Apparatus and method for image-guided robotic surgical intervention

Abstract

The present invention comprises a unique piezoelectric element that can be configured and controlled to provide motion in any direction. It includes a plurality of rotor motors that can be combined around one or more concentric tubes or axes. The plurality of motors control each individual tube or axis. These motors can be used to manufacture robotic end effectors. Embodiments include an active surgical drape to which the end effector is attached, incorporating means for passing electrical signals, fluids, and mechanical parts. All of the above can function within an active scanning MRI.

Description

Technical Field

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[0001] [Priority]

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 472,106, filed on June 9, 2023; U.S. Provisional Patent Application No. 63 / 472,108, filed on June 9, 2023; and U.S. Provisional Patent Application No. 63 / 472,109, filed on June 9, 2023. The content of these provisional applications is hereby expressly incorporated herein by reference.

[0003] [Cross - References and Incorporation by Reference]

[0004] This application cross - references and incorporates herein by reference the following: U.S. Patent Application Publication US2011 / 0077504Al, U.S. Patent Application Publication US2012 / 0265051A1, U.S. Patent Application Publication US2014 / 0107659Al, U.S. Patent Application Publication US2019 / 0223972Al, U.S. Patent Application Publication US2019 / 0054275Al, U.S. Patent Application Publication US2018 / 0049826Al, U.S. Patent Application Publication US2017 / 0325906Al, and U.S. Patent Application 14 / 056,205. The content of all references cited herein is hereby expressly incorporated herein by reference.

[0005] [Government Support]

[0006] This invention was made with government support under Grant No. R01CA166379 awarded by the National Institutes of Health. The U.S. government has certain rights in this invention.

Background Art

[0007] [Background Art]

[0008] Piezoelectric drive technology, particularly such technology that can be used to generate and control the movement of robotic devices intended to operate inside or near MRI scanners in medical applications, is described. This technology can also be used in a variety of other applications, including those involving sensitivity to electromagnetic fields or electrical noise, aerospace environments, and explosive environments. [Overview of the project]

[0009] [Summary]

[0010] An omnidirectional piezoelectric motor is provided, which comprises at least two piezoelectric stacks. Each stack includes a plurality of piezoelectric crystals, each crystal having a conductive region and a non-conductive region, and the plurality of stacks are oriented such that the non-conductive regions of each stack are adjacent to each other. A controller electrically connected to each of at least three stacks provides control electrical signals to each piezoelectric stack. In one embodiment, the plurality of stacks are controlled via a waveform, which may be a sine wave or a cosine wave.

[0011] In another embodiment, multiple piezoelectric stacks are combined and controlled to allow piezoelectric electrostatics to perform a desired operation along more than one axis. The piezoelectric motor may consist of four columns, the columns of which may be covered with tips of a specification appropriate to the purpose. In yet another embodiment, the columns may be coupled and actuated in a unique manner to generate a driving force in any direction within a plane tangent to a point on the actuator tip. In this embodiment, the columns may be coupled and energized in a unique manner to generate a driving force within any contact surface in contact with the actuator tip, the driving force may act in the tangential direction of the contact and perpendicular to the normal of the contact. Furthermore, the contact surface on which the force acts may be a known geometric shape, including but not limited to a circle, sphere, cylinder, cuboid, etc.

[0012] In yet another embodiment, the piezoelectric crystals are arranged radially as stators and act on the rotor. The center of the motor is hollow, and multiple radial actuators can be arranged and controlled in coordination to generate complex motion. Multiple motors can be arranged on a single axis and function as a differential motion system. The hollow center of the motor can be designed to hold a tool or instrument.

[0013] In another embodiment, the omnidirectional piezoelectric motor comprises a first piezoelectric motor acting on a first drive shaft coupled to a first control element, and a second piezoelectric motor acting on a second drive shaft coupled to a tube concentric with the first control element, wherein the tube and the control element are capable of individually controlled operation. This may further comprise one or more additional motors, each acting on additional drive tubes, all of which may be concentric with the first control element and the concentric tube.

[0014] In the operation method of an omnidirectional motor, different piezoelectric crystals, stacks, and arrangements are energized simultaneously in a coordinated manner, facilitating coordinated and complex movements.

[0015] A system of tools and / or improvements enabling MRI-guided intervention is also provided. This system features a modular, configurable architecture that isolates the functional elements of MRI guidance technology. This includes: a) a modular controller configuration in which interchangeable card-based drivers can be swapped to operate various MRI-enabled actuators, sensors, and interface devices; b) an MRI-enabled central computing / controller system; and c) an MRI-enabled communication route via a control room patch panel for connection to a non-MRI-enabled user interface. The user interface may be a stunt-alone computer or may be directly connected to a control computer.

[0016] A module for the system may function as an MRI-compatible motor driver, taking particular care in generating drive and communication signals so as not to cause unacceptable interference to the scanner. In one embodiment, the module is for controlling a piezoelectric ceramic motor or the arrangement of piezoelectric motors. The module may operate and interface with an imaging coil in the scanner or a robot in the scanner, the imaging coil may be attached to the robot and move according to the robot's range of motion, specifically to optimally form an image based on the robot's movement. In one embodiment, the module records the position of the equipment in the imaging space. The module may be a contrast-filled fiducial that can be segmented in the imaging space. In one embodiment, the module is permanently mounted in a known geometric relationship to the coordinate system of the robot so that the robot's coordinate system can be registered in the imaging space. The robot system or base system may be mounted to at least one other structure in the scanner room, such as a bed rail, so that the fiducial can be used to track the relative position of the structure to the imaging space.

[0017] In another embodiment, the module is a user interface or display, and can serve as a replacement for a computer screen. In one embodiment, the module is a virtual reality headset, which allows the user to view representative images in three-dimensional space, utilize head tracking to optimize data availability, and minimize the required use of hands. In another embodiment, the module is an augmented reality headset, which allows the user to view additional information from the system and to see through the surrounding or forward environment. In yet another embodiment, the module is a sensing receiver for providing control system information from various devices. The sensor may provide information regarding the thermal properties of an ongoing procedure, or the sensor may be a thermistor, a thermal probe, or an MRI-based temperature reading.

[0018] A method for operating the system is provided, in which the system and modules are controlled to perform complex operations by using some or all of the subsystem components and modules in a coordinated manner. Thermal information may be used to perform closed-loop thermal control of thermal tools such as ablation probes.

[0019] In another embodiment, the physical properties of the module may be affected by the scanner's magnetic field and its changes. The module may respond to motion or vibration induced in it by integrated control, such as control of the frequency, intensity, or direction of the scanner system's magnetic field.

[0020] The module can generate heat in response to MRI magnetic field modulation.

[0021] In another embodiment, a modular end effector is attached to the robot as an arm-end tool. The module may be a replaceable end effector that can be replaced with minimal tools, and the module may be replaceable during a procedure to extend the functionality of the robot system. In one embodiment, the module is a biopsy needle, a bone drill, or another device that has or replicates the function of a standard surgical tool. In another embodiment, the module is a coaxial shield expandable across a combination of multiple physical modules to maintain an RF shield barrier. In yet another embodiment, the module consists of a conductive flexible sleeve and a fitting. The module may include components or structures useful as an MRI shield, and the MRI shield may be interfaced and extended by the application of the interface. The module may be a needle driver, the needle driver may include a hollow core piezoelectric motor, and a shaft advance mechanism may be housed within the hollow core drive unit.

