NEEDLE POSITIONING APPARATUS AND METHOD

• US 20080091101A1
• Filed: 03/06/2007
• Published: 04/17/2008
• Est. Priority Date: 10/16/2006
• Status: Active Grant

• Current Assignee: Perfint Healthcare Pvt Ltd.
• Original Assignee: Perfint Engineering Services
• Inventors: Sarma, Kannan Neelakanta, Velusamy, Gnanasekar, Santosham, Roy
• Granted Patent: US 8,401,620 B2
• Time in Patent Office: Days
• US Class Current: 600/427
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/0407 Supports, e.g. tables or beds, for the body or parts of the body
• CPC Class Codes: A61B 6/461 Displaying means of special interest
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

Apparatus for accurate positioning of a needle guide is disclosed. The apparatus provides a means for taking as input the position vector for the point of insertion of the needle into the body. This point of insertion can be selected from images produced by a Computer Tomography system. Similarly, the apparatus has a means for taking as input the point of target. A controller determines the directional vector between point of insertion and point of target. A guide manipulator accurately positions the needle guide in line with the directional vector, such that the needle can easily be inserted through the guide to the point of target. The positioning of the guide manipulator in accordance with the directional vector is done with the help of motors.

Claims

1. An apparatus for accurate positioning of a needle guide, the guide being suitable for inserting a needle to a target inside a body, the needle entering the surface of the body from a point of insertion, the apparatus comprising:

(a) means for determining position vectors for point of insertion and point of target;

(b) a controller for determining a directional vector between the point of insertion and the point of target; and

,

(c) a guide manipulator for accurately positioning the needle guide in line with the directional vector.

2. The apparatus as recited in claim 1 further comprising a skin level sensor.

3. The apparatus as recited in claim 1 further comprising a planar sensor, the planar sensor providing an error correction to the position of the needle guide, the error being induced due to non-planar mounting surface of the apparatus.

4. The apparatus as recited in claim 1 further comprising:

(a) means for acquiring image data from an imaging system; and

,

(b) means for marking of point of insertion and the point of target on the image data.

5. The apparatus as recited in claim 1 further comprising a docking system, the docking system docking the apparatus with a CT system.

6. The apparatus as recited in claim 1 wherein the guide manipulator has five axes of movement.

7. The apparatus as recited in claim 4 further comprising means for displaying image data.

8. An apparatus for accurate positioning of a needle guide, the guide being suitable for inserting a needle to a target inside a body, the needle entering the surface of the body from a point of insertion, the apparatus comprising:

(a) a clamp capable of linear movement along at least one axis;

(b) a positioning element including first and second member, the members capable of rotating along mutually perpendicular axes;

(c) means for determining position vectors for point of insertion, and point of target;

(d) a controller for determining spatial orientation of the positioning element and the clamp based on the position vectors of the point of insertion and the point of target, the spatial orientation being such that the needle guide forms the path for the needle to reach the target; and

,

(e) a plurality of motors for aligning the clamp and the positioning element in accordance with the determined orientation.

9. The apparatus as recited in claim 8 further comprising a skin level indicator.

10. The apparatus as recited in claim 8 further comprising a planar sensor, the planar sensor providing an error correction to the position of the needle guide, the error being induced due to non-planar mounting surface of the apparatus.

11. The apparatus as recited in claim 8 further comprising:

(a) means for acquiring image data from an imaging system; and

,

(b) means for marking of point of insertion and the point of target on the image data.

12. The apparatus as recited in claim 8 further comprising a docking station, the docking station docking the apparatus with respect to the CT system.

13. A method for accurate positioning of a needle guide, the guide being suitable for inserting a needle to a target inside a body, the needle entering the surface of the body from a point of insertion, the method comprising:

(a) obtaining a plurality of slice images of the body;

(b) determining the point of insertion and point of target from the images;

(c) computing the directional vector between the point of insertion and the point of target; and

,

(d) positioning the guide in accordance with the computed directional vector.

14. The method as recited in claim 13 wherein the step of determining the point of insertion and the point of target is done manually.

15. The method as recited in claim 13 wherein the step of determining the point of insertion and the point of target is done automatically.

16. The method as recited in claim 13 further comprising determining the spatial orientation of the needle guide based on the directional vector.

17. The method as recited in claim 16 wherein the spatial orientation comprises coordinate information for the needle guide along five axes.

18. The method as recited in claim 13 further comprising the step of providing an error correction based on the skin level of the body.

19. The method as recited in claim 13 further comprising the step of providing an error correction based on the non-planar nature of the surface.