Extending reach inside the MRI-bore: a 7-DOF low-friction, hydrostatic teleoperator
Inventors
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Assignees
Leland Stanford Junior University
MemberStanford UniversityStanford UniversityTodd Coleman is an associate professor of bioengineering at Stanford University. His research combines applied probability, physiology, and bioelectronics to develop methods and devices for monitoring and modulating nervous-system and other physiological activity, including brain and visceral-organ signals.
Todd Coleman is an associate professor of bioengineering at Stanford University. His research combines applied probability, physiology, and bioelectronics to develop methods and devices for monitoring and modulating nervous-system and other physiological activity, including brain and visceral-organ signals.
Publication Number
US-12746080-B2
Publication Date
2026-09-29
Expiration Date
Abstract
A teleoperated MRI compatible arm system is provided that allow a physician to remotely operate. The system is passive, meaning forces and motions are generated by the operator and the device transmits them through a low-friction hydraulic transmission to the output end. The device enables manipulation in seven axes and exhibits one-to-one motion, allowing the physician to position and orient the needle during insertion. Moreover, the system is back-drivable and passively reflects patient respiratory motions and forces, a major roadblock to other devices explored in this space. The configuration of degrees of freedom and inputs allows the manipulation arm to maintain contact with the skin while also allowing the operator to insert the needle.
Core Innovation
The invention describes a hydraulic teleoperator for remote access inside an imaging scanner bore. A multiple degree of freedom mechanism inside the bore is controlled through hydraulic joints and fluid lines by a control mechanism outside the bore. A single degree of freedom tool mechanism at its distal end controls a needle, with a needle driver for insertion and retraction and a needle holder that holds the needle position during repositioning of the driver.
The partial content describes one-to-one motion and force transmission, back-drivability, and passive reflection of patient respiratory movement, as well as in-bore needle manipulation. It does not include the background section or text explicitly identifying the problem being solved. The described system is intended for use inside an imaging scanner bore, including MRI or CT scanner bores, without repeatedly moving the patient.
Claims Coverage
The provided claims identify one independent claim and three main inventive features: the hydraulically controlled mechanism inside the scanner bore, its remote control, and the needle mechanism that maintains needle position during driver repositioning.
Hydraulically controlled mechanism inside an imaging scanner bore
A base supports a multiple degree of freedom mechanism situated inside the imaging scanner bore. Hydraulic joints with chambers connected to a first set of hydraulic fluid lines control its degrees of freedom, while a multiple degree of freedom control mechanism outside the bore controls its motions and forces.
Remote control of a single degree of freedom needle mechanism
A single degree of freedom tool mechanism is attached to the distal end of the multiple degree of freedom mechanism and controls a needle inside the bore. A second set of hydraulic fluid lines connects the mechanism to an operator input outside the bore. A dependent claim specifies six degrees of freedom for the multiple degree of freedom mechanism and seven degrees of freedom in total.
Needle position retention during driver repositioning
The needle mechanism comprises a needle driver that translates the needle in insertion and retraction directions and a needle holder that grips the needle via a retraction lock when the driver's clutch mechanism releases the needle, holding its position during repositioning of the needle driver.
The claim coverage centers on remote hydraulic control of an in-bore mechanism and needle tool, with a retraction lock that holds the needle position while the needle driver is repositioned. Dependent claims specify scanner types, mechanism degrees of freedom, needle applications, and hydraulic-line features.
Stated Advantages
Enables in-bore biopsy without repeatedly moving the patient.
Provides force transparency and respiratory compliance.
Provides an expanded workspace.
May reduce procedure time and cost.
Documented Applications
Remote needle manipulation inside an MRI or CT scanner bore.
Biopsy needle insertion.
Ablation needle insertion.
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