Patents by Inventor Doru Petrisor
Doru Petrisor has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
-
Publication number: 20230415344Abstract: 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.Type: ApplicationFiled: October 12, 2021Publication date: December 28, 2023Inventors: Dan Stoianovici, Doru Petrisor
-
Publication number: 20230356001Abstract: 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.Type: ApplicationFiled: July 18, 2023Publication date: November 9, 2023Inventors: Dan Stoianovici, Alexandru Patriciu, Dumitru Mazilu, Doru Petrisor, Louis R. Kavoussi
-
Patent number: 11745027Abstract: 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.Type: GrantFiled: May 2, 2019Date of Patent: September 5, 2023Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Alexandru Patriciu, Dumitru Mazilu, Doru Petrisor, Louis R. Kavoussi
-
Publication number: 20220373073Abstract: 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.Type: ApplicationFiled: November 2, 2020Publication date: November 24, 2022Inventors: Dan Stoianovici, Doru Petrisor
-
Publication number: 20220330982Abstract: 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.Type: ApplicationFiled: June 30, 2022Publication date: October 20, 2022Inventors: Dan Stoianovici, Doru Petrisor
-
Patent number: 11439434Abstract: 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.Type: GrantFiled: May 23, 2017Date of Patent: September 13, 2022Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Doru Petrisor
-
Publication number: 20210369253Abstract: 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.Type: ApplicationFiled: August 17, 2021Publication date: December 2, 2021Inventors: Dan Stoianovici, Doru Petrisor, Changhan Jun, Sunghwan Lim
-
Publication number: 20210128122Abstract: 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.Type: ApplicationFiled: February 22, 2018Publication date: May 6, 2021Inventors: Dan Stoianovici, Changhan Jun, Doru Petrisor, Misop Han
-
Publication number: 20210116447Abstract: 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.Type: ApplicationFiled: November 29, 2018Publication date: April 22, 2021Inventors: Dan Stoianovici, Doru Petrisor, Changhan Jun, Kenneth J. Pienta
-
Publication number: 20200315658Abstract: 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.Type: ApplicationFiled: May 23, 2017Publication date: October 8, 2020Inventors: Dan Stoianovici, Doru Petrisor
-
Patent number: 10646295Abstract: 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.Type: GrantFiled: February 17, 2017Date of Patent: May 12, 2020Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Doru Petrisor, Dumitru Mazilu, Alexandru Patriciu, Lucian Gruionu
-
Publication number: 20200086140Abstract: 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.Type: ApplicationFiled: May 2, 2019Publication date: March 19, 2020Inventors: Dan Stoianovici, Alexandru Patriciu, Dumitru Mazilu, Doru Petrisor, Louis R. Kavoussi
-
Patent number: 10315046Abstract: 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.Type: GrantFiled: December 4, 2006Date of Patent: June 11, 2019Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Alexandru Patriciu, Dumitru Mazilu, Doru Petrisor, Louis R. Kavoussi
-
Publication number: 20190142396Abstract: 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.Type: ApplicationFiled: May 4, 2017Publication date: May 16, 2019Inventors: Dan Stoianovici, Doru Petrisor, Changhan Jun, Sunghwan Lim
-
Patent number: 10159469Abstract: 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.Type: GrantFiled: April 10, 2013Date of Patent: December 25, 2018Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Misop Han, Doru Petrisor, Chunwoo Kim
-
Patent number: 10024160Abstract: A stepper motor suitable for use in a medical imaging environment has (a) a cylindrical central gear having an external surface with circumferentially distributed and radially directed teeth, (b) a shaft for mounting the central gear such that it is constrained to move in rotational motion about its centerline, (c) a cylindrical hoop gear having a bore with an internal surface having circumferentially distributed and radially directed teeth, (d) level arm crank mechanisms for mounting the hoop gear such that it is constrained to move in translational-circular motion about the central gear's centerline, wherein this central gear is further configured to fit within the hoop gear's bore in such a manner that a plurality of the central gear and hoop gear teeth intermesh and cooperate so that the planetary movement of the hoop gear causes the central gear to rotate, and (e) piston mechanisms for applying a fluid pressure driven force to specified points on the hoop gear so as to cause its movement.Type: GrantFiled: October 11, 2011Date of Patent: July 17, 2018Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Alexandru Patriciu, Dumitru Mazilu, Doru Petrisor, Louis R. Kavoussi
-
Patent number: 9877788Abstract: An MRI safe robot for guiding transrectal prostate biopsy comprises a support arm, a robot body operatively connected to the support arm and a transrectal biopsy device operatively connected to the robot body. The transrectal biopsy device includes an endorectal extension and a biopsy needle device, the endorectal extension including an MRI coil for MRI imaging of the prostate. The robot body includes a first driver module for generating rotational motion of the endorectal extension and a second driver module for angulating the biopsy needle device toward a target area of the prostate for biopsy. The biopsy needle device is rotatable relative to the endorectal extension about a fixed axis and translatable through the endorectal extension. Each of the first and second driver modules include at least one pneumatic motor, wherein the MRI images are used by a physician to determine the target area for biopsy.Type: GrantFiled: October 8, 2013Date of Patent: January 30, 2018Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Doru Petrisor, Chunwoo Kim, Peter Sebrechts
-
Publication number: 20170252115Abstract: 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.Type: ApplicationFiled: February 17, 2017Publication date: September 7, 2017Inventors: Dan Stoianovici, Doru Petrisor, Dumitru Mazilu, Alexandru Patriciu, Lucian Gruionu
-
Patent number: 9610131Abstract: 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.Type: GrantFiled: November 5, 2009Date of Patent: April 4, 2017Assignee: The Johns Hopkins UniversityInventors: Dan Stoianovici, Doru Petrisor, Dumitru Mazilu, Alexandru Patriciu, Lucian Gheorghe Gruionu
-
Publication number: 20150265354Abstract: An MRI safe robot for guiding transrectal prostate biopsy comprises a support arm, a robot body operatively connected to the support arm and a transrectal biopsy device operatively connected to the robot body. The transrectal biopsy device includes an endorectal extension and a biopsy needle device, the endorectal extension including an MRI coil for MRI imaging of the prostate. The robot body includes a first driver module for generating rotational motion of the endorectal extension and a second driver module for angulating the biopsy needle device toward a target area of the prostate for biopsy. The biopsy needle device is rotatable relative to the endorectal extension about a fixed axis and translatable through the endorectal extension. Each of the first and second driver modules include at least one pneumatic motor, wherein the MRI images are used by a physician to determine the target area for biopsy.Type: ApplicationFiled: October 8, 2013Publication date: September 24, 2015Inventors: Dan Stoianovici, Doru Petrisor, Chunwoo Kim, Peter Sebrechts