MRI-guided robotic system and method for biopsy

Abstract

A guided robotic system is disclosed. The guided robotic system includes a magnetic resonance imaging device for real-time imaging of a subject, a computer system for real-time analysis of the images, and a robotic system for guiding a robotic arm based on the real-time analysis of the images. A method of using a guided robotic system is also disclosed. The method includes acquiring live magnetic resonance images of a subject, analyzing the live magnetic resonance images to continuously identify a target portion of the subject, automatically guiding a robotic arm toward the identified target portion of the subject based on the live magnetic resonance images, and performing a procedure at the target portion of the subject. Non-limiting procedures using the guided robotic system can include, for example, a biopsy, a stent insertion.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority under 35 U.S.C. §119(e) to U.S. Provisional Patent Application Serial No. 62 / 965,070, filed on January 23, 2020, entitled GUIDED ROBOTIC SYSTEM, METHODS AND APPARATUS FOR BIOPSY, the entire disclosure of which is incorporated herein by reference. Background Art

[0003] Magnetic imaging, particularly magnetic resonance imaging (MRI), is ubiquitous in modern medicine. While MRI remains one of the best imaging modalities for performing diagnostic scans for screening, planning biopsies, and planning treatments or surgical interventions, using an MRI system for guidance during an operation or procedure is difficult and, in some cases, has little success due to various problems. Some of the problems stem from, for example, the strong magnetic fields required for imaging in an MRI system. In this case, during magnetic resonance imaging, the strong magnetic forces from the large magnets inside the MRI system may damage surgical or diagnostic tools, including metal parts or any magnetizable parts. In some cases, the strong magnetic field may also endanger surgeons or medical staff in the presence of a strong magnetic field. If a robot or robotic system is used to replace a surgeon or medical staff for safety reasons, the strong magnetic field may still interfere with various components of the robot, including, for example, a control system or mechanism, or the interconnected joints connecting the robot arm, thereby potentially causing the robot to temporarily or permanently malfunction. Therefore, there is a need for a robotic system that can operate effectively and accurately with medical imaging equipment (such as an MRI system). Summary of the Invention

[0004] According to various embodiments, a guided robotic system is provided that includes a magnetic imaging device for continuously acquiring magnetic resonance images of a subject, a robotic arm, and a computer system for analyzing the magnetic resonance images and identifying a portion of the subject, wherein the magnetic resonance images are analyzed in real time to guide the robotic arm to the portion of the subject.

[0005] According to various embodiments of the system, the robotic arm is attached to a component configured for drug delivery. According to various embodiments, the robotic arm is configured to insert a needle into a portion of a subject to extract a sample. According to various embodiments, the robotic arm is configured to place a stent into the portion of the subject. According to various embodiments, the robotic arm is attached to a needle configured to remove a sample from the portion of the subject. According to various embodiments, the robotic arm is configured to remove the identified portion by cutting the portion of the subject.

[0006] According to various embodiments, the robotic arm is attached to an end effector containing a plurality of needles. According to various embodiments, the robotic arm is attached to an end effector configured to carry one or more stents. According to various embodiments, the robotic arm is attached to an end effector configured to carry one or more brachytherapy seeds.

[0007] According to various embodiments, the robotic arm is configured for extracting a sample for examination in a medical procedure from a list of medical procedures, the list of medical procedures including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0008] According to various embodiments, a method of using a guided robotic system is provided. The method includes acquiring live magnetic resonance images of a subject, performing image analysis of the live magnetic resonance images to continuously identify a target portion of the subject, automatically guiding a robotic arm toward the identified target portion of the subject based on the live magnetic resonance images, and performing a procedure at the target portion of the subject.

[0009] According to various embodiments of the method, the acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes functional buttons for controlling the procedure. According to various embodiments, the acquired live magnetic resonance images include a high resolution image portion near a needle inserted during the procedure and a lower resolution image portion away from the needle.

[0010] According to various embodiments, the method further includes correcting the acquired live magnetic resonance images for patient motion during performance of the procedure. According to various embodiments, the method further includes correcting the acquired live magnetic resonance images for motion artifacts during insertion of the needle. According to various embodiments, the method further includes overriding existing actions for manual correction for patient motion. According to various embodiments, the method further includes manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input. According to various embodiments, the method further includes providing a needle attached to the robotic arm, performing automatic segmentation to capture a position of the needle, withdrawing the needle, and advancing the needle to a next target position.

[0011] According to various embodiments of the method, the procedure includes one of a list of medical procedures including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0012] According to various embodiments, a method of using a guided robotic system is provided. The method includes continuously acquiring magnetic resonance images of a subject, continuously identifying a target portion of the subject in the magnetic resonance images, guiding a needle attached to a robotic arm toward the identified target portion of the subject, wherein the magnetic resonance images are analyzed in real-time to guide the needle to the target portion of the subject, and inserting the needle into the target portion of the subject and extracting a sample.

[0013] According to various embodiments of the method, the continuously acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes functional buttons for controlling during needle insertion. According to various embodiments, the continuously acquired live magnetic resonance images include a high resolution image portion near the needle and a lower resolution image portion away from the needle.

[0014] According to various embodiments, the method further includes automatically correcting the continuously acquired live magnetic resonance images to compensate for motion blur during needle insertion. According to various embodiments, the method further includes automatically correcting a trajectory of the needle based on the corrected acquired live magnetic resonance images during insertion. According to various embodiments, the method further includes overruling an existing guided trajectory for manual correction for motion blur. According to various embodiments, the method further includes manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input. According to various embodiments, the method further includes performing automatic segmentation to capture a position of the needle, withdrawing the needle, and advancing the needle to a next target position.

[0015] According to various embodiments of the method, the extracted sample is examined in a medical procedure from a list including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0016] According to various embodiments, the guiding further includes guiding through an orifice located at a center of a magnetic imaging device configured for continuously acquiring magnetic resonance images.

[0017] According to various embodiments, a method of using a guided system is provided. The method includes acquiring live magnetic resonance images of a subject, continuously identifying a target portion of the subject in the live magnetic resonance images, guiding an end effector attached to a robotic arm toward the identified target portion of the subject, the end effector carrying a plurality of needles, and inserting the plurality of needles one at a time into the target portion of the subject, and extracting a plurality of samples from the target portion of the subject.

[0018] According to various embodiments of the method, the acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes functional buttons for controlling during insertion of the plurality of needles. According to various embodiments, the acquired live magnetic resonance images include a high resolution image portion proximate to the inserted needles and a lower resolution image portion distal to the inserted needles.

[0019] According to various embodiments, the method further includes automatically correcting the acquired live magnetic resonance images to compensate for motion blur during insertion of the plurality of needles. According to various embodiments, the method further includes automatically correcting a trajectory of the inserted needles based on the corrected acquired live magnetic resonance images during insertion. According to various embodiments, the method further includes overruling an existing guided trajectory for manual correction for motion blur. According to various embodiments, the method further includes manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input. According to various embodiments, the method further includes performing automatic segmentation to capture a position of the inserted needles, withdrawing the inserted needles, and inserting another needle at a next position.

[0020] According to various embodiments of the method, the extracted samples are examined in one or more medical procedures from a list including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0021] According to various embodiments of the method, guiding the end effector attached to the robotic arm toward the identified target portion of the subject includes guiding through an aperture located at a center of a single-sided magnetic imaging device configured for continuous acquisition of magnetic resonance images.

[0022] According to various embodiments, a guided robotic system is provided. The guided robotic system includes an imaging device for real-time imaging of a subject, a computer system for real-time analysis of the images, and a robotic system for guiding a robotic arm based on the real-time analysis of the images.

[0023] According to various embodiments of the system, the robotic arm is attached to a component configured for drug delivery. According to various embodiments, the robotic arm is configured for insertion of a needle into a subject for extraction of a sample. According to various embodiments, the robotic arm is configured for placement of a stent into a subject. According to various embodiments, the robotic arm is attached to a needle configured for removal of a sample from a subject. According to various embodiments, the robotic arm is attached to a component or mechanism configured to provide ablation. According to various embodiments, the robotic arm is attached to an end effector containing a plurality of needles. According to various embodiments, the robotic arm is attached to an end effector configured for carrying one or more stents. According to various embodiments, the robotic arm is attached to an end effector configured for carrying one or more seeds for brachytherapy.

[0024] According to various embodiments of the system, the robotic arm is configured for extraction of a sample for examination in a medical procedure from a list of medical procedures, the list of medical procedures including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0025] According to various embodiments of the system, the imaging device is a single-sided magnetic resonance imaging device having an aperture at its center.

[0026] These and other aspects and implementations are discussed in detail below. The foregoing information and the following detailed description include illustrative examples of various aspects and implementations, and provide an overview or framework for understanding the nature and character of the claimed aspects and implementations. The drawings provide one illustration of various aspects and implementations and are incorporated into and form a part of the specification. BRIEF DESCRIPTION OF DRAWINGS

[0027] The novel features of the aspects are set forth with particularity in the claims that follow. A better understanding of the described aspects, and of their

[0028] FIG. 1A is a schematic illustration of a guided robotic system in accordance with various aspects of the present disclosure.

[0029] FIG. 1B is a flow chart of a method of using a guided robotic system according to various aspects of the present disclosure.

[0030] FIG. 2 is an illustration of another guided robotic system according to various aspects of the present disclosure.

[0031] FIG. 3A is a schematic diagram of a graphical user interface for a guided robotic system according to various aspects of the present disclosure.

[0032] FIG. 3B is a schematic diagram of a live view during imaging of a guided robotic system according to various aspects of the present disclosure.

[0033] FIG. 4A is a schematic diagram illustrating a cross-sectional image during a planning scan of a prostate sample according to various aspects of the present disclosure.

[0034] FIG. 4B is a schematic diagram illustrating a sagittal image during a planning scan of a prostate sample according to various aspects of the present disclosure.

[0035] FIG. 4C It is a diagram showing various aspects of the present disclosure based on FIG. 4A Schematic diagram of a cross-sectional image of the biopsy plan shown in the planning scan.

[0036] FIG. 4D It is a diagram showing various aspects of the present disclosure based on FIG. 4B Schematic diagram of the sagittal image of the biopsy plan with the planning scan shown in .

[0037] FIG. 5A is a schematic diagram illustrating a cross-sectional image of a biopsy plan providing the extent of a malignancy in a prostate sample according to various aspects of the present disclosure.

[0038] FIG. 5B is a schematic diagram of a sagittal image showing a biopsy plan providing the extent of a malignancy of a prostate sample in accordance with various aspects of the present disclosure.

[0039] FIG. 5C is a schematic diagram illustrating a cross-sectional image of a low-dose brachytherapy treatment plan for a prostate sample according to various aspects of the present disclosure.

[0040] FIG. 5D is a schematic diagram illustrating a sagittal image of a low-dose brachytherapy plan for a prostate sample according to various aspects of the present disclosure.

[0041] FIG. 6A is a schematic diagram of a cross-sectional image without a virtual grid showing a biopsy plan of a prostate sample according to various aspects of the present disclosure.

[0042] FIG. 6B is a schematic illustration of a sagittal image without a virtual grid showing a biopsy plan for a prostate sample in accordance with various aspects of the present disclosure.

[0043] FIG. 7 is a flowchart of a method of a guided robotic system in accordance with various aspects of the present disclosure.

[0044] FIG. 8 is another flowchart of a method of a guided robotic system in accordance with various aspects of the present disclosure.

[0045] FIG. 9 is another flowchart of a method of a guided robotic system in accordance with various aspects of the present disclosure.

[0046] FIG. 10 is a schematic illustration of a magnetic resonance imaging system in accordance with various aspects of the present disclosure.

[0047] FIG. 11 is a perspective view of a magnetic resonance imaging system in accordance with various aspects of the present disclosure. FIG. 10 is an exploded perspective view of the magnetic resonance imaging system shown.

[0048] FIG. 12 is a front view of the magnetic resonance imaging system shown. FIG. 10 is a front view of the magnetic resonance imaging system shown.

[0049] FIG. 13 is a front view of the magnetic resonance imaging system shown. FIG. 10 is a front view of the magnetic resonance imaging system shown.

[0050] FIG. 14 illustrates an exemplary positioning of a patient for imaging by a magnetic resonance imaging system for a particular surgical procedure and intervention in accordance with various aspects of the present disclosure.

