Patent ID: 11963821
Assignee: RUTGERS, THE STATE UNIVERSITY OF NEW JERSEY
Field: nan (nan)
Classification: CPC nan | IPC A

Claim 11:
12. A method executed by a processor coupled to an imaging probe for continuously generating imaging data of a target location under a patient's skin, wherein the target location is a center of a target vessel, and a positioning unit including a plurality of motors configured to manipulate a cannula attached to the positioning unit toward the target location, at least one cannula position sensor configured to generate cannula pose data indicating a position and orientation of the cannula based on movement of the corresponding motors, and at least one device position sensor configured to generate device pose data indicating an orientation and position of the device, wherein the method comprises:
receiving imaging data from the imaging probe;
receiving cannula pose data from the at least one cannula position sensor;
receiving device pose data from the at least one device position sensor;
identifying the target location from the imaging data;
determining a trajectory for manipulating the cannula towards the target location based on the imaging data, the cannula pose data, and the device pose data;
instructing the positioning unit to manipulate the cannula according to the determined trajectory;
identifying the determined trajectory becoming misaligned with the target location based on a detected motion of the target location;
updating the determined trajectory to a corrected trajectory based on the imaging data, the cannula pose data, and the device pose data; and
instructing the positioning unit to manipulate the cannula according to the corrected trajectory.