that provides the controller with expected force requirements for moving within the region of interest and the surrounding areas, wherein the closed-loop control comprises proportional-derivative (PD) control, proportional-integral-derivative (PID) control, proportional (P) control, integral (I) control, proportional-integral (PI) control, or proportional-derivative control.

2. The apparatus of claim 1 , where the imaging device is configured to perform magnetic resonance imaging to collect the information about the state of the one or more magnetizable tools.

3. The apparatus of claim 1 , where the imaging device is configured to perform ultrasound imaging to collect the information about the state of the one or more magnetizable tools.

4. The apparatus of claim 1 , where the imaging device is configured to perform optical imaging to collect the information about the state of the one or more magnetizable tools.

5. The apparatus of claim 1 , where the imaging device comprises a camera that is configured to perform a combination of one or more of optical, magnetic resonance imaging, or ultrasound imaging to collect the information about the state of the one or more magnetizable tools.

6. The apparatus of claim 1 , wherein each of the one or more magnetizable tools comprises one or more current-carrying conductors to alter a magnetic state of a magnetizable material.

7. The apparatus of claim 1 , wherein the one or more magnetic actuators are electropermanent magnets.

8. The apparatus of claim 1 , wherein the controller is configured to provide control signals to the one or more magnetic actuators to guide the one or more magnetizable tools along a preplanned time-varying trajectory.

9. The apparatus of claim 1 , wherein each of the one or more magnetizable tools is a needle comprising magnetizable material.

10. The apparatus of claim 9 , wherein each of the one or more magnetizable tools has a sharp tip that has a minimal diameter of 30 microns.

11. The apparatus of claim 9 , wherein each of the one or more magnetizable tools is a hollow needle with a magnetizable core.

12. A method of guiding therapeutic procedure or diagnostic procedure in a human or non-human animal comprising:
manipulating a magnetizable tool by one or more magnetic actuators under closed-loop control using images that provide information about a state of the magnetizable tool and a density map information of a region of interest and surrounding areas of the region of interest obtained from the images that provides a controller with expected force requirements for moving within the region of interest and the surrounding areas, wherein the state of the one or more magnetizable tools comprise, a velocity, a magnetization, or combinations thereof,
wherein the closed-loop control comprises proportional-derivative (PD) control, proportional-integral-derivative (PID) control, proportional (P) control, integral (I) control, proportional-integral (PI) control, or proportional-derivative control.

13. The method of claim 12 , wherein the therapeutic procedure is to perform ligations.

14. The method of claim 12 , wherein the therapeutic procedure is to perform sutures.

15. The method of claim 12 , further comprising using a nonholonomic method to determine magnetic fields of the one or more magnetic actuators.

16. The method of claim 12 , wherein the closed-loop control comprises machine learning for localization, control, or both localization and control of the magnetizable tool.

17. The method of claim 12 , wherein the closed-loop control comprises altering the state of the tool by a magnetic field to enhance segmentation accuracy.

18. The method of claim 12 , wherein the manipulating the magnetizable tool by the one or more magnetic actuators further comprising providing a control signals to the one or more magnetic actuators to guide the magnetizable tools along a preplanned time-varying trajectory.

Assignees

• Univ Johns Hopkins
• Univ Maryland
• Weinberg Medical Physics Inc

Inventors

• Krieger Axel
• Diaz-Mercado Yancy
• Liu Xiaolong
• Fan Matthew
• Mair Lamar
• Weinberg Irving
• Chowdhury Sagar
• Pryor Will
• Barnoy Yotam
• Raval Suraj
• Erin Önder

Classifications

• A61B90/361

  Image-producing devices, e.g. surgical cameras · CPC title

• A61B2017/00398

  using powered actuators, e.g. stepper motors, solenoids · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2090/378

  using ultrasound · CPC title

• A61B34/73

  Manipulators for magnetic surgery · CPC title