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1. 发明申请

WO2018169658A1 STRAIGHT-INSERTION, FORWARD-LESS FIRE, LOW NOISE, PNEUMATIC SOFT TISSUE BIOPSY NEEDLE 审中-公开
公开(公告)号：WO2018169658A1
公开(公告)日：2018-09-20
申请号：PCT/US2018/019117
申请日：2018-02-22
申请人： THE JOHNS HOPKINS UNIVERSITY
发明人： STOIANOVICI, Dan , JUN, Changhan , PETRISOR, Doru , HAN, Misop
IPC分类号： A61B10/02
CPC分类号： A61B10/0275 , A61B2010/0208
摘要： An embodiment in accordance with the present invention provides a new biopsy needle that may address several problems identified with currently available biopsy needles. In short, the new needle has a straighter insertion path, no forward fire, lower noise, and is pneumatic power-assisted so that it can be operated with one hand. These features improve biopsy targeting, provide safer operation for the patient and personnel, reduce patient discomfort, and respectively make optional the help of an assistant at biopsy.

2. 发明授权

EP2836133B1 COHESIVE ROBOT-ULTRASOUND PROBE FOR PROSTATE BIOPSY 有权
公开(公告)号：EP2836133B1
公开(公告)日：2018-08-29
申请号：EP13775721.7
申请日：2013-04-10
申请人： The Johns Hopkins University
发明人： STOIANOVICI, Dan , HAN, Misop , PETRISOR, Doru , KIM, Chunwoo
IPC分类号： A61B10/02 , A61B8/08 , A61B8/12 , A61B8/00 , A61B34/30 , A61B18/00 , A61B17/34 , A61B17/00 , A61B90/00
CPC分类号： A61B10/0241 , A61B8/0841 , A61B8/12 , A61B8/4245 , A61B34/30 , A61B2017/00274 , A61B2017/3413 , A61B2018/00547 , A61B2090/3782 , F04C2270/0421
摘要： An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of-freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.

3. 发明公开

EP2637571A2 REMOTE CENTER OF MOTION ROBOT FOR MEDICAL IMAGE SCANNING AND IMAGE-GUIDED TARGETING 有权
标题翻译： FERNZENTRALE EINES BEWEGUNGSROBOTERS ZUM SCANNEN MEDISINISCHER BILDER UNDFÜRBILDGESTEUERTE ANZIELUNGEN
公开(公告)号：EP2637571A2
公开(公告)日：2013-09-18
申请号：EP11840646.1
申请日：2011-11-11
申请人： The Johns Hopkins University
发明人： STOIANOVICI, Dan , PETRISOR, Doru , SCHAFER, Felix , KIM, Chunwoo , HAN, Misop
IPC分类号： A61B8/14 , A61N7/00
摘要： 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.
摘要翻译：本发明涉及用于医学图像扫描和图像引导瞄准的远程运动机器人中心，以下称为“欧拉”机器人。欧拉机器人可以进行三维（3-D）图像重建的超声波扫描，并实现各种机器人辅助图像引导程序，如针刺活检，经皮治疗传递，图像引导导航和促进图像融合与其他成像方式。欧拉机器人还可以与其他手持式医学成像探头一起使用，例如用于核成像的伽马照相机，或用于靶向递送治疗如高强度聚焦超声（HIFU）。 3-D超声探头也可以与欧拉机器人一起使用，以提供基于图像的定向靶向活检或治疗。此外，欧拉机器人能够应用特殊的基于运动的成像方式，如超声弹性成像。

4. 发明授权

EP2637571B1 REMOTE CENTER OF MOTION ROBOT FOR MEDICAL IMAGE SCANNING AND IMAGE-GUIDED TARGETING 有权
公开(公告)号：EP2637571B1
公开(公告)日：2020-01-08
申请号：EP11840646.1
申请日：2011-11-11
申请人： The Johns Hopkins University
发明人： STOIANOVICI, Dan , PETRISOR, Doru , SCHAFER, Felix , KIM, Chunwoo , HAN, Misop
IPC分类号： A61B8/14 , A61N7/00 , A61B8/12

5. 发明公开

EP2836133A1 COHESIVE ROBOT-ULTRASOUND PROBE FOR PROSTATE BIOPSY 有权
标题翻译：凝聚力的机器人超声波探头前列腺活检
公开(公告)号：EP2836133A1
公开(公告)日：2015-02-18
申请号：EP13775721.7
申请日：2013-04-10
申请人： The Johns Hopkins University
发明人： STOIANOVICI, Dan , HAN, Misop , PETRISOR, Doru , KIM, Chunwoo
IPC分类号： A61B10/02 , A61B8/08 , A61B8/12
CPC分类号： A61B10/0241 , A61B8/0841 , A61B8/12 , A61B8/4245 , A61B34/30 , A61B2017/00274 , A61B2017/3413 , A61B2018/00547 , A61B2090/3782 , F04C2270/0421
摘要： An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of-freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.

