Respiratory compensated robot for liver cancer treatment

1. A robotic platform system that enables accurate needle deployment in the dynamic environment of the liver comprising: (1) a lower stage with a motorized cartesian carriage, (2) an upper stage with a motorized cartesian carriage, and (3) a needle insertion module that connects both stages together; and (4) wherein said needle insertion module includes a flexible fluidic actuator adapted to insert and retract a needle.

2. The system of claim 1 wherein the upper and lower stages have carriages that can move in both the x and y directions.

3. The system of claim 2 wherein the carriages both have spherical bearings set into them that support said needle insertion module and by changing the relative location between the bearings, the orientation of the needle insertion module can be controlled about the x and y axes.

4. The system of claim 3 wherein said flexible fluidic actuator includes one or more inflatable bellows adapted to move a needle linearly when said one or more bellows are inflated.

5. The system of claim 4 wherein said flexible fluidic actuator includes one or more diaphragms that hold a needle stationary within said robot when inflated.

6. The system of claim 5 wherein, when a needle is to be inserted further into a patient, said one or more diaphragms are inflated prior to said inflation of said one or more bellows, and wherein said system includes a gap between said needle and said one or more diaphragms and one or more bellows when said one or more diaphragms and one or more bellows are deflated.

7. The system of claim 6 wherein said upper and lower stages are identical.

8. The system of claim 7 further including, a linear optical encoder and a linear transmissive strip, said optical encoder and linear transmissive strip adapted to provide the relative displacement of said flexible fluidic actuator.

9. The system of claim 8 wherein said gap eliminates contact between said needle and said bellows and said one or more diaphragms when said one or more bellows and said one or more diaphragms are deflated.

10. The system of claim 8 wherein said needle does not contact said one or more bellows and said one or more diaphragms when said one or more bellows and said one or more diaphragms are deflated.

11. A method for accurate needle deployment in the dynamic environment of the liver comprising the steps of:

providing a robotic platform having (1) a lower stage with a motorized cartesian carriage, (2) an upper stage, and (3) a needle insertion module that connects both stages together;

said upper and lower stages have carriages that can move in both the x and y directions;

said insertion module includes a flexible fluidic actuator adapted to insert and retract a needle;

said flexible fluidic actuator includes one or more inflatable bellows adapted to move a needle linearly when said bellows are inflated and one or more diaphragms that hold a needle stationary within said robot when inflated;

when a needle is to be inserted during a static phase of a liver, said one or more diaphragms are inflated to grip the needle, then said one or more bellows are inflated to insert the needle; and

prior to a liver transitioning out of a static phase, said one or more inflatable diaphragms are deflated and then said one or more bellows are deflated.

12. The method of claim 11 wherein said needle is allowed to move freely without interference within said fluid actuator when said needle is not being inserted.

13. The method of claim 11 further including a linear optical encoder and a linear transmissive strip, said optical encoder and linear transmissive strip adapted to provide the relative displacement of said flexible fluidic actuator.

14. The method of claim 11 further including a gap between said needle and said one or more diaphragms and said one or more bellows when said one or more diaphragms and said one or more bellows are deflated.

15. The method of claim 14 wherein said gap eliminates contact between said needle and said one or more bellows and said one or more diaphragms when said one or more bellows and said one or more diaphragms are deflated.

16. The method of claim 11 wherein said needle does not contact said one or more bellows and said one or more diaphragms when said one or more bellows and said one or more diaphragms are deflated.

17. The method of claim 11 wherein said needle is inserted for around 2 seconds.

18. The method of claim 11 wherein said upper and lower stages are identical.