Automated implantation system for radioisotope seeds
First Claim
1. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
- a seed cartridge having an aperture and containing at least a plurality of radioisotope seeds preloaded into the cartridge;
a needle assembly; and
an implantation station including;
a base structure that positions an insertion axis relative to the patient;
a cartridge receiving structure defined along a portion of the insertion axis; and
a Z-axis automated motion control system that selectively moves the needle assembly along the insertion axis and into the patient and selectively ejects radioisotope seeds from the aperture of the cartridge into the needle assembly when the cartridge is positioned in the cartridge receiving structure.
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Accused Products
Abstract
An automated implantation system assists the implantation of low dose radioisotope seeds in a patient as part of a brachytherapy procedure. A Z-axis automated motion control system and an X-Y axis automated motion control system control a needle assembly. The X-Y axis automated motion control system positions an insertion axis of the needle assembly relative to the patient. The Z-axis automated motion control system selectively moves the needle assembly along the insertion axis to implant at least one radioisotope seed. This process is repeated for a plurality of locations on a base plane perpendicular to the insertion axis. Preferably, the radioisotope seeds are contained in a replaceable cartridge and the needle assembly is also replaceable.
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Citations
74 Claims
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1. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a seed cartridge having an aperture and containing at least a plurality of radioisotope seeds preloaded into the cartridge;
a needle assembly; and
an implantation station including;
a base structure that positions an insertion axis relative to the patient;
a cartridge receiving structure defined along a portion of the insertion axis; and
a Z-axis automated motion control system that selectively moves the needle assembly along the insertion axis and into the patient and selectively ejects radioisotope seeds from the aperture of the cartridge into the needle assembly when the cartridge is positioned in the cartridge receiving structure. - View Dependent Claims (2)
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3. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly;
a Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and into the patient and selectively ejects radioisotope seeds from the storage structure into the needle assembly; and
an X-Y axis automated motion control system that selectively moves at least the needle assembly in a plane perpendicular to the insertion axis to selectively position the insertion axis relative to the patient. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10)
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11. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly;
an ultrasound probe;
a first Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and into the patient and selectively ejects radioisotope seeds from the storage structure into the needle assembly;
a second Z-axis automated motion control system that selectively moves the ultrasound probe in a probe axis generally parallel to the insertion axis; and
a computer processor operably connected to at least the second Z-axis automated motion control systems and to the ultrasound probe such that the computer processor utilizes the ultrasound probe to monitors a position of an organ being treated in the brachytherapy procedure and selectively adjusts a base plane position of the insertion axis relative to the organ. - View Dependent Claims (12, 13, 14, 16, 17, 18, 20)
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15. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly;
a Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and into the patient and selectively ejects radioisotope seeds from the storage structure into the needle assembly;
an ultrasound probe; and
a computer processor operably connected to the Z-axis automated motion control systems and to the ultrasound probe that captures and stores at least one image from the ultrasound probe with the needle assembly in position in the patient to selectively place at least one radioisotope seed so as to form a record of the brachytherapy procedure.
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19. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly;
a first Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and into the patient and selectively ejects radioisotope seeds from the storage structure into the needle assembly;
an ultrasound probe;
a second Z-axis automated motion control system that selectively moves the ultrasound probe in a probe axis generally parallel to the insertion axis; and
a computer processor operably connected to at least the second Z-axis automated motion control system that executes an autocalibration routine that automatically calibrates the second Z-axis automated motion control system prior to utilizing the ultrasound probe in the brachytherapy procedure.
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21. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly including a needle coaxially located within a canula;
a needle automated motion control system that controls the needle; and
a canula automated motion control system that controls the canula separately from the needle, such that the needle automated motion control system and the canula automated motion control system cooperate to initially move the needle and canula along an insertion axis and into the patient and the needle automated motion control system withdraws the needle to selectively ejects radioisotope seeds from storage structure into the canula. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a seed cartridge having an aperture and containing at least a plurality of radioisotope seeds preloaded into the cartridge;
a needle assembly;
a Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and into the patient and selectively ejects radioisotope seeds from the seed cartridge into the needle assembly; and
a force sensor that senses forces on the needle assembly along the insertion axis and is operably connected to at least the needle automated motion control system. - View Dependent Claims (33, 34, 35, 36, 38, 40, 41, 42, 43)
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37. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly;
a Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and into the patient and selectively ejects radioisotope seeds from the storage structure into the needle assembly; and
a targeting indication system that demarks a location of where the insertion axis is positioned on the patient during the brachytherapy procedure.
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39. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly;
a Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and into the patient and selectively ejects radioisotope seeds from the storage structure into the needle assembly; and
a base station that supports at least the Z-axis automated motion control system and the needle assembly and positions the insertion axis relative to the patient, the base station including;
a base;
a moveable assembly that includes the insertion axis and is orientable independently of the base; and
a stand operably connected between the base and the moveable assembly.
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44. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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a storage structure adapted to hold a plurality of radioisotope seeds;
a needle assembly;
an ultrasound probe having an outer rigid sheath coaxial with the ultrasound probe;
a first Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and selectively ejects radioisotope seeds from the storage structure into the needle assembly;
a second Z-axis automated motion control system that selectively moves the ultrasound probe in a probe axis generally parallel to the insertion axis such that the second Z-axis automated motion control system initially positions both the outer sheath and the ultrasound probe in the patient and then moves only the ultrasound probe along the probe axis and within the sheath to generate ultrasound images along the probe axis. - View Dependent Claims (46, 47, 49)
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45. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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cartridge receiving structure adapted to receive a cartridge containing a plurality of radioisotope seeds;
a needle assembly;
carrier receiving structure adapted to receive a carrier structure containing an ultrasound probe;
a first Z-axis automated motion control system that selectively moves at least the needle assembly along an insertion axis and selectively ejects radioisotope seeds from the storage structure into the needle assembly;
a second Z-axis automated motion control system that selectively moves the ultrasound probe in a probe axis generally parallel to the axis of insertion.
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48. A method of operating an automated implantation system having a Z-axis automated motion control system and an X-Y axis automated motion control system that control at least a needle assembly for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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(a) using the X-Y axis automated motion control system to position an insertion axis of the needle assembly relative to the patient;
(b) using the Z-axis automated motion control system to selectively move the needle assembly along the insertion axis to implant at least one radioisotope seed; and
(c) repeating steps (a) and (b) for a plurality of locations on a base plane perpendicular to the insertion axis.
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50. A method of operating an automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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(a) using an ultrasound probe to establish a base plane for a position of an organ being treated in the brachytherapy procedure;
(b) using the automated implantation system to implant low dose radioisotope seeds in the patient with at least a Z-axis automated motion control system that implants radioisotope seeds to a depth determined in relation to the base plane;
(c) monitoring the position of the organ during step (b); and
(d) automatically adjusting the base plane used in step (b) in response to any movement in the position of the organ during the brachytherapy procedure.
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51. A method of operating an automated implantation system having a Z-axis automated motion control system and an X-Y axis automated motion control system that control at least a needle assembly for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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(a) providing an ultrasound probe to establish a base plane for a position of an organ being treated in the brachytherapy procedure;
(b) using the automated implantation system to implant low dose radioisotope seeds in the patient with the Z-axis automated motion control system implanting radioisotope seeds along an insertion axis generally perpendicular to the base plane and the X-Y automated motion control system moving the insertion axis in the base plane;
(c) automatically capturing and storing at least one image from the ultrasound probe for each unique position of the insertion axis in the base plane so as to form a record of the brachytherapy procedure.
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52. A method of operating an automated system for inserting a needle assembly for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure, the needle assembly comprising a needle coaxially located within a canula and the automated system comprising a needle automated motion control system that controls the needle and a canula automated motion control system that controls the canula, the method comprising:
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(a) positioning the needle assembly along an insertion axis relative to the patient;
(b) using the needle automated motion control system and the canula automated motion control system to repetitively advancing the needle a distance beyond the canula along the insertion axis and then advancing the canula that same distance until the canula is positioned at a desired depth; and
(c) using the needle automated motion control system to withdraw the needle once the canula is positioned at the desired depth to accept a radioisotope seed and then advancing the needle to position the radioisotope seed in the canula. - View Dependent Claims (53, 54, 55)
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56. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly; and
an implantation station including;
means for positioning an insertion axis relative to the patient;
means defined along a portion of the insertion axis for replaceably receiving the means for storing; and
automated means for selectively moving the needle assembly along the insertion axis and into the patient and selectively ejects radioisotope seeds from the means for storing into the needle assembly.
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57. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly;
automated means for selectively moving the needle assembly along the insertion axis and into the patient and selectively ejects radioisotope seeds from the means for storing into the needle assembly; and
automated means for selectively moving at least the needle assembly in a plane perpendicular to the insertion axis to selectively position the insertion axis relative to the patient.