6. 发明申请

WO2020117783A1 DEVICE AND METHODS FOR TRANSRECTAL ULTRASOUND-GUIDED PROSTATE BIOPSY 审中-公开
公开(公告)号：WO2020117783A1
公开(公告)日：2020-06-11
申请号：PCT/US2019/064208
申请日：2019-12-03
申请人： THE JOHNS HOPKINS UNIVERSITY
发明人： STOIANOVICI, Dan , LIM, Sunghwan , HAN, Misop
IPC分类号： A61B10/02 , A61B34/20 , A61B34/30 , A61B8/12
摘要： A robot-assisted approach for transrectal ultrasound (TRUS) guided prostate biopsy includes a hands-free probe manipulator that moves the probe with the same 4 degrees-of-freedom (DoF) that are used manually. Transrectal prostate biopsy is taken one step further, with an actuated TRUS manipulation arm. The robot of the present invention enables the performance of hands-free, skill-independent prostate biopsy. Methods to minimize the deformation of the prostate caused by the probe at 3D imaging and needle targeting are included to reduce biopsy targeting errors. The present invention also includes a prostate coordinate system (PCS). The PCS helps defining a systematic biopsy plan without the need for prostate segmentation. A novel method to define an SB plan is included for 3D imaging, biopsy planning, robot control, and navigation.

7. 发明申请

WO2013155156A1 COHESIVE ROBOT-ULTRASOUND PROBE FOR PROSTATE BIOPSY 审中-公开
标题翻译： COHESIVE机器人超声探头，用于前瞻性生物
公开(公告)号：WO2013155156A1
公开(公告)日：2013-10-17
申请号：PCT/US2013/035928
申请日：2013-04-10
申请人： THE JOHNS HOPKINS UNIVERSITY , STOIANOVICI, Dan , HAN, Misop , PETRISOR, Doru , KIM, Chunwoo
发明人： STOIANOVICI, Dan , HAN, Misop , PETRISOR, Doru , KIM, Chunwoo
IPC分类号： A61B10/02 , A61B8/08 , A61B8/12
CPC分类号： A61B10/0241 , A61B8/0841 , A61B8/12 , A61B8/4245 , A61B34/30 , A61B2017/00274 , A61B2017/3413 , A61B2018/00547 , A61B2090/3782 , F04C2270/0421
摘要： An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well as inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of- freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.
摘要翻译：根据本发明的实施例提供了一种用于经直肠超声（TRUS）引导的前列腺活检的装置和方法。该装置包括配备有侧向超声波传感器的超声波棒。超声波棒还限定了具有通过魔杖的倾斜路径的通道。通道容纳活检针，其可以枢转并且通过通道插入到不同的深度以进行前列腺的活组织检查。因此，该装置仅使用三个自由度的运动来获得活检样本。此外，超声波棒可用于产生前列腺的三维图像。

8. 发明申请

WO2012065058A2 REMOTE CENTER OF MOTION ROBOT FOR MEDICAL IMAGE SCANNING AND IMAGE-GUIDED TARGETING 审中-公开
标题翻译：医疗图像扫描和图像导向远程移动机器人中心
公开(公告)号：WO2012065058A2
公开(公告)日：2012-05-18
申请号：PCT/US2011/060362
申请日：2011-11-11
申请人： THE JOHNS HOPKINS UNIVERSITY , STOIANOVICI, Dan , PETRISOR, Doru , SCHAFER, Felix , KIM, Chunwoo , HAN, Misop
发明人： STOIANOVICI, Dan , PETRISOR, Doru , SCHAFER, Felix , KIM, Chunwoo , HAN, Misop
IPC分类号： A61B8/14 , A61N7/00
CPC分类号： A61B8/4444 , A61B8/0841 , A61B8/085 , A61B8/12 , A61B8/4218 , A61B8/4254 , A61B8/483 , A61B8/485 , A61B8/5207 , A61B10/02 , A61B10/0241 , A61B34/30 , A61B2090/378 , A61N7/02
摘要： 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.
摘要翻译：本发明涉及用于医学图像扫描和图像引导目标的远程运动机器人中心，以下称为“欧拉”机器人。欧拉机器人允许超声扫描三维（3-D）图像重建，并且可以进行各种机器人辅助图像引导程序，如针刺活检，经皮治疗传递，图像引导导航，并促进图像融合与其他成像方式。欧拉机器人还可以与其他手持式医学成像探针（例如用于核成像的伽马照相机）一起使用，或用于靶向递送治疗，如高强度聚焦超声（HIFU）。 3-D超声探头也可以与欧拉机器人一起使用，以提供基于图像的定向靶向活检或治疗传递。此外，欧拉机器人可以应用特殊的基于运动的成像方式，如超声弹性成像。

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