Granted Patent B2

US 12,702,320 · App. 17/759,412 · Granted Aug 11, 2026

Inventors: Dinesh Kumar (Roseville, CA); Aleksandar Nacev (San Francisco, CA); Ram Narayanan (San Jose, CA); Amit Vohra (Rocklin, CA)

Assignee: Promaxo, Inc.

A61B5/055A61B5/0036A61B34/30A61B2010/045A61B2034/2051A61B2034/2065

Abstract

Claims (38)

1 . A guided robotic system, comprising:

a magnetic resonance imaging apparatus for continuously acquiring magnetic resonance images of a subject within a magnetic region of the magnetic resonance imaging apparatus;

a robotic arm; and

a computer system for analyzing the magnetic resonance images and identifying a portion of the subject,

wherein the magnetic resonance images are analyzed in real-time for guiding the robotic arm to the portion of the subject within the magnetic region;

wherein the magnetic resonance imaging apparatus is positioned intermediate a proximal end of the robotic arm and the subject during a surgical procedure;

wherein the robotic arm is configured to extend from the proximal end of the robotic arm and through a bore in the magnetic resonance imaging apparatus to position a distal end of the robotic arm outside of the bore, proximate to the subject, and within the magnetic region of the magnetic resonance imaging apparatus.

2 . The system of claim 1 , wherein the robotic arm is attached to an end effector configured for drug delivery.

3 . The system of claim 1 , wherein the robotic arm is configured for inserting a needle into the portion of the subject for extracting a specimen.

4 . The system of claim 1 , wherein the robotic arm is configured for placing a stent into the portion of the subject.

5 . The system of claim 1 , wherein the robotic arm is configured for removing the identified portion by cutting the portion of the subject.

6 . The system of claim 1 , wherein the robotic arm is configured for extracting a specimen for examination in a medical procedure from a list of medical procedures consisting of transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsies, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation treatment guidance.

7 . A method of using a guided robotic system, the method comprising:

acquiring live magnetic resonance images of a subject via a magnetic resonance imaging apparatus;

performing image analysis of the live magnetic resonance images to continuously identify a target portion of the subject within a magnetic region of the magnetic resonance imaging apparatus;

automatically guiding a robotic arm towards an identified target portion of the subject within the magnetic region based on the live magnetic resonance images, wherein the robotic arm is configured to extend from a proximal end of the robotic arm and through a bore in the magnetic resonance imaging apparatus to position a distal end of the robotic arm outside of the bore, proximate to the subject, and within the magnetic region, wherein the magnetic resonance imaging apparatus is positioned intermediate the proximal end of the robotic arm and the subject during a surgical procedure; and

performing the surgical procedure at the target portion of the subject.

8 . A guided robotic system, comprising:

a magnetic resonance imaging apparatus for real-time imaging of a subject within a magnetic region of the magnetic resonance imaging apparatus;

a computer system for analyzing images in real-time; and

a robotic system comprising a robotic arm, wherein the robotic system is configured to guide the robotic arm during a surgical procedure based on real-time analysis of the images, and wherein the robotic arm comprises:

a proximal end; and

a distal end configured to hold a robotic surgical tool;

wherein the magnetic resonance imaging apparatus is positioned intermediate the proximal end of the robotic arm and the subject during the surgical procedure,

wherein the robotic arm is configured to extend from the proximal end of the robotic arm and through a bore in the magnetic resonance imaging apparatus to position the distal end of the robotic arm outside of the bore, proximate to the subject, and within the magnetic region of the magnetic resonance imaging apparatus.

9 . The system of claim 8 , wherein the distal end of the robotic arm is attached to an end effector configured for drug delivery.

10 . The system of claim 8 , wherein the distal end of the robotic arm is configured for inserting a needle into the subject for extracting a specimen.

11 . The system of claim 8 , wherein the robotic arm is configured for placing a stent into the subject.

12 . The system of claim 8 , wherein the robotic arm is attached to a needle configured for removing a sample from the subject.

13 . The system of claim 8 , wherein the robotic arm is attached to an ablation tool.

14 . The system of claim 8 , wherein the distal end of the robotic arm is attached to an end-effector containing a plurality of needles.

15 . The system of claim 8 , wherein the distal end of the robotic arm is attached to an end-effector configured for carrying one or more stents.

16 . The system of claim 8 , wherein the distal end of the robotic arm is attached to an end-effector configured for carrying one or more brachytherapy seeds.

17 . The system of claim 8 , wherein the robotic arm is configured for extracting a specimen for examination in a medical procedure from a list of medical procedures consisting of transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsies, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation treatment guidance.

18 . The system of claim 8 , wherein the robotic arm comprises a motor, and wherein the imaging apparatus comprises an active noise cancellation module configured to:

detect noise generated by the motor; and

remove detected noise from the acquired signals.

19 . The system of claim 8 , wherein the imaging apparatus is a single-sided magnetic resonance imaging apparatus.

Assignments (3)

Continuity (2)

References Cited (50)