The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 03, 2018
Filed:
Jul. 20, 2012
Yu Zhou, White Plains, NY (US);
Kaarvannan Thiruvalluvan, Stony Brook, NY (US);
Lukasz Krzeminski, Brooklyn, NY (US);
William H. Moore, Setauket, NY (US);
Zhigang Xu, Lake Grove, NY (US);
Zhengrong Liang, Stony Brook, NY (US);
Yu Zhou, White Plains, NY (US);
Kaarvannan Thiruvalluvan, Stony Brook, NY (US);
Lukasz Krzeminski, Brooklyn, NY (US);
William H. Moore, Setauket, NY (US);
Zhigang Xu, Lake Grove, NY (US);
Zhengrong Liang, Stony Brook, NY (US);
The Research Foundation for The State University of New York, Albany, NY (US);
Abstract
An image-guided system and method for performing needle biopsy on a moving lung nodule of a body is provided. CT images of the lung nodule are obtained to generate a motion model, based on which an optimal needle advancing path is determined. The motion of the lung nodule and the motion of a fiducial marker attached to the body are correlated. The motion of the fiducial marker is tracked and monitored by a camera to determine a position of the lung nodule based on the correlation. A time for advancing the needle is determined based on a motion attribute of the reference. The needle is advanced by a robotic needle manipulator at the predetermined time along the path to accomplish the needle placement.