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Publication Number
US-11202684-B2
Publication Date
2021-12-21
Expiration Date
Abstract
A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.
Core Innovation
The invention relates to an automated device for inserting a medical tool into a body of a subject. The device includes a common joint at distal ends of first and second pistons, and an end effector coupled to the common joint for coupling the medical tool thereto. The device is driven by coordinated motion of moveable platforms to maintain a virtual Remote Center of Motion (RCM) at a selected needle entry point during insertion.
The automated insertion system uses two moveable platforms that provide two orthogonal linear motions and a piston/cylinder linear actuation arrangement coupled to the common joint at their distal ends. The cylinders/pistons, a piston-to-common-joint line, and the cylinders’ proximal shaft are arranged substantially in a single plane, enabling a large angular workspace while keeping a low-profile device. Coordinated motion maintains the virtual RCM geometry to prevent tissue/skin tearing during insertion.
Optional features described include gimbals for end-effector articulation, multi-DOF platforms providing additional translations and rotations, and imaging-guided operation using an imaging system with closed-loop corrections based on imaging feedback. The system includes an insertion module that advances the tool, and sensors including force plus registration elements using fiducial markers, along with a processor/controller for coordinated operation.
Claims Coverage
The document explicitly presents one independent claim directed to an automated insertion device with a multi-platform drive arrangement and a common-joint/piston end-effector coupling.
Automated device with first and second platforms
An automated device for inserting a medical tool into a body of a subject comprises a device base, a first platform coupled to the device base with a first portion of a first driving mechanism, and a second platform coupled to the first platform. The second platform includes a second portion of the first driving mechanism and is configured to propel the second platform in a first linear direction.
Perpendicular linear propulsion using first and second driving mechanisms
A third platform coupled to the second platform includes a second portion of a second driving mechanism having at least a second motor, and is configured to propel the third platform in a second linear direction substantially perpendicular to the first linear direction.
Common joint coupling first and second pistons to an end effector
First and second pistons are connected to a common joint at their distal ends, and an end effector is coupled to the common joint and configured for coupling the medical tool thereto.
The independent claim coverage centers on an automated insertion device using coordinated platforms to provide two substantially perpendicular linear directions, with an end effector coupled at a common joint formed by distal ends of first and second pistons.
Stated Advantages
Improved accuracy/reliability.
Reduced workspace and imaging artifacts near the needle.
Documented Applications
Imaging-guided operation for automated insertion of a medical tool into a body of a subject, including maintenance of a virtual Remote Center of Motion at a selected needle entry point during insertion.
Use of sensors and registration elements (fiducial markers) to support registration and closed-loop correction based on imaging feedback during tool insertion.
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