Abstract: Robot watchdog software is responsible for monitoring the state of the system and resulting motion and reformulating commands due to task changes and dynamic conditions. However, if the robot watchdog software slows down or stalls, the motion control board remains unsupervised and robotic motion may become hazardous. The addition of a hardware watchdog mitigates the likelihood of this hazard occurring. A hybrid software-hardware robot watchdog is described herein. A fail-safe robotic system is implemented with a two tier software-hardware check system: the software checks the robotic hardware and in turn a hardware watchdog checks the activity of the software.

Abstract: Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including Mill. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.

Abstract: Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including MRI. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.

Abstract: A therapeutic system comprising a posture-mimicry robot comprising a head-assembly, a neck assembly, and a body assembly comprising a hemispherical bottom portion; and a base portion comprising three rotary actuators; wherein the posture-mimicry robot is configured to perform rotational movement in each of yaw, pitch, and roll axes to perform therapeutic interactive movements, gestures, and audio-visual cues.

Abstract: A novel way of mounting a harmonic drive gearhead to a cylindrically shaped motor reduces the overall size of the actuator assembly. Specifically, the motor is mounted within the harmonic drive and its bearings, a space that is typically occupied by a harmonic drive component. This is made possible by redesigning the harmonic drive such that it is able to surround the motor and provide for a compact footprint for the actuator assembly.

Abstract: An embodiment in accordance with the present invention provides a robot structure that includes an MM-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

Abstract: Featured is a vertebral body manipulation instrument or vertebral body manipulation device being configured and arranged to allow correction of vertebral translation. Such a vertebral body manipulation device embodies one or more identical modules that are configured as needed for correcting the deformity. Such a vertebral body manipulation device also is usable in combination with a plurality of vertebral anchors, such vertebral anchors being any such vertebral anchors as are known to those skilled in the art (e.g., conventional spinal pedicle screw instrumentation) or hereinafter developed so as to form a spinal implant system. Also featured are treatment methods utilizing such a vertebral body manipulation device.

Abstract: An embodiment in accordance with the present invention provides a robot structure that includes an MRI-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

Abstract: Featured is a vertebral body manipulation instrument or vertebral body manipulation device being configured and arranged to allow correction of vertebral translation. Such a vertebral body manipulation device embodies one or more identical modules that are configured as needed for correcting the deformity. Such a vertebral body manipulation device also is usable in combination with a plurality of vertebral anchors, such vertebral anchors being any such vertebral anchors as are known to those skilled in the art (e.g., conventional spinal pedicle screw instrumentation) or hereinafter developed so as to form a spinal implant system. Also featured are treatment methods utilizing such a vertebral body manipulation device.

Abstract: An embodiment in accordance with the present invention provides a method for accurate and objective quantification of stone fragment size. The method includes intraoperative measurement of objects during URS. The method analyzes URS procedures for ureteral and renal stones during basket extraction of fragments. An instrument is passed through an instrument channel of the ureteroscope and advanced until it is adjacent to the stone fragment to be measured. The measurement of stone fragment size is based on the known distance of a tip of the instrument in the ureteroscope's visual field.

Abstract: An embodiment in accordance with the present invention provides two devices for the isolation of rare cell populations such as circulating tumor cells (CTCs). Both devices use magnetic fields to manipulate cells that are bounded to paramagnetic particles (PMP). One device uses surface tension and a sieve for cell filtration, whereas the other allows for the direct transfer of cells onto a standard microscope slide. Subsequent processing steps may be directly performed on the devices thereby minimizing cell losses. The first device is referred to as the ST (surface tension) device and the second device is referred to as the DT (direct transfer) device. The ST device can also be considered as a chip for the isolation of the rare cell populations.

Abstract: 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.

Abstract: An embodiment in accordance with the present invention provides a remote center of motion robot. The RCM here is a parallelogram bar type RCM mechanism with a novel joint arrangement. The novel joint arrangement facilitates the mounting of the medical instrument and offers improved clearance relative to the patient. Moreover, the robot was built to guide a bone biopsy cannula, needle, or drill. Even though exact interventional values are unknown, it is expected that the forces exerted laterally on the needle-guide are higher than those encountered for slender needle insertion into soft tissue. For this, the RCM has been built with novel structure to enhance stiffness.

Abstract: The present invention is directed to a method for calculating tumor detection probability of a biopsy plan and for generating a 3D biopsy plan that maximizes tumor detection probability. A capsule shaped volume is modeled to represent the volume that a biopsy core may sample. An optimization method is used to generate a 3D biopsy plan that maximizes probability of tumor detection for predefined biopsy core numbers and length. Risk of detecting insignificant tumors, also determined by size, and probability of a false negative result is automatically calculated. The present invention also includes a method to determine number and length of biopsy cores required for individual patients determined by the balance of the insignificant/significant probability of detection, prostate size and shape, based upon the previously explained 3D biopsy plan generation method.

Abstract: 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.

Abstract: An embodiment in accordance with the present invention provides a method and device that leverages a controlled scanning process for CTC-antibody binding, rather than classic random mixing. Magnetophoretic direct extraction is used to extract the CTCs onto a standard microscope slide. A device according to the present invention includes a vial into which a CTC bearing solution is combined with antibody-bound-PMP beads. An electromagnet is used to apply a magnetic field to engage the beads along the magnetic lines across the vial. The magnetic field and in turn the beads are moved on a fine pitch helical trajectory. The entire volume of the vial is scanned in this manner, allowing beads to come into close proximity to any CTCs present, and to collect all of the CTCs in the vial.

Abstract: A robot comprising a head portion having a graphical display configured to display an animated representation of eyes; one or more microphones; one or more speakers; and wherein the head portion can move in a plurality of directions; a body portion having a rounded bottom, the body portion configured to perform rotational movement in each of yaw, pitch, and roll axes such that the body portion leans forward, backward, and side to side; at least one arm flap portion connected to the body portion and configured to move in at least one direction in relation to the body portion; a base portion upon which the body portion having a rounded bottom sits, one or more processors; one or more motors; and one or more memories; wherein the one or more processors are programmable by an end user to instruct the robot to perform therapeutic interactive movements, gestures, and audio-visual cues.

Abstract: An embodiment in accordance with the present invention provides a robot structure that includes an MRI-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

Abstract: The present invention is directed to a method for calculating tumor detection probability of a biopsy plan and for generating a 3D biopsy plan that maximizes tumor detection probability. A capsule shaped volume is modeled to represent the volume that a biopsy core may sample. An optimization method is used to generate a 3D biopsy plan that maximizes probability of tumor detection for predefined biopsy core numbers and length. Risk of detecting insignificant tumors, also determined by size, and probability of a false negative result is automatically calculated. The present invention also includes a method to determine number and length of biopsy cores required for individual patients determined by the balance of the insignificant/significant probability of detection, prostate size and shape, based upon the previously explained 3D biopsy plan generation method.

Abstract: Featured is a medical instrument driver, a robotic apparatus embodying such a medical instrument driver and methods related thereto for inserting a medical instrument into tissue of a mammal (e.g., human). Such medical instruments include medical needles, biopsy needles, trocars, cutters and introducers. Such a medical instrument driver according to the present invention is configured and arranged so that medical instrument is rotated as it is being moved longitudinally for insertion into the tissue such that the medical instrument is spiraling as it pierces and traverses the tissue to the target area.