Other

Centre for Imaging Technology Commercialization

The University of Western Ontario

Robarts Research Institute

Centre for Imaging Technology Commercialization (cimtec)

Focal Healthcare Inc.

Jeffrey Bax

Aaron Fenster

Christopher Waring

Dandan Shan

Maria Drangova

Michael Lavdas

Mohammad Ali Tavallaei

Lori Anne Gardi

Kevin Barker

Derek Cool

Chicuong La

An apparatus is provided for assisting breast biopsy. The apparatus includes a biopsy guide, a support system that effects three-dimensional movement of the biopsy guide and a system for registering coordinates of a remote center of motion (RCM) of the biopsy guide with a coordinate system on an image of a breast obtained from a parallel plate radiology imager. The biopsy guide has a mounting plate and a needle gun mount and ultrasound transducer mount on the mounting plate in a common plane. A biopsy needle of a needle gun mounted on the needle gun mount and an image plane of an ultrasound transducer mounted on the ultrasound transducer mount have longitudinal axes in or parallel to the common plane, which intersect at the RCM. The position of the RCM with respect to the biopsy guide is unchanged when the needle gun and/or ultrasound transducer moves on the biopsy guide.

Biopsy apparatus

Disclosed is a counterbalance apparatus, and a method for counterbalancing using an apparatus, having a center of motion that is internal or external to the apparatus. The apparatus and method are adapted to support a payload, having a load vector applied in a direction of the vector or gravity, that is positioned distal to the center of motion. The apparatus includes a gimbal adapted to support the payload and allow for its rotational movement about the center of motion generating a load torque therefrom, and a resilient member adapted to engage the gimbal and supply a support torque to counterbalance the load torque. The method includes a step of supporting the payload with a gimbal adapted to allow rotational movement of the payload about the center of motion to generate a load torque therefrom, and a step of configuring a resilient member to engage the gimbal and supply a support torque to counterbalance the load torque.

Counterbalancing apparatus for gimbal joints and/or a method for counterbalancing a load on a gimbal joint

The present invention relates to a resilient member aided counterbalancing and stabilizing device and method for resilient member aided counterbalancing and stabilizing loads in the direction of gravity. The device preferably includes a quick release mechanism in each design and a counterbalance assembly which in preferred embodiments is used to aid in the precise positioning of a stabilizer which in turn supports a load (e.g., a medical device). The quick release assembly in each stabilizer design preferably includes a central housing containing at least one ball joint(s) which is preferably connected to the counterbalancing linkage that supports the load. To unlock the mechanism, the user preferably squeezes a trigger mechanism which directly loosens the locks responsible for holding the load in place.

Counterbalancing mechanism and stabilizer design and method for counterbalancing and stabilizing a load

A compound rotational interface and stepper assembly, the assembly including: a stepper supporting linear, rotational or both linear and rotational motion on a longitudinal axis; a compound rotational interface including a compound pinned parallelogram in a scissor arm arrangement bound by a first end coupled to a base and a second end coupled to a first rotational joint, the first rotational joint coupled to the stepper; the compound pinned parallelogram moveable from a first linear position to a second linear position and the first rotational joint moveable from a first angular position to a second angular position; and a linear direction defined by the compound pinned parallelogram substantially perpendicular to an axis of rotation defined by the first rotational joint.

Moveable interface between a stepper and a stabilizer

Embodiments relate to systems and methods for catheter manipulation. In particular, systems as described herein can be used to drive a catheter while maintaining control along three degrees of freedom. Systems as described herein can be used in a wide variety of settings, including MRI in which small, non-magnetic robot systems having motors that remain stationary during use are advantageous.

System for catheter manipulation

Disclosed is a counterbalance system for moving a payload and a method for counterbalancing the payload. The system and method comprise a resilient member that is in communication with the payload to be moved and two resilient members that are in communication with either end of the first resilient member. An actuator is in communication with the first and third resilient members and a payload arm, attached to the payload, is in communication with the first and second resilient members. The resilient members may be compressed and relaxed during movement of the actuator and the payload arm so that energy may be transferred between the system and the payload to counterbalance the weight of the payload.

Counterbalance system and/or a method for counterbalancing a load

A counterbalance apparatus for supporting a load includes a base, a load bearing arm, a toggle linkage, and first and second resilient members for applying a force to the load bearing arm. The load bearing arm has pivot points forming a parallelogram linkage, and is adapted to support the load at a distal end. The toggle linkage can include an adjustment member positioned to define a distance relative to the attachment point. The first resilient member is adapted to apply a force to the load bearing arm and may have a first end connected to a first portion of the parallelogram linkage and a second end connected to the adjustment member. Movement of the toggle linkage to the load bearing position engages the forces of the resilient members and movement of the adjustment member varies the distance to adjust a support vector adapted to counterbalance the load vector.

Counterbalance apparatus and/or method for supporting a load

A mechanical tracking system comprises a first set of linkage arms, a second set of linkage arms, a pair of shafts connected at a first end to one arm of the first set of linkage arms and at a second end to one arm of said second set of the linkage arms, wherein each arm of the second set of linkage arms is oriented out of phase with a respective arm of the first set of linkage arms, an attachment shaft positioned adjacent to the first set of linkage arms to accommodate a tool, and a sensor arrangement configured to sense the orientation and position of the attachment shaft.

Mechanical tracking system

A mechanical arm assembly comprises an arm rotatable about a pivot, a first force generating device for maintaining the arm at a datum, and a second force generating device for compensating for the first generating device to maintain the arm in positions other than the datum.

Growing community of inventors

London, Canada

Jeffrey Bax