Needle-guide robot with preset depth of insertion
AssigneeThe Johns Hopkins University
InventorsDan Stoianovici, Doru Petrisor
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Abstract
An embodiment in accordance with the present invention provides a robot structure that includes an MRI-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.
Claims16
A device for needle insertion comprising:
- a needle driver device;
- a needle-guide, wherein a direction of insertion of a needle can be preset using the needle guide;
- and
- a depth limiter, wherein a depth of insertion of the needle can be preset using the depth limiter, wherein a body of the needle contacts the depth limiter, and the depth limiter thereby limits the depth of the insertion the needle, and wherein the needle driver device actuates the needle-guide and the depth limiter.
A device for needle insertion comprising:
- a needle driver device;
- a needle-guide, wherein a direction of insertion of a needle assembly can be preset using the needle guide;
- a depth limiter, wherein a depth of insertion of the needle can be preset using the depth limiter and wherein the depth limiter includes a stopper surface 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 surface of the needle assembly comes into contact with the stopper surface of the depth limiter at a location that corresponds to a preset depth of needle insertion.
Dependencies are inferred from the claim text.