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公开(公告)号：US20150265354A1
公开(公告)日：2015-09-24
申请号：US14434155
申请日：2013-10-08
发明人： Dan Stoianovici , Doru Petrisor , Chunwoo Kim , Peter Sebrechts
CPC分类号： A61B34/30 , A61B5/055 , A61B5/4381 , A61B5/742 , A61B5/748 , A61B10/0241 , A61B10/0275 , A61B10/04 , A61B90/11 , A61B90/39 , A61B2010/0208 , A61B2010/045 , A61B2017/00544 , A61B2090/062 , A61B2090/374 , A61B2090/3954 , G01R33/287 , G01R33/48
摘要： An MRI safe robot for guiding transrectal prostate biopsy comprises a support arm, a robot body operatively connected to the support arm and a transrectal biopsy device operatively connected to the robot body. The transrectal biopsy device includes an endorectal extension and a biopsy needle device, the endorectal extension including an MRI coil for MRI imaging of the prostate. The robot body includes a first driver module for generating rotational motion of the endorectal extension and a second driver module for angulating the biopsy needle device toward a target area of the prostate for biopsy. The biopsy needle device is rotatable relative to the endorectal extension about a fixed axis and translatable through the endorectal extension. Each of the first and second driver modules include at least one pneumatic motor, wherein the MRI images are used by a physician to determine the target area for biopsy.
摘要翻译： 用于引导经直肠前列腺活检的MRI安全机器人包括支撑臂，可操作地连接到支撑臂的机器人主体和可操作地连接到机器人主体的经直肠活检装置。 经直肠活检装置包括直肠内延伸和活检针装置，直肠内延伸部包括用于前列腺MRI成像的MRI线圈。 机器人主体包括用于产生直肠内延伸的旋转运动的第一驱动器模块和用于使活检针装置朝向前列腺的靶区域进行活检的第二驱动器模块。 活组织检查针装置相对于围绕固定轴线的直肠内延伸部是可旋转的并且可通过直肠内延伸部分转动。 第一和第二驱动器模块中的每一个包括至少一个气动马达，其中MRI图像由医师用来确定活检的目标区域。
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公开(公告)号：US10159469B2
公开(公告)日：2018-12-25
申请号：US14391771
申请日：2013-04-10
发明人： Dan Stoianovici , Misop Han , Doru Petrisor , Chunwoo Kim
IPC分类号： A61B10/02 , A61B8/12 , A61B19/00 , A61B8/08 , A61B34/30 , A61B17/00 , A61B17/34 , A61B18/00 , A61B8/00 , A61B90/00
摘要： An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of-freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.
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公开(公告)号：US09877788B2
公开(公告)日：2018-01-30
申请号：US14434155
申请日：2013-10-08
发明人： Dan Stoianovici , Doru Petrisor , Chunwoo Kim , Peter Sebrechts
IPC分类号： A61B19/00 , A61B5/055 , A61B10/04 , G01R33/28 , G01R33/48 , A61B10/02 , A61B5/00 , A61B34/30 , A61B90/11 , A61B17/00 , A61B90/00
CPC分类号： A61B34/30 , A61B5/055 , A61B5/4381 , A61B5/742 , A61B5/748 , A61B10/0241 , A61B10/0275 , A61B10/04 , A61B90/11 , A61B90/39 , A61B2010/0208 , A61B2010/045 , A61B2017/00544 , A61B2090/062 , A61B2090/374 , A61B2090/3954 , G01R33/287 , G01R33/48
摘要： An MRI safe robot for guiding transrectal prostate biopsy comprises a support arm, a robot body operatively connected to the support arm and a transrectal biopsy device operatively connected to the robot body. The transrectal biopsy device includes an endorectal extension and a biopsy needle device, the endorectal extension including an MRI coil for MRI imaging of the prostate. The robot body includes a first driver module for generating rotational motion of the endorectal extension and a second driver module for angulating the biopsy needle device toward a target area of the prostate for biopsy. The biopsy needle device is rotatable relative to the endorectal extension about a fixed axis and translatable through the endorectal extension. Each of the first and second driver modules include at least one pneumatic motor, wherein the MRI images are used by a physician to determine the target area for biopsy.
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