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

US10368850B2 · kind B2 · utility

Assignee

• Siemens Medical Solutions USA, Inc. · US

Inventors

• Ali Kamen · Skillman, US
• John Benson · Glendora, US
• Richard Chiao · Cupertino, US
• Dorin Comaniciu · Princeton Junction, US
• Ankur Kapoor · Plainsboro, US
• Yuehaw Khoo · Princeton, US
• Andrzej Milkowski · Issaquah, US

Key dates

• Filing date: Jun 18, 2015
• Grant date: Aug 6, 2019
• Expiry date: Mar 31, 2036

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/378
• WIPO field: Medical technology
• WIPO sector: Instruments

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.