Multi-imager compatible robot for image-guided interventions and fully automated brachytherapy seed

Abstract

Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including Mill. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.

1 . A robot for image-guided interventions, said robot comprising:
 a base member;   a plurality of actuators coupled to the base member;   a platform operably coupled to the platform, the plurality of actuators, the base member and platform being arranged so that the platform is moveable with respect to the base member responsive to the plurality of actuators; and   wherein the plurality of actuators each include a pneumatic stepper motor for moving the platform in a given direction with respect to the actuator.   
     
     
         2 . The robot of  claim 1 , wherein the pneumatic stepper motor is a pneumatic rotary stepper motor and the motor includes a plurality of pneumatic ports, wherein sequential pressurizing of the ports causes a stepping motion. 
     
     
         3 . The robot of  claim 2 , wherein the pneumatic stepper motor includes three ports and wherein the motor is set in stepping motion by sequentially pressurizing the three ports in a 6 step pneumatic commutation process. 
     
     
         4 . The robot of  claim 2 , wherein the pneumatic stepper motor further includes a gear head that converts rotary motion of the motor to linear movement along an axis of the actuator. 
     
     
         5 . The robot of  claim 2 , wherein the pneumatic stepper motor further includes a first moving element that is rotated responsive to the motor's stepping motion and a second moving element that engages the first moving element so that the second moving element moves linearly along an axis of the actuator responsive to rotation of the first moving element. 
     
     
         6 . The robot of  claim 4 , wherein the first moving element is a nut and the second moving element is screw. 
     
     
         7 . The robot of  claim 2 , wherein the actuator further includes a fiber optic encoder for sensing motor operation and a fiber optic limit switch that provides a zero reference for linear movement. 
     
     
         8 . The robot of  claim 6 , further comprising fiber optic cables optically interconnecting the fiber optic encoder and limit switch to electro-optical interface elements that detects light beam interruptions caused by designated moving elements in the actuator and provide electrical output signals therefrom, the optical cables having a length so that the electro-optical interface elements are located at least a predetermined distance from an imaging device. 
     
     
         9 - 16 . (canceled) 
     
     
         17 . A robotic system comprising
 a robot including:
 a base member, 
 a plurality of actuators coupled to the base member, 
 a platform operably coupled to the platform, the plurality of actuators, the base member and platform being arranged so that the platform is moveable with respect to the base member responsive to the plurality of actuators, and 
 wherein the plurality of actuators each include a pneumatic stepper motor for moving the platform in a given direction with respect to the actuator; and 
   a control unit that is operably coupled to each of the actuators, the control unit being configured to control operation of the robot.   
     
     
         18 . The robotic system of  claim 17 , wherein the pneumatic stepper motor is a pneumatic rotary stepper motor and the motor includes a plurality of pneumatic ports and wherein the control unit is configured so as to sequential pressurize each of the ports so as to cause a stepping motion by the pneumatic rotary stepper motor. 
     
     
         19 . The robotic system of  claim 18 , wherein the pneumatic stepper motor includes three ports and the control unit is configured so as to sequential pressurize each of the three ports in a 6 step pneumatic commutation process. 
     
     
         20 . The robotic system of  claim 18 , wherein the pneumatic stepper motor further includes a gear head that converts rotary motion of the motor to linear movement along an axis of the actuator. 
     
     
         21 . The robotic system of  claim 18 , wherein the pneumatic stepper motor further includes a first moving element that is rotated responsive to the motor's stepping motion and a second moving element that engages the first moving element so that the second moving element moves linearly along an axis of the actuator responsive to rotation of the first moving element. 
     
     
         22 . The robotic system of  claim 18 , wherein the actuator further includes a fiber optic encoder for sensing motor operation and a fiber optic limit switch that provides a zero reference for linear movement, the fiber optic encoder and the fiber optic limit switch being operably coupled to the control unit. 
     
     
         23 - 37 . (canceled) 
     
     
         38 . A needle delivery apparatus, comprising:
 a needle;   a housing having an interior chamber extending lengthwise and an outlet;   a pneumatic stepper motor coupled to the housing and disposed in the interior chamber;   a first interior member having an interior chamber extending lengthwise, the first interior member being operably coupled to the pneumatic stepper motor and configured so that operation of the pneumatic stepper motor causes the first interior member to move lengthwise within the housing interior chamber and with respect to the housing; and   a piston moveably disposed in the first interior member chamber (hereinafter the needle piston), the needle piston being coupled to the needle.   
     
     
         39 . The needle delivery apparatus of  claim 38 , wherein the first interior member chamber and the needle piston are configured so that when pressurized fluid is admitted in one variable end portion of the first interior chamber that is opposite to the needle piston the needle moves in a first direction and so that the needle moves in a second direction opposite to the first direction when fluid is removed from the one variable end portion of the first interior chamber so as to create a negative pressure therein. 
     
     
         40 . The needle delivery apparatus of  claim 38 , wherein the length of the first interior member chamber is set so a first end of the first interior member chamber defines a stop for the needle piston so as to thereby limit movement of the needle in the first direction. 
     
     
         41 . The needle delivery apparatus of  claim 39 , further comprising
 a second interior member having a chamber extending lengthwise therein, one end of the second interior member being coupled to the needle piston having a through aperture therein;   a stylet that extends lengthwise in the second interior member chamber, through the needle piston through aperture and through a lumen in the needle;   a piston moveably disposed in the second interior member chamber (hereinafter the stylet piston), the stylet being coupled to the stylet piston.   
     
     
         42 . The needle delivery apparatus of  claim 41  wherein the second interior member chamber and the stylet piston are configured so that when pressurized fluid is admitted in one variable end portion of the second interior member chamber that is opposite to the styley piston the stylet moves in the first direction and so that the stylet moves in the second direction opposite to the first direction when fluid is removed from the one variable end portion of the second interior member chamber so as to create a negative pressure therein. 
     
     
         43 . The needle delivery apparatus of  claim 42 , wherein the length of the second interior member chamber is set so that when a negative pressure is created in the one variable end portion of the second interior member chamber, the stylet is withdrawn through the needle lumen thereby defining an open channel in the lumen that extends from an open end of the needle to an end of the stylet. 
     
     
         44 - 52 . (canceled)