MRI-GUIDED MEDICAL INTERVENTIONAL SYSTEMS AND METHODS
First Claim
1. An MRI-guided interventional system, comprising:
- a frame with a cooperating targeting cannula, wherein the frame is configured to translate and rotate such that the targeting cannula can be positioned to a desired intrabody trajectory, and wherein the targeting cannula includes a guide bore therethrough that is configured to guide placement of an interventional device in vivo, wherein the frame comprises;
a base having a patient access aperture formed therein, wherein the base is configured to be secured to the body of a patient;
a yoke movably mounted to the base and rotatable about a roll axis; and
a platform movably mounted to the yoke and rotatable about a pitch axis, wherein the platform comprises an X-Y support table movably mounted to the platform that is configured to move in an X-direction and Y-direction relative to the platform; and
a plurality of user-activatable actuators operably connected to the frame that are configured to translate and rotate the frame relative to the body of the patient so as to position the targeting cannula to a desired intrabody trajectory.
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Accused Products
Abstract
An MRI-guided interventional system includes a frame with a cooperating targeting cannula. The frame is configured to be secured to the body of a patient, and is configured to translate and rotate such that the targeting cannula can be positioned to a desired intrabody trajectory. The frame may include one or more MRI-visible fiducial markers that allow frame location/orientation to be determined within an MRI image. A plurality of user-activatable actuators are configured to translate and rotate the frame relative to the body of a patient so as to position the targeting cannula to a desired intrabody trajectory. The targeting cannