Robotic Male Vas Deferens Intraluminal Injection System

Delivering an injection correctly into the small diamater lumen of a tubular biological structure placed under the skin and not visible to the eye presents difficulties in medical practice. Suitable assist devices are currently not available. A new concept has been formulated to combine four modes of nonradiological imaging: scanning electrical impedance plethysmography; ultrasound; transillumination; and Moire topograpgy to localize the subcutaneous biological structure. Image data is converted to a signal which controls an electro-mechanical device which assists the medical personnel's hand holding the injection syringe to approach the biological structure accurately. Force sensors are positioned at the base of the injection needle coupled to signal conditioning systems and piezoelectric tactile vibrators. Thereby enhanced perception of forces felt as each biological tissue layer is penetrated is obtained and the common problem of excessive penetration overcome. Design focuses on the specific application of delivering an injection into the vas deferens in the male scrotum for reversible contraception. The system may be adapted for injection into blood vessels.