[0051] The drawings are not intended to be to scale. In several views, corresponding reference characters indicate corresponding parts throughout the several views. Not every component is labeled in every view for clarity. Exemplars set forth herein illustrate certain implementations of the application and are not intended to be limiting of the scope of the application in any way. DETAILED DESCRIPTION

[0052] The following international patent applications are hereby incorporated by reference in their respective entireties:

[0053] • International Application No. PCT / US2020 / 018352, filed February 14, 2020, entitled SYSTEMS AND METHODS FOR ULTRALOW FIELD RELAXATION DISPERSION, now International Publication No. WO 2020 / 168233, which claims priority to U.S. Provisional Application No. 62 / 980, 1 1 1, filed February 22, 2020, entitled SYSTEMS AND METHODS FOR ULTRALOW FIELD RELAXATION DISPERSION;

[0054] • International Application No. PCT / US2020 / 019530, filed February 24, 2020, entitled SYSTEMS AND METHODS FOR PERFORMING MAGNETIC RESONANCE IMAGING, now International Publication No. WO 2020 / 172673, which claims priority to U.S. Provisional Application No. 62 / 980, 1 12, filed February 24, 2020, entitled SYSTEMS AND METHODS FOR PERFORMING MAGNETIC RESONANCE IMAGING;

[0055] • International Application No. PCT / US2020 / 019524, filed February 24, 2020, entitled PSEUDO-BIRDCAGE COIL WITH VARIABLE TUNING AND APPLICATIONS THEREOF, now International Publication No. WO 2020 / 172672, which claims priority to U.S. Provisional Application No. 62 / 980, 1 13, filed February 24, 2020, entitled PSEUDO-BIRDCAGE COIL WITH VARIABLE TUNING AND APPLICATIONS THEREOF;

[0056] • International Application No. PCT / US2020 / 024776, filed March 25, 2020, entitled SINGLE-SIDED FAST MRI GRADIENT FIELD COILS AND APPLICATIONS THEREOF, now International Publication No. WO 2020 / 198395, which claims priority to U.S. Provisional Application No. 63 / 004, 1 1 1, filed April 9, 2020, entitled SINGLE-SIDED FAST MRI GRADIENT FIELD COILS AND APPLICATIONS THEREOF;

[0057] • International Application No. PCT / US2020 / 024778, filed March 25, 2020, entitled SYSTEMS AND METHODS FOR VOLUMETRIC ACQUISITION IN A SINGLE-SIDED MRI SYSTEM, now International Publication No. WO 2020 / 198396, which claims priority to U.S. Provisional Application No. 63 / 004, 1 12, filed April 9, 2020, entitled SYSTEMS AND METHODS FOR VOLUMETRIC ACQUISITION IN A SINGLE-SIDED MRI SYSTEM;

[0058] • International Application No. PCT / US2020 / 039667, filed June 25, 2020, entitled SYSTEMS AND METHODS FOR IMAGE RECONSTRUCTIONS IN MAGNETIC RESONANCE IMAGING, now International Publication No. WO 2020 / 264194, which claims priority to U.S. Provisional Application No. 63 / 055, 1 1 1, filed July 24, 2020, entitled SYSTEMS AND METHODS FOR IMAGE RECONSTRUCTIONS IN MAGNETIC RESONANCE IMAGING;

[0059] U.S. Patent Application No. 16 / 003,585, filed June 8, 2018, entitled UNILATERAL MAGNETIC RESONANCE IMAGING SYSTEM WITH APERTURE FOR INTERVENTIONS AND METHODOLOGIES FOR OPERATING SAME, is incorporated by reference herein in its entirety.

[0060] The following U.S. Provisional Patent Applications are incorporated by reference herein in their respective entireties:

[0061] • U.S. Provisional Patent Application No. 62 / 979,332, entitled SYSTEMS AND METHODS FOR UTILIZING A RADIO FREQUENCY RECEIVE NETWORK FOR SINGLE-SIDED MAGNETIC RESONANCE IMAGING, filed February 20, 2020;

[0062] • U.S. Provisional Patent Application No. 62 / 987,286, entitled SYSTEMS AND METHODS FOR ADAPTING DRIVEN EQUILIBRIUM FOURIER TRANSFORM FOR SINGLE-SIDED MRI, filed March 9, 2020; and

[0063] • U.S. Provisional Patent Application No. 62 / 987,292, entitled SYSTEMS AND METHODS FOR LIMITING K-SPACE TRUNCATION IN A SINGLE-SIDED MRI SCANNER, filed March 9, 2020.

[0064] Before various aspects of MRI-guided robotic systems and methods are explained in detail, it is to be understood that the illustrative examples are not limited in application or use to the details of construction and arrangement of parts illustrated in the drawings and described herein. The illustrative examples can be implemented or incorporated in other aspects, variations and modifications, and can be practiced or carried out in various ways. Further, unless otherwise indicated herein, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative examples and are not to be taken in a limiting sense. Additionally, it is to be understood that one or more of the following aspects, expressions of aspects, and / or examples can be combined with any one or more of the other following aspects, expressions of aspects, and / or examples.

[0065] In some medical procedures, such as prostate biopsies, it is typical for a patient to endure a long procedure in an uncomfortable prone position, which often includes remaining in one specific body position immobile throughout the procedure. In such longer procedures, if a biopsy is performed using a metallic ferromagnetic needle under the guidance of an MRI system, the needle can be subject to attractive forces from the strong magnet of the MRI system, which can cause the needle to deviate from its path during the length of the procedure. Even in cases where a non-magnetic needle is used, local field distortions can cause magnetic resonance image distortion, and thus image quality around the needle can result in poor quality. To avoid such distortion, pneumatic robots with complex compressed air mechanisms have been designed to work in conjunction with traditional MRI systems. Even so, due to the form factor of currently available MRI systems, access to the target anatomy remains challenging.

[0066] Various embodiments presented herein include improved MRI systems configured for guidance in medical procedures, including, for example, robotically assisted invasive medical procedures. The technology, methods, and apparatus disclosed herein relate to a guided robotic system that uses magnetic resonance imaging as guidance for an automatically guided robot in a medical procedure (referred to herein generally as a “robotic system”). According to various embodiments, the disclosed technology combines a robotic system with magnetic resonance imaging as guidance. According to various embodiments, the robotic system disclosed herein is combined with other suitable imaging technologies, for example, optical, ultrasound, x-ray, laser, or any other suitable diagnostic or imaging method.

[0067] According to various embodiments, a guided robotic system includes a magnetic resonance imaging device for real-time imaging of a subject, a computer system for real-time analysis of the images, and a robotic system of a robotic arm for guidance based on the real-time analysis of the images. According to various embodiments, a method of using the guided robotic system can include acquiring live magnetic resonance images of a subject, analyzing the live magnetic resonance images to continuously identify a target portion of the subject, automatically guiding a robotic arm toward the identified target portion of the subject based on the live magnetic resonance images, and performing a procedure at the target portion of the subject. The procedure, which can include any invasive procedure, can include, for example, but is not limited to, a biopsy or a stent insertion.

[0068] FIG. 1A is a schematic diagram of a guided robotic system 100 according to various embodiments. The guided robotic system 100 includes an imaging device 120, a computer system 140, and a robotic system 160. According to various embodiments, the guided robotic system 100 optionally includes an operator 180.

[0069] According to various embodiments described herein, the imaging device 120 is a magnetic resonance imaging device. According to various embodiments described herein, the imaging device 120 is a single-sided magnetic resonance imaging device. According to various embodiments, the imaging device 120 can be any imaging device based on any other suitable diagnostic or imaging method, including but not limited to, for example, ultrasound, x-ray, gamma-ray, ultraviolet, infrared, visible light, laser, or visual guidance based on previously acquired scans, hybrid or augmented reality based navigation systems, and the like. According to various embodiments, a robot is used in place of a stereotactic frame for brain procedures other than magnetic resonance imaging (MRI). In this case, a magnetic resonance scan is used to plan the procedure, and the frame is registered to the magnetic resonance image, and the frame is used to perform the intervention with or without any image guidance.

[0070] According to various embodiments described herein, the imaging device 120 is a low-field magnetic resonance imaging system that allows placement of a robotic device with sufficient shielding in its vicinity. According to various embodiments, the imaging device 120 is configured to have a limited fringe magnetic field, and thus a robot or a robotic arm can be placed in its vicinity without damaging the robot or the robotic arm. According to various embodiments, the imaging device 120 is configured as a single-sided magnetic resonance imaging system. According to various embodiments, the single-sided magnetic resonance imaging system of the imaging device 120 has an imaging region (e.g., a target anatomical portion of a patient) outside of a magnet assembly. According to various embodiments, the magnet assembly includes a single-sided gradient coil set including several gradient magnetic field solenoid coils configured to work in a single-sided MRI system. According to various embodiments, the single-sided MRI system of the imaging device 120 is configured such that a patient is covered on one side by magnetic field generating material and imaging system components, but not completely surrounded by them. The single-sided configuration provides less restriction on patient movement while reducing unnecessary burden during positioning and / or removing the patient from the imaging device 120. Thus, by placing the single-sided gradient coil set only on one side of the patient, the patient will not feel trapped inside the imaging device 120.

[0071] According to various embodiments described herein, the imaging device 120 is configured to continuously acquire images of a patient (or generally referred to as a “subject” herein). According to various embodiments described herein, the imaging device 120 is configured for continuous acquisition of magnetic resonance images of a subject. According to various embodiments, the imaging device 120 is configured for real-time or near real-time imaging of a subject. According to various embodiments, the imaging device 120 is configured for acquisition of live images, magnetic resonance images, and the like, of a subject.

[0072] According to various embodiments described herein, the computer system 140 is coupled to the imaging device 120. According to various embodiments, the computer system 140 is configured to automatically or in real-time analyze images and identify portions of the subject from the images. According to various embodiments, the computer system 140 is configured to analyze magnetic resonance images from the imaging device 120 and identify portions of the subject from the magnetic resonance images. According to various embodiments, the computer system 140 is configured to continuously identify target portions of the subject in live images, magnetic resonance images, or other images received from the imaging device 120. According to various embodiments, the computer system 140 is configured to analyze images from the imaging device 120 in real-time or near real-time and provide guidance to the robotic system 160.

[0073] According to various embodiments, the computer system 140 is configured to automatically analyze one or more images manually entered by a physician or operator (and not acquired from the imaging device 120) and then identify portions of the subject from the analyzed images. According to various embodiments, the computer system 140 is configured to identify portions of the subject from one or more images that have already been analyzed by a physician or operator.

[0074] According to various embodiments described herein, the robotic system 160 is coupled to the computer system 140. According to various embodiments, the robotic system 160 is configured to guide a robotic arm (or generally referred to herein as a “robotic system”) based on guidance from the computer system 140. According to various embodiments, the guidance includes, for example, executable instructions for the robotic arm. According to various embodiments, the executable instructions include a set of sequential motions for the robotic arm to manipulate. According to various embodiments, the executable instructions cause the robotic arm to be guided toward an identified target portion of the subject. According to various embodiments, the robotic arm is configured to move based on instructions from the computer system 140.

[0075] According to various embodiments, the robotic system 160 includes a motion controller and a robotic arm. According to various embodiments, executable instructions from the computer system 140 are received at the motion controller for execution of instructions that cause the robotic arm to perform a set of sequential motions for manipulation. According to various embodiments, the executable instructions cause the robotic arm to be guided toward an identified target portion of the subject. According to various embodiments, the robotic arm is configured to move based on instructions from the motion controller. According to various embodiments, the motion controller of the robotic system 160 resides on the computer system 140.

[0076] According to various embodiments, the robotic system 160 is configured to guide the robotic arm (also referred to herein as the "robotic arm" or "mechanical member") toward an identified target portion of the subject based on real-time analysis of the acquired images, and to guide the robotic arm toward the portion of the subject. According to various embodiments, the robotic system 160 is configured to automatically guide the robotic arm toward the identified target portion of the subject based on analysis of the images of the target portion of the subject acquired by the imaging device 120. According to various embodiments, the real-time or near real-time operation of the guided robotic system 100 occurs automatically without any further input from the operator 180.

[0077] like FIG. 1A As shown, according to various embodiments, the guided robotic system 100 optionally includes an operator 180. According to various embodiments, the operator 180 intervenes during operation of the guided robotic system 100 when input or intervention is required. According to various embodiments, intervention by the operator 180 occurs, for example, during image acquisition at the imaging device 120, during analysis of acquired images at the computer system 140, and / or during guidance of the robotic system 160. According to various embodiments, the operator 180 intervenes when errors occur during operation of the guided robotic system 100, or when a corrective path is required during robotic manipulation.

