Grzegorz Andrzej TOPOREK,Aleksandra POPOVIC,Sean Joseph KYNE
申请号：
US16628719
公开号：
US20200188041A1
申请日:
2018.07.05
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A robotic acoustic probe for application with an interventional device (60). The robotic acoustic probe employs an acoustic probe (20) including a imaging platform (21) having a device insertion port (22) defining a device insertion port entry (23) and device insertion port exit (24), and further including an acoustic transducer array (25) are disposed relative the device insertion port exit (24). The robotic acoustic probe further employs a robotic instrument guide (40) including a base (41) mounted to the imaging platform (21) relative to the device insertion port entry (23), and an end-effector (45) coupled to the base (41) and transitionable between a plurality of poses relative to a remote-center-of-motion (49). The end-effector (45) defines an interventional device axis (48) extending through the device insertion port (22), and the remote-center-of-motion (49) is located on the interventional device axis (48) adjacent the device insertion port exit (24).
