Patent ID: 9662138
Date: 2017-05-30
CPC Classifications: A61B

Claim:
1. A puncture control system for controlling an organ puncture system having a puncture needle, a detector for obtaining information on a position of the puncture needle, and a target position obtaining unit for obtaining information on the target position, the puncture control system comprising: a trajectory error compensation unit that outputs a signal for compensating for a displacement of the puncture needle from a target trajectory, based on the information on the position of the puncture needle obtained by the detector; a displacement compensation unit whose initial control parameters are determined so as to correspond to a model representing characteristics of the organ, the displacement compensation unit outputting a displacement compensation signal for minimizing the displacement of the target position; and an adder that outputs a signal obtained by adding the signal output by the trajectory error compensation unit and the displacement compensation signal, wherein a control force and a control torque of the puncture needle is determined based on the signal output from the adder, and wherein control parameters of each of the trajectory error compensation unit and the displacement compensation unit are revised based on the state of the organ obtained by the target position obtaining unit.