Image guidance of steerable introducers for minimally invasive procedures

摘要

A steerable introduction system for placing an interventional tool (e.g. replacement valve) in an anatomical object (e.g. heart). The steerable delivery system is an end effector for positioning the interventional tool within the anatomical object (eg, the end effector passively guides or actively guides the interventional tool within the anatomical object Steerable introducer 20). The steerable delivery system is further dissected in response to surgical image data indicative of the position of the end effector within the anatomical object (eg, ultrasound or x-ray image data indicative of the surgical position of the end effector within the heart) An image guidance workstation 120 is used to control the actuation, translation and / or rotation of the end effector within the dynamic object. Actuation of the movement of the end effector by the image guidance workstation 120 promotes coaxial and / or coplanar alignment of the interventional tool and the structure of the anatomical object (eg, the aortic valve with heart disease).