[0022] In yet another embodiment, the module includes a sterile drape that includes one or more active or inactive elements and features that allow functional parts to pass through a sterilization barrier, the sterile drape including an interface and connection points having at least one conductor, actuator, sensor, or passage. This module may be disposable or a single-use application and may be designed to be discarded or reprocessed for each patient. In one aspect, the module is customized for a particular patient or procedure. An interface for an active surgical drape may be used as a common interface for interchangeable end effectors.

Brief Description of the Drawings

[0023] [Brief Description of the Drawings]

[0024] [Figure 1A] Figure 1A is a diagram of a piezoelectric crystal.

[0025] [Figure 1B] Figure 1B is a diagram showing the top and bottom of four piezoelectric crystals.

[0026] [Figure 1C] Figure 1C is a diagram showing the electrical input of the piezoelectric crystal of Figure 1B.

[0027] [Figure 1D] Figure 1D is a diagram showing four stacks of piezoelectric crystals.

[0028] [Figure 1E] Figure 1E is a diagram of a piezoelectric stack with a rotor.

[0029] [Figure 1F] Figure 1F is a diagram showing a conventional piezoelectric operation.

[0030] [Figure 1G] Figure 1G is a diagram showing an array of piezoelectric stacks with rotors.

[0031] [Figure 1H] Figure 1H is a diagram of a cylindrical piezoelectric motor.

[0032] [Figure 1I] Figure 1I is a diagram of a spherical piezoelectric motor.

[0033] [Figure 2A] Figure 2A is a diagram of a radial piezoelectric motor.

[0034] [Figure 2B] Figures 2B to 2E illustrate radial piezoelectric motors. [Figure 2C] Figures 2B to 2E illustrate radial piezoelectric motors. [Figure 2D] Figures 2B to 2E show diagrams of radial piezoelectric motors. [Figure 2E] Figures 2B to 2E show diagrams of radial piezoelectric motors.

[0035] [Figure 2F] Figure 2F is a partial cutaway view of a radial piezoelectric motor.

[0036] [Figure 2G] Figures 2G through 2J show a radial piezoelectric motor. [Figure 2H] Figures 2G through 2J show a radial piezoelectric motor. [Figure 2I] Figures 2G through 2J show a radial piezoelectric motor. [Figure 2J] Figures 2G through 2J show a radial piezoelectric motor.

[0037] [Figure 2K] Figures 2K to 2M show a tool attached to a radial piezoelectric motor. [Figure 2L] Figures 2K to 2M show a tool attached to a radial piezoelectric motor. [Figure 2M]Figures 2K to 2M show a tool attached to a radial piezoelectric motor.

[0038] [Figure 2N] Figures 2N through 2Q show a tool under the control of two radial piezoelectric motors. [Figure 2O] Figures 2N through 2Q show a tool under the control of two radial piezoelectric motors. [Figure 2P] Figures 2N through 2Q show a tool under the control of two radial piezoelectric motors. [Figure 2Q] Figures 2N through 2Q show a tool under the control of two radial piezoelectric motors.

[0039] [Figure 3A] Figure 3A shows the components of a surgical robot system.

[0040] [Figure 3B] Figure 3B shows the orientation of the components relative to the patient.

[0041] [Figure 4] Figure 4 shows the arrangement of fiducials (reference points).

[0042] [Figure 5A] Figures 5A and 5B show interchangeable effectors. [Figure 5B] Figures 5A and 5B show interchangeable effectors.

[0043] [Figure 6] Figure 6 shows a coaxial probe.

[0044] [Figure 7A] Figure 7A shows a hollow core motor that drives the shaft.

[0045] [Figure 7B]Figure 7B shows a diagram of multiple hollow core motors that drive concentric shafts and tubes.

[0046] [Figure 8A] Figure 8 shows an active surgical drape. [Figure 8B] Figure 8 shows an active surgical drape.

[0047] [Figure 9] Figures 9A to 9C are photographs of the control cable.

[0048] [Figure 10A] Figure 10A is a rendering of the control box.

[0049] [Figure 10B] Figure 10B is a photograph of the control box.

[0050] [Figure 11] Figure 11 shows the control architecture.

[0051] [Figure 12] Figure 12 is a rendering of a patient inside an MRI device to which the present invention is applied.

[0052] [Figure 13] This diagram shows a movable imaging coil. [Modes for carrying out the invention]

[0053] [Modes for carrying out the invention]

[0054] This application focuses on piezoelectric drive technology. In exemplary applications, these technologies may be used to generate and control the movement of robotic devices intended to operate inside or near MRI scanners in medical applications. These technologies may also be used in a variety of applications, including those involving sensitivity to electromagnetic fields or electrical noise. Further exemplary applications include aerospace environments and explosive environments.

[0055] The embodiments described are merely illustrative and do not preclude other configurations or approaches. While this text explicitly describes piezoelectric driving principles involving piezoelectric ceramic materials such as PZT (but not limited to PZT), the approach outlined herein is not limited to piezoelectric driving. This approach can also be applied to electroactive polymers such as PZLT (but not limited to PZLT) and photoexcitation actuators, for example. It is also applicable to pneumatic, hydraulic, and other energy transmission methods. The motion of the motion-inducing element may include harmonic or anharmonic motion, and may include standing wave motion or traveling wave motion.

[0056] [Example 1: Omnidirectional Leg Type Piezoelectric Motor]

[0057] A mechanism capable of movement in one or more directions, which may include bending, contraction, or extension, is described. Referring to Figure 1A, one embodiment of the mechanism includes a piezoelectric stack (1001, 1102) (or other material with controllable strain, such as a dielectric elastomer, an electroactive polymer, or a photostraining material) that forms at least three (four in the illustrated embodiment) member groups that are mechanically coupled. In one embodiment, the stack is a piezoelectric stack composed of a plurality of piezoelectric crystals (1000) stacked on top of each other to form a piezoelectric stack (1102). The crystals have a positive electrical input (1010) and a ground (1011), and the positive electrical input (1010) is driven by a controller 1002 to induce expansion (extension) or contraction of the stack depending on the waveform of the current to each piezoelectric ceramic unit (1000). The piezoelectric ceramic unit can be any piezoelectric ceramic, but the most widely used piezoelectric ceramic materials are lead zirconate titanate (PZT), barium titanate (BT), and strontium titanate (ST). At least two stacks are connected to a controller (1002) and can be activated individually or in combination by the controller.

[0058] A controller (1002) (which may be electric, optical, pneumatic, hydraulic, or via other energy transfer methods) excites a suitable number of stacks sequentially, together, or in other periodic manner (e.g., sinusoidal or cosine waves, but not limited to these) to induce repeatable operation of the stacks. The stacks may be terminated by, or include, components used for mechanical coupling or mediation or participation in energy transfer between the stacks (1102) and other components (referred to here as rotors (1101)). The rotors (1101) may have any geometric shape, but are most commonly spherical, cuboidal, cylindrical, rod-shaped, plate-shaped, or other shapes. Contact between the stacks (1001, 1102) and the rotors (1101), i.e., energy transfer, results in the motion of one or both components. The elements of the stack may include one or more material layers (1005) that can be plated or used for energy coupling between the controller and the components of the stack. The present invention does not exclude the possibility of combining two or more of the stacks into a single device (1201). The multiple stacks may or may not be on the same starting plane, and may be connected in some manner to the same rotor (1101, 1202).