[0078] FIG. 1B is a flow chart of a method S100 of using a guided robotic system 100 according to various embodiments. FIG. 1B As shown, method S100 includes acquiring an image of the subject at step S110. According to various embodiments, acquiring the image of the subject includes acquiring one or more target anatomical parts of the subject or patient. According to various embodiments, the image is acquired from an imaging device or an external source. The acquisition can be performed by any suitable imaging device or technology, including but not limited to magnetic imaging, magnetic resonance imaging, ultrasound, x-rays, gamma rays, ultraviolet rays, infrared rays, visible light, lasers, or visual guidance based on previously acquired scans, navigation systems based on mixed or augmented reality, etc. According to various embodiments, the image is acquired from an external source such as a physician, patient, user, or operator.

[0079] like FIG. 1BAs shown, the method S100 includes automatically analyzing the images to identify a target portion of the subject at step S120. According to various embodiments, the acquired images are automatically uploaded to a computer system, such as computer system 140, for analysis via one or more processes including, but not limited to, artificial intelligence (AI), machine learning, image or signal denoising, segmentation algorithms, object and boundary recognition, image registration, adaptive intensity correction, and pattern recognition, among others. According to various embodiments, the acquired images are manually analyzed by a physician or operator and input into a computer system, such as computer system 140, for automatic identification of the subject’s portion from the analyzed images.

[0080] At step S130, the method S100 includes automatically guiding the robotic arm to the identified target portion of the subject based on the image analysis (via automatic guidance). According to various embodiments, the automatic guidance includes guiding the robotic arm in real-time or near real-time based on analysis of the continuously acquired images of the target portion of the subject. According to various embodiments, the automatic guidance includes self-correction via the image analysis. According to various embodiments, the automatic guidance includes occasional intervention by a physician or operator to correct the trajectory of the robotic arm based on the acquired images. According to various embodiments, the automatic guidance includes occasional intervention by a physician or operator to change the trajectory of the robotic arm based on the acquired images in order to perform an alternative or additional medical procedure.

[0081] According to various embodiments of the method S100, the robotic arm is configured to move in at least six degrees of freedom (DoF). According to various embodiments, the robotic arm includes one or more robotic arm portions connected in a configuration that allows the robotic arm to move, rotate, or swivel in six DoF. According to various embodiments, the robotic arm is configured for access to various anatomical portions of the subject.

[0082] According to various embodiments, the robotic arm can have fewer than six DoF, and three DoF can be sufficient for some cases, such as transperineal biopsies where the robot only needs to move in a plane (two DoF) and in and out of the plane along a parallel trajectory (one DoF). According to various embodiments, one of the two additional DOF can be added to provide small rotations around the x and y axes of the plane to allow access to areas that are obscured or blocked by anatomical structures, such as the pubic arch, in the case of access to the prostate.

[0083] At step S140, the method S100 includes performing a procedure at a target portion of the subject. According to various embodiments, the method S100 includes performing a suitable medical procedure including, for example, but not limited to, transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance, etc.

[0084] FIG. 2 is an illustration of an exemplary guided robotic system 200 according to various embodiments. As shown, the guided robotic system 200 includes a magnetic imaging device 220, a computer system 240, and a robotic system 260. The guided robotic system 200 is similar in many respects to the robotic system 100. FIG. 2

[0085] FIG. 2 The exemplary magnetic imaging device 220 shown in FIG. 2 can include an aperture 222 (also referred to herein as an "access port") at the center of a single-sided magnetic coil set 224 to provide access to one or more anatomical portions of a patient being imaged during a medical procedure. According to various embodiments, the magnetic imaging device 220 has a fixed field of view (FOV) relative to its mechanical structure. According to various embodiments, the fixed FOV is defined as a cylindrical volume of about 4 inches in diameter, about 4 inches in length, or a cubic volume of about 4 inches on a side. According to various embodiments, the fixed FOV ranges from about 2 inches in diameter / side to about 12 inches in diameter / side. In some other embodiments, the FOV can be larger, such as for breast imaging applications where the receive coil array (e.g., dual receive coils) can cover a total of about 18-24 inches of lateral cubic / cylindrical volume.

[0086] According to some embodiments, within the defined fixed FOV, the robotic system 260 can be calibrated to determine a fixed frame of reference between the robotic system 260 and the imaging FOV of the magnetic imaging device 220. Such calibration can ensure that the robotic system 260 is operatively coupled to the magnetic imaging device 220 via the computer system 240.

[0087] The setup and calibration process can include setting up the robotic system 260 and the magnetic imaging device 220 for use together. In various cases, the setup involves constructing an MR imaging phantom with at least four non-coplanar markers that are readily identifiable in MR imaging.

[0088] ​To calibrate the system after setup, the following steps can be performed. First, the phantom can be rigidly fixed in the field of view of the scanner and an image can be acquired. Second, the locations of the markers can be recorded by visually identifying the markers one at a time on the image. This collection of all points observed on the image can be referred to as point set A0 (with dimension Nx3, where N is the number of points identified). In some cases, the identification can be performed automatically through segmentation and / or classification. Third, the robot can be operated in free-drive mode and navigated to each point set A0. When the needle tip reaches each point in the set, the position of the robot can be recorded. The collection of all points recorded in the robot coordinates can be referred to as point set B0 (also with dimension Nx3). Fourth, a rigid linear least squares transform that transforms B0 to A0 (T: B0 --> A0) can be estimated. This is the robot-to-image transform. The inverse of this transform is the image-to-robot transform.

[0089] To test the calibration based on the transform T, the phantom can be repositioned to a new location within the field of view (e.g., shifted 1 cm - 2 cm in the X and Y directions). The four calibration steps described above can be repeated to generate point sets A1 and B1. Then, the previously estimated transform T can be applied to B1 to get T(B1), and the root mean square error (RMSE) between T(B1) and A1 can be computed. Finally, the RMSE can be verified to determine that it is within an acceptable threshold and / or value.

[0090] As FIG. 2 The magnetic imaging device 220 includes a single aperture through which the robotic arm can extend to reach the patient or target site, as depicted in FIG. 2. In other cases, the magnetic imaging device 220 can include two or more access ports. Each access port can provide access to the patient and / or surgical site. For example, in the case of multiple access ports, the multiple access ports can allow for access from different directions and / or adjacent locations.

[0091] It is noted that while FIG. 2 An exemplary magnetic imaging device 220 is shown having an aperture 222 in the center of a single-sided magnetic coil set, but this magnetic imaging device is for exemplary purposes only. The robotic arm 262 can be configured to operate with any magnetic imaging device or general imaging device (see, e.g., the discussion above regarding imaging device 120), regardless of the device design as discussed herein (e.g., a standard MRI system, a single-sided MRI, or any other contemplated magnetic imaging device or general imaging device).

[0092] Using a robot rather than a human to guide tools for robot-assisted medical procedures can in some cases be a safer and more accurate approach, even given some limitations of currently available imaging systems. These limitations may stem from, for example, the structural design and geometric architecture of current MRI systems. For example, most (if not all) current MRI systems in patient care centers utilize a magnet configuration in which the patient typically lies within the gantry (stent) of the MRI machine during imaging. This arrangement of magnets around the patient typically greatly limits direct access to most of the patient's anatomical parts. Therefore, according to various embodiments, an MRI system (or imaging system in general) that does not restrict access to various anatomical parts of the patient can further exploit the advantages of a robot, particularly by being able to use the robot as a guiding tool in a medical procedure. Therefore, such a system can be additionally beneficial for targeting any anatomical part of the patient, particularly in robotic or robot-assisted invasive medical procedures, without the constraints or limitations, for example, caused by the restrictive geometry of the gantry.

[0093] For example, FIG. 2 As shown, according to various embodiments, a computer system 240 can be coupled to a magnetic imaging device 220 and a robotic system 260. Similar to FIG1 , the computer system 240 can be configured to analyze images acquired from the magnetic imaging device 220 in real time and identify the anatomical portion of the patient (or subject) from the acquired images. For example, during the operation of a medical procedure, the magnetic imaging device 220 is configured to acquire live (real-time) or near-live (near-real-time) images, which may also include a surgical device to be moved to the target anatomical portion of the patient for the medical procedure, such as a needle, stent, or anything attached to the end of the robotic system 260. Imaging the needle or stent provides the relative positioning of the needle or stent relative to the target portion of the patient's anatomical portion. For example, while guiding the robotic system 260 to insert the needle or stent into the FOV, the plane of the acquired image containing the needle or stent is continuously monitored rather than having to be manually determined. This provides the advantage of, for example, knowing the imaging plane containing the needle. According to various embodiments, if the quality of the acquired image is insufficient to determine the relative positioning of the needle relative to the target portion of the anatomical portion, a higher resolution image can be acquired. According to various embodiments, if the acquired images are of sufficient quality to determine the relative positioning of the needle with respect to the target portion of the anatomical portion, lower resolution images can be taken at a higher acquisition rate, which in turn provides real-time or near real-time imaging capabilities during the operation of the medical procedure. According to various embodiments, the image acquisition rate of the magnetic imaging device 220 ranges from approximately 3-10 images per second to approximately one image every five minutes, depending on the resolution. According to various embodiments, the image acquisition rate of the magnetic imaging device 220 ranges up to approximately 60 or 120 images per second.

[0094] According to various embodiments, the robotic system 260 is configured to be placed external to the magnetic imaging device 220. FIG. 2 As shown, the robotic system 260 may include a robotic arm 262 that is configured to move in 6 degrees of freedom. According to various embodiments, the robotic arm 262 includes one or more robotic arm parts (also referred to herein as one or more components), the one or more robotic arm parts including a hollow shaft 264 and an end effector 266, the hollow shaft and the end effector being connected in a configuration that allows the robotic arm 262 to move, rotate, or swivel in 6 degrees of freedom via one or more motion controllers 270. The double-headed curved arrow represents the rotational motion generated by the motion controller 270. According to various embodiments, the one or more motion controllers 270 are actuators, such as mechanical actuators, including but not limited to servo motors. According to various embodiments, the one or more motion controllers 270 are actuators, such as pneumatic actuators, spring-loaded actuators, mechanical actuators, electric motors, piezoelectric actuators, or combinations thereof.

[0095] According to various embodiments, the robotic arm 262 of the robotic system 260 is configured to access various anatomical portions of interest through or around the magnetic imaging device 220. According to various embodiments, the aperture 222 in the center of the magnetic imaging device 220 is specifically designed to provide access to the robotic arm 262 of the robotic system 260 for operating at various anatomical portions of interest of a patient during a medical procedure. According to various embodiments, the aperture 222 in the center of the magnetic imaging device 220 is designed to take into account the size of the robotic arm 262. For example, the aperture 222 defines a circumference that is configured to accommodate a robotic arm, such as the various robotic arms described herein, therethrough. According to various embodiments, the robotic arm 262 of the robotic system 260 is configured to access various anatomical portions of a patient from around one side of the magnetic imaging device 220. The magnetic imaging apparatus is further described in U.S. patent application Ser. No. 16 / 003,585, filed Jun. 8, 2018, entitled UNILATERAL MAGNETIC RESONANCE IMAGING SYSTEM WITH APERTURE FOR INTERVENTIONS AND METHODOLOGIES FOR OPERATING SAME, which is incorporated herein by reference in its entirety.

[0096] According to various embodiments, the hollow shaft 264 provides a housing for the mechanism that actuates the end effector and can contain a long screw drive, shaft, or another mechanism to provide the rapid end effector action required to collect a biopsy sample. Additionally, the hollow shaft can store multiple needles and / or sampling cores.

[0097] According to various embodiments, the end effector 266 is attached to one end of the robotic arm 262, such as FIG. 2 As shown. According to various embodiments, the end effector 266 includes a mechanism, an actuator, a housing or structure for storing or carrying one or more needles 280 and / or inserting one or more needles 280, or a housing or structure for storing, carrying and / or inserting one or more stents or brachytherapy seeds. According to various embodiments, the end effector 266 includes a mechanism for inserting a needle 280 to obtain a biopsy sample, a component or mechanism for providing ablation, or a component or mechanism for performing brachytherapy, as well as many other suitable medical procedures (also referred to herein as interventional). According to various embodiments, the needle 280 is used to extract a sample, wherein the sample can be attached to the needle 280, aspirated into the needle 280, or via any other mechanism by which the needle 280 can be used to extract the sample. According to various embodiments, the end effector 266 has minimal mechanical or pneumatic control to select the needle 280 to be inserted. According to various embodiments, the movement or displacement of the robotic arm 262 inserts or withdraws the needle 280.

