US 12,440,235 B2
Automated image-guided tissue resection and treatment
Nikolai Aljuri, Hillsborough, CA (US); Surag Mantri, East Palo Alto, CA (US); Luis Baez, Mountain View, CA (US); George Surjan, Redwood City, CA (US); Michael W. Sasnett, Los Altos, CA (US); and Jonathan Foote, San Francisco, CA (US)
Assigned to PROCEPT BioRobotics Corporation, San Jose, CA (US)
Filed by PROCEPT BioRobotics Corporation, Redwood City, CA (US)
Filed on Aug. 23, 2023, as Appl. No. 18/454,469.
Application 18/454,469 is a continuation of application No. 16/846,159, filed on Apr. 10, 2020, granted, now 11,737,776.
Application 16/846,159 is a continuation of application No. 15/593,158, filed on May 11, 2017, granted, now 10,653,438, issued on May 19, 2020.
Application 15/593,158 is a continuation of application No. 14/540,310, filed on Nov. 13, 2014, granted, now 9,668,764, issued on Jun. 6, 2017.
Application 14/540,310 is a continuation of application No. 14/334,247, filed on Jul. 17, 2014, granted, now 9,364,251, issued on Jun. 14, 2016.
Application 14/334,247 is a continuation of application No. PCT/US2013/028441, filed on Feb. 28, 2013.
Claims priority of provisional application 61/604,932, filed on Feb. 29, 2012.
Prior Publication US 2024/0032958 A1, Feb. 1, 2024
Int. Cl. A61B 17/3203 (2006.01); A61B 1/307 (2006.01); A61B 17/00 (2006.01); A61B 18/04 (2006.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 17/30 (2006.01); A61B 18/00 (2006.01); A61B 18/20 (2006.01); A61B 18/22 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/30 (2016.01); A61B 90/50 (2016.01); A61M 25/04 (2006.01)
CPC A61B 17/3203 (2013.01) [A61B 1/307 (2013.01); A61B 17/00234 (2013.01); A61B 17/32037 (2013.01); A61B 18/04 (2013.01); A61B 18/1485 (2013.01); A61B 34/25 (2016.02); A61B 90/37 (2016.02); A61B 2017/00199 (2013.01); A61B 2017/00274 (2013.01); A61B 2017/306 (2013.01); A61B 2018/00279 (2013.01); A61B 2018/00285 (2013.01); A61B 2018/00327 (2013.01); A61B 2018/00351 (2013.01); A61B 2018/00404 (2013.01); A61B 2018/0044 (2013.01); A61B 2018/00446 (2013.01); A61B 2018/00488 (2013.01); A61B 2018/00494 (2013.01); A61B 2018/005 (2013.01); A61B 2018/00517 (2013.01); A61B 2018/00529 (2013.01); A61B 2018/00541 (2013.01); A61B 2018/00547 (2013.01); A61B 2018/00577 (2013.01); A61B 2018/00589 (2013.01); A61B 2018/00595 (2013.01); A61B 2018/00601 (2013.01); A61B 2018/00607 (2013.01); A61B 2018/00642 (2013.01); A61B 2018/0066 (2013.01); A61B 2018/00982 (2013.01); A61B 2018/00994 (2013.01); A61B 2018/046 (2013.01); A61B 2018/1472 (2013.01); A61B 18/20 (2013.01); A61B 2018/20351 (2017.05); A61B 2018/205 (2013.01); A61B 2018/20554 (2017.05); A61B 2018/2211 (2013.01); A61B 2018/2272 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/254 (2016.02); A61B 34/30 (2016.02); A61B 2090/064 (2016.02); A61B 2090/306 (2016.02); A61B 2090/364 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3782 (2016.02); A61B 2090/3784 (2016.02); A61B 2090/508 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01); A61B 2218/002 (2013.01); A61B 2218/007 (2013.01); A61M 25/04 (2013.01)] 12 Claims
OG exemplary drawing
 
1. An apparatus to treat tissue of a patient, comprising:
a first arm configured to couple to an ultrasound imaging probe, the first arm configured to support the ultrasound imaging probe with a stiff configuration of the first arm;
a treatment probe comprising an energy source configured to treat the patient;
a second arm configured to couple to the treatment probe and support the treatment probe with a stiff configuration of the second arm;
a linkage configured to be coupled the second arm and the treatment probe, the linkage configured to rotate the energy source while the first arm and the second arm each remain in the stiff configuration, wherein a first portion of the linkage remains fixed while a second portion of the linkage rotates the energy source to treat the tissue; and
one or more processors configured to receive a plurality of user inputs corresponding to a plurality of treatment locations and rotate the energy source to treat the tissue at the plurality of treatment locations while the first arm and the second arm are each in the stiff configuration, wherein the one or more processors are configured to display a plurality of images obtained by the ultrasound imaging probe, the plurality of images comprising a sagittal image and an axial image;
wherein the one or more processors are configured to vary an angular orientation of the energy source and display a marker showing the angular orientation of the energy source on one or more images of the plurality of images in real time.