US 11,745,027 B2
Multi-imager compatible robot for image-guided interventions and fully automated brachytherapy seed
Dan Stoianovici, Reistertown, MD (US); Alexandru Patriciu, Ancaster (CA); Dumitru Mazilu, West Friendship, MD (US); Doru Petrisor, Lutherville, MD (US); and Louis R. Kavoussi, Lutherville, MD (US)
Assigned to The Johns Hopkins University, Baltimore, MD (US)
Filed by The Johns Hopkins University, Baltimore, MD (US)
Filed on May 2, 2019, as Appl. No. 16/401,500.
Application 16/401,500 is a division of application No. 12/085,972, granted, now 10,315,046, previously published as PCT/US2006/046278, filed on Dec. 4, 2006.
Claims priority of provisional application 60/742,170, filed on Dec. 2, 2005.
Prior Publication US 2020/0086140 A1, Mar. 19, 2020
Int. Cl. A61N 5/10 (2006.01); A61B 17/34 (2006.01); A61B 10/02 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61N 5/1007 (2013.01) [A61B 10/0233 (2013.01); A61B 17/3468 (2013.01); A61B 34/30 (2016.02); A61B 2017/00544 (2013.01); A61B 2034/304 (2016.02); A61B 2090/062 (2016.02); A61N 2005/101 (2013.01); A61N 2005/1011 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A needle delivery apparatus, comprising:
a needle;
a housing having an interior chamber extending lengthwise and an outlet;
a pneumatic stepper motor coupled to the housing and disposed in the interior chamber;
a first interior member having an interior chamber extending lengthwise, the first interior member being operably coupled to the pneumatic stepper motor and configured so that operation of the pneumatic stepper motor causes the first interior member to move lengthwise within the housing interior chamber and with respect to the housing; and
a needle piston moveably disposed in the first interior member chamber, the needle piston being coupled to the needle; and
a delivery mechanism operably coupled to a lumen of the needle, wherein the delivery mechanism is configured to deliver material through the lumen to a subject's tissue surrounding an open end of the needle disposed in the tissue.