[0098] According to various embodiments, the one or more robotic arm portions of the robotic arm 262 (including the hollow shaft 264 and the end effector 266) are made of non-magnetic material and do not include any electrical components, such as servo motors for motion control. In this configuration, all degrees of motion of the robotic system 260 (such as the servo motors) can be kept outside the orifice 222 on the side of the magnetic imaging device 220 facing away from the patient. This configuration allows the robotic system 260 to be safely stored away from the magnets of the magnetic imaging device 220. With this configuration, according to various embodiments, the robotic system 260 can use the one or more robotic arm portions of the robotic arm 262 to extend to reach the target part of the patient through the orifice 222. According to various embodiments, the robotic system 260 can use the one or more robotic arm portions of the robotic arm 262 to extend to reach the target part of the patient around the magnetic imaging device 220 instead of through the orifice 222. The configuration for reaching around is suitable for limb or breast biopsies, where the needle (attached to the end effector of the robotic arm 262) can be inserted from the side of the patient in an orthogonal direction. According to various embodiments, the needle is inserted into the imaging plane and the needle trajectory is calibrated to lie in the imaging plane.

[0099] According to various embodiments, needle 280 comprises any non-magnetic material, such as titanium, non-magnetic stainless steel, ceramic, etc. In some cases, needle 280 may be completely non-magnetic to reduce interference with magnetic imaging equipment.

[0100] According to various embodiments, image distortion occurs locally when using magnetic stainless steel needles, which is a common practice in some cases. If distortion occurs due to the use of magnetic needles or other magnetic surgical devices, the distortion can be eliminated through image processing. The benefit of using non-magnetic needles is that they do not cause image distortion. According to various embodiments, needle 280, such as a biopsy needle, includes an outer cylindrical sleeve 282 and an inner core 284, as shown in FIG. 2 FIG. 4. The inner sleeve has a recessed area for holding a sample of tissue. For example, during a medical procedure or intervention, the inner sleeve first cuts through tissue, with the tissue settling into the recess. In this case, the outer sleeve quickly follows and cuts the tissue, such that the tissue sample remains in the recess.

[0101] According to various embodiments, a hollow needle is used for placing stents or seeds for brachytherapy. According to various embodiments, the hollow needle includes an outer sleeve and an inner needle that pushes out the stent / seed in place.

[0102] According to various embodiments, needle 280 includes gauge sizes from 12G to 18G, including 10G, 12G, 14G, 16G, and 18G. According to various embodiments, needle 280 is sized 16G to 18G for biopsy and 10G for brachytherapy or ablation. According to various embodiments, needle 280 ranges in length between about 15 cm and 25 cm for prostate procedures.

[0103] According to various embodiments, the magnetic imaging device 220 is a low-field magnetic imaging system with a fixed geometry. During operation of such a low-field magnetic imaging system, the magnet is low-field enough that it does not interfere with the shielded robotic servo motors. However, the presence and operation of these components can interfere with the magnetic field generated by the magnetic imaging device 220 during operation. To eliminate or reduce potential interference during magnetic imaging, the robotic system 260 is configured with a robotic arm 262 that can extend via the one or more robotic arm portions, including a hollow shaft 264 that passes through the aperture 222 of the magnetic imaging device 220 and an end effector 266. In this case, during a surgical procedure, the entire robotic tool can be distal to the aperture 222 and outside of the magnetic imaging device 220. According to various embodiments, the magnetic imaging device is designed to have a cylindrical region that is aligned with the aperture 222, and this cylindrical region has a lower magnetic interference than other regions within the imaging zone. For example, the robotic tool can be positioned far enough away from the coils and in a region of the imaging zone that has the weakest magnetic, gradient, and / or RF fields. This cylindrical region can be where the robotic arm 262 extends into and operates in all respects. To further reduce or avoid potential magnetic interference from the robotic system 260, all or most of the components of the robotic arm 262 can be constructed from non-magnetic materials. According to various embodiments, the magnetic imaging device 220 remains close to the patient and away from the source of magnetic interference. For example, the motors for the robotic arm and / or the robotic tool can be positioned outside of the aperture 222. In this case, with reference to FIG. 14 , the patient is proximate to the magnetic imaging device 220, and the magnetic imaging device is between the patient and the robotic system. The distal portion of the robotic arm can pass through the magnetic imaging device 220 to the patient. According to various embodiments, active noise cancellation techniques can be used to sense the noise generated by the motors and then remove that noise from the acquired MRI signals. According to various embodiments, signal processing can be used to remove any noise generated by the motors. For example, to remove the noise generated by the motors, the MRI signals can be combined with an actively generated motor noise removal signal to produce noise-free MRI signals. Low-field magnetic imaging systems are further described in International Application No. PCT / US2020 / 018352, entitled SYSTEMS AND METHODS FOR ULTRALOW FIELD RELAXATION DISPERSION, filed February 14, 2020, now International Publication No. WO 2020 / 172673, 168233, which is incorporated by reference herein in its entirety.

[0104] FIG. 3A is a schematic diagram of an example guided robotic system graphical user interface (GUI) 300 according to various embodiments. As FIG. 3AAs shown, the GUI 300 includes a left panel 310, a middle panel 320, and a right panel 340. FIG. 3A The GUI 300 shown in the middle is for illustrative purposes and is thus a non-limiting exemplary user interface. As a non-limiting example, the GUI 300 is configured for an invasive procedure, namely a transperineal prostate biopsy with a robot.

[0105] As FIG. 3A The left panel 310 shows a plurality of buttons for robot control, as shown. According to various embodiments, the buttons are operated or activated by the operator through capacitive touch, mouse input, or joystick input. According to various embodiments, the left panel 310 includes touch screen controls for controlling the robot and for various imaging adjustments. According to various embodiments, the left panel 310 includes controls for overriding previous inputs, including certain user actions, such as but not limited to changing a previous trajectory of needle movement. According to various embodiments, the left panel 310 can include buttons for motion correction during real-time scanning of the subject.

[0106] The middle panel 320 includes a live image 320 (the term “live” is also referred to herein as “continuously captured” or “continuously acquired”) of a real-time guidance view showing a portion of a target 330 (e.g., a prostate 330), a current needle position 324, a current needle trajectory 326, and a target sample location 328 within the prostate 330. The “live” image is obtained intraoperatively during the surgical procedure and / or intervention. According to various embodiments, the middle panel 320 shows a live scan image being acquired that includes the current needle position 324, the needle trajectory 326, and the target 330 automatically identified from the scan. As the needle is advanced into the field of view shown in the live guidance view in the middle panel 320, the live image 320 continuously displays the current position of the needle, i.e., the updated current needle position 324. According to some implementations, in the background (e.g., processing behind the scenes), this view is continuously registered with the corresponding view from the pre-procedure images to compensate for motion. For example, each time a scan is taken, a new image is produced and re-registered with the corresponding view from the pre-procedure images to compensate for any movement.

[0107] As FIG. 3AAs shown, the right panel 340 includes various views of the planned scan, including, for example, a transverse view 342, a sagittal view 344, and a three-dimensional (3D) view 346. The transverse view 342 shows a slice from the planned scan containing the target 330. According to various embodiments, a virtual grid 345 is used to display evenly spaced potential needle locations, which are shown as hollow circles in the transverse view 342. The sagittal view 344 shows a sagittal image containing the target 330. According to various embodiments, a virtual grid 345 is used to display evenly spaced potential needle locations, which are shown as horizontal lines in the sagittal view 344. According to some embodiments, these lines represent potential needle trajectories due to transperineal access in the lateral direction. The 3D view 346 displays a cross-sectional view from the planning images based on the current needle position 324 and updates the graphics on the GUI (e.g., the GUI 300) as the needle is advanced distally.

[0108] FIG. 3B is a schematic diagram of a live view 350 during imaging of a guided robotic system according to various embodiments. As FIG. 3B shown, the live view 350 is in an x-y-z coordinate system, specified by a dashed cube along the x, y, and z axes. Imaging only needs to be acquired in the plane where the needle is expected to be, which is represented by an imaging plane 370 in the middle of a field of view 360. FIG. 3B According to various embodiments, the live view 350 has a built-in z gradient and one or more slabs with varying thickness can be excited within the field of view 360. Alternative embodiments can not have a built-in z-axis gradient. According to various embodiments, the x gradient and the y gradient are embedded as phase encoding for imaging in the imaging plane 370 containing the needle. The spatial localization of a point within the field of view 360 is determined by the combination of the x and y phase encoding and the transmit band corresponding to the z gradient. These slabs are different from traditional image slices and are reconstructed through the image and thus can be divided into multiple slices.

[0109] According to various embodiments, slice staggering is utilized, where the system can excite the entire field of view by multiplexing the excitation of different slabs within the field of view 360 by transmitting and receiving different bandwidths at different time intervals within the pulse sequence to completely cover the entire field of view 360. A two-dimensional cross-sectional image containing the needle can be produced quickly based on the y phase encoding only (since the z phase is built into the system). For example, slice staggering can be done in a single dimension (e.g., the needle trajectory) with high resolution and fast rate. According to various embodiments, there is virtually no acquisition and computational cost associated with obtaining thick slabs, but only the y phase encoding using the slice staggering approach is used, where sampling is only done in one dimension.

[0110] As FIG. 3BAs shown, the live view 350 is configured to display the projected needle trajectory 380 within the imaging plane 370. According to some embodiments, as FIG. 3B As shown, the needle is advanced in the positive z-direction in the xyz coordinate system. According to various embodiments, the entire volume is imaged at a lower detail, and then the area surrounding the needle trajectory 380 is imaged at finer detail during live guidance to show the precise positioning of the needle. According to various embodiments, a hybrid image containing a higher resolution portion of the image closer to the needle and a lower resolution portion of the image elsewhere in the image may be sufficient. The hybrid imaging approach can provide further improvements in imaging acquisition time, i.e., faster imaging, while maintaining sufficient detail in areas where precise positioning of the needle relative to the target 330 is required.

[0111] Additional trade-offs between image acquisition rate and the resolution of the acquired images can be achieved by using appropriate optimization techniques using hardware and / or software methods, such as compressed sensing using k-space undersampling, parallel imaging, and multi-slice image acquisition. The goal of these techniques is to speed up image acquisition at the typical expense of image signal-to-noise ratio. These techniques exploit data symmetry and data compression techniques to acquire the minimum amount of data required to reconstruct the image.

[0112] Some target anatomies, such as the prostate, present unique challenges for needle-guided interventions. For example, the prostate is surrounded by soft tissue and is susceptible to movement due to any pressure from the transrectal transducer or needle entering the prostate. For example, when the needle is inserted into the prostate, the prostate may be pushed out of the way, and upon insertion, the gland may stabilize back to its initial position or to some other position. Similarly, when the needle is withdrawn, the gland may continue to push back and change its position. This becomes particularly problematic when attempting to use a rigid reference frame for the robot, as the registration between the anatomy and the imaging may become erroneous.

[0113] According to various embodiments, using a motion correction method, motion is dynamically estimated by using image similarity measures between live images and corresponding cross-sections from the planning images. According to various embodiments, this is further enhanced by motion detection and correction in k-space itself. The correction in k-space preserves the reconstructed images free of motion artifacts, while image-based registration minimizes errors caused by motion in the robotic precise placement. For example, total patient motion and local gland deformation of the patient can be separated by using magnetic resonance visible fiducial markers and corrected separately. For example, motion can be determined by comparing frames of MRI images. The measured motion is applied to the robotic frame of reference known to the robot, and the target anatomy and the robot maintain their correspondence. For example, the measured motion is applied to update the target anatomy and the robotic frame of reference to allow the robot to move on the correct path relative to the target anatomy. Fiducial markers can also be used to determine the correspondence.

[0114] For a guided robotic procedure or intervention, the target anatomy is magnetically imaged to plan the procedure. These scans (planning scans) can include magnetic (e.g., magnetic resonance) image scans using one or more contrast types. The images can be classified manually or automatically as suspicious malignant tumors for biopsy and malignant tumor extent for image-guided therapy. According to various embodiments, the image-guided procedure can be performed immediately after the planning images are acquired (i.e., live imaging) or at a later time. According to various embodiments of the procedure to be performed later, a pre-procedure anatomy scan is performed to map the planning images into the current frame of reference. The following figures illustrate various embodiments of procedures with guided robotic procedures.

[0115] FIG. 4A 、 FIG. 4B 、 FIG. 4C 、 4D 、 FIG. 5A 、 FIG. 5B 、 FIG. 5C 、 FIG. 5D Different views (e.g., transverse and sagittal views) are shown for a virtual template-based or grid-based approach.

[0116] FIG. 4A is a schematic diagram showing a transverse view 400a of a prostate sample 430 during a planning scan according to various embodiments. FIG. 4B is a schematic diagram showing a sagittal view 400b of a prostate sample 430 according to various embodiments. As FIG. 4A and FIG. 4B shown, the planning images of the prostate sample 430 can be marked to show suspicious regions 435 (e.g., potentially malignant or confirmed malignant) in both the transverse view 400a and the sagittal view 400b. In FIG. 4A andFIG. 4B Also shown is a virtual template grid 445, which is FIG. 4A Evenly spaced hollow dots for potential needle positions are shown in the FIG. 4B According to various embodiments, the spacing of the hollow points can be varied based on the desired needle position or trajectory.

[0117] FIG. 4C is a diagram showing various embodiments based on FIG. 4A A schematic diagram of a cross-sectional view 400c of a biopsy plan of a planning scan is shown. FIG. 4D It is shown based on FIG. 4B Schematic diagram of a sagittal view 400d of a biopsy plan of a planning scan of a prostate sample 430 is shown. FIG. 4C As shown, four locations (eg, four fill points) of the grid 445 are shown at sample locations 455 where biopsy samples can be obtained from the suspicious area 435. Similarly, FIG. 4D Two straight traces of the grid 445 corresponding to sample positions 455 are shown in the sagittal view 400d, enclosing the suspicious region 435. The biopsy plan shown by the filled circle and the straight line covers the entire target suspicious region 435.

[0118] FIG. 5A and FIG. 5B A cross-sectional view 500a and a sagittal view 500b are respectively shown of a prognostic plan for determining the extent of a malignancy by placing a bounding box of a prostate sample 530 according to various embodiments. FIG. 5A and FIG. 5B As shown, a prognostic plan for a prostate sample 530 is marked to display suspicious regions 535 (e.g., potentially malignant or confirmed to be malignant) in both the cross-sectional view 500a and the sagittal view 500b. FIG. 5A and FIG. 5B Also shown is a virtual template grid 545, which is FIG. 5A Evenly spaced hollow dots for potential needle positions are shown in the FIG. 5B A straight line is shown for a potential needle trajectory. FIG. 5A and FIG. 5B The prognostic plan for the illustrated prostate sample 530 provides a bounding box shown by the sample location 555, which is FIG. 5A is shown as sixteen fill points and in FIG. 5B 535. Sample locations 555 surround suspected or known malignancies in the suspicious region 535 to determine the extent of the prognosis. This prognosis can be used to determine a disease management approach, such as active surveillance, or the type and extent of a procedure.

[0119] FIG. 5C is a schematic diagram illustrating a transverse view 500c of a low-dose brachytherapy plan for a prostate sample 560, in accordance with various embodiments. FIG. 5D is a schematic diagram illustrating a sagittal view 500d, in accordance with various embodiments. FIG. 5C and FIG. 5D The low-dose brachytherapy plan for the prostate sample 560 shown in FIG. 5C is shown as filled dots within the entire prostate sample 560, and in FIG. 5D is shown as dashed lines within the entire prostate sample 560. In accordance with various embodiments, low-dose brachytherapy can be used to treat the prostate sample 560, as shown in FIG. 5C and FIG. 5D In some other embodiments, low-dose brachytherapy can be used to treat a portion of the prostate sample 560.

[0120] FIG. 6A is a schematic diagram illustrating a transverse view 600a of a biopsy plan for a prostate sample 630 without a virtual grid, in accordance with various embodiments. FIG. 6B is a schematic diagram illustrating a sagittal view 600b of a biopsy plan for a prostate sample 630, in accordance with various embodiments. As shown in FIG. 6A and FIG. 6B The biopsy plan for the prostate sample 630 is marked to show suspicious regions 635 (e.g., that can be malignant or confirmed malignant) in both the transverse view 600a and the sagittal view 600b, as shown in FIG. 6A and FIG. 6B The biopsy plan for the prostate sample 630 shown in FIG. 6A and FIG. 6B The biopsy plan for the prostate sample 630 includes some selected sample locations 655 in the suspicious regions 635. The sample locations 655 are shown as 3 filled dots in FIG. 6A and as a filled line in FIG. 6B

[0121] In accordance with various embodiments described herein, FIG. 2 The robotic system 260 of FIG. 4A , FIG. 4B , FIG. 4C , FIG. 4D , FIG. 5A , FIG. 5B , FIG. 5C , FIG. 5D , FIG. 6A and FIG. 6D illustrate and describe any procedure or intervention. As FIG. 2 ​As shown, the robotic system 260 includes a robotic arm 262 configured to move in 6 degrees of freedom. FIG. 3A or FIG. 3B After calibration at the origin within the imaging field of view shown, the robotic arm 262 can move the needle tip to any point in the xy plane, such as FIG. 3B According to various embodiments, the robotic arm 262 can be aligned with any point in the grid pattern of the overlaid virtual template (e.g., FIG. 4A 、 FIG. 4C 、 FIG. 5A or FIG. 5C ), or any other position within the field of view in a template-free approach (e.g., as FIG. 6A According to various embodiments, by advancing the robotic arm 262 along the z direction (as shown in FIG. FIG. 3B as shown), or as FIG. 4B 、 FIG. 4D 、 FIG. 5B 、 FIG. 5D or FIG. 6B Needle insertion is performed from left to right or vice versa as shown.

[0122] As described above, according to various embodiments, the robotic arm 262 is configured to include one or more motion controllers 270 (such as actuators), or an end effector 266 located at the end of the arm that can hold one or more short needles. According to various embodiments, the actuator 270 is entirely mechanical and is triggered by a servo motor near the base of the robotic system 260. According to various embodiments, the actuator is a pneumatic actuator used to position the needle within a plane. According to various embodiments, the actuator is pneumatically controlled and the other components in the entire robotic system 260 are mechanically controlled by one or more servo motors. According to various embodiments, almost all components of the robotic system 260, including the actuator, are mechanically controlled by one or more servo motors.

[0123] According to various embodiments, the robotic arm 262 of the robotic system 260 is constrained to move along parallel lines, such as in a transperineal prostate procedure. According to various embodiments, additional degrees of freedom (in addition to the 6 degrees of freedom) include angular motion so that a needle attached to the robotic arm 262 is manipulated through the pubic arch area, such as in the case of an enlarged prostate gland. According to various embodiments, the robotic system 260 is constrained to move in order to maintain an external remote center of motion (RCM) so that the robotic system can approach the same position in the body through various trajectories. In the RCM model, the robotic mechanism moves in such a way that the tool actuated by the robotic mechanism always has a trajectory that passes through a fixed point relative to the robotic mechanism. For example, for minimally invasive single-port intervention, the RCM can remain fixed at the entry port into the body, and the robotic mechanism can enter the entry port at different angles to advance the tool to different positions in the body. According to various embodiments, the RCM center can be on the surface of the patient's body to facilitate sampling / treatment of multiple treatment positions by only one approach puncture / port.

[0124] According to various embodiments, if a biopsy plan has been determined, the operator can preload multiple needles 280 within the actuator. In this case, the biopsy plan includes starting with, for example, FIG. 4C 、 FIG. 4D 、 FIG. 5A 、 FIG. 5B 、 FIG. 6A 、 FIG. 6B All the planned positions described are used to obtain sample samples. In this embodiment, the robot arm 262 is configured to collect multiple samples at a time using multiple needles 280. In this case, the prostate sample may need to be kept in place using a transurethral tube (not shown). Tracking only one of the needles 280 may also be sufficient because the prostate moves only along the needle insertion direction and is identical for all needles inserted simultaneously. Therefore, correcting the motion of the central needle may be sufficient to correct the motion of all needles 280.

[0125] According to various embodiments, the needles 280 can be inserted one at a time. In this configuration, a predetermined sequence of needle insertion is used in conjunction with an optimized sampling protocol to minimize the impact of needle insertion on imaging of the next target location. In this embodiment, while the actuator does not hold all needles for simultaneous insertion, the actuator holds several needles in the cartridge or end effector 266 to allow for insertion and withdrawal of one needle at a time. This is done to avoid withdrawing the entire robotic arm 262 through the orifice 222.

[0126] According to various embodiments, the needle 280 has an RF coil or metamaterial attached to the needle. According to various embodiments, the RF coil or metamaterial is configured to couple to the receive coil chain of the magnetic imaging device 220. This implementation will allow wireless coupling and transmission of information to the receive coil network to be digitized by a computer. According to various embodiments, the additional RF coil or metamaterial can increase signal transduction from the tissue surrounding the needle during insertion, which in turn improves the image quality acquired during scanning by the magnetic imaging device 220.

[0127] According to various embodiments, the guided robotic system 200 for guided robotic procedures such as those described with respect to FIG. 4A 、 FIG. 4B 、 FIG. 4C 、 FIG. 4D 、 FIG. 5A 、 FIG. 5B 、 FIG. 5C 、 FIG. 5D 、 FIG. 6A and FIG. 6D includes an additional configuration that utilizes a network of nuclear magnetic resonance (NMR) analysis. According to various embodiments, the NMR analysis network on the robotic system 260 is configured to perform spectral analysis on collected biopsy samples utilizing the higher magnetic field within the bore 222. Because different tissue types are known to have different NMR spectra, the type and amount of tissue in each sample can be quickly characterized shortly after the sample is acquired. According to various embodiments, the additional NMR information from sample collection and analysis can be used for real-time feedback on tissue type, providing additional information that can be relevant to the lesion of the biopsy core.

[0128] According to various embodiments, the guided robotic system 200 for guided robotic procedures such as those described with respect to FIG. 3A 、 FIG. 7 、 FIG. 7 、 FIG. 7 、 FIG. 8 、 FIG. 8 、 FIG. 9 、 FIG. 9 、 FIG. 10 to FIG. 14 and FIG. 6D includes an additional configuration that utilizes ultrasound for guidance. According to various embodiments, the device for acquiring ultrasound waves is external to the guided robotic system 200. According to various embodiments, the device for acquiring ultrasound waves is integrated in the guided robotic system 200, for example to the robotic arm 262, close to the end effector 266. According to various embodiments, the guided robotic system 200 supplemented with ultrasound waves can improve magnetic guidance, providing faster imaging updates or for locating veins and arteries within the subject during an operation or intervention.

[0129] Additional medical procedures, operations, or interventions using magnetic imaging technology by the guided robotic system 100 or the guided robotic system 200 can include, but are not limited to, for example, transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, and transrectal HIFU.

[0130] For transrectal HIFU, according to various embodiments, the robotic system 260 is used to rotate the transrectal HIFU transducer about its axis. According to various embodiments, the operator or physician first inserts the transducer and then moves the patient in the magnetic imaging field of view. In these implementations, the robotic arm 262 is configured to access and lock into the transducer or its holder through the aperture 222 of the magnetic imaging device 220.

[0131] Additional medical procedures, operations, or interventions using magnetic imaging technology by the guided robotic system 100 or the guided robotic system 200 include breast biopsy. In breast biopsy, the procedure is similar to prostate biopsy, although the direction of insertion can be different. For example, the robotic system 260 for breast biopsy can be configured to extend using the one or more robotic arm portions of the robotic arm 262 to reach the target portion of the breast around the magnetic imaging device 220 rather than through the aperture 222. This configuration is particularly suitable for breast biopsy, where the needle 280 is inserted from the side of the breast.

[0132] Additional medical procedures, operations, or interventions using magnetic imaging technology by the guided robotic system 100 or the guided robotic system 200 include deep brain stimulation (DBS). For DBS, for example, a plan is preformed prior to the procedure or intervention to ensure that the needle trajectory does not go through any critical structures. According to various embodiments, the critical structures are pre-segmented, identified, or labeled automatically or manually. Then, during the procedure, these structures can be overlaid on the live images. During live guidance, images are acquired to ensure that the needle 280 is inserted to the exact location under direct visualization so that no critical structures are damaged or destroyed. According to various embodiments, to minimize complexity, once the entry point into the brain is selected, the RCM model can be used.

[0133] Additional medical procedures, operations, or interventions using magnetic imaging technology by the guided robotic system 100 or the guided robotic system 200 include brain biopsy. According to various embodiments, brain biopsy is performed using projected needle trajectories, for example, as described in FIG. 10As shown, the projected needle trajectory is displayed to the operator on the live guidance panel. While viewing the information on the live guidance panel of the middle panel 320, the operator can decide to start the needle insertion. According to various embodiments, the guided robotic system 200 is configured to record the target location of the brain. According to various embodiments, the operator reviews the images of the acquired target location of the brain and inputs each discovered lesion finding and their respective locations within the images.

[0134] Additional medical procedures, operations, or interventions using the guided robotic system 100 or the guided robotic system 200 with magnetic imaging technology include liver and kidney biopsies. According to various embodiments, the liver and kidney biopsies include insertion at one entry point to obtain a sample. According to various embodiments, to minimize complexity, once the entry point into the brain is selected, a remote center of motion (RCM) model can be used.

[0135] Additional medical procedures, operations, or interventions using the guided robotic system 100 or the guided robotic system 200 with magnetic imaging technology include lung biopsies. According to various embodiments, the lung biopsies include insertion of a tube through the trachea with a robotic system.