[0059] Referring to Figures 1A, 1B, and 1C, these figures show an example of a square piezoelectric ceramic unit 1000 having a conductor (1005) (e.g., copper) on its top and bottom surfaces. In one embodiment, one side (e.g., the ground side 1011) is completely covered with the copper conductor 1005, and the other side (e.g., the excitation side 1001) is partially covered (1004) (e.g., 90% covered), leaving two etched edges (1006) on the partially covered side.

[0060] Referring to Figure 1C, the figure shows a four-part piezoelectric ceramic unit 1007 that includes four square piezoelectric ceramic units 1000 together. The excitation surface receives four phase-shifting signals (sine wave, -sine wave, cosine wave, -cosine wave) without short circuits or signal interference. The return, i.e., ground (GND) 1011, is electrically connected to all of them together.

[0061] Figure 1D shows an exemplary stack (1015) in which four-part piezoelectric ceramic units 1007 are stacked on top of each other so that the excited sides 1006 face the same direction. In this example, ten such four-part units (1007) are stacked. A chip (1003) is placed on the layer as an interface to a component moving relative to the element. Due to motion with multiple degrees of freedom (DOF), this can be a contact point. In motion with one DOF, the contact can be a line or a point.

[0062] Figure 1E shows an exemplary stack 1016 configured to move a planar surface with two degrees of freedom. For example, by controlling a signal, relative movement of the surface to the stack can be generated in any direction in the XY plane. Preload may be applied so that the rotor surface (1101) compresses the contact tip (1003) of the stack (1102), and vice versa. The contact tip (1003) of the stack 1102 may be a point or a rounded surface, and the surface finish of the tip and the surface finish of the rotor contact surface may be optimized to enhance the generated movement or force.

[0063] Figure IF shows a commercially available bimorph piezoelectric actuator having four legs that produce linear motion. An alternative embodiment of the stack shown in Figure 1F is to mount a second set of bimorph actuators on top of the first set and rotate relative to the first set so that one set produces motion in one direction and the other set produces motion in a different direction from the first. In one embodiment, the amount of rotation of the second set is 90 degrees, and the second direction of motion is orthogonal to the first direction of motion. The first and second embodiments can be at any angle, as long as they are not in the same direction. Two-degree-of-flight (2DOF) motion can be achieved by independently controlling both electrode sets to make the tips in contact with the moving surface point-based rather than line-based. Alternatively, the bimorph actuator may consist of at least two different orientations (e.g., half of the elements are rotated 90 degrees from the other elements) so that the rotor surface can be moved in two or more directions by generating motion in different directions when activated individually and coordinating these motions. For all the configurations described, alternative embodiments utilizing different stack structures are not excluded from the present invention.

[0064] Referring to Figure 1G, multiple stacks 1016 can be arranged such that there are one or more components in contact with the rotor surface 1101 moving toward them. By arranging at least four such elements in a column or row, the system can output a stable driving force, and the average driving force will be roughly linear (similar to a four-cylinder linear engine in an automobile). Preloads may be applied to the stacks 1015 and / or the rotor surface 1101 in order to apply a contact force between the stacks 1015 and the rotor surface 1101. The elements can be organized as multiple rows or multiple columns, or in a more arbitrary pattern. The stacks can be coordinated to allow 2-DOF motion within the plane of the surface 1101, and can also be configured and controlled to allow 3-DOF motion within that plane, including rotation around an axis perpendicular to the surface.

[0065] Figure 1H shows an example of a cylindrical configuration 1020. In this illustrated example, it is driven by a single piezoelectric element 1016. The piezoelectric element 1016 may be unidirectional or bidirectional. One or more such piezoelectric elements 1016 may contact the friction surface of the cylinder 1017 at each contact point 1018 of each piezoelectric element 1016. Preloading may enable frictional driving force by applying sufficient load to the contact point 1018. The cylinder 1017 may be driven linearly (1020) along an axis and / or rotationally (1021) around an axis. In one embodiment, the cylinder may take the form of a lead screw and / or a lead screw nut, or may be coupled thereto, and may be used for 1-DOF translational motion along the screw axis, or may be used to generate differential drive that enables both linear motion along the axis and rotational motion around the axis. A cylinder can be a complete cylinder that allows for 360-degree rotation, i.e., continuous rotation, or it can be a partial sector (fan-shaped component) that allows for partial rotation.

[0066] In one embodiment, a plurality of such multidirectional elements (or a set of unidirectional elements arranged in at least two different orientations) are arranged around a cylinder, and their contact points contact a cylindrical friction surface so that the cylinder can be driven translationally and rotationally. The cylinder may have a solid core, such as a drive shaft, or a hollow core that allows an instrument or other object to pass through, thereby constituting the actuator 1030.

[0067] In one embodiment, the actuator 1030 is used to rotate and / or translate a surgical instrument 1022 passing through a hollow core 1014 driven by the element. Such an actuator 1030 may be integrated into a robot, a modular, removable robot end effector, or the instrument itself, which is mounted on a robot or other platform. In one embodiment, it is used in a surgical application in which an instrument, such as a directional ablation probe, may be inserted and rotated. The actuator 1030 may be integrated within the ablation probe (or other device such as a drill). In one embodiment, the actuator is incorporated into an active adapter mounted on a robot. This active adapter may be sterilized and for single-use (disposable) applications (in one embodiment, it may be fitted with a sterilized drape or an attachment for that purpose), coupled to a robot at its proximal end, and allowing the instrument to pass through a hollow core drive cylinder at its distal end.

[0068] In one embodiment, the cylindrical configuration comprises a plurality of unidirectional (or multidirectional) piezoelectric elements that directly drive components of the robot. For example, a rotary joint may have all or part of a segment of the cylindrical surface, and the tips of one or more piezoelectric drive elements may directly contact the surface of the robot element, making that surface a friction surface. This friction surface may be curved or a plane perpendicular thereto. In one embodiment, the contact points of the tips of a piezoelectric stack, such as (but not limited to) products from Piezomotor, DTI, Nanomotion, PI, or other manufacturers, directly contact the surface of the robot's rotating (or translating) element. Such a configuration eliminates the need to mount separate, independent motors and enables a significantly more compact mechanism. The robot's contact surfaces may be modified to adjust their rigidity and friction characteristics.

[0069] Referring to Figure 1I, a further embodiment (including the alternative approach described above) is a spherical version 1040, in which the piezoelectric element 1016 rests on the surface of a full or partial spherical friction surface 1041. The motor can rotate the sphere with up to 3 DOF, producing a fully spherical, wrist-like motion. In one embodiment, three or more such piezoelectric elements surround the sphere, canceling out (balancing) each other's forces while applying appropriate preload to the spherical surface.

[0070] [Example 2: Outrunner Motor]

[0071] A mechanism capable of motion in one or more directions, which may include rotation around one or more axes and translational motion along them, is described. One embodiment of the mechanism includes an inner stator (201), which may include a toothed outer surface 210, a smooth outer surface 210, or an outer surface 210 of other shape. The stator 201 includes a piezoelectric element (203) (or other material with controllable strain, such as a dielectric elastomer, an electroactive polymer, or a photostraining material). The element 203 can be excited to induce vibration or other mechanical deformation in the stator 201. The vibration or other deformation (of the stator) may couple with, contact with, or transmit energy to a rotor (204), resulting in motion of both or either the stator or the rotor. The inner portion (205) of the stator (201) may include a through hole 306 through which other unrelated parts can pass, or the inner portion 205 may be a solid part. This latter embodiment includes, but is not limited to, passing surgical instruments through a hollow cylindrical opening, and encompasses all of the aforementioned uses.

