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

Claim 0:
1. A device comprising:
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;
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; and

a processor configured to:
receive imaging data from the imaging probe;
receive cannula pose data from the at least one cannula position sensor;
receive device pose data from the at least one device position sensor;
identify the target location from the imaging data;
determine a trajectory for manipulating the cannula towards the target location based on the imaging data, the cannula pose data, and the device pose data;
instruct the positioning unit to manipulate the cannula according to the determined trajectory;
identify the determined trajectory becoming misaligned with the target location based on a detected motion of the target location;
update the determined trajectory to a corrected trajectory based on the imaging data, the cannula pose data, and the device pose data; and
instruct the positioning unit to manipulate the cannula according to the corrected trajectory.