[0136] According to various embodiments described herein, the guided robotic system 100 or the guided robotic system 200 can be used for medical procedures, operations, or interventions for insertion of stents (e.g., coronary stents or brain stents). According to various embodiments described herein, the guided robotic system 100 or the guided robotic system 200 can be used for intensity modulated radiation therapy guidance.

[0137] FIG. 11 is a flowchart of an exemplary method S200 of using the guided robotic system 200 according to various embodiments. As shown, the method S200 includes acquiring magnetic resonance images of a subject at step S210. According to various embodiments, acquiring images of the subject includes acquiring one or more target anatomical portions of the subject or patient. According to various embodiments, the magnetic resonance images are acquired from a magnetic resonance imaging device, such as the magnetic imaging device 200 or an external source. According to various embodiments, the magnetic resonance images are acquired from an external source, such as a physician, a patient, a user, or an operator. FIG. 10 As shown, the method S200 includes acquiring magnetic resonance images of a subject at step S210. According to various embodiments, acquiring images of the subject includes acquiring one or more target anatomical portions of the subject or patient. According to various embodiments, the magnetic resonance images are acquired from a magnetic resonance imaging device, such as the magnetic imaging device 200 or an external source. According to various embodiments, the magnetic resonance images are acquired from an external source, such as a physician, a patient, a user, or an operator.

[0138] FIG. 11 ​As shown, the method S200 includes performing image analysis of the live magnetic resonance images at step S220 to continuously identify the target portion of the subject. According to various embodiments, the acquired magnetic resonance images are automatically uploaded to a computer system, such as the computer system 240, for analysis via one or more processes including, but not limited to, artificial intelligence (AI), machine learning, image or signal denoising, segmentation algorithms, object and boundary identification, image registration, adaptive intensity correction, and pattern recognition, among others. According to various embodiments, the acquired magnetic resonance images are manually analyzed by a physician or operator and input into a computer system, such as the computer system 240, for automatic identification of the portion of the subject from the analyzed images.

[0139] At step S230, the method S200 includes automatically guiding a robotic arm, such as the robotic arm 262, to the identified target portion of the subject based on the live magnetic resonance images (via automatic guidance). According to various embodiments, the automatic guidance includes guiding the robotic arm in real-time or near real-time based on the analysis of the continuously acquired magnetic resonance images of the target portion of the subject. According to various embodiments, the automatic guidance includes self-correction via the image analysis. According to various embodiments, the automatic guidance includes occasional intervention by a physician or operator to correct the trajectory of the robotic arm based on the acquired magnetic resonance images. According to various embodiments, the automatic guidance includes occasional intervention by a physician or operator to change the trajectory of the robotic arm based on the acquired magnetic resonance images in order to perform an alternative or additional medical procedure.

[0140] According to various embodiments of the method S200, the robotic arm is configured for movement in 6 degrees of freedom, such as the robotic arm 262. According to various embodiments, the robotic arm includes one or more robotic arm portions connected in a configuration that allows the robotic arm to move, rotate, or swivel in 6 degrees of freedom. According to various embodiments, the robotic arm is configured for access to various anatomical portions of the subject.

[0141] According to various embodiments of the method S200, critical structures are not damaged during insertion of the needle by the robotic arm 262. For example, according to various embodiments of prostate biopsy, the guided robotic system 200 is configured such that the needle attached to the robotic arm 262 that is inserted into the target portion of the subject avoids passing through the urethra or into the bladder. According to various embodiments of brachytherapy, the needle does not penetrate the prostate into the bladder and does not ablate the rectum or bladder.

[0142] According to various embodiments of method S200, the acquired live magnetic resonance image is displayed within a graphical user interface (GUI) that includes function buttons for controlling the procedure. According to various embodiments, the acquired live magnetic resonance image includes a high-resolution image portion near the needle inserted during the procedure and a lower-resolution image portion away from the needle. According to various embodiments, method S200 also includes correcting the acquired live magnetic resonance image for motion during execution of the procedure. According to various embodiments, method S200 also includes correcting the acquired live magnetic resonance image for motion during insertion of the needle. According to various embodiments, method S200 also includes overriding an existing motion to manually correct for motion. According to various embodiments, method S200 also includes manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input. According to various embodiments, method S200 also includes performing automatic segmentation to capture the position of the needle after extracting the sample, withdrawing the needle, and advancing the needle to the next target location.

[0143] At step S240, method S200 includes performing a procedure at a target portion of the subject. According to various embodiments, method S200 includes performing a suitable medical procedure, including, for example, but not limited to, transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary artery stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance, etc. According to various embodiments, performing the procedure includes extracting a sample, such as for a biopsy.

[0144] FIG. 12 is a flow chart of an exemplary method S300 of using the guided robotic system 200 according to various embodiments. FIG. 13 As shown, method S300 includes continuously acquiring magnetic resonance images of a subject at step S310. According to various embodiments, acquiring images of the subject includes acquiring one or more target anatomical portions of the subject or patient. According to various embodiments, the magnetic resonance images are acquired from a magnetic resonance imaging device (such as magnetic imaging device 100 or 200 or an external source). According to various embodiments, the magnetic resonance images are acquired from an external source such as a physician, patient, user, or operator.

[0145] At step S320, the method S300 includes continuously identifying a target portion of the subject in the magnetic resonance images. According to various embodiments, prior to identifying the target portion, the acquired magnetic resonance images are automatically uploaded to a computer system, such as the computer system 240, for analysis via one or more processes including, but not limited to, artificial intelligence (AI). According to various embodiments, the acquired magnetic resonance images are manually analyzed by a physician or operator and input into a computer system, such as the computer system 240, for automatic identification of the portion of the subject from the analyzed images.

[0146] At step S330, the method S300 includes guiding a robotic arm, such as the robotic arm 262, toward the identified target portion of the subject, wherein the magnetic resonance images are analyzed in real-time to guide the robotic arm to the portion of the subject. According to various embodiments, the continuously acquired magnetic resonance images are analyzed in real-time or near real-time to continuously identify the target portion of the subject. According to various embodiments, the guidance of the robotic arm includes self-correction via image analysis. According to various embodiments, the guidance of the robotic arm includes occasional intervention by a physician or operator to correct the trajectory of the robotic arm based on the continuously acquired magnetic resonance images. According to various embodiments, the guidance of the robotic arm includes occasional intervention by a physician or operator to change the trajectory of the robotic arm based on the continuously acquired magnetic resonance images to perform an alternative or additional medical procedure.

[0147] At step S340, the method S300 includes inserting a needle into the target portion of the subject and extracting a sample. During insertion, critical structures are not damaged during insertion of the needle by the robotic arm 262. For example, according to various embodiments of prostate biopsies, the guided robotic system 200 is configured such that the needle attached to the robotic arm 262 that is inserted into the target portion of the subject avoids passing through the urethra or into the bladder. According to various embodiments of brachytherapy, the needle does not penetrate the prostate into the bladder and does not ablate the rectum or bladder.

[0148] According to various embodiments of method S300, continuously acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes function buttons for controlling the needle during insertion. According to various embodiments, the continuously acquired live magnetic resonance images include a high-resolution image portion near the needle and a lower-resolution image portion away from the needle. According to various embodiments, method S300 further includes automatically correcting the continuously acquired live magnetic resonance images to compensate for motion blur during needle insertion. According to various embodiments, method S300 further includes automatically correcting the needle trajectory during insertion based on the corrected acquired live magnetic resonance images. According to various embodiments, method S300 further includes manually correcting for motion blur by overriding an existing guidance trajectory. According to various embodiments, method S300 further includes manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input. According to various embodiments, method S300 further includes performing automatic segmentation to capture the needle's position after extracting the sample, withdrawing the needle, and advancing the needle to the next target location. According to various embodiments, directing the needle attached to the robotic arm toward the identified target portion of the subject includes directing through an aperture located at a center of a magnetic imaging device configured for continuously acquiring magnetic resonance images.

[0149] According to various embodiments of step S340, the extracted samples are used for analysis in medical procedures such as, but not limited to, transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance, etc.

[0150] FIG. 12 is a flow chart of an exemplary method S400 of using the guided robotic system 200 according to various embodiments. FIG. 13 As shown, method S400 includes acquiring a live magnetic resonance image of a subject at step S410. According to various embodiments, acquiring a live magnetic resonance image of the subject includes acquiring one or more target anatomical portions of the subject or patient. According to various embodiments, the live magnetic resonance image is acquired from a magnetic resonance imaging device (such as magnetic imaging device 100 or 200).

[0151] At step S420, the method S400 includes continuously identifying a target portion of the subject in the live magnetic resonance images. According to various embodiments, prior to identifying the target portion, the acquired live magnetic resonance images are automatically uploaded to a computer system (such as the computer system 240) for analysis via one or more processes including, but not limited to, artificial intelligence (AI). According to various embodiments, the acquired live magnetic resonance images are manually analyzed by a physician or operator and inputted into a computer system (such as the computer system 240) for automatic identification of the portion of the subject from the analyzed images.

[0152] At step S430, the method S300 includes directing the end effector attached to the robotic arm toward the identified target portion of the subject. According to various embodiments, the end effector is configured to carry a plurality of needles.

[0153] At step S440, the method S300 includes inserting the plurality of needles one at a time or sequentially at the target portion of the subject and extracting a plurality of samples from the target portion of the subject. According to various embodiments of step S440, critical structures of the subject are not damaged during insertion of the needles by the robotic arm 262. For example, according to various embodiments of prostate biopsy, the directed robotic system 200 is configured such that the needles attached to the robotic arm 262 that are inserted into the target portion of the subject avoid passing through the urethra or into the bladder. According to various embodiments of brachytherapy, the needles do not penetrate the prostate into the bladder and do not ablate the rectum or bladder.

[0154] According to various embodiments of the method S400, the acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes functional buttons for controlling during insertion of the plurality of needles. According to various embodiments, the acquired live magnetic resonance images include a high resolution image portion in the vicinity of the inserted needles and a lower resolution image portion away from the inserted needles. According to various embodiments, the method S400 further includes automatically correcting the acquired live magnetic resonance images to compensate for motion blur during insertion of the plurality of needles. According to various embodiments, the method S400 further includes automatically correcting the trajectory of the inserted needles based on the corrected acquired live magnetic resonance images during insertion. According to various embodiments, the method S400 further includes overriding the existing guided trajectory for manual correction for motion blur. According to various embodiments, the method S400 further includes manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input. According to various embodiments, the method S400 further includes performing automatic segmentation to capture the location of the inserted needles after extraction of the samples, withdrawing the inserted needles, and inserting another needle at a next location. According to various embodiments, guiding the end effector attached to the robotic arm towards the identified target portion of the subject includes guiding through an orifice located at the center of a single-sided magnetic imaging device configured for continuous acquisition of magnetic resonance images.

[0155] According to various embodiments of the step S440, the plurality of extracted samples are used for analysis in one or more medical procedures, such as but not limited to transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance, etc.

[0156] FIG. 10 A magnetic resonance imaging system 700 is depicted. As FIG. 12 and FIG. 13 shown, the magnetic resonance imaging system 700 includes a housing 720. The housing 720 includes a front surface 725. According to various embodiments, the front surface 725 can be a concave front surface. According to various embodiments, the front surface 725 can be a recessed front surface.

[0157] As FIG. 10 and FIG. 14 shown, the housing 720 includes a permanent magnet 730, a radio frequency transmit coil 740, a gradient coil set 750, an electromagnet 760, and a radio frequency receive coil 770. As FIG. 14 and ​As shown, permanent magnets 730 can include a plurality of magnets arranged in an array configuration. The plurality of magnets forming permanent magnets 730 are shown covering the entire surface, as ​ shown in a front elevation view, and are shown as bars in the horizontal direction, as ​ shown in a side elevation view. Referring primarily to ​ , the main permanent magnet array can include at least one access aperture 735 for accessing the patient from multiple sides of the system.

[0158] According to various embodiments, permanent magnets 730 provide a static magnetic field in region of interest 790. According to various embodiments, permanent magnets 730 can include a plurality of cylindrical permanent magnets in a parallel configuration as shown in ​ and ​ According to various embodiments, permanent magnets 730 can include any suitable magnetic material, including but not limited to rare earth based magnetic materials, such as neodymium based magnetic materials, and the like. As shown in ​ , the main permanent magnets can include at least one access aperture 735 for accessing the patient from opposite sides of the system through the main body of the magnetic imaging system 700.