[0072] Referring to Figures 2A to 2E, these figures illustrate an exemplary form of one embodiment of an external (outside) hollow piezoelectric motor design.

[0073] In one example of an exemplary external hollow piezoelectric motor design, the rotor is made of copper or Ultem 1000 and fitted with PZT-5H ceramic. Those skilled in the art will understand that any suitable conductor and piezoelectric material can be used.

[0074] The present invention does not preclude the possibility that the stator may be excited to generate rotational and translational motion simultaneously or in any combination thereof. The present invention includes the possibility that the rotor is part of, as a whole of, or otherwise connected to other unrelated devices, such as a hub for attaching other devices (703) that may include a brain tumor ablation probe (701), a drill (702), or a sterile drape (704). The components may be manufactured together or as single or shared components through processes such as additive manufacturing or injection molding.

[0075] [In-runner motor]

[0076] Referring to Figures 2F to 2M, a mechanism capable of motion in one or more directions, which may include rotation around one or more axes and translational motion along them, is described. This is based on the teachings given above. Referring to Figures 2F to 2J, one embodiment of the mechanism includes an outer stator (501), which may include a toothed inner surface, a smooth inner surface, or an inner surface of other shape. The stator 501 includes a piezoelectric element (502) (or other material with controllable strain, such as a dielectric elastomer, an electroactive polymer, or a photostraining material). The element can be excited to induce vibration or other mechanical deformation in the stator. The vibration or other deformation (of the stator) may couple with, contact with, or transmit energy to the rotor (503), resulting in motion of both or either the stator or the rotor. The inner portion of the stator (503) may include through holes 504 through which other unrelated parts can pass, or the inner portion 503 may be a solid part. The present invention includes the possibility that the stator is excited to generate rotational and translational motion simultaneously or in any combination thereof. The present invention can be used to provide linear and / or rotational motion to any device coupled to the stator or rotor. The present invention includes the possibility that the rotor is part of other unrelated devices, is the whole of them, or is otherwise connected to them. The devices may specifically include a hub for mounting other devices (703) which may include a brain tumor ablation probe (701), a drill (702), a sterile drape (704), etc. The components may be manufactured together or may be manufactured as a single component or a shared component through processes such as additive manufacturing or injection molding. The present invention does not exclude the possibility that multiple motors (510) may be mechanically coupled to or to a shared device or otherwise connected. The present invention may include mechanical coupling such that the differential starting of the mechanism produces different directions or velocities of motion.

[0077] Figure 2M shows a hollow-core cylindrical piezoelectric motor 510. The motor is incorporated into a drape 704 (which may be sterilized and intended for single use), and a probe / drill / tool ​​can be detachably attached to it by passing it through a motor-driven hole.

[0078] A drape adapter (i.e., an active adapter) can be attached to the motor. This approach may improve efficiency or offer advantages in terms of sterility and convenience when used in conjunction with a surgical robot to enable rapid linking of sterile activation instruments.

[0079] Figures 2N to 2Q show one embodiment in which multiple piezoelectric motors 510a are coupled to an end effector 701 to drive the end effector. In the drawings, the ablation probe is shown as the end effector.

[0080] Referring to Figure 2Q, a differential drive system is shown in which two motors 510 drive an instrument (e.g., an ablation probe). When the two motors rotate at the same speed and in the same direction, the instrument rotates around the axis of the screw 801. When the two motors rotate at the same speed and in opposite directions, the instrument moves linearly along the axis of the screw 801. In other cases where the speed and direction are changed, the two motors induce a combination of rotation and translation. Thus, this configuration allows for control of the rotation and insertion of the instrument by controlling the speed and direction of the two motors. When using such a differential drive, typically one sleeve meshes at an oblique angle and the other sleeve meshes linearly (parallel to the axis of the shaft), and the oblique meshing applies a tangential force to the surface of the shaft in the screw pattern (along a certain angle). If the parallel shaft is kept stationary and the oblique meshing is rotated, the shaft will not rotate because the parallel meshing prevents it from rotating. Therefore, the oblique meshing drives the shaft in a direction along the length of the shaft. When both are driven at the same speed, the longitudinal forces cancel each other out, and the shaft moves in a purely rotational manner. By combining the relative speeds of these two meshing elements, any combination of rotational and linear motion can be provided. These motors may be in the forms described above, or in other forms. The motors may be incorporated into the instrument itself, a modular end effector coupled to the instrument, a modular end effector incorporated into a sterile drape adapter, the distal end of a robotic manipulator, or other configurations.

[0081] [Example 3: Robot Controller Configuration]

[0082] One aspect of the present invention includes a portable robotic controller 104 inside an MRI scanner room. In one embodiment, this may be implemented by a trunnion pin coupled to the rotating element of a motor 510, which is mounted on a helical slot (identified as a screw 801) on a shaft, or an equivalent structure. The robotic controller 104 is RF / EMI shielded (functioning as a Faraday cage). The portable controller has an internal low-noise power supply, which is powered from a filtered AC input provided inside the scanner room. It communicates with equipment outside the room (103, 108, 109, 110) by utilizing a fiber optic network connection passing through a waveguide (105) between the MRI scanner room and an adjacent room (e.g., an MRI console area or equipment room). Equipment outside the room may include, but is not limited to, one or more of the following: network equipment, a control computer, a navigation software interface, a planning software interface, a 3D visualization interface, an MRI scanner console, and a treatment delivery and monitoring system. This architecture is not tied to any particular room design or scanner vendor and does not require any modifications or special configurations. The system can be used in both conventional diagnostic MR imaging suites and specialized interventional MR suites. It can be quickly introduced and set up in any MRI suite, including interventional and diagnostic imaging suites. Embodiments of the system can be used in conjunction with other imaging modalities (e.g., ultrasound, fluoroscopy, computed tomography) and in conventional operating room environments with at least some subsets of standard features.

[0083] Referring to Figures 9A to C, in one embodiment, a single cable connection (107) exists between the robot controller (104) and the robot (106). This cable is a shielded cable that houses all power signals, communication signals, sensor signals, and motor drive signals. The cable may utilize electrically shielded non-ferrous metal avionics connectors at both ends. In one embodiment, the robot incorporates breakout boards and / or pigtails to distribute the electrical connections on the robot. The single cable attachment significantly simplifies the setup of the robot within the scanner. This approach also allows for modularization, so the robot can be composed of different options or modules. Alternatively, the robot controller may be used with a variety of different robots.

[0084] Referring to Figures 10A and 10B, a robot controller 399 in one embodiment has a modular configuration that allows the robot's axes to be customized to the configuration of specific sensors and / or actuators. Each axis has a corresponding card slot 410, and the cards 403 inserted into the slots 410 can be of various forms. All cards may include the same or similar front end, including an FPGA or microcontroller for communicating with a shared backplane via digital communication, including serial communication such as a dedicated SPI bus for each card slot. The cards may have different power output modules for driving various motors or other actuators, and / or may have various signal processing interfaces for reading encoders, potentiometers, limit switches, force sensors, fiber optic sensors, etc.

