Patent Document ID: 9877788
Application ID: 14434155
Patent Status: 1

Claim One:
1. An MRI safe robot for guiding transrectal prostate biopsy, comprising: a support arm; a robot body operatively connected to said support arm; a transrectal biopsy device operatively connected to said robot body, said transrectal biopsy device including an endorectal extension and a biopsy needle device, said endorectal extension including an MRI coil for creating MRI images of a prostate; and said robot body including a first driver module for generating rotational motion of said endorectal extension and a second driver module for angulating said biopsy needle device toward a target area of the prostate for biopsy, said biopsy needle device being rotatable relative to the endorectal extension about a fixed axis and translatable through said endorectal extension, each of said first and second driver modules including at least one pneumatic motor; wherein said MRI images are used by a physician to determine the target area of the prostate for biopsy.