US 12,262,955 B2
Systems and methods for guiding the insertion of a medical tool
Moran Shochat, Zichron Yaakov (IL); Ofer Arnold, Ma'ale Tzvia (IL); and Shraga Nahum Goldberg, Efrat (IL)
Assigned to XACT ROBOTICS LTD., Caesarea (IL)
Filed by XACT ROBOTICS LTD., Caesarea (IL)
Filed on May 18, 2021, as Appl. No. 17/323,209.
Application 17/323,209 is a continuation of application No. 15/759,240, granted, now 11,039,891, previously published as PCT/IL2016/051013, filed on Sep. 11, 2016.
Claims priority of provisional application 62/283,734, filed on Sep. 10, 2015.
Prior Publication US 2021/0322108 A1, Oct. 21, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 5/00 (2006.01); A61B 5/055 (2006.01); A61B 5/06 (2006.01); A61B 5/15 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 6/12 (2006.01); A61B 8/08 (2006.01); A61B 10/02 (2006.01); A61B 17/00 (2006.01); A61B 18/02 (2006.01); A61B 18/14 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61M 5/00 (2006.01); A61N 1/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 5/055 (2013.01); A61B 5/061 (2013.01); A61B 5/15003 (2013.01); A61B 5/150748 (2013.01); A61B 5/6848 (2013.01); A61B 17/3403 (2013.01); A61B 34/76 (2016.02); A61B 5/7292 (2013.01); A61B 6/12 (2013.01); A61B 8/0841 (2013.01); A61B 10/02 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/3407 (2013.01); A61B 2017/3409 (2013.01); A61B 2018/0293 (2013.01); A61B 18/1477 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/302 (2016.02); A61B 2090/064 (2016.02); A61B 2562/0252 (2013.01); A61M 5/00 (2013.01); A61N 1/00 (2013.01)] 16 Claims
OG exemplary drawing
 
9. A method for monitoring insertion of a medical tool through a tissue of a subject, the method comprising:
measuring at least one interaction parameter associated with an interaction between the medical tool and the tissue of the subject;
determining an actual correlation between an insertion parameter and the measurements of the at least one interaction parameter; and
comparing the actual correlation to an expected correlation between the insertion parameter and the measurements of the at least one interaction parameter, to determine if the actual correlation deviates from the expected correlation;
wherein if it is determined that the actual correlation deviates from the expected correlation, determining if the deviation exceeds a pre-determined threshold;
wherein if it is determined that the deviation does not exceed the pre-determined threshold, initiating one or more images of a region of interest in the subject and adjusting the expected correlation based on the one or more images of a region of interest in a body of the subject.