[0085] Referring to Figure 11, one embodiment of the robot controller supports up to 10 cards with 10 card slots. A robot-specific breakout board inside the robot controller receives signals transmitted to and from the robot and routes them to a connector leading to a common robot cable. One embodiment of the robot-side interface has an 8-channel breakout board for controlling 8-axis motion. Cards for controlling motors can be used for multiple motors, including piezoelectric motors. Cards can be designed to control harmonic and / or non-harmonic piezoelectric motors. Cards can support 2-channel outputs, 4-channel outputs, or other outputs. They can support high-voltage or low-voltage motor drive signals. They can provide sinusoidal or arbitrary waveforms. They can be high-frequency or low-frequency. Exemplary cards built and tested to date have been shown to support the driving of custom piezoelectric actuators as well as piezoelectric motors from Piezomotor, DTI, Shisei, Fokoku, and Nanomotion. These cards include encoder feedback to enable closed-loop control of position and / or velocity. For coordinated control, an exemplary force sensor interface card has been developed that enables closed-loop control of forces. This allows for tactile feedback, puncture or interface sensing, sensory substitution, and admittance force control. The card may support one or more load cells with a complete Wheatstone bridge. Another embodiment of the force sensing card integrates fiber optic Fabry-Perot interferometer (FPI) sensing to measure forces with one or more degrees of freedom (DOF). Alternatively, fiber Bragg grating (FBG) or other optical sensing approaches may be incorporated. The control room 901 includes a scanner console 912, which includes an imaging server 903 connected to a workstation 904, which has an MRI (3D slicer 905) and a robot graphical interface 913 having control signals 912 and status information 911.Workstation 904 is connected to scanner room 902 via router 909 and fiber optic converter 910, where optical signals are converted to electrical signals via fiber optic media converter 931 and supplied to router 932. Router 932 is connected to control box 941, which houses web server 935 and robot kinematics 934. Shielded cable 940 transmits and receives signals between robot sensor 922, encoder 923, and motor 924.

[0086] Referring to Figure 3A, a robot 106 of one embodiment is shown inside the bore of a diagnostic high-field MRI scanner 120. The robot 106 is present inside the bore of the MRI 121 with the patient and can move during active imaging. The robot 106 is connected to a robot controller 104 via a cable 107. The robot controller 104 communicates with equipment in the MRI console area via an optical fiber network connection passing through a waveguide 105. The robot controller 104 can be portable and MRI-compatible and can be installed in the scanner room. Therefore, a special MRI room configuration is not required.

[0087] [Robot form]

[0088] Robot 106 is designed to fit within the bore 121 of the MRI scanner, and is designed to fit with sufficient dexterity to maintain the required workspace while avoiding collisions. Optimizations have been identified to determine the optimal parameters of the robot mechanism given the desired workspace.

[0089] The robot may be configured to be mounted on a base plate 122 that is detachably mounted on the bed 123 of an MRI scanner. The base plate 122 may be scanner-dependent for standard mounting interfaces to allow the robot to be used with multiple scanner models and vendors. The patient's head 856 is supported by a head rest or skull clamp 853. The robot may be reconfigurably mounted on the base in multiple positions and orientations, such as being mountable on both the left and right sides of the patient, which may improve the reachable workspace. The robot may also be configured to be mounted on a conventional operating room table. The robot and / or its base plate may be configured to be mounted on other medical imaging or treatment systems.

[0090] The robot 106, base plate 122, patient fixation device 853 (e.g., skull clamp), and registered fiducial (e.g., a fiducial such as a Z-frame, or a set of multiple fiducial points) can be used as a single combined rigid unit.

[0091] [Integrated Head Imaging Coil]

[0092] Referring to Figure 13, in one embodiment, a custom or modified imaging coil design 803 (e.g., a head imaging coil) is integrated into the base platform and / or robot. The robot is configured to operate with the custom and / or modified head coil.

[0093] One embodiment of the present invention includes an MRI imaging coil device equipped with actuators. The imaging coil is designed to have one or more access port openings through the coil. The coil has the ability (function) to change its position and / or orientation in at least one degree of freedom of motion. Such movement of the coil is intended to align the access port openings through the coil to an intended trajectory or set of trajectories to which a robot can or should align an instrument.

[0094] Referring to Figure 3B, the present invention comprises a system combining imaging capability and manipulative capability. The imaging capability may be achieved by incorporating an MRI (or other medical device) coil (1401) (or other active or passive imaging component). The manipulative capability includes the sharing or transfer of mechanical, thermal, or other forms of energy between the system and a patient or object of interest (1400). The energy transfer may be achieved via a robotic manipulator (1403) and / or some end effector (1404). One embodiment of the present invention may include an MR imaging coil incorporating a single-degree-of-freedom or multi-degree-of-freedom actuator for positioning another device within a field of view. Referring to Figure 13, the imaging coil 803 is designed to partially or completely enclose a portion of a patient, the head 802 in the figure. An access port 804 is located within the imaging coil to allow an instrument 810 and / or a robot 811 to reach the patient during treatment. A motor 803 can rotate the coil 803 around the patient. Other degrees of freedom of motion may also be provided.

[0095] [Registration and Tracking]

[0096] Referring to Figure 3B, in one embodiment, a tracking fiducial 1408 is integrated into the base platform to define the position and orientation of the robot relative to the MRI scanner and its imaging coordinate system. The fiducial may enable 6DOF localization using one or more images, such as a Z-frame type fiducial consisting of typically seven or nine tubes imaged in cross-sectional MRI slices or 3D volume imaging. The fiducial localization software may have the ability to find a limited number of DOFs of position and orientation given that specific DOFs are known. In one embodiment, the base platform is mounted on the top surface of the scanner bed in a slot, and only axial movement along the bed needs to be evaluated. In this scenario, the fiducial may be a single element, such as a vertical tube imaged in a coronal slice. The fiducial may be integrated into the base platform or may be removable and reattachable to the base platform so that it can be used at registration and removed during the procedure. The fiducial may be filled with a liquid or gel that has high image contrast, such as gadolinium or other compounds.

[0097] For fiducials embedded in robot 1407 for localization and / or confirmation, fiducials on the robot may be used for initial registration of 6DOF or a subset thereof. The embedded fiducial may take the form of a tube aligned with the axis of an instrument or cannula held by the robot, in which case the fiducial may be imaged such that it appears as a circle with a generally dark center when imaged in slices perpendicular to the axis.

[0098] One or more compact imaging coils can be used as active tracking coils. These coils can be integrated into instruments (i.e., the tools on which they are mounted), cannulas, or components of robotic end-effectors. They can be used to quickly generate high-contrast images. They can support projected images (i.e., very thick slices) for rapid localization of one or more points.

[0099] Approaches to locating robots, instruments, or other objects within an MRI system are based on maps of inherent magnetic field inhomogeneities (or their patterns).

[0100] [Visualization, user interface, and surgical navigation]

[0101] Augmented reality, virtual reality, and / or mixed reality are integrated into the surgical plan. A simulation of a virtual robot following its intended trajectory is visualized within a virtual representation of medical image data. Live updates are provided to ensure safe operation as the robot moves.

