Engineering Services Inc.

University Health Network

The Hospital for Sick Children

Agfa Healthcare

Yi Yang

Andrew A Goldenberg

Liang Ma

Brent Andrew Bailey

Xiaojia He

Matthew Gryniewski

Thomas Looi

James M Drake

Marshall Stephen Sussman

Robert Weersink

John Trachtenberg

Masoom A Haider

John Trachenberg

Walter Kucharczyk

Joao Guilherme Amaral

Uri Lindner

Masoom Haider

Robert Anthonie Weersink

Url Lindner

A modular reconfigurable surgical robot for use in association with a surgical tool is disclosed. The surgical robot includes a linear module for linear movement; a turret module for rotational movement, and elbow roll module for rotational movement, and a wrist tilt module for rotational movement. The turret module has a turret rotational axis. The elbow roll module for rotational has an elbow roll rotational axis at an angle to the turret rotational axis. The wrist tilt module has a wrist tilt rotational axis at an angle to the turret rotational axis and the elbow roll rotational axis. The linear module, turret module, elbow roll module and wrist tilt module are operably connectable together to form the surgical robot and one of the modules is operably connectable to the surgical tool. The surgical robot may include an arch device unit attachable to one of the other modules.

Surgical robot

A robotic arm includes a first link and a first joint. The first link has internal link cables extending from one end to an opposed end thereof. The first joint is operably connected to the first link at one end thereof. The first joint has a hollow drive shaft, an off axis driveand a first joint motor and first joint internal cables extending through the hollow drive shaft. The link cables and the first joint cables are operably connected. The robotic arm may further include a second joint operably connected to the first link. The second joint module has an active side, a passive side with electronic connectors, second joint internal cables, and a second joint motor and the active side is mechanically connected to the link and the electronic connectors of the passive side are operably connected to the link cables.

Robotic arm

A two joint module includes a module housing, a first joint and a second joint. The module housing has a structural support portion. The first joint has a first motor and a first motor axis and a first joint axis. The second joint has a second motor and a second motor axis and a second joint axis. The second joint axis is not parallel to the first joint axis. The first joint is attached to the structural support portion and the second joint is attached to the structural support portion.

Two joint module

A computer implemented method for defining a breast window within an image for a breast, said image containing a breast image having a breast boundary, the method comprising: identifying a center region of the breast image, where the center region is coincident with an edge of the image; defining the edge of the image as the first border of the breast window; searching from the center region along the edge of the image for the breast boundary, the breast boundary informing a second border of the breast window; searching from the center region along the edge of the image in an opposite direction for the breast boundary, the breast boundary informing a third border of the breast window; and repeatedly searching from the center region in a direction orthogonal to the edge of the image for a point on the breast boundary most distant from the edge of the image, the point on the breast boundary informing a fourth border of the breast window. In some embodiments, the image may be rotated/flipped and/or subsampled and/or thresholded to form a binary image before a breast window is searched. A method of thresholding the image is also disclosed.

Method and system for defining a breast window

A medical robot for use inside a magnetic resonance imager includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the horizontal motion assembly. The vertical motion assembly is operably connected to the horizontal motion assembly and it includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the vertical motion assembly. The controller is operably connected thereto and is adapted to be powered off when the magnetic resonance imager is being used to collect images. A medical instrument assembly is connectable to the medical robot.

Medical robot for use in a MRI

A medical robot for use inside an MRI includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly and the vertical assembly each includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the respective horizontal motion assembly and vertical motion assembly. Each motor has a cross section positioned in one of the axial and sagittal plane of the MRI. A medical instrument assembly is operably connectable to one of the moving joint of the vertical motion assembly. The controller is operably connected to the horizontal motion joint and the vertical motion joint and it is adapted to be powered off when the magnetic resonance imager is being used to collect images.

MRI compatible robot with calibration phantom and phantom

Growing community of inventors

Toronto, Canada

Yi Yang