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

A system for ultrasound guided prostate needle biopsies using a robotic arm, the system comprising:

• a processor configured to receive a preoperative three-dimensional image of a prostate, wherein the processor is further configured to generate a three-dimensional model of the prostate based on the received image;
• a multi-link robotic arm comprising:
• a plurality of joints;
• an end-effector attached to one of the plurality of joints;
• an ultrasound probe attached to the end-effector, wherein the ultrasound probe is operably connected to the processor to capture an ultrasound image, wherein the preoperative three-dimensional image was captured using a different imaging modality from the ultrasound image, wherein the processor updates the three-dimensional model of the prostate based on the captured ultrasound image;
• a position sensor for at least one of the plurality of joints, the position sensor operably connected to the processor to map the position of the ultrasound probe with the updated three-dimensional model;
• and
• a force sensor operably connected to the processor, wherein the force sensor is configured to detect input forces to the end-effector,
• wherein the processor, the position sensor and the force sensor comprise a control loop configured to control manipulation of the ultrasound probe based on updates to the three-dimensional model of the prostate, and
• wherein the robotic arm is configured to operate in a first operating mode restricting movement of the ultrasound probe about a distal end of the ultrasound probe to maintain pressure on the prostate based on consecutively captured ultrasound images in automatic performance of a three-dimensional ultrasound sweep of the prostate.