[0102] An MRI-compatible augmented reality, virtual reality, and / or mixed reality headset, glasses, or similar interface is used. The device is configured to display the proposed robotic motion plan on the surgical workspace. The device is configured to display the patient's anatomical structure on the surgical workspace based on medical imaging data.

[0103] An MRI-compatible handheld pendant is used for control and / or status updates from the robotic system.

[0104] LEDs or displays are provided on the robot so that surgeons can understand the robot's next movements and / or status.

[0105] [Integrated closed-loop control of ablation]

[0106] The ablation probe can be precisely controlled using feedback from MRI. In this method, thermal imaging within the MRI is used to provide closed-loop control of the ablation probe, and temperature feedback based on MR thermal imaging is used to provide control of the lethal thermal boundary. Modeling and model-based control are used to ensure accurate heat delivery. This can be used in addition to, or in place of, the temperature sensor within the ablation probe.

[0107] In a preferred embodiment, the robot's movements (and optionally its encoder) are synchronized with the MRI machine, and the robot does not emit or record (the RF pulses) while acquiring them.

[0108] [Heat or shape change due to MRI]

[0109] Referring to Figure 4, a device (1705) for locally heating an object of interest (1702) in a magnetic field is described. One embodiment of the device may consist of a ferromagnetic or other conductive component (1704) that can interact with a magnetic or electromagnetic field. The invention does not rule out the possibility of generating local heating via rapid periodic oscillations or vibrations caused by changing a gradient (1703). The invention does not rule out the possibility of using MRI to track the device in the body and the possibility of using a specific MRI scan sequence to induce the heating. The heating may also be used to activate or deploy the device, for example, if the device is designed to change shape using a shape memory alloy or other heat-shape relationship. The heating may also be used to degrade or otherwise destroy the device for local drug delivery or safe disposal. The invention includes the possibility of the device being mounted on a delivery mechanism (1701). This delivery mechanism may be a robotic device, catheter, guidewire, or needle operating within the bore of an MRI machine.

[0110] In one embodiment, an example of this approach utilizes the switching gradient of an MRI to induce vibrations in an element, resulting in localized heating. Such heating can be precisely modeled to form lesions (damage) of a specific shape. Furthermore, dose (heat) administration can be monitored using MR thermal imaging (MRTI), and in some cases, closed-loop control of dose administration may be provided.

[0111] [Example 4: Modular End Effector, Single-Patient Actuated End Effector]

[0112] A modular end effector that connects to the base of a robot is described. The modular end effector can be active or passive. In one scenario, the modular end effector is a simple guide sleeve and / or cannula that connects to the robot, such as for guiding a specific tool. In another scenario, the modular end effector integrates one or more actuation depths (DOFs). The module (or DOF) may include one or more of instrument insertion, cannula insertion, and instrument rotation. One or more of these DOFs may be integrated into the modular end effector. Some DOFs may be part of the robot, while others may be part of the end effector.

[0113] A method for connecting modular end effectors is described. End effectors are for single use per patient and are provided in a sterile kit. The robot is covered with a sterile drape, and the end effectors are attached to the robot from outside the sterile boundary. The sterile drape may be a special type with a mounting plate on one side for connecting to the robot and another mounting plate on the opposite side for connecting to the end effector or its components. The mounting plates may include electrical connections for sending electrical signals from the robot to the active end effector within the sterile field.

[0114] An active end-effector module with at least 1DOF of initiation is described. This initiation is provided by a piezoelectric actuator, which comprises a piezoelectric ring that allows the instrument to pass through its center. The module may further include sensing (functions) such as optical encoding of absolute or relative position. The end-effector module may be configured as a single-use (i.e., disposable) device per patient that allows rotation of the instrument.

[0115] An injection-molded plastic actuator (i.e., a motor) is described that is incorporated into an active end-effector module (e.g., a directional ablation probe or other therapeutic delivery device). Such a design, in which the actuator is incorporated into an instrument holder that is part of an instrument or sterile kit, improves the workflow by reducing the DOF of the robot itself and making it easier to maintain the sterile field even when using an active end-effector.

[0116] A readily removable / attachable (i.e., hot-swappable) end effector for a drill, cannula, ablation, biopsy, or other instrument that can be attached through a sterile barrier is described. The end effector may include electronic components, and the attachment through the sterile barrier may include one or more electrical connections. The end effector may be designed with single use, single use per patient, limited lifespan, or durability in mind.

[0117] A sterilization kit is described that includes an ablation probe incorporating a piezoelectric actuator. The piezoelectric actuator provides controlled rotational motion of the probe about its axis. The piezoelectric actuator has a hollow or open center that is concentric with the probe.

[0118] [Replaceable end effectors]

[0119] Referring to Figures 5A and 5B, a device capable of holding different modular tools within a strong magnetic field of a device such as a magnetic resonance machine is described. The device is capable of exchanging end effectors or other tools with or without the intervention of another device or person. The device comprises a mechanism (1602) for holding a tool (1605) in use and another mechanism (1601) for holding one or more unused tools (1604). The present invention does not exclude the possibility that the device may, after use, re-store the tools in the mechanism for holding one or more tools. The present invention includes the possibility that tools may be passed only (in one direction) from a tool holder (for storage) to a tool holder for use, and used tools are discarded. The present invention does not exclude the possibility that the device comprises a single mechanism for simultaneously holding multiple tools in the actions necessary to use the tools as required by the application.

[0120] (Left) A replaceable tool mechanism that holds one or more tools or end effectors. (Right) A modular tool end effector that is mounted on the distal end of a robotic manipulator.

[0121] [Example 5: Single Coaxial Probe]

[0122] Figure 6 illustrates a device including, but not limited to, an ablation probe. The device comprises a piezoelectric element (1501) supported by a rigid or semi-flexible body, and energy coupling (electrical or optical) between the controller and the piezoelectric element is performed via a single coaxial cable (1502, 1504). The present invention includes the possibility of using an outer shield of the coaxial cable (1502) to obtain complete shielding (1503) from the origin of the cable to the end of the piezoelectric element (1501).

[0123] [Example 6: Steering]

[0124] A modular end effector is described, comprising an actuator that provides translational motion and rotational motion about the axis of said translational motion. The end effector is configured to steer an instrument with an asymmetrical tip (i.e., a needle with an angled tip) through tissue by coordinating rotation and insertion. The actuator may be a piezoelectric actuator and may be configured as a ring concentric with the rotational motion, through which the instrument can pass. Two such piezoelectric actuators are used in a differential drive configuration, where the coupled action provides rotation and the coordinated differential action provides translation and / or rotation. An example of steering is taught in U.S. Patent No. 1,0052458.

[0125] Referring to Figure 7A, an example of a device having an asymmetrical tip is shown. The device is, for example, a needle with an angled tip, but is not limited thereto. The needle 533 is inserted into a drive shaft 530, the drive shaft 530 may be part of the needle or part of a needle drive module into which the needle is inserted. The drive shaft 530 has threads 535 and passes through two hollow core motors 510. Alternatively, the motors shown may be cylinders, gears, or other objects driven by adjacent motors via gears, belts, etc.

