US 12,357,376 B2
Respiratory compensated robot for liver cancer treatment
Yue Chen, Fayetteville, AR (US); and Mishek Musa, Fayetteville, AR (US)
Assigned to Board Of Trustees Of The University Of Arkansas, Little Rock, AR (US)
Filed by BOARD OF TRUSTEES OF THE UNIVERSITY OF ARKANSAS, Fayetteville, AR (US)
Filed on Nov. 12, 2021, as Appl. No. 17/525,461.
Claims priority of provisional application 63/113,050, filed on Nov. 12, 2020.
Prior Publication US 2022/0142702 A1, May 12, 2022
Int. Cl. A61B 18/14 (2006.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 18/1477 (2013.01) [A61B 2017/00398 (2013.01); A61B 2017/00557 (2013.01); A61B 2018/00184 (2013.01); A61B 2018/00529 (2013.01); A61B 2018/00577 (2013.01); A61B 34/30 (2016.02)] 18 Claims
OG exemplary drawing
 
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.