SURGICAL DEVICE FOR TRANSPERINEAL BIOPSY, IN PARTICULAR OF THE PROSTATE, FOR A MOVABLE ARM OF A ROBOT

摘要

A device (4) for transperineal biopsy, in particular of the prostate, for a movable arm of a robot, comprising: an ultrasound probe (7) being mounted around a first axis (Y); a surgical instrument (5) being provided with a needle (53), which is movable along a first trajectory (TA); and a moving device (6) of the surgical instrument (5) comprising at least a first pair of arms (14) facing one another and arranged around a first longitudinal axis (Y) of the ultrasound probe (7) so as to move, preferably oscillate, around the axis (Y) along a second trajectory (TE), which is different from the first trajectory (TA), in order to guide and support the needle (53) at a free end (54) of each guide arm (14); and a connection interface (1) to connect the device (4) to a movable arm of a robot and having an operating module (2), which comprises a plurality of actuators (12) each to move a respective said ultrasound probe (7) or said guide arms (14), and a separation module (3) arranged on the operating module (2) and configured to transmit the motion to the ultrasound probe (7) or to the arms (14).