Yan Yu,Wan Sing Ng,Tarun Podder,Lydia Liao,Yongde Zhang
申请号：
US12095824
公开号：
US09114252B2
申请日:
2006.12.04
申请国别(地区):
US
年份:
2015
代理人:
摘要：
An automated system for delivery of seeds or other therapeutic or diagnostic capsules to internal organs of the patients body for radiation brachytherapy includes a needling mechanism, a 2DOF robot, an ultrasound probe driver, a 5DOF passive platform, and an easy lock cart. The needling mechanism implants radioisotope seeds by its cannula and stylet driven by two moving stages pushed by DC motors with ball screw transmission. Force sensors are included for detecting insertion forces and bending force. In another embodiment, the needle is rotated for insertion into the patient and can also be used for tissue removal for biopsy. The two embodiments are usable together or separately.
