Abstract: A continuum device/manipulator includes a first flexible tube, a low melting point (LMP) alloy disposed within the first flexible tube, and a temperature adjustment element that applies heat or cooling to change a phase of the LMP alloy. Changing the phase of the LMP alloy controls a flexibility of the first flexible tube.

Abstract: Prostate biopsy systems are provided that include a 3D ultrasound probe support configured to receive an ultrasound probe for transperineal imaging. One or more template grids can have a plurality of apertures extending therethrough to receive and guide a biopsy needle along a trajectory associated with respective apertures when the template grid is fixed to the support and the biopsy system is positioned in the perineal area of a patient. Patient-specific template grids can also be developed and produced. This system enables fully transperineal prostate biopsy (i.e. both imaging and needle placement are perineal) and eliminates the need for an external racking device for image fusion as well as needle tracking. In addition, it reduces the infection risk associated to transrectal approach.

Abstract: A continuum device/manipulator includes a first flexible tube, a low melting point (LMP) alloy disposed within the first flexible tube, and a temperature adjustment element that applies heat or cooling to change a phase of the LMP alloy. Changing the phase of the LMP alloy controls a flexibility of the first flexible tube.

Abstract: A continuum device/manipulator includes a first flexible tube, a low melting point (LMP) alloy disposed within the first flexible tube, and a temperature adjustment element that applies heat or cooling to change a phase of the LMP alloy. Changing the phase of the LMP alloy controls a flexibility of the first flexible tube.

Abstract: Imaging of internal structure of a patient, such as the prostate, is performed using ultrasound tomography by inserting a first ultrasound probe into the rectum of the patient, positioning a second ultrasound probe on an abdomen of the patient, and aligning the first and second ultrasound probes with one another to obtain acoustic information for reconstructing tomographic images of the internal structure. Light sources can also be shined to the tissue of interest, such as prostate say by a transurethral catheter thus making photoacoustic waves that can be received by the said TRUS or TRAB/TRPR transducers to reconstruct photoacoustic tomographic image of the tissue, as well.

Abstract: Prostate biopsy systems are provided that include a 3D ultrasound probe support configured to receive an ultrasound probe for transperineal imaging. One or more template grids can have a plurality of apertures extending therethrough to receive and guide a biopsy needle along a trajectory associated with respective apertures when the template grid is fixed to the support and the biopsy system is positioned in the perineal area of a patient. Patient-specific template grids can also be developed and produced. This system enables fully transperineal prostate biopsy (i.e. both imaging and needle placement are perineal) and eliminates the need for an external racking device for image fusion as well as needle tracking.

Abstract: An example robot system for guiding a percutaneous device into a prostate of a patient includes a guide defining an opening configured to direct the needle, a robot coupled to the guide, and a rotation member coupled to the robot. The robot being configured to move the guide in a left-right and anterior-posterior directions based on information on the prostate of the patient. The rotation member being configured to change a yaw angle of the guide within a coronal plane of the patient.

Abstract: A continuum device/manipulator includes a first flexible tube, a low melting point (LMP) alloy disposed within the first flexible tube, and a temperature adjustment element that applies heat or cooling to change a phase of the LMP alloy. Changing the phase of the LMP alloy controls a flexibility of the first flexible tube.

Abstract: A patient mountable robot includes a four link mechanism, three actuators, and a first robot base. The mechanism includes four links that form a closed loop structure. The four links include a base link that includes a spherical joint. The mechanism provides two rotational degrees of freedom about the spherical joint for a needle that is configured to pass through the spherical joint. A first actuator is attached to the mechanism and moves the mechanism to provide the first of the two rotational degrees of freedom. A second actuator is attached to the mechanism and moves the mechanism to provide the second of the two rotational degrees of freedom. The base link of the mechanism passes through the first robot base. A third actuator is attached to the first robot base and linearly translates the base link so that a translational degree of freedom is provided for the needle.

Abstract: A magnetic resonance imaging (MRI) compatible sensor for measuring torque with respect to an axis of rotation in conjunction with an applied linear force includes a shaft arranged in a longitudinal direction substantially along the axis of rotation, a base component arranged along the axis of rotation and displaced with respect to the shaft, a torque detector assembly configured to be coupled to rotational motion of the shaft about the axis of rotation relative to the base component, and a linear-force detector assembly configured to be coupled to linear motion of the shaft from a force applied in a direction substantially coincident with the axis of rotation relative to the base component. The torque detector assembly and the linear-force detector assembly are substantially de-coupled from each other such that torque measurements are substantially independent of linear force measurements. The MRI compatible sensor consists essentially of MRI compatible materials.

Abstract: A magnetic resonance imaging (MRI) compatible sensor for measuring torque with respect to an axis of rotation in conjunction with an applied linear force includes a shaft arranged in a longitudinal direction substantially along the axis of rotation, a base component arranged along the axis of rotation and displaced with respect to the shaft, a torque detector assembly configured to be coupled to rotational motion of the shaft about the axis of rotation relative to the base component, and a linear-force detector assembly configured to be coupled to linear motion of the shaft from a force applied in a direction substantially coincident with the axis of rotation relative to the base component. The torque detector assembly and the linear-force detector assembly are substantially de-coupled from each other such that torque measurements are substantially independent of linear force measurements. The MRI compatible sensor consists essentially of MRI compatible materials.

Abstract: A patient mountable robot includes a four link mechanism, three actuators, and a first robot base. The mechanism includes four links that form a closed loop structure. The four links include a base link that includes a spherical joint. The mechanism provides two rotational degrees of freedom about the spherical joint for a needle that is configured to pass through the spherical joint. A first actuator is attached to the mechanism and moves the mechanism to provide the first of the two rotational degrees of freedom. A second actuator is attached to the mechanism and moves the mechanism to provide the second of the two rotational degrees of freedom. The base link of the mechanism passes through the first robot base. A third actuator is attached to the first robot base and linearly translates the base link so that a translational degree of freedom is provided for the needle.