Ultrasound guided hand held robot
US10687784B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Apr 28, 2015 |
| Grant date | Jun 23, 2020 |
| Priority date | — |
| Expiry date | Aug 28, 2035 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/378
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system for insertion of a surgical tool along a trajectory to a target region in a patient's tissues, under the guidance of ultrasound imaging. The system includes a hand-held robot to whose base the probe of an ultrasound system is rigidly connected. The activated platform of the hand held robot carries a surgical tool guide. The alignment of the tool guide defines the trajectory which the tool takes within the subject's body. The position of the target region seen on the ultrasound display, can be recorded, and the robot coordinate frame of reference registered thereto. The system aligns the pose of the robot such that the surgical tool is aimed directly at the target region, independently of motion of the ultrasound probe and its associated robot. An inertial measurement unit can be incorporated to provide back-up positional information if the image of the lesion is lost.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.