[0159] According to various embodiments, using the magnetic resonance imaging system shown in ​ , the patient can be positioned in any number of different positions depending on the type of anatomical scan desired. ​ An example position is shown when scanning the abdominal region. The patient can lie on a surface in a lateral decubitus position. As shown, for an abdominal scan, the patient can be positioned to face the aperture positioned to lie on their side with the arm closest to the operating table straight out and the other arm at the side of the body. The abdominal region can be positioned such that it is directly in front of the aperture. The robotic system can be placed on the other side of the magnetic resonance imaging system such that the robotic system is distal to the patient. The robotic arm of the robotic system can pass through an access aperture in the magnetic resonance imaging system to perform a procedure on the patient. In this example setup, the robotic system is first, then the magnetic resonance imaging system, and finally the patient. This example setup keeps the patient close to the magnetic resonance imaging system and only allows the arms of the robotic system to pass through the access aperture to the patient, which keeps the motors of the robotic system distal to the magnetic resonance imaging system, thereby reducing interference with the magnetic resonance imaging. In other cases, the arms of the robotic system can reach around the sides of the magnetic resonance imaging system to reach the patient. In both cases, the magnetic resonance imaging system is in between the patient and the proximal portion of the robotic arm.

[0160] Embodiments

[0161] Example 1 - A guided robotic system comprising: a magnetic imaging device for continuously acquiring magnetic resonance images of a subject; a robotic arm; and a computer system for analyzing the magnetic resonance images and identifying a portion of the subject, wherein the magnetic resonance images are analyzed in real-time to guide the robotic arm to the portion of the subject.

[0162] Example 2 - The system of example 1, wherein the robotic arm is attached to a component configured for drug delivery.

[0163] Example 3 - The system of any of examples 1 and 2, wherein the robotic arm is configured for inserting a needle into the portion of the subject to extract a sample.

[0164] Example 4 - The system of any of examples 1, 2, and 3, wherein the robotic arm is configured for placing a stent into the portion of the subject.

[0165] Example 5 - The system of any of examples 1, 2, 3, and 4, wherein the robotic arm is attached to a needle configured for removing a sample from the portion of the subject.

[0166] Example 6 - The system of any of examples 1, 2, 3, 4, and 5, wherein the robotic arm is configured for removing the identified portion by cutting the portion of the subject.

[0167] Example 7 - The system of any of examples 1, 2, 3, 4, 5, and 6, wherein the robotic arm is attached to an end effector that houses a plurality of needles.

[0168] Example 8 - The system of any of examples 1, 2, 3, 4, 5, 6, and 7, wherein the robotic arm is attached to an end effector configured for carrying one or more stents.

[0169] Example 9 - The system of any of examples 1, 2, 3, 4, 5, 6, 7, and 8, wherein the robotic arm is attached to an end effector configured for carrying one or more brachytherapy seeds.

[0170] Example 10 - The system of any of Examples 1, 2, 3, 4, 5, 6, 7, 8, and 9, wherein the robotic arm is configured for extracting a sample for examination in a medical procedure from a list of medical procedures, the list of medical procedures including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0171] Example 11 - A method of using a guided robotic system, the method comprising: acquiring live magnetic resonance images of a subject; performing image analysis of the live magnetic resonance images to continuously identify a target portion of the subject; automatically guiding a robotic arm toward the identified target portion of the subject based on the live magnetic resonance images; and performing a procedure at the target portion of the subject.

[0172] Example 12 - The method of Example 11, wherein the acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes functional buttons for controlling the procedure.

[0173] Example 13 - The method of any of Examples 11 and 12, wherein the acquired live magnetic resonance images include a high resolution image portion proximate to a needle inserted during the procedure and a lower resolution image portion distal from the needle.

[0174] Example 14 - The method of any of Examples 11, 12, and 13, further comprising: correcting the acquired live magnetic resonance images for patient motion during performance of the procedure.

[0175] Example 15 - The method of any of Examples 11, 12, 13, and 14, further comprising: correcting the acquired live magnetic resonance images for motion artifacts during insertion of the needle.

[0176] Example 16 - The method of any of Examples 11, 12, 13, 14, and 15, further comprising: overriding existing actions for manual correction for the patient motion.

[0177] Example 17 - The method of any of Examples 11, 12, 13, 14, 15, and 16, further comprising: manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input.

[0178] Example 18 - The method of any of Examples 11, 12, 13, 14, 15, 16, and 17, further comprising: providing a needle attached to the robotic arm, performing automatic segmentation to capture a position of the needle; withdrawing the needle; and advancing the needle to a next target position.

[0179] Example 19 - The method of any of Examples 11, 12, 13, 14, 15, 16, 17, and 18, wherein the procedure comprises one medical procedure from a list of medical procedures comprising transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0180] Example 20 - A method of using a guided robotic system, the method comprising: continuously acquiring magnetic resonance images of a subject; continuously identifying a target portion of the subject in the magnetic resonance images; guiding a needle attached to a robotic arm toward an identified target portion of the subject, wherein the magnetic resonance images are analyzed in real-time to guide the needle to the target portion of the subject; and inserting the needle into the target portion of the subject and extracting a sample.

[0181] Example 21 - The method of Example 20, wherein the continuously acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes functional buttons for controlling during insertion of the needle.

[0182] Example 22 - The method of any of Examples 20 and 21, wherein the continuously acquired live magnetic resonance images include a high resolution image portion near the needle and a lower resolution image portion away from the needle.

[0183] Example 23 - The method of any of Examples 20, 21, and 22, further comprising: automatically correcting the continuously acquired live magnetic resonance images to compensate for motion blur during insertion of the needle.

[0184] Example 24 - The method of Example 23, further comprising: automatically correcting a trajectory of the needle based on the corrected acquired live magnetic resonance images during the insertion.

[0185] Example 25 - The method of Example 23, further comprising: overriding an existing guidance trajectory for manual correction for the motion blur.

[0186] Example 26 - The method of any of Examples 20, 21, 22, 23, 24, and 25, further comprising manually advancing the robotic arm by using touch input, mouse input, or joystick input to control the GUI.

[0187] Example 27 - The method of any of Examples 20, 21, 22, 23, 24, 25, and 26, further comprising performing automatic segmentation to capture a position of the needle; extracting the needle; and advancing the needle to a next target position.

[0188] Example 28 - The method of any of Examples 20, 21, 22, 23, 24, 25, 26, and 27, wherein the extracted sample is examined in a medical procedure from a list including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0189] Example 29 - The method of any of Examples 20, 21, 22, 23, 24, 25, 26, 27, and 28, wherein the guidance further comprises guiding the needle through an orifice located at a center of a magnetic imaging device configured for continuous acquisition of magnetic resonance images.

[0190] Example 30 - A method of using a guided system, the method comprising: acquiring live magnetic resonance images of a subject; continuously identifying a target portion of the subject in the live magnetic resonance images; guiding an end effector attached to a robotic arm toward the identified target portion of the subject, the end effector carrying a plurality of needles; and inserting the plurality of needles one at a time at the target portion of the subject and extracting a plurality of samples from the target portion of the subject.

[0191] Example 31 - The method of Example 30, wherein the acquired live magnetic resonance images are displayed within a graphical user interface (GUI) that includes functional buttons for controlling during insertion of the plurality of needles.

[0192] Example 32 - The method of any of Examples 30 and 31, wherein the acquired live magnetic resonance images include a high resolution image portion near the inserted needle and a lower resolution image portion away from the inserted needle.

[0193] Example 33 - The method of any of Examples 30, 31, and 32, further comprising automatically correcting the acquired live magnetic resonance images to compensate for motion blur during the multiple needle insertions.

[0194] Example 34 - The method of Example 33, further comprising automatically correcting a trajectory of the inserted needle based on the corrected acquired live magnetic resonance images during the insertion.

[0195] Example 35 - The method of any of Examples 30, 31, 32, 33, and 34, further comprising overriding an existing guidance trajectory for manual correction for the motion blur.

[0196] Example 36 - The method of any of Examples 30, 31, 32, 33, 34, and 35, further comprising manually advancing the robotic arm by controlling the GUI using touch input, mouse input, or joystick input.

[0197] Example 37 - The method of any of Examples 30, 31, 32, 33, 34, 35, and 36, further comprising performing automatic segmentation to capture a location of the inserted needle; extracting the inserted needle; and inserting another needle at a next location.

[0198] Example 38 - The method of any of Examples 30, 31, 32, 33, 34, 35, 36, and 37, wherein the extracted sample is examined in one or more medical procedures from a list including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0199] Example 39 - The method of any of Examples 30, 31, 32, 33, 34, 35, 36, 37, and 38, wherein guiding the end effector attached to the robotic arm toward the identified target portion of the subject comprises guiding through an orifice located at a center of a single-sided magnetic imaging device configured for continuous acquisition of magnetic resonance images.

[0200] Example 40 - A guided robotic system comprising: an imaging device for real-time imaging of a subject; a computer system for real-time analysis of images; and a robotic system comprising a robotic arm, wherein the robotic system is configured to guide the robotic arm during a surgical procedure based on real-time analysis of the images, and wherein the robotic arm comprises: a proximal end; and a distal end configured to hold a robotic surgical tool, wherein the imaging device is positioned intermediate the proximal end of the robotic arm and the subject during the surgical procedure.

[0201] Example 41 - The system of Example 40, wherein the distal end of the robotic arm is attached to a component configured for drug delivery.

[0202] Example 42 - The system of any of Examples 40 and 41, wherein the distal end of the robotic arm is configured for insertion of a needle into the subject to extract a sample.

[0203] Example 43 - The system of any of Examples 40, 41, and 42, wherein the robotic arm is configured for placement of a stent into the subject.

[0204] Example 44 - The system of any of Examples 40, 41, 42, and 43, wherein the robotic arm is attached to a needle configured for removal of a sample from the subject.

[0205] Example 45 - The system of any of Examples 40, 41, 42, 43, and 44, wherein the robotic arm is attached to an ablation tool.

[0206] Example 46 - The system of any of Examples 40, 41, 42, 43, 44, and 45, wherein the distal end of the robotic arm is attached to an end effector housing a plurality of needles.

[0207] Example 47 - The system of any of Examples 40, 41, 42, 43, 44, 45, and 46, wherein the distal end of the robotic arm is attached to an end effector configured for carrying one or more stents.

[0208] Example 48 - The system of any of Examples 40, 41, 42, 43, 44, 45, 46, and 47, wherein the distal end of the robotic arm is attached to an end effector configured for carrying one or more brachytherapy seeds.

[0209] Example 49 - The system of any of Examples 40, 41, 42, 43, 44, 45, 46, 47, and 48, wherein the robotic arm is configured for extracting a sample for examination in a medical procedure from a list of medical procedures, the list of medical procedures including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

[0210] Example 50 - The system of any of Examples 40, 41, 42, 43, 44, 45, 46, 47, 48, and 49, wherein the robotic arm is configured to extend through an aperture in the imaging device to position the distal end of the robotic arm in proximity to the subject.

[0211] Example 51 - The system of any of Examples 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, and 50, wherein the robotic arm includes a motor, and wherein the imaging device includes an active noise reduction module configured to: detect noise generated by the motor; and remove the detected noise from acquired signals.

[0212] Example 52 - The system of any of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, and 51, wherein the imaging device is a single-sided magnetic resonance imaging device having an aperture in its center.

[0213] While several forms have been illustrated and described, it is not the intention to limit or restrict the scope of the appended claims to such detail. Numerous modifications, variations, changes, substitutions, combinations, and equivalents will occur to those skilled in the art in light of the foregoing description. Further, each of the elements of the described forms can optionally be described as means to provide the function performed by the element. Moreover, where certain materials are described as being used, other materials can be used. It is therefore contemplated to cover in the appended claims all such modifications, combinations, and variations as falling within the scope of the disclosed forms. The appended claims are intended to cover all such modifications, changes, alterations, substitutions, modifications, and equivalents.

[0214] The foregoing detailed description has set forth various forms of apparatus and / or process that can be contemplated. As will be recognized by those skilled in the art, the presently disclosed forms can be implemented in an embodiment without one or more of the specific details disclosed herein. In other instances, well-known methods, procedures, components and networks have not been described in detail so as not to unnecessarily obscure aspects of the application. The foregoing detailed description has set forth various forms of the aspects that can be contemplated. It is to be understood that not necessarily all such forms will be practiced. By their nature, the recited embodiments are not equally applicable to all forms of the aspects. Consequently, specific embodiments can be directed to various alternatives in the practice of the aspects. Although each of the aspects has been described and illustrated, the embodiments presented herein are not intended to be exhaustive or limited to the precise form disclosed. The described embodiments were chosen and described and are fully to be understood by others skilled in the art for the best explanation of the principles and practical application of the aspects as claimed. It is intended that the claims encompass all technological equivalents that fall within the scope of the aspects. It should be understood that any factual statements set forth herein are to be understood as examples that are used to represent the generic class from which the factual statements were taken, and are not to be construed as limiting the generic class to the specific facts presented. The terms and expressions used herein have their ordinary meaning.

