GRIPPER FOR ROBOTIC IMAGE GUIDED NEEDLE INSERTION

    公开(公告)号:US20230277258A1

    公开(公告)日:2023-09-07

    申请号:US18195464

    申请日:2023-05-10

    IPC分类号: A61B34/30 A61B34/20 A61B17/34

    摘要: A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.

    Self cleaning shunt
    9.
    发明授权

    公开(公告)号:US10940298B2

    公开(公告)日:2021-03-09

    申请号:US16111684

    申请日:2018-08-24

    IPC分类号: A61M27/00 B08B9/027 A61M25/00

    摘要: A self cleaning inlet head for use on a shunt. The head has a tube with openings disposed in predetermined positions in its wall, and a cleaning element installed inside the tube. The cleaning element may comprise a central shaft with a number of bristles protruding therefrom, preferably in locations substantially identical to the positions of the openings in the wall of the tube. Mutual vibratory motion between the cleaning element and the tube causes at least some of the bristles to enter the openings, thereby keeping them clear, and preventing tissue growth into them. The vibratory motion may be generated by the action of an external field on a responsive part of the cleaning element, such as an external magnetic field operating on a magnetic or magnetized part of the cleaning element or the bristles. Alternatively, the external field may be an ultrasound field operating on the bristles.

    Reflectance confocal microscopy of blood cells

    公开(公告)号:US10921112B2

    公开(公告)日:2021-02-16

    申请号:US15759864

    申请日:2016-09-18

    摘要: Measurement of the three dimensional morphology of blood cells is performed using a model for simulating reflectance confocal images of the cells, providing the relation between cell morphology and the resulting interference patterns under confocal illumination. The simulation model uses the top and bottom membranes of the cell as the elements for generating the interference fringes, and takes into account the cell size, shape, angle of orientation and distance from the focal point of the confocal illumination beam. By comparing the simulated cell images to actual interference patterns obtained in confocal images obtained from the blood samples, the model can be used for providing three dimensional measurements of the individual cell morphology. This enables, for instance, in vitro measurement of the mean corpuscular volume of blood cells and diagnosis of hematological disorders which are associated with cell morphology deviations, such as thalassemia and sickle cell anemia.