Needle-guide robot with preset depth of insertion

Patent metadata

Field	Value
Publication number	US-12414800-B2
Application number	US-202217855428-A
Country	US
Kind code	B2
Filing date	Jun 30, 2022
Priority date	May 23, 2016
Publication date	Sep 16, 2025
Grant date	Sep 16, 2025

Abstract

An embodiment in accordance with the present invention provides a robot structure that includes an MM-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

First claim

What is claimed is:

1. A method of needle insertion with a robot comprising:
inserting a needle manually;
inserting the needle through a needle-guide;
limiting a direction of insertion with the needle-guide, wherein the direction of insertion can be preset using the needle guide;
limiting a depth of insertion with a depth limiter of the needle-guide, wherein the depth of insertion can be preset using the limiter, wherein a body of the needle contacts the depth limiter, and the depth limiter thereby limits the depth of the insertion of the needle, and wherein a needle driver device actuates the needle-guide and the depth limiter.

2. The method of claim 1 further comprising stopping the needle when it comes into contact with a stopper surface of the depth limiter at a location that corresponds to the preset depth of needle insertion.

3. The method of claim 1 further comprising using a sterile bag to maintain sterility of the robot.

4. The method of claim 1 further comprising using a motor configured to set a position of the depth limiter relative to the needle-guide.

5. The method of claim 4 further comprising using a stepper motor.

6. A method of needle insertion with a robot comprising:
limiting a direction of insertion of a needle through a needle guide, wherein the direction of insertion can be preset using the needle guide;
limiting a depth of insertion with a depth limiter of the needle-guide, wherein the depth of insertion can be preset using the limiter, wherein a body of the needle contacts the depth limiter, and the depth limiter thereby limits the depth of the insertion of the needle, and wherein a needle driver device actuates the needle-guide and the depth limiter.

Assignees

• Univ Johns Hopkins

Inventors

• Stoianovici Dan
• Petrisor Doru

Classifications

• A61B2017/3409

  including needle or instrument drives · CPC title

• A61B17/3403

  Needle locating or guiding means · CPC title

• A61B10/0233 Primary

  Pointed or sharp biopsy instruments · CPC title

• A61B2090/374

  NMR or MRI · CPC title

• A61B90/37

  Surgical systems with images on a monitor during operation · CPC title