Abstract: A method and apparatus for designing and fabricating a pantomesh. The pantomesh includes a plurality of pantomesh elements each including a pairs of links connected to one another by a revolute joint at points between their ends. Each of a plurality of the pantomesh elements is connected using spherical joints to a plurality of neighboring pantomesh elements, wherein a first line that extends along one side of a first pantomesh element forms a first variable angle with a second line that extends along an opposite side of the first pantomesh element. In some embodiments, at least some of the pantomesh elements of the pantomesh are not isosceles trapezoidal elements. In some embodiments, the pantomesh is used to compress breast tissue during an MRI procedure. In some embodiments, the pantomesh is connected to one or more actuators that facilitate remote control of the amount of compression provided.

Abstract: A method and apparatus for radially compressing bodily tissue and performing medical procedures from a selected one of a plurality of circumferential positions and angles, a selected one of a plurality of different elevations and elevational angles. Some embodiments include a tissue-compression fixture having members that are configured to be moved to radially compress bodily tissue such that each of a plurality of areas of biological tissue are exposed between the plurality of members, and wherein the fixture is compatible with use in an MRI machine in operation; an actuator having a receiver for a medical-procedure probe; and a computer system operatively coupled to the actuator to move the probe. The computer receives user commands, and based on the commands, moves the actuator to a selected one of a plurality of different positions around the tissue-compression fixture and then extends the probe into the patient.

Abstract: A method and apparatus for radially compressing bodily tissue and performing medical procedures from a selected one of a plurality of circumferential positions and angles, a selected one of a plurality of different elevations and elevational angles. Some embodiments include a tissue-compression fixture having members that are configured to be moved to radially compress bodily tissue such that each of a plurality of areas of biological tissue are exposed between the plurality of members, and wherein the fixture is compatible with use in an MRI machine in operation; an actuator having a receiver for a medical-procedure probe; and a computer system operatively coupled to the actuator to move the probe. The computer receives user commands, and based on the commands, moves the actuator to a selected one of a plurality of different positions around the tissue-compression fixture and then extends the probe into the patient.

Abstract: A method and apparatus for radially compressing bodily tissue and performing medical procedures from a selected one of a plurality of circumferential positions and angles, a selected one of a plurality of different elevations and elevational angles. Some embodiments include a tissue-compression fixture having members that are configured to be moved to radially compress bodily tissue such that each of a plurality of areas of biological tissue are exposed between the plurality of members, and wherein the fixture is compatible with use in an MRI machine in operation; an actuator having a receiver for a medical-procedure probe; and a computer system operatively coupled to the actuator to move the probe. The computer receives user commands, and based on the commands, moves the actuator to a selected one of a plurality of different positions around the tissue-compression fixture and then extends the probe into the patient.

Abstract: A method and apparatus for designing and fabricating a pantomesh. The pantomesh includes a plurality of pantomesh elements each including a pairs of links connected to one another by a revolute joint at points between their ends. Each of a plurality of the pantomesh elements is connected using spherical joints to a plurality of neighboring pantomesh elements, wherein a first line that extends along one side of a first pantomesh element forms a first variable angle with a second line that extends along an opposite side of the first pantomesh element. In some embodiments, at least some of the pantomesh elements of the pantomesh are not isosceles trapezoidal elements. In some embodiments, the pantomesh is used to compress breast tissue during an MRI procedure. In some embodiments, the pantomesh is connected to one or more actuators that facilitate remote control of the amount of compression provided.