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58. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly;
an ultrasound probe;
first automated means for selectively moving at least the needle assembly along an insertion axis;
second automated means for selectively moving the ultrasound probe in a probe axis generally parallel to the insertion axis; and
a computer processor means operably connected to at least the second automated means and to the ultrasound probe for monitoring a position of an organ being treated in the brachytherapy procedure and selectively adjusting a base plane position of the insertion axis relative to the organ.
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59. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly;
automated means for selectively moving at least the needle assembly along an insertion axis and into the patient and selectively ejecting radioisotope seeds from the means for storing into the needle assembly;
an ultrasound probe; and
a computer processor means operably connected to the automated means and to the ultrasound probe for capturing and storing at least one image from the ultrasound probe with the needle assembly in position in the patient to selectively place at least one radioisotope seed.
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60. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly;
an ultrasound probe;
a first automated means for selectively moving at least the needle assembly along an insertion axis and for selectively ejecting radioisotope seeds from the storage structure into the needle assembly;
a second automated means for selectively moving the ultrasound probe in a probe axis generally parallel to the insertion axis; and
a computer processor operably connected to at least the second automated means, including means for automatically calibrating the second automated means prior to utilizing the ultrasound probe in the brachytherapy procedure.
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61. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle coaxially located within a canula;
first automated means for controlling movement of the needle along an insertion axis; and
second automated means for controlling movement of the canula along the insertion axis.
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62. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly;
automated means for selectively moving at least the needle assembly along an insertion axis and selectively ejecting radioisotope seeds from the means for storing into the needle assembly; and
means operably connected to the automated means for sensing forces on the needle assembly along the insertion axis.
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63. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly;
automated means for selectively moving at least the needle assembly along an insertion axis and selectively ejecting radioisotope seeds from the means for storing into the needle assembly; and
means for targeting a location of where the insertion axis is positioned on the patient.
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64. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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means for storing at least a plurality of radioisotope seeds;
a needle assembly;
automated means for selectively moving at least the needle assembly along an insertion axis and selectively ejecting radioisotope seeds from the means for storing into the needle assembly; and
a base station that supports at least the automated means and the needle assembly and positions the insertion axis relative to the patient, the base station including;
abase;
a moveable assembly that includes the insertion axis; and
means operably connected between the base and the moveable assembly for orienting the moveable assembly independently of the base. - View Dependent Claims (65)
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66. An automated implantation system for implanting low dose radioisotope seeds in a patient as part of a brachytherapy procedure comprising:
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cartridge receiving structure adapted to receive a cartridge containing a plurality of radioisotope seeds;
a needle assembly;
carrier receiving structure adapted to receive a carrier structure containing an ultrasound probe;
first automated means for selectively moving at least the needle assembly along an insertion axis and selectively ejecting radioisotope seeds from the cartridge;
second automated means for selectively moving the ultrasound probe in a probe axis generally parallel to the axis of insertion. - View Dependent Claims (68, 69, 70, 71, 72, 73)
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67. An automated system for controlling insertion of a needle assembly into a patient along an insertion axis, the needle assembly having a needle coaxially located within a canula, the automated system comprising:
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base structure that positions the insertion axis relative to the patient, the base structure having a base, a moveable assembly that is orientable independently of the base and includes structure defined along a portion of the insertion axis to receive the needle assembly and, and structure operably connected between the base and the moveable assembly;
a Z-axis automated motion control system that selectively moves the needle assembly along the insertion axis when the needle assembly is positioned in the moveable assembly, wherein the Z-axis automated motion control system comprises;
a needle automated motion control system that controls the needle; and
a canula automated motion control system that controls the canula;
an X-Y axis automated motion control system that selectively moves at least the needle assembly in a plane perpendicular to the insertion axis; and
a computer processor operably connected to at least the Z-axis automated motion control system and the X-Y axis automated motion control system and having a user interface that displays information about the automated implantation system and accepts commands from a user to control the process of inserting the needle assembly.
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74. A method of operating an automated system for inserting a needle assembly in a patient as part of a medical procedure, the needle assembly comprising a needle coaxially located within a canula and the automated system comprising a needle automated motion control system that controls the needle, a canula automated motion control system that controls the canula and a force sensor operably connected to at least the needle and to the needle automated motion control system, the method comprising:
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(a) positioning the needle assembly along an insertion axis relative to the patient;
(b) using the needle automated motion control system and the canula automated motion control system to repetitively advancing the needle a distance beyond the canula along the insertion axis and then advancing the canula that same distance until the canula is positioned at a desired depth; and
(c) in the event that the force sensor senses the needle has encountered resistance above an expected force for piercing tissue when the needle automated motion control system advances the needle in step (b), using the needle automated motion control system to stops advancing the needle.
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Specification