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:
Jun. 30, 2020
Filed:
Oct. 18, 2017
Canon Usa, Inc., Melville, NY (US);
The Brigham and Women's Hospital Inc., Boston, MA (US);
Yasumichi Arimitsu, Yokohama, JP;
Kosuke Fujimoto, Kawasaki, JP;
Brian Ninni, Somerville, MA (US);
Nobuhiko Hata, Newton, MA (US);
Kemal Tuncali, Newton, MA (US);
Canon U.S.A., Inc., Melville, NY (US);
The Brigham and Women's Hospital Inc., Boston, MA (US);
Abstract
An apparatus () includes a needle placement manipulator () and an attachment () for the manipulator. The manipulator includes a needle holder and a rotary mechanism. The rotary mechanism () has a remote center of motion (RCM:) and is configured to position a needle holder () such that the axis of the needle holder traces a conical region of coverage (), the conical region of coverage having the apex thereof at the RCM and the base thereof in a direction towards a subject of needle placement (). The attachment supports the guide mechanism and is configured to be mounted onto the subject of needle placement. The attachment includes a guide portion () configured to change an inclination of the rotary mechanism with respect to the subject of needle placement such that the axis of the needle holder intersects an insertion target () located outside of the conical region of coverage.