US 12,245,886 B2
Guidance system for interventional devices with curved shape
Erez Nevo, Netanya (IL); and Amir Roth, Modiin-Maccabim-Reut (IL)
Assigned to SCOPUS MEDICAL SYSTEMS, LTD., Nir Am (IL)
Appl. No. 17/911,680
Filed by ROBIN MEDICAL INC., Baltimore, MD (US)
PCT Filed Mar. 16, 2021, PCT No. PCT/IB2021/052177
§ 371(c)(1), (2) Date Sep. 15, 2022,
PCT Pub. No. WO2021/186342, PCT Pub. Date Sep. 23, 2021.
Claims priority of provisional application 62/989,926, filed on Mar. 16, 2020.
Prior Publication US 2023/0134815 A1, May 4, 2023
Int. Cl. A61B 8/08 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 8/0841 (2013.01) [A61B 34/25 (2016.02); A61B 2017/3413 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A system for guidance of a curved needle to a target tissue in a body, the system comprising:
a curved needle having a curved section, the curved section configured to curve in a flexion plane and having a circular arc shape with a constant radius of curvature, said curved needle enclosed within a straight needle guide, such that when enclosed within the straight needle guide, the curved section of the curved needle is straight, and upon distal deployment of the curved needle from the straight needle guide, the curved section that is deployed from the straight needle guide is curved into said circular arc shape with said constant radius of curvature;
a tracking system having an imaging component, said tracking system configured for tracking a position of said curved needle and a position of said straight needle guide, said imaging component configured for providing a location of the target tissue; and
a processor configured to algebraically calculate a needle trajectory, the needle trajectory including a needle guide insertion length and a needle deployment length such that said curved needle is configured to reach the target tissue when said needle guide insertion length and said needle deployment length are used, said calculating is done prior to insertion of said needle guide into the body, and wherein said calculating comprises:
calculating said needle guide insertion length by trigonometric calculations using a distance from and an angle of a chosen entry point with respect to said location of the target tissue; and
calculating said needle deployment length, wherein said needle deployment length is a length of an arc extending from said needle guide insertion length, said calculating the needle deployment length done based on the constant radius of curvature and an arc center of said curved needle.