System and method for real-time ultrasound guided prostate needle biopsies using a compliant robotic arm

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United States of America Patent

PATENT NO 10368850
APP PUB NO 20150366546A1
SERIAL NO

14743123

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Abstract

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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.

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Patent Owner(s)

  • SIEMENS MEDICAL SOLUTIONS USA, INC.

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Benson, John Issaquah, US 34 199
Chiao, Richard Cupertino, US 9 228
Comaniciu, Dorin Princeton Junction, US 395 11347
Kamen, Ali Skillman, US 120 2272
Kapoor, Ankur Plainsboro, US 61 387
Khoo, Yuehaw Princeton, US 2 17
Milkowski, Andrzej Issaquah, US 12 117

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