APPARATUS AND METHOD FOR GUIDING INSERTION OF A MEDICAL TOOL
First Claim
1. ) An apparatus for the three-dimensional positioning of a guide for manual insertion of a medical tool within a body, the apparatus comprising:
- a) an alignment axis;
b) a guide axis aligned with the guide;
c) a first plane orthogonal to the alignment axis;
d) a second plane orthogonal to the alignment axis and parallel to the first plane, the second plane spaced apart from the first plane along the alignment axis;
e) a first positioning means for positioning a first guide point on the first plane, the guide axis passing through the first guide point;
f) a second positioning means for positioning a second guide point on the second plane, the guide axis passing through the second guide point; and
,g) the first and second positioning means separately adjustable in order to provide a pre-determined angular relationship between the guide axis and the alignment axis.
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Accused Products
Abstract
An apparatus and method for the insertion of a medical tool, for example a needle, within the human body. The apparatus and method are particularly useful in prostate brachytherapy and in prostate biopsy. The apparatus comprises a telescoping guide universally coupled to a first and second positioning means that are used to automatically and/or manually position the guide at a desired needle insertion trajectory. Automatic positioning of the guide is accomplished with reference to three-dimensional transrectal ultrasound images that can also be used to show needle insertion in real-time. The apparatus may be manually positioned in the approximate insertion trajectory and then a computer interconnected with the apparatus may be used to achieve the final trajectory based upon the ultrasound images. The apparatus is particularly useful in cases where multiple needles are to be inserted into a small target area and in cases where pubic arch interference prevents direct access to the target area.
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Citations
25 Claims
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1. ) An apparatus for the three-dimensional positioning of a guide for manual insertion of a medical tool within a body, the apparatus comprising:
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a) an alignment axis; b) a guide axis aligned with the guide; c) a first plane orthogonal to the alignment axis; d) a second plane orthogonal to the alignment axis and parallel to the first plane, the second plane spaced apart from the first plane along the alignment axis; e) a first positioning means for positioning a first guide point on the first plane, the guide axis passing through the first guide point; f) a second positioning means for positioning a second guide point on the second plane, the guide axis passing through the second guide point; and
,g) the first and second positioning means separately adjustable in order to provide a pre-determined angular relationship between the guide axis and the alignment axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. ) An apparatus for the three-dimensional positioning of a guide for manual insertion of a medical tool within a body, the apparatus comprising:
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a) at least one positioning means attached to the guide; b) at least one motor connected to each positioning means, the motor comprising; i) an armature; ii) a gear shaft connected with the armature through a set of enmeshed gears; iii) a manual adjustment knob connected with the gear shaft; iv) a slip clutch connecting the gear shaft and the positioning means; and
,c) the manual adjustment knob rotatable to manually adjust the positioning means while the motor is in operation without overdriving the motor. - View Dependent Claims (18, 19, 20)
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21. ) A method of positioning a guide for manual insertion of a medical tool within a body, the method comprising:
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a) obtaining a medical image of an interior of the body; b) providing the medical image to a computer in a digital form; c) determining with the computer a desired angle for manual insertion of the tool based upon analysis of the image; and
,d) automatically positioning the guide at the desired angle using instructions provided by the computer to a motorized guide positioning apparatus. - View Dependent Claims (22, 23, 24, 25)
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Specification