Image-guided robotic arm for inserting a penetrating member into a body lumen
Inventors
Cohn, William E. • Seiber, Russell • Herlihy, James Patrick • RENNICKS, Kenneth Wayne • Nortman, Scott
Assignees
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Publication Number
US-12426965-B2
Publication Date
2025-09-30
Expiration Date
Abstract
An image-guided robotic system for advancing a penetrating member into a body lumen located beneath a skin surface of a patient, the image-guided robotic system comprising: a detector for obtaining data representative of a location of the body lumen beneath the skin surface of the patient; a robotic arm comprising: a penetrating member; a linear actuator for linearly advancing the penetrating member into the body lumen; a vibrational actuator for vibrating the penetrating member at a selected frequency; a processor in communication with the detector, the linear actuator and the vibrational actuator, the processor being configured to: (i) receive the data representative of the location of the body lumen from the detector; (ii) calculate the distance to a preselected target point within the body lumen; (iii) transmit linear advancement instructions to the linear actuator to linearly advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein the linear advancement instructions comprise the speed and distance required for the linear actuator to advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the body lumen at the preselected target point within the body lumen; (iv) transmit vibrational instructions to the vibrational actuator to vibrate the penetrating member; and (v) automatically modify at least one of the linear advancement instructions and the vibrational instructions in order to account for resistance encountered by the penetrating member during advancement of the penetrating member through the skin surface, through the tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein at least one of the linear advancement instructions and the vibrational instructions is modified to mitigate deformation of the body lumen as the penetrating member advances through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen.
Core Innovation
The invention provides an image-guided robotic system for advancing a penetrating member into a body lumen located beneath a skin surface of a patient. A detector obtains data representative of a location of the body lumen beneath the skin surface, and a processor receives the data and calculates a distance to a preselected target point within the body lumen. The processor transmits linear advancement instructions to a linear actuator to linearly advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen, and into the preselected target point within the body lumen.
The system further includes a vibrational actuator for vibrating the penetrating member at a selected frequency, with the processor transmitting vibrational instructions to the vibrational actuator. During advancement, the processor automatically modifies at least one of the linear advancement instructions and the vibrational instructions to account for resistance encountered by the penetrating member during advancement. The modification is configured to mitigate deformation of the body lumen as the penetrating member advances through the skin surface, through the tissue between the skin surface and the body lumen, and into the preselected target point within the body lumen.
The described approach coordinates image-guided localization of a preselected target point with synchronized linear advancement and vibration, while using resistance feedback during penetration. The advancement instructions include speed and distance required for the linear actuator to advance the penetrating member through the skin surface and intervening tissue to the preselected target point. The vibrational instructions are modified during advancement to address deformation mitigation in response to encountered resistance.
Claims Coverage
Two independent claims are present. The claim set covers an image-guided robotic system and a corresponding method centered on localization of a preselected target point within a body lumen, calculation of distance to the target, linear advancement of a penetrating member, vibration of the penetrating member, and automatic modification of advancement and vibration parameters to account for resistance and mitigate deformation.
Detector-based distance to a preselected target point
A detector obtains data representative of a location of the body lumen beneath the skin surface, and the processor calculates the distance to a preselected target point within the body lumen.
Linear advancement through skin, tissue, and into the target point
The processor transmits linear advancement instructions to a linear actuator to linearly advance a penetrating member through the skin surface, through tissue between the skin surface and the body lumen, and into the preselected target point within the body lumen, where the instructions include speed and distance required for the advancement.
Vibration of the penetrating member at a selected frequency during advancement
The system includes a vibrational actuator, and the processor transmits vibrational instructions to vibrate the penetrating member at a selected frequency during advancement through the skin surface and into the preselected target point.
Automatic modification to account for resistance and mitigate body lumen deformation
The processor automatically modifies at least one of the linear advancement instructions and the vibrational instructions to account for resistance encountered during advancement, wherein the modified instructions mitigate deformation of the body lumen as the penetrating member advances through the skin surface, the tissue, and into the preselected target point.
Method of advancing to a preselected target point with vibration
The method obtains data representative of the location of a preselected target point within the body lumen, calculates a distance to the preselected target point, advances the penetrating member through the skin surface and tissue into the preselected target point, and vibrates the penetrating member during advancement.
Modifying speed and/or vibration frequency to mitigate deformation
During advancement, at least one of the speed of distal advancement and the frequency of vibration is modified in order to mitigate deformation of the body lumen as the penetrating member advances through the skin surface and into the preselected target point.
The claims are directed to image-guided advancement of a penetrating member to a preselected target point within a body lumen, with vibration and automatic modification of advancement and vibration parameters in response to resistance to mitigate deformation.
Stated Advantages
Mitigate deformation of the body lumen as the penetrating member advances through the skin surface, the tissue between the skin surface and the body lumen, and into the preselected target point.
Documented Applications
Central venous catheter placement using an image-guided procedure with a teardrop-shaped cavity and a funnel-shaped passageway for one-handed guidewire insertion and subsequent guidewire/tissue-dilator/catheter steps.
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