Multi-imager compatible robot for image-guided interventions and fully automated brachytherapy seed

• US 10,315,046 B2
• Filed: 12/04/2006
• Issued: 06/11/2019
• Est. Priority Date: 12/02/2005
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Johns Hopkins University
• Inventors: Stoianovici, Dan, Patriciu, Alexandru, Mazilu, Dumitru, Petrisor, Doru, Kavoussi, Louis R.
• Primary Examiner(s): Kuhlman, Catherine B
• Application Number:
  US12/085,972
• Publication Number:
  US 20100041938A1
• Time in Patent Office: 4,572 Days
• Field of Search: 600 1- 8, 606130, 7449008
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 17/3468 for implanting or removing devices, e.g. prostheses, implants, seeds, wires devices for implanting seeds A61M37/0069
• CPC Class Codes: A61B 2017/00544 pneumatically
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61N 2005/101 Magazines or cartridges for seeds
• CPC Class Codes: A61N 2005/1011 Apparatus for permanent insertion of sources
• CPC Class Codes: A61N 5/1007 Arrangements or means for the introduction of sources into the body

Abstract

Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including MRI. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.

Claims

1. A robot for image-guided interventions, comprising:

a base member;

a platform; and

exactly five linear actuators connected in parallel between the base member and the platform, the linear actuators, the base member, and the platform being arranged so that the platform is moveable with respect to the base member, wherein

the linear actuators provide five degrees of freedom of movement of the platform relative to the base member and obstruct one degree of freedom of movement of the platform relative to the base member by preventing rotation of the platform about an axis of a needle,

one of the five linear actuators obstructs the one degree of freedom of movement by preventing the rotation of the platform about the axis of the needle,

the one linear actuator is operatively coupled to the base member and the platform, respectively, by two end joints of the same type, and

the remaining four linear actuators are each operatively coupled to the base member by a first end joint and each operatively coupled to the platform by a second end joint, the first end joint being a U-joint, and the second end joint being a spherical joint.

2. The robot of claim 1, wherein each of the linear actuators includes a pneumatic motor for moving the platform with respect to the base member.

3. The robot of claim 2, wherein the pneumatic motor further includes a gear head that converts rotary motion of the motor to linear movement along an axis of the actuator.

4. The robot of claim 3, wherein the gear head includes a nut and a screw mechanism.

5. The robot of claim 1, further comprising fiber optic cables optically interconnecting a fiber optic encoder and a limit switch to electro-optical interface elements that detects light beam interruptions caused by designated moving elements in one or more of the linear actuators and provide electrical output signals therefrom, the optical cables having a length so that the electro-optical interface elements are located at least a predetermined distance from an imaging device.

6. The robot of claim 1, wherein at least a first pair of the linear actuators are coupled to a proximal portion of the platform, and at least a second pair of the linear actuators are coupled to the platform at a position distal to the first pair of linear actuators.

7. The robot of claim 1, wherein at least one of the linear actuators is coupled to the base member and positioned proximal to an end effector, and at least one other of the linear actuators is coupled to the base member and not positioned proximal to the end effector.

8. The robot of claim 1, wherein the linear actuators are interposed between end joints that connect to the base member and the platform, respectively.

9. The robot of claim 8, wherein one of the five linear actuators obstructs the one degree of freedom of movement by preventing rotation of the platform about a direction of linear motion of the one linear actuator.

10. The robot of claim 1, wherein at least one end joint connecting at least one of the linear actuators to the base member is disposed on a plane parallel to a portion of the base member, and at least one other end joint connecting at least one other of the linear actuators to the base member is not disposed on the plane parallel to the portion of the base member.

11. The robot of claim 1, wherein end joints connecting four of the linear actuators to the base member are disposed on plane parallel to a portion of the base member, and an end joint connecting the remaining one linear actuator to the base member is not disposed on the plane parallel to the portion of the base member.

12. The robot of claim 11, wherein the remaining one linear actuator obstructs the one degree of freedom of movement by preventing rotation of the platform about a direction of linear motion of the remaining one linear actuator.

13. The robot of claim 1, wherein a first section of the base member is perpendicular to a second section of the base member.

14. The robot of claim 13, wherein at least one end joint connects at least one of the linear actuators to the first section of the base member, and at least one other end joint connects at least one other of the linear actuators to the second section of the base member.

15. A robotic system comprising

a robot including:

a base member,

a platform, and

exactly five linear actuators connected in parallel between the base member and the platform, the linear actuators, the base member and platform being arranged so that the platform is moveable with respect to the base member; and

a control unit that is operably coupled to each of the linear actuators, the control unit being configured to control operation of the robot, wherein

the linear actuators provide five degrees of freedom of movement of the platform relative to the base member and obstruct one degree of freedom of movement of the platform relative to the base member by preventing rotation of the platform about an axis of a needle,

one of the five linear actuators obstructs the one degree of freedom of movement by preventing the rotation of the platform about the axis of the needle,

the one linear actuator is operatively coupled to the base member and the platform, respectively, by two end joints of the same type, and

the remaining four linear actuators are each operatively coupled to the base member by a first end joint and each operatively coupled to the platform by a second end joint, the first end joint being a U-joint, and the second end joint being a spherical joint.

16. The robotic system of claim 15, wherein each of the linear actuators includes a stepper motor for moving the platform with respect to the base member.

17. The robotic system of claim 16, wherein the stepper motor further includes a gear head that converts rotary motion of the stepper motor to linear movement along an axis of a particular linear actuator.

18. The robotic system of claim 16, wherein the stepper motor further includes a first moving element that is rotated responsive to the stepper motor'"'"'s stepping motion and a second moving element that engages the first moving element so that the second moving element moves linearly along an axis of a particular linear actuator responsive to rotation of the first moving element.