[0126] In a differential drive system where two motors 510 drive an instrument (e.g., a needle or ablation probe), when the two motors 510 rotate at the same speed and in the same direction, the instrument rotates around the axis of the drive shaft. When the two motors rotate at the same speed in opposite directions, the instrument moves linearly along the axis of the drive shaft. In other cases where the speed and direction are changed, the two motors produce a combination of rotation and translation. Thus, this configuration allows for control of the rotation and insertion of the instrument by controlling the speed and direction of the two motors. This movement can be used to maneuver the needle's path within the tissue.

[0127] Another embodiment comprises a modular end effector including multiple concentric rotations and translational motion along the axis of rotation. The end effector is configured to manipulate nested concentric tubes, which may be pre-trained curved nitinol tubes and / or wires. These can follow a specific path through tissue by coordinating translational and rotational movements.

[0128] Figure 7B shows an embodiment including multiple concentric tubes / needles. Each tube or needle may be pre-formed or trained to a specific shape in which part of its length is an arc of constant curvature. Each tube or needle may be moved in 1DOF or 2DOF (insertion, rotation, or both). As shown, in one embodiment, three separate elements each have 2DOF insertion and rotation functions, have a pre-trained curvature, and allow for maneuverability of the needle tip. In this embodiment, a first set of hollow core motors 510 is connected to a drive shaft 530 that drives the innermost tube or needle 534, a second set of hollow core motors 540 drives a drive shaft 541 coupled to an intermediate tube 542, and a third set of hollow core motors 550 is connected to a drive shaft 551 coupled to the outermost tube 552. It is understood that the number of motors and tubes may be increased or decreased as required for a particular application.

[0129] The approach outlined herein is suitable for disposable instruments that avoid cleaning costs and the uncertainty of proper sterilization between patients. A single-patient operable instrument end-effector module with multiple piezoelectric actuator rings can be readily manufactured. In one embodiment, a hollow core motor is a very low-cost ring and can be integrated into disposable instruments including, but not limited to, ablation probes (e.g., ultrasound-based, laser-based, cryo-based), neuromodulatory probes, injections or other therapeutic delivery devices, dexterous instruments, coaxial needles, etc. Such instruments can play an effective role in infection control in healthcare settings.

[0130] [Example 6: Active sterile drape]

[0131] Referring to Figure 8, this embodiment comprises a sterile drape 600 including one or more actuators. In the most preferred embodiment, the drape and actuators are intended for a single patient. The sterile drape is designed to cover the durable and / or non-sterile parts of the robot. A mounting plate 601 is integrated into the drape 600 coupled to the robot / manipulator 602. The coupling includes both mechanical and electrical connections (603). The coupling may also include pneumatic, hydraulic, fiber optic, or other connections. The coupling may also include direct mechanical couplings such as push rods or drive shafts.

[0132] The sterile surface on the outside of the active sterile drape comprises one or more electric actuators 604. In one embodiment, the outer surface of the drape comprises a hollow-core rotary piezoelectric motor 604. The motor has one of its components (e.g., the stator side) fixed to the mounting plate 601 of the drape, and another surface (e.g., the rotor side) further comprises means for attaching surgical tools, probes, cannulas, or other instruments 605. The unit may further incorporate encoding (function) via an optical encoder or other means for determining the absolute and / or relative position of the motor.

[0133] The unit may further include integrated force and / or torque sensing (function). In one embodiment, the unit includes a 6DOF force-torque sensor. In other embodiments, a subset of those DOFs may be implemented. In one embodiment, the force and / or torque data is used manually for the coordinated control of the robot, and the robot's movement is controlled by the interacting forces and moments applied to it. The force and / or torque sensor data may also be used to determine contact with an object for purposes such as safety. It may also be used to evaluate or identify tissue boundaries. It may also be used for tissue characterization (e.g., identifying the stiffness of the tissue when a probe is inserted). The sensor may be an electronic device that transmits an electrical signal through the adapter plate of a sterile drape. The electrical signal may be an analog signal, or onboard signal processing may be performed on the distal module and a digital signal may be transmitted through the adapter plate (e.g., serial communication). In one embodiment, one or more DOFs for sensing force and / or torque are based on optical fiber means (e.g., FPI of an FBG), and the optical signal passes through an adapter plate.

[0134] The adapter plate of the sterile drape may further comprise an auxiliary connection portion 603. In one embodiment, the adapter plate allows the passage of electrical signals for supplying power to the piezoelectric element of the ultrasonic intratissue thermal ablation probe, as well as the associated liquid cooling supply line and return line.

[0135] In another embodiment, the sterilization drape includes a mounting plate that passes through the aforementioned connection, but instead of including one or more actuators, it includes a mounting plate 601 to which a sterilization motor or other actuators can be mounted. The mounting plate may allow a motor-integrated instrument, such as an ablation probe including a motor, to be mechanically and electrically coupled to a robot.

[0136] Exemplary embodiments of a manipulator, which may be a robotic manipulator, a passive arm, or other instrument holder, are described. In one embodiment, it is an MRI-compatible robot operating within a bore or MRI scanner. In another embodiment, it is a remotely operated surgical robot. The manipulator has an interface at its distal end for coupling to an active sterile adapter 601. The active sterile adapter 601 comprises one or more active components, including but not limited to a motor 604. The active sterile adapter includes a sterile drape 600, or means for coupling to a sterile drape. The coupling means may have an opening in the drape and may be attached to a mounting plate via mechanical fasteners such as adhesives, tapes, screw fasteners and / or rivets, with or without a backing plate, and any regulatory-acceptable fastening means may be used. The adapter may have one or more connection points 603 to a robot / manipulator 602. These connections may be mechanical, electrical, optical, pneumatic, hydraulic, and / or other types. In one embodiment, the active sterilization adapter is mechanically coupled to the manipulator, and the connection includes electrical signals for driving a motor integrated into the active sterilization adapter. The active sterilization adapter may comprise one or more motors. In one embodiment, the motor is a hollow core motor. In a further embodiment, the motor is a piezoelectric hollow core. In one embodiment, the integrated motor is two coaxial motors configured in a differential drive configuration to allow insertion and / or rotation of the instrument. In another embodiment, the integrated motor is a plurality of motors for controlling the dexterous operation of the instrument. These motors may be in-runner motors, out-runner motors, and differential drive motors, as disclosed in this application. The instrument is coupled to the active sterilization adapter. In one embodiment, the system is modular and can accommodate a variety of different instruments. In another embodiment, the instruments are permanently coupled to the active sterilization adapter and function as a single unit.The instrument may have mechanical, electrical, optical, pneumatic, hydraulic, and / or other types of couplings to an active sterilization adapter via an instrument coupler. In an alternative embodiment, a cable directly connects the instrument to an active sterilization adapter, manipulator, control system, or other external device.

[0137] In one embodiment of the system, the instrument is an ultrasound probe for intratissue treatment. The probe is coupled to a motor and passes through a hollow core that allows rotation and / or insertion. Power is supplied by signals that pass through an adapter connection to a manipulator, consisting of a motor power signal and an encoder feedback signal. The manipulator may take the form of a robotic manipulator. The instrument receives electrical signals and a flow of cooling fluid directly from an external source.

[0138] Those skilled in the art will readily understand that the teachings herein can be applied to develop a number of devices embodying the disclosed invention.

Claims

1. a) At least two piezoelectric stacks, b) A controller electrically connected to each of at least three stacks in order to provide control electrical signals to each piezoelectric stack, Equipped with, Each stack is composed of multiple piezoelectric crystals. Each crystal has a conductive region and a non-conductive region. The plurality of stacks are oriented such that the non-conductive regions of each stack are adjacent to one another. An omnidirectional piezoelectric motor characterized by the following features.

