公开(公告)号：US20240130801A1

公开(公告)日：2024-04-25

申请号：US18381510

申请日：2023-10-18

Applicant: Worcester Polytechnic Institute

Inventor： Haichong Zhang ,  Xihan Ma ,  Ashiqur Rahaman ,  Wen-Yi Kuo

IPC: A61B34/20 ,  A61B8/00 ,  A61B10/02 ,  A61B34/32 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B8/4218 ,  A61B8/4263 ,  A61B10/0233 ,  A61B34/32 ,  A61B90/361 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065

Abstract: An imaging self-positioning system includes a robotic actuator for manipulating an imaging tool or medical probe and a sensory component for maintaining a normal orientation above patient a treatment site. The imaging tool, typically an US probe, is grasped by an end-effector or similar actuator, and a sensory component engaged with the imaging tool senses an orientation of the tool relative to the treatment surface, and the robotic actuator disposes the imaging tool for maintaining a normal or other predetermined angular alignment with the treatment surface. The treatment surface is a patient epidermal region adjacent an imaged region for identifying anatomical features and surgical targets. A medical probe such as a biopsy needle may accompany the end-effector for movement consistent with the probe, either manually or robotically advanced towards the surgical target.

公开(公告)号：US20240389861A1

公开(公告)日：2024-11-28

申请号：US18674020

申请日：2024-05-24

Applicant: Worcester Polytechnic Institute

Inventor： Haichong Zhang ,  Shang Gao ,  Xihan Ma

IPC: A61B5/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61M25/01

Abstract: A photoacoustic (PA) sensor device has a localization feature that defines a position of the sensor or scan information with a coordinate frame defining relative positions a scanned specimen and sensor information of other imaging planes of the scanned specimen. The coordinate frame is defined by positional information from localization markers at a known offset from the sensor, or from position signals from a robotic actuator driving the sensor. A processor coalesces the sensor information and positional information to reconstruct a 3-dimensional rendered structure by stitching together the sensor information to form a continuous rendering. Stitching may include adjacent imaging planes at an angular offset due to a varied pose of the sensor, and/or adjacent images over a lateral area too large for a single scan or imaging plane to capture.

公开(公告)号：US20230301510A1

公开(公告)日：2023-09-28

申请号：US18125823

申请日：2023-03-24

Applicant: Worcester Polytechnic Institute

Inventor： Haichong Zhang ,  Yu Chen ,  Xihan Ma

IPC: A61B3/10 ,  A61B34/30 ,  G06T17/00

CPC classification number: A61B3/102 ,  A61B34/30 ,  G06T17/00

Abstract: A robotically driven OCT scanning and imaging system provides a 3-dimensional (3D) image rendering based on a 2-dimensional (2D) surface traversal of a Region of Interest (ROI) for immediate depiction of tissue health with an accuracy and portability not available with conventional imaging approaches. A comprehensive scan over the surface of the ROI ensures complete coverage, and a signal indicative of attenuation of the optical scan indicates penetration of the OCT stimulus. The received signal for each location is aggregated, or “stitched” together with the signal received from adjacent locations to provide a full mapping of the scanned region, and rendered as a color or shading map for showing anomalies or sudden variances in tissue health.