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1. WO2012065058 - REMOTE CENTER OF MOTION ROBOT FOR MEDICAL IMAGE SCANNING AND IMAGE-GUIDED TARGETING

Publication Number WO/2012/065058
Publication Date 18.05.2012
International Application No. PCT/US2011/060362
International Filing Date 11.11.2011
IPC
A61B 8/14 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
8Diagnosis using ultrasonic, sonic or infrasonic waves
13Tomography
14Echo-tomography
A61N 7/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
7Ultrasound therapy
CPC
A61B 10/02
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
10Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis
02Instruments for taking cell samples or for biopsy
A61B 10/0241
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
10Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis
02Instruments for taking cell samples or for biopsy
0233Pointed or sharp biopsy instruments
0241for prostate
A61B 2090/378
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
36Image-producing devices or illumination devices not otherwise provided for
37Surgical systems with images on a monitor during operation
378using ultrasound
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 8/0841
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
8Diagnosis using ultrasonic, sonic or infrasonic waves
08Detecting organic movements or changes, e.g. tumours, cysts, swellings
0833involving detecting or locating foreign bodies or organic structures
0841for locating instruments
A61B 8/085
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
8Diagnosis using ultrasonic, sonic or infrasonic waves
08Detecting organic movements or changes, e.g. tumours, cysts, swellings
0833involving detecting or locating foreign bodies or organic structures
085for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
Applicants
  • THE JOHNS HOPKINS UNIVERSITY [US]/[US] (AllExceptUS)
  • STOIANOVICI, Dan [US]/[US] (UsOnly)
  • PETRISOR, Doru [RO]/[US] (UsOnly)
  • SCHAFER, Felix [DE]/[US] (UsOnly)
  • KIM, Chunwoo [KR]/[US] (UsOnly)
  • HAN, Misop [US]/[US] (UsOnly)
Inventors
  • STOIANOVICI, Dan
  • PETRISOR, Doru
  • SCHAFER, Felix
  • KIM, Chunwoo
  • HAN, Misop
Agents
  • SPECTOR, Elaine
Priority Data
61/412,58911.11.2010US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) REMOTE CENTER OF MOTION ROBOT FOR MEDICAL IMAGE SCANNING AND IMAGE-GUIDED TARGETING
(FR) CENTRE DISTANT DE ROBOT MOBILE POUR BALAYAGE D'IMAGE MÉDICALE ET CIBLAGE GUIDÉ PAR IMAGE
Abstract
(EN)
The present invention pertains to a remote center of motion robot for medical image scanning and image-guided targeting, hereinafter referred to as the "Euler" robot. The Euler robot allows for ultrasound scanning for 3-Dimensional (3-D) image reconstruction and enables a variety of robot-assisted image-guided procedures, such as needle biopsy, percutaneous therapy delivery, image-guided navigation, and facilitates image-fusion with other imaging modalities. The Euler robot can also be used with other handheld medical imaging probes, such as gamma cameras for nuclear imaging, or for targeted delivery of therapy such as high-intensity focused ultrasound (HIFU). 3-D ultrasound probes may also be used with the Euler robot to provide automated image-based targeting for biopsy or therapy delivery. In addition, the Euler robot enables the application of special motion-based imaging modalities, such as ultrasound elastography.
(FR)
L'invention concerne un centre distant de robot mobile pour balayage d'image médicale et ciblage guidé par image, ci-après appelé robot d'Euler. Le robot d'Euler permet un balayage échographique pour une reconstruction d'image tridimensionnelle (3D) et permet de réaliser diverses procédures guidées par images et assistées par robot, comme une biopsie par aiguille, une administration thérapeutique percutanée, une navigation guidée par images, et facilite la fusion d'image avec d'autres modalités d'imagerie. Le robot d'Euler peut également être utilisé avec d'autres sondes d'imagerie médicale tenues à la main, comme des caméras gamma pour imagerie nucléaire, ou pour l'administration ciblée thérapeutique comme l'échographie focalisée de haute intensité (HIFU). Des sondes échographiques 3D peuvent également être utilisées avec le robot d'Euler afin d'obtenir un ciblage basé sur images automatisé pour biopsie ou administration thérapeutique. Le robot d'Euler permet en outre l'application de modalités d'imagerie basées sur le mouvement spéciales, comme l'élastographie par ultrasons.
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