Johns Hopkins University

Doru Petrisor

Dan Stoianovici

Dumitru Mazilu

Alexandru Patriciu

Louis R Kavoussi

Lucian Gruionu

Chunwoo Kim

Misop Han

Sunghwan Lim

Peter Sebrechts

Changhan Jun

Felix Schafer

Alexandru Patricui

An embodiment in accordance with the present invention provides a remote center of motion robot. The RCM here is a parallelogram bar type RCM mechanism with a novel joint arrangement. The novel joint arrangement facilitates the mounting of the medical instrument and offers improved clearance relative to the patient. Moreover, the robot was built to guide a bone biopsy cannula, needle, or drill. Even though exact interventional values are unknown, it is expected that the forces exerted laterally on the needle-guide are higher than those encountered for slender needle insertion into soft tissue. For this, the RCM has been built with novel structure to enhance stiffness.

Remote center of motion robot

An embodiment in accordance with the present invention provides a robot structure that includes an MM-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

Needle-guide robot with preset depth of insertion

A novel way of mounting a harmonic drive gearhead to a cylindrically shaped motor reduces the overall size of the actuator assembly. Specifically, the motor is mounted within the harmonic drive and its bearings, a space that is typically occupied by a harmonic drive component. This is made possible by redesigning the harmonic drive such that it is able to surround the motor and provide for a compact footprint for the actuator assembly.

Harmonic drive actuator gearhead

Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including MRI. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.

Multi-imager compatible robot for image-guided interventions and fully automated brachytherapy seed

An embodiment in accordance with the present invention provides a robot structure that includes an MRI-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

Featured is a medical instrument driver, a robotic apparatus embodying such a medical instrument driver and methods related thereto for inserting a medical instrument into tissue of a mammal (e.g., human). Such medical instruments include medical needles, biopsy needles, trocars, cutters and introducers. Such a medical instrument driver according to the present invention is configured and arranged so that medical instrument is rotated as it is being moved longitudinally for insertion into the tissue such that the medical instrument is spiraling as it pierces and traverses the tissue to the target area.

Rotating needle driver and apparatuses and methods related thereto

An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of-freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.

Cohesive robot-ultrasound probe for prostate biopsy

A stepper motor suitable for use in a medical imaging environment has (a) a cylindrical central gear having an external surface with circumferentially distributed and radially directed teeth, (b) a shaft for mounting the central gear such that it is constrained to move in rotational motion about its centerline, (c) a cylindrical hoop gear having a bore with an internal surface having circumferentially distributed and radially directed teeth, (d) level arm crank mechanisms for mounting the hoop gear such that it is constrained to move in translational-circular motion about the central gear's centerline, wherein this central gear is further configured to fit within the hoop gear's bore in such a manner that a plurality of the central gear and hoop gear teeth intermesh and cooperate so that the planetary movement of the hoop gear causes the central gear to rotate, and (e) piston mechanisms for applying a fluid pressure driven force to specified points on the hoop gear so as to cause its movement.

Pneumatic stepper motor

An MRI safe robot for guiding transrectal prostate biopsy comprises a support arm, a robot body operatively connected to the support arm and a transrectal biopsy device operatively connected to the robot body. The transrectal biopsy device includes an endorectal extension and a biopsy needle device, the endorectal extension including an MRI coil for MRI imaging of the prostate. The robot body includes a first driver module for generating rotational motion of the endorectal extension and a second driver module for angulating the biopsy needle device toward a target area of the prostate for biopsy. The biopsy needle device is rotatable relative to the endorectal extension about a fixed axis and translatable through the endorectal extension. Each of the first and second driver modules include at least one pneumatic motor, wherein the MRI images are used by a physician to determine the target area for biopsy.

Growing community of inventors

Lutherville, MD, United States of America

Doru Petrisor