公开(公告)号：US20240130801A1

公开(公告)日：2024-04-25

申请号：US18381510

申请日：2023-10-18

Applicant: Worcester Polytechnic Institute

Inventor： Haichong Zhang ,  Xihan Ma ,  Ashiqur Rahaman ,  Wen-Yi Kuo

IPC: A61B34/20 ,  A61B8/00 ,  A61B10/02 ,  A61B34/32 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B8/4218 ,  A61B8/4263 ,  A61B10/0233 ,  A61B34/32 ,  A61B90/361 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065

Abstract: An imaging self-positioning system includes a robotic actuator for manipulating an imaging tool or medical probe and a sensory component for maintaining a normal orientation above patient a treatment site. The imaging tool, typically an US probe, is grasped by an end-effector or similar actuator, and a sensory component engaged with the imaging tool senses an orientation of the tool relative to the treatment surface, and the robotic actuator disposes the imaging tool for maintaining a normal or other predetermined angular alignment with the treatment surface. The treatment surface is a patient epidermal region adjacent an imaged region for identifying anatomical features and surgical targets. A medical probe such as a biopsy needle may accompany the end-effector for movement consistent with the probe, either manually or robotically advanced towards the surgical target.