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:
Aug. 06, 2019
Filed:
Jun. 18, 2015
Siemens Medical Solutions Usa, Inc., Malvern, PA (US);
Ali Kamen, Skillman, NJ (US);
John Benson, Issaquah, WA (US);
Richard Chiao, Cupertino, CA (US);
Dorin Comaniciu, Princeton Junction, NJ (US);
Ankur Kapoor, Plainsboro, NJ (US);
Yuehaw Khoo, Princeton, NJ (US);
Andrzej Milkowski, Issaquah, WA (US);
Siemens Medical Solutions USA, Inc., Malvern, PA (US);
Abstract
Systems and methods are provided for utilizing an MRI image and real-time an ultrasound images to guide and/or restrict the movement of an ultrasound probe in position for collecting a biopsy core. A real-time ultrasound image is acquired and fused with pre-operative imaging modalities, such as an MRI image, to provide a three-dimensional model of the prostate. A multi-link robotic arm is provided with an end-effector and an ultrasound probe mounted thereto. Sensor information is used to track the ultrasound probe position with respect to the 3D model. The robotic arm allows for the implementation of a virtual remote center of motion (VRCM) about the transrectal probe tip, an adjustable compliant mode for the physician triggered movement of probe, a restrictive trajectory of joints of the robotic arm and active locking for stationary imaging of the prostate.