US 12,446,984 B2
System for performing MR-guided transrectal prostate biopsy
Abdulla Al-Ansari, Doha (QA); Adham Darweesh, Doha (QA); Khalid Al-Rumaihi, Doha (QA); Carlos Velasquez, Doha (QA); Julien Abinahed, Doha (QA); Nikhil Navkar, Doha (QA); Mansour Karkoub, Doha (QA); and Nikolaos Tsekos, Doha (QA)
Assigned to QATAR FOUNDATION FOR EDUCATION, SCIENCE AND COMMUNITY DEVELOPMENT, Doha (QA); and HAMAD MEDICAL CORPORATION, Doha (QA)
Appl. No. 17/619,170
Filed by Qatar Foundation for Education, Science and Community Development, Doha (QA); and HAMAD MEDICAL CORPORATION, Doha (QA)
PCT Filed Jun. 14, 2020, PCT No. PCT/QA2020/050008
§ 371(c)(1), (2) Date Dec. 14, 2021,
PCT Pub. No. WO2020/251382, PCT Pub. Date Dec. 17, 2020.
Claims priority of provisional application 62/861,438, filed on Jun. 14, 2019.
Prior Publication US 2022/0304757 A1, Sep. 29, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 10/02 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); G01R 33/28 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 10/0241 (2013.01); A61B 34/10 (2016.02); G01R 33/286 (2013.01); A61B 2034/102 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/303 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A transrectal probe manipulator system comprising:
a probe including a biopsy needle; and
a manipulator comprising:
a base including first and second base support shafts on a base body;
a main frame, wherein a lower end of the main frame is rotatably connected to the base through a first shaft that extends through the lower end of the main frame and the first and second base support shafts to define a first degree of freedom; and
a mounting plate including first and second mounting plate support shafts on a lower surface and a probe receiver on an upper surface, wherein the mounting plate is rotatably connected to the main frame through a second shaft that extends through an upper end of the main frame and the first and second mounting plate support shafts to define a second degree of freedom, wherein the probe receiver is rotatable about and linearly moveable along a central axis to define a third degree of freedom and a fourth degree of freedom, respectively;
wherein the probe is secured to the probe receiver and
wherein the main frame comprises a first annular disc and a second annular disc.