Method and device for transperineal prostate biopsy

A device for transperineal prostate biopsy in a subject, comprising:

• a. a first parallel mechanism for generating translational or rotational motion of an ultrasound probe, wherein said translational or rotational motion comprises horizontal, vertical, pitch or yaw motion with RCM-probe constraint;
• said first parallel mechanism comprises one or more universal joints-motion modules comprising one or more passive joints;
• b. a series-parallel hybrid mechanism as an end-effector of said first parallel mechanism for housing said ultrasound probe and a biopsy needle-guide;
• wherein said first parallel mechanism and said series-parallel hybrid mechanism controls configuration of a biopsy needle relative to said subject and performs alignment work with RCM-needle constraint;
• c. a drive module of said series-parallel hybrid mechanism for generating rotational motion and translational motion of said ultrasound probe along said ultrasound probe's axis;
• d. a second parallel mechanism of said series-parallel hybrid mechanism for controlling the configuration of said biopsy needle-guide relative to said ultrasound probe and confining trajectory of said biopsy needle to an axial imaging plane of said ultrasound probe;
• and
• e. a controller for executing a kinematic modelling method for:
• i) guaranteeing said RCM-probe constraint based on said first parallel mechanism and said drive module;
• and
• ii) guaranteeing said RCM-probe constraint and said RCM-needle constraint simultaneously based on said first parallel mechanism and said series-parallel hybrid mechanism.