2. The aforementioned multiple stacks are controlled via waveforms. The omnidirectional piezoelectric motor according to feature 1.

3. The waveform is either a sine wave or a cosine wave. The omnidirectional piezoelectric motor according to feature 2.

4. Multiple piezoelectric stacks are combined and controlled to allow piezoelectric electrostatics to perform desired operations along more than a single axis. The omnidirectional piezoelectric motor according to feature 3.

5. The piezoelectric motor consists of four columns. The omnidirectional piezoelectric motor according to feature 4.

6. The aforementioned multiple columns are covered with tips of specifications appropriate to their purpose. The omnidirectional piezoelectric motor according to feature 5.

7. The aforementioned multiple columns can be connected and operated in a unique manner, and can generate a driving force in any direction within a plane tangent to a point on the actuator tip. The omnidirectional piezoelectric motor according to feature 6.

8. The aforementioned plurality of columns can be connected and energized in a unique manner, and can generate a driving force within any contact surface that contacts the actuator tip. The driving force acts in the tangential direction of the contact and perpendicular to the normal of the contact. The omnidirectional piezoelectric motor according to feature 7.

9. The contact surface subjected to the action is a known geometric shape, including but not limited to circles, spheres, cylinders, rectangular parallelepipeds, etc. The omnidirectional piezoelectric motor according to feature 8.

10. The piezoelectric crystals are arranged radially as a stator and act on the rotor. The omnidirectional piezoelectric motor according to feature 1.

11. The center of the motor is hollow. The omnidirectional piezoelectric motor according to feature 10.

12. Multiple radial actuators can be coordinated, positioned, and controlled to generate complex movements. The omnidirectional piezoelectric motor according to feature 10.

13. Multiple motors are arranged on a single axis and function as a differential motion system. The omnidirectional piezoelectric motor according to feature 12.

14. a) A first piezoelectric motor acting on a first drive shaft coupled to a first control element, b) A second piezoelectric motor acting on a second drive shaft coupled to a tube concentric with the first control element, Equipped with, The tube and the control element are capable of individually controlled operation. The omnidirectional piezoelectric motor according to feature 11.

15. One or more additional motors, each acting on an additional drive tube. Furthermore, All of the aforementioned tubes are concentric with the first control element and the concentric tubes. The omnidirectional piezoelectric motor according to feature 14.

16. Different piezoelectric crystals, stacks, and arrangements are energized simultaneously in a coordinated manner, facilitating coordinated and complex movements. The method for operating an omnidirectional piezoelectric motor according to feature 1.

17. The hollow center of the motor is designed to hold a tool or implement. The omnidirectional piezoelectric motor according to feature 11.

18. A tool and / or improved system that enables MRI-guided intervention, It features a modular, configurable architecture, The aforementioned architecture separates the functional elements of MRI guidance technology. a. A modular controller configuration in which interchangeable card-based drivers can be replaced to operate various MRI-compatible actuators, sensors, and interface devices, b. MRI-compatible central computing / controller system, c. An MRI-compatible communication route via a patch panel in the control room for connecting to a non-MRI-compatible user interface, Includes, i. The user interface can be a stunt computer, ii. The user interface may be directly connected to the control computer. A system characterized by the following features.

19. A module for the system according to claim 18, The module functions as an MRI-compatible motor driver, paying particular attention to the generation of drive signals and communication signals to avoid causing unacceptable interference to the scanner. A module characterized by the following features.

20. The module is for controlling the arrangement of a piezoelectric ceramic motor or piezoelectric motor. The module according to feature 19.

21. The module may operate and interface with the imaging coil or robot within the scanner. The module according to feature 18.

22. The imaging coil is attached to the robot and moves according to the robot's range of motion, specifically optimally forming an image based on the robot's movement. The module according to feature 21.

23. The module records the position of the equipment within the imaging space. The module according to feature 18.

24. The module is a fiducial filled with contrast agent, which can be segmented within the imaging space. The module according to feature 23.

25. The robot's coordinate system is permanently attached to the robot's coordinate system with known geometric relationships so that the robot's coordinate system can be registered within the imaging space. The module according to feature 24.

26. A robotic system or base system may be attached to at least one other structure in the scanner chamber, such as a bed rail, so that the fiducial can be used to track the relative position of the structure with respect to the imaging space. The module according to feature 24.

27. The module is a user interface or display, The aforementioned module can serve as a substitute for a computer screen. The module according to feature 18.

28. The module is a virtual reality headset which allows the user to view representative images in a three-dimensional space, optimize data availability using head tracking, and minimize the use of hands. The module according to feature 27.

29. The module is an augmented reality headset, which allows the user to see additional information from the system and to see through the surrounding or forward environment. The module according to feature 18.

30. The module is a sensing receiver for providing control system information from various devices. The module according to feature 18.

31. The sensor provides information regarding the thermal properties of the ongoing procedure. The module according to feature 30.

32. The sensor is a thermistor, a thermal probe, or an MRI-based temperature reading. The module according to feature 31.

33. A method for operating the system according to claim 18, By utilizing some or all of the subsystem components and modules in a coordinated manner, the system and the modules are controlled to perform complex operations. A method characterized by the following:

34. Thermal information is used to perform closed-loop thermal control of thermal tools such as ablation probes. The method according to feature 33.

35. The physical properties of the module may be affected by the scanner's magnetic field and its changes. The module according to feature 18.

36. The module responds to motion or vibration induced in the module by integrated control, such as control of the frequency, intensity, or direction of the magnetic field of the scanner system. The module according to feature 35.

37. The module generates heat in response to MRI magnetic field modulation. The module according to feature 34.

38. A modular end effector for robots, also known as an arm-end tool. A module for the system according to claim 18, further comprising the following:

39. The module is a replaceable end effector that can be replaced with minimal tools. The module according to feature 38.

40. The module is replaceable during treatment to extend the functionality of the robot system. The module according to feature 39.

41. The module is a biopsy needle, bone drill, or other device that has or replicates the function of a standard surgical tool. The module according to feature 39.

42. The module is a coaxial shield that can be extended across a combination of multiple physical modules to maintain an RF shielding barrier. The module according to feature 18.

43. The module comprises a conductive flexible sleeve and a fitting material. The module according to feature 42.

44. The module includes components or structures useful as an MRI shield, and the MRI shield can be interfaced and extended by applying the interface. The module according to feature 43.

45. The module is a needle driver. The module according to feature 41.

46. The needle driver includes a hollow core piezoelectric motor, The shaft advance mechanism is housed within the hollow core drive unit. The module according to feature 45.

47. The module is a sterile drape comprising one or more active or inactive elements and feature parts that allow the functional part to pass through the sterile barrier. The sterilization drape includes an interface and connection point having at least one conductor, actuator, sensor, or passage. A module for the system according to claim 18, characterized in that it is a feature of the present invention.

48. The aforementioned module is disposable or for single-use purposes and is designed to be discarded or recycled after each patient. The module according to feature 47.

49. The aforementioned module is customized to suit a specific patient or procedure. The module according to feature 47.

50. An interface for active surgical drapes can be used as a common interface for interchangeable end effectors. The module according to feature 47.

Images