[0215] Instructions used to program logic to perform various disclosed aspects can be stored within a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory, or other storage. Furthermore, instructions can be distributed over network coupled computer systems so that the instructions are stored and executed in a distributed fashion. Hence, a machine readable medium can also be a transmission medium that carries digital or analog signals designed to carry information, such as is modulated onto a carrier wave using a variety of technologies. Examples of a machine-readable medium include a transitory or non-transitory computer readable medium that is tangible or a storage medium. Therefore, a storage medium can include any medium, which is deemed capable of storing or carrying instructions for execution by a machine (e.g., a computer) so as to transform the machine into an instance of the apparatus that operates according to the instructions contained in the storage medium. Examples of a storage medium include memories such as dynamic random access memory (DRAM), static random access memory (SRAM), erasable programmable read only memories (EPROM), electrically erasable programmable read only memories (EEPROM), flash memories, compact discs (CDs), digital versatile discs (DVDs), optical storage, magnetic storage, caches, and any variation thereof.

[0216] As used in any aspect herein, the term “control circuitry” can refer to, be implemented by, or otherwise be comprised of, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more individual instruction processing cores, a processing unit, a processor, a microcontroller, a microcontroller unit, a controller, a digital signal processor (DSP), a programmable logic device (PLD), a programmable logic array (PLA), or a field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof. The control circuitry can be collectively or individually embodied as circuitry that forms part of a larger system, such as an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on chipset (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smart phone, and the like. Accordingly, as used herein “control circuitry” includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit (ASIC), electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program that at least partially carries out processes and / or devices described herein, or a microprocessor configured by a computer program to perform processes and / or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and / or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment). Those skilled in the art will recognize how best to implement the subject matter described herein, given the

[0217] As used in any aspect herein, the term “logic” can refer to an application program, software, firmware, and / or circuitry configured to perform any of the aforementioned operations. Software can be embodied as a software package, code, instructions, instruction sets, and / or data recorded on non-transitory computer readable storage medium. Firmware can be embodied as code, instructions or instruction sets hard-coded (e.g., non-volatile) in memory devices, and / or data.

[0218] As used in any aspect herein, the terms “component,” “system,” “module” and the like can refer to a computer-related entity, either hardware, a combination of hardware and software, software, or software in execution.

[0219] As used in any aspect herein, an "algorithm" refers to a self-consistent sequence of steps leading to a desired result, where a "step" refers to a manipulation of physical quantities and / or logic states, which can take the form of electrical or magnetic signals, although not necessarily. These signals can be referred to as bits, values, elements, symbols, characters, terms, numbers, or the like. Often, these quantities take the form of electrical, magnetic, or optical signals capable of being stored, transferred, combined, compared, and otherwise manipulated, although not necessarily. It is convenient to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like.

[0220] The network can comprise a packet-switched network. The communication devices can be capable of communicating with each other using a selected packet-switched network communication protocol. One exemplary communication protocol can comprise an Ethernet communication protocol, which can enable communication using the Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol can conform to or be compatible with the Ethernet standard entitled "IEEE 802.3 Standard," published by the Institute of Electrical and Electronics Engineers (IEEE) in December 2008, and / or subsequent versions of this standard. Alternatively or additionally, the communication devices can be capable of communicating with each other using an X.25 communication protocol. The X.25 communication protocol can conform to or be compatible with standards promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices can be capable of communicating with each other using a Frame Relay communication protocol. The Frame Relay communication protocol can conform to or be compatible with standards promulgated by the Consultative Committee International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers can be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol can conform to or be compatible with the ATM standard entitled "ATM-MPLS Network Interworking 2.0," published by the ATM Forum in August 2001, and / or subsequent versions of this standard. Of course, different and / or later-developed connection-oriented network communication protocols are equally contemplated herein.

[0221] Unless specifically stated otherwise, as apparent from the preceding disclosure, it is appreciated that, throughout the preceding disclosure, discussions using terms such as "processing," "computing," "calculating," "determining," "displaying," or the like, can refer to the action and processes of a computer system or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.

[0222] One or more components can be referred to herein as being“configured to,”“configurable to,”“operable / operable to,”“adapted / adaptable to,”“capable of,”“suitable / suitable for” and the like. Those skilled in the art will recognize that“configured to” can include active- state components and / or inactive-state components and / or pending-state components unless context clearly dictates otherwise.

[0223] The terms“proximal” and“distal” refer herein to the handle portion or housing of the surgical instrument that is manipulated by the clinician. The term“proximal” refers to the portion closest to the clinician and / or robotic arm, and the term“distal” refers to the portion farthest from the clinician and / or robotic arm. It will also be understood that, for convenience and clarity, spatial terms such as“vertical,”“horizontal,”“up,” and“down” can be used herein with respect to the drawings. However, robotic surgical tools are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0224] Those skilled in the art will recognize that, in general, the terminology used herein, especially in the appended claims (e.g., in the body of the appended claims), is intended to be in the nature of “open” terminology (e.g., the term“including” should be interpreted as“including but not limited to,” the term“having” should be interpreted as“having at least,” the term“includes” should be interpreted as“includes, but is not limited to,” and the like). Those skilled in the art will further understand that, if a specific number of claim recitations is intended, such intent will be expressly recited in the claims, and if no such recitation is present, no such intent is present. For example, to facilitate understanding, the following appended claims can contain introductory phrases such as“at least one” and“one or more” to introduce a claim recitation. However, the use of such phrases should not be interpreted as implying that the claim recitations introduced by the indefinite articles“a” or“an” will limit any specific claim to claims containing only one such recitation, even when the same claim includes the introductory phrases“one or more” or“at least one” followed by the indefinite articles“a” or“an” (e.g.,“a” and / or“an” should generally be interpreted to mean“at least one” or“one or more”); this same interpretation applies to the use of the definite article“the” to introduce a claim recitation.

[0225] Further, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation typically should be interpreted to mean either the whole house or the half house, that is, that a specific number of an introduced claims recitation can mean either the whole recitation or the half of it, that is, that a specific number of an introduced claim recitation can mean either the whole recitation or the half of it. Further, in those instances where a convention analogous to "at least one of A and B" is used, in general, that convention is intended to mean A alone, B alone, or A and B together. In other instances, such a convention is intended to mean A alone or B alone, but not both together. In other words, these this convention is used in a like manner to "one of A or B." Additionally, those skilled in the art will recognize that where this convention is used in the claims, such a provision would apply to the corresponding claim element of a dependent claim. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in the transitional phrase "comprising a." For example, the phrase "comprising a" followed by a listing of elements does not imply that any or all of the listed elements are necessarily present. Similarly, the term "comprising" is used in the detailed description and the claims to mean that the described feature is included in at least one embodiment of the application, but not necessarily in all embodiments of the application. Further, the term "exemplary" is used in the sense(s) of serving as an example or illustration.

[0226] With respect to the appended claims, those skilled in the art will appreciate that one or more of the included operations can be performed in different orders and / or concurrently. Additionally, although various operational flow diagrams are presented in a sequence(s), it should be understood that various additional, alternative, or fewer operations can be performed in one or more of the flows, and in parallel, depending on the context. For example, an example of an alternative ordering can include overlapping, interleaving, interrupting, rearranging, incrementing, preparing, supplementing, simultaneous, reversing, or other differing sequencing, unless context dictates otherwise. Additionally, terms such as "in response to," "in relation to" or other past tense verbs are generally not intended to exclude such variance, unless context dictates otherwise.

[0227] Notably, any reference to "one aspect," "an aspect," "one example," "an example," etc. means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect. Thus, appearances of the phrases "in one aspect," "in an aspect," "in one example," and "in an example" in various places in the specification are not necessarily all referring to the same aspect. Further, the particular features, structures, or characteristics can be combined in any suitable manner in one or more aspects.

[0228] Any patent application, patent, non-patent publication, or other disclosure material cited in this specification or the list of cited applications as filed is incorporated by reference herein, to the extent not inconsistent with the express teachings of this specification. Accordingly, the disclosure of any such cited application or other disclosure material is only incorporated by reference to the extent that it repeats and describes matters provided in this specification. To the extent any cited application or other disclosure material conflicts with the present disclosure, it is hereby incorporated by reference to the extent necessary to resolve such conflict.

[0229] In closing, many of the advantages of the concepts described herein have been described. For the purposes of illustration and description, one or more forms have been set forth. It is not intended to be exhaustive or to limit the precise form disclosed. Modifications or variations are possible in light of the above teachings. The one or more forms were chosen and described in order to illustrate the principles and practical application, thereby enabling one of ordinary skill in the art to utilize the various forms with various modifications as are suited to the particular use contemplated. Claims appended hereto are intended to define the overall scope of the disclosure.

Claims

1. A guided robotic system, comprising: a magnetic imaging device for continuously acquiring magnetic resonance images of a subject; a robotic arm; and a computer system for analyzing the magnetic resonance images and identifying a portion of the subject, wherein the magnetic resonance images are analyzed in real-time to guide the robotic arm to the portion of the subject, wherein the magnetic imaging device is positioned intermediate a proximal end of the robotic arm and the subject during a surgical procedure, and wherein the robotic arm is configured to extend from the proximal end of the robotic arm and through an aperture in the magnetic imaging device to position a distal end of the robotic arm outside the aperture and in proximity to the subject.

2. The system of claim 1, wherein the robotic arm is attached to a component configured for drug delivery.

3. The system of claim 1, wherein the robotic arm is configured for insertion of a needle into the portion of the subject to extract a sample.

4. The system of claim 1, wherein the robotic arm is configured for placement of a stent into the portion of the subject.

5. The system of claim 1, wherein the robotic arm is attached to a needle configured for removal of a sample from the portion of the subject.

6. The system of claim 1, wherein the robotic arm is configured for removal of the identified portion by cutting the portion of the subject.

7. The system of claim 1, wherein the robotic arm is attached to an end effector housing a plurality of needles.

8. The system of claim 1, wherein the robotic arm is attached to an end effector configured for carrying one or more stents.

9. The system of claim 1, wherein the robotic arm is attached to an end effector configured for carrying one or more brachytherapy seeds.

10. The system of claim 1, wherein the robotic arm is configured for extracting a sample for examination in a medical procedure from a list of medical procedures, the list of medical procedures including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

11. A guided robotic system, comprising: an imaging device for real-time imaging of a subject; a computer system for real-time analysis of the images; and a robotic system comprising a robotic arm, wherein the robotic system is configured to guide the robotic arm during a surgical procedure based on the real-time analysis of the images, and wherein the robotic arm comprises: a proximal end; and a distal end configured to hold a robotic surgical tool. ​ ​ wherein the imaging device is positioned intermediate the proximal end of the robotic arm and the subject during the surgical procedure, and wherein the robotic arm is configured to extend from the proximal end of the robotic arm and through an aperture in the imaging device to position the distal end of the robotic arm outside the aperture and in proximity to the subject.

12. The system of claim 11, wherein the distal end of the robotic arm is attached to a component configured for drug delivery.

13. The system of claim 11, wherein the distal end of the robotic arm is configured for insertion of a needle into the subject to extract a sample.

14. The system of claim 11, wherein the robotic arm is configured for placement of a stent into the subject.

15. The system of claim 11, wherein the robotic arm is attached to a needle configured for removal of a sample from the subject.

16. The system of claim 11, wherein the robotic arm is attached to an ablation tool.

17. The system of claim 11, wherein the distal end of the robotic arm is attached to an end effector that houses a plurality of needles.

18. The system of claim 11, wherein the distal end of the robotic arm is attached to an end effector configured for carrying one or more stents.

19. The system of claim 11, wherein the distal end of the robotic arm is attached to an end effector configured for carrying one or more seeds for brachytherapy.

20. The system of claim 11, wherein the robotic arm is configured for extracting a sample for examination in a medical procedure from a list of medical procedures, the list of medical procedures including transperineal biopsy, transperineal LDR brachytherapy, transperineal HDR brachytherapy, transperineal laser ablation, transperineal cryoablation, transrectal HIFU, breast biopsy, deep brain stimulation (DBS), brain biopsy, liver biopsy, kidney biopsy, lung biopsy, coronary stent insertion, brain stent insertion, and intensity modulated radiation therapy guidance.

21. The system of claim 11, wherein the robotic arm includes a motor, and wherein the imaging device includes an active noise reduction module configured to: detect noise generated by the motor; and remove the detected noise from the acquired signal.

22. The system of claim 11, wherein the imaging device is a unilateral magnetic resonance imaging device.

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