Apparatus and method for robotic procedures with magnetizable tools
Inventors
Krieger, Axel • Diaz-Mercado, Yancy • LIU, Xiaolong • FAN, Matthew • MAIR, Lamar • Weinberg, Irving • Chowdhury, Sagar • PRYOR, Will • BARNOY, Yotam • RAVAL, Suraj • ERIN, Önder
Assignees
Johns Hopkins University • University of Maryland Baltimore • University of Maryland College Park • Weinberg Medical Physics Inc
Publication Number
US-12245831-B2
Publication Date
2025-03-11
Expiration Date
2042-04-15
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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.
Core Innovation
The invention provides methods and apparatuses for performing surgery and other interventional procedures using a semi-autonomous or fully autonomous robotic system that controls magnetic fields. This system allows for the dynamic detection and manipulation of magnetizable tools to achieve therapeutic or diagnostic outcomes. The apparatus includes a controller, imaging device (such as a camera, MRI, or ultrasound), and magnetic actuators that manipulate tools based on real-time imaging data.
The problem addressed is that traditional manipulation of surgical instruments typically requires direct mechanical contact, which can necessitate multiple entry ports causing tissue damage and limiting access, particularly in delicate procedures such as in pediatric or neonatal settings. Existing robotic systems transfer force through mechanical linkages, which may be impractical or impossible in certain clinical scenarios where reducing tool size and number is advantageous.
The disclosed system overcomes these limitations by enabling untethered, wireless magnetic manipulation of tools, such as suture needles, using real-time imaging to localize and control the tool's motion within a region of interest. The system utilizes closed-loop controls, which can employ various control strategies and machine learning for localization and actuation. The approach integrates feedback from imaging, allows planning and tracking of tool trajectories, and adapts force application based on both tool state and environmental factors.
Claims Coverage
There are two independent claims covering the inventive features of the apparatus and method for robotic procedures with magnetizable tools.
Apparatus for robotic manipulation of magnetizable tools using closed-loop control with real-time imaging and density map integration
An apparatus comprising: - A controller - An imaging device - One or more magnetic actuators The apparatus robotically manipulates one or more magnetizable tools via the magnetic actuators, using information about the tool's state (including velocity and magnetization) collected by the imaging device. The controller employs closed-loop control based on state information and density map data from the region of interest and surrounding areas (also obtained from the imaging device), to determine expected force requirements and manipulate the tools accordingly. The closed-loop control may include proportional-derivative (PD), proportional-integral-derivative (PID), proportional (P), integral (I), proportional-integral (PI), or other listed control methods.
Method for guiding therapeutic or diagnostic procedures by manipulating magnetizable tools under imaging-based closed-loop control
A method comprising: - Manipulating a magnetizable tool by one or more magnetic actuators under closed-loop control - Using images to obtain information about the tool's state and a density map of the region of interest and its surroundings, which informs expected force requirements - The closed-loop control utilizes one or more of the following control strategies: proportional-derivative (PD), proportional-integral-derivative (PID), proportional (P), integral (I), or proportional-integral (PI) control
The claims focus on the integration of real-time imaging and density mapping with closed-loop magnetic actuation to enable precise, autonomous or semi-autonomous manipulation of magnetizable tools for therapeutic or diagnostic procedures.
Stated Advantages
Minimizes the number and size of instrument manipulators required for procedures, decreasing tissue damage and increasing access to specific tissues or organs.
Enables wireless and untethered control of surgical instruments, which is beneficial in procedures with limited tissue for physical manipulators, such as pediatric or neonatal surgery.
Integrates imaging feedback and environmental data for more accurate and adaptive control of magnetizable tools during therapeutic or diagnostic procedures.
Documented Applications
Performing therapeutic and diagnostic procedures on human and non-human animals using robotic systems.
Surgical interventions involving suture procedures such as purse-string sutures, simple interrupted sutures, simple continuous sutures, vertical mattress sutures, horizontal mattress sutures, cruciate sutures, ford interlocking sutures, continuous subcuticular sutures, continuous horizontal mattress sutures, Lembert sutures, Cushing sutures, Everting sutures, lock-stitch sutures, Halsted sutures, Connell sutures, Parker-Kerr sutures, and new suture patterns.
Robotic manipulation of tools for tissue penetration, tissue ligation, tissue cauterization, tissue cutting, and creating a sling.
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