Needle steering by shaft manipulation

Abstract

A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.

1 . A method for manipulating a needle insertable into a body of a subject, the method comprising:
 providing a robotic platform having a plurality of degrees of freedom;   providing a needle gripper configured to be attached to said robotic platform;   using the needle gripper to grip a shaft of said needle at a distal portion thereof; and   manipulating said needle gripper to provide said needle with a desired pose.   
     
     
         2 . The method according to  claim 1 , wherein said needle gripper comprises a driving mechanism, and the method further comprises the step of:
 activating said driving mechanism to provide motion to said needle in the longitudinal direction of said needle.   
     
     
         3 . The method according to  claim 2 , wherein the activating further comprises the step of:
 coordinating activation between the robot platform and the driving mechanism such that the robotic platform adjusts the orientation angle of the needle inside a soft tissue of the body during insertion motion of said needle into said subject, such that said needle traverses a non-linear path within said soft tissue of said subject.   
     
     
         4 . The method according to  claim 1 , wherein said robotic platform comprises an actuated platform and a base plate, and the method further comprises the steps of:
 positioning the base plate on the skin of the subject close to a point of insertion of the needle into the body of the subject; and   positioning and orienting said actuated platform relative to said base plate to achieve said desired pose of said needle.   
     
     
         5 . The method according to  claim 1 , further comprising the step of:
 releasing the grip of the needle gripper on the needle, to allow said needle to move freely longitudinally.   
     
     
         6 . The method according to  claim 1 , further comprising the step of:
 rotating the needle about its axis, to allow free longitudinal motion of the needle when an insertion step is actuated.   
     
     
         7 . The method according to  claim 1 , further comprising the step of detecting motion of the body of the subject by a sensor system. 
     
     
         8 . The method according to  claim 1 , further comprising the step of defining a breath cycle of the subject by a sensor system. 
     
     
         9 . The method according to  claim 1 , further comprising the steps of providing a support arm; and
 aligning said robotic platform close to a point of insertion of said needle into the body of the subject, using said support arm.   
     
     
         10 . A method for manipulating a needle insertable into a body of a subject, comprising:
 providing a robotic platform comprising an actuated platform having a plurality of degrees of freedom;   providing a needle gripper configured to be attached to the actuated platform;   using the needle gripper to grip a shaft of said needle at a distal portion thereof; and   manipulating said needle gripper to provide an insertion motion to the needle with a desired pose.   
     
     
         11 . The method according to  claim 10 , further comprising the step of inserting said needle in the longitudinal direction of said needle. 
     
     
         12 . The method according to  claim 11 , wherein the activating further comprises the steps of:
 coordinating activation between the actuated platform and the needle gripper such that the actuated platform adjusts the orientation angle of the needle inside a soft tissue of the body during the insertion motion of said needle into said subject, such that said needle traverses a non-linear path within said soft tissue of said subject.   
     
     
         13 . The method according to  claim 10 , wherein said robotic platform further comprises a base plate, and the method further comprises the steps of:
 positioning the base plate on the skin of the subject close to a point of insertion of the needle into the body of the subject; and   positioning and orienting said actuated platform relative to said base plate to achieve said desired pose of said needle.   
     
     
         14 . The method according to  claim 10 , further comprising the step of releasing the grip of the needle gripper on the needle, to allow said needle to move freely longitudinally. 
     
     
         15 . The method according to  claim 10 , wherein said needle gripper comprises a driving mechanism, and the method further comprises the step of activating said driving mechanism to provide motion to said needle in the longitudinal direction of said needle. 
     
     
         16 . The method according to  claim 15 , further comprising the steps of:
 attaching the needle gripper to the actuated platform; and   coupling the needle to the needle gripper such that the driving mechanism is positioned at the distal portion of the needle shaft.