US 11,779,398 B2
Robotic stereotactic system for MRI-guided neurosurgery
Ziyan Guo, Hong Kong (CN); Ka Wai Kwok, Hong Kong (CN); Ziyang Dong, Hong Kong (CN); Kit Hang Brian Lee, Hong Kong (CN); Hing Choi Fu, Hong Kong (CN); and Chim Lee Cheung, Hong Kong (CN)
Assigned to The University of Hong Kong, Hong Kong (CN)
Appl. No. 16/955,364
Filed by THE UNIVERSITY OF HONG KONG, Hong Kong (CN)
PCT Filed Jan. 24, 2019, PCT No. PCT/CN2019/072961
§ 371(c)(1), (2) Date Jun. 18, 2020,
PCT Pub. No. WO2019/144904, PCT Pub. Date Aug. 1, 2019.
Claims priority of provisional application 62/623,280, filed on Jan. 29, 2018.
Prior Publication US 2021/0015558 A1, Jan. 21, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 90/11 (2016.01); G01R 33/28 (2006.01); A61B 90/10 (2016.01); A61B 90/00 (2016.01); A61B 34/37 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/37 (2016.02); A61B 90/11 (2016.02); G01R 33/287 (2013.01); A61B 2034/2051 (2016.02); A61B 2090/103 (2016.02); A61B 2090/374 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A surgical robot for magnetic resonance imaging guided interventions, comprising:
a manipulator comprising a tendon-based upper actuator and a tendon-based lower actuator;
a mounting base connected to the lower actuator;
a needle guide; and
a needle disposed within the needle guide;
wherein each of the tendon-based upper actuator and the tendon-based lower actuator comprises:
a housing with a plurality of openings each configured to allow a tendon to pass therethrough;
two rotational joints connected to the housing;
two upper arms connected to the two rotational joints, respectively;
two forearms connected to the two upper arms, respectively, at a proximal end of each forearm by a passive joint; and
a passive ball joint connecting the two forearms at the distal end of each forearm,
wherein the needle guide is disposed within the ball joint of the upper actuator and of the lower actuator, and
wherein the mounting base has a plurality of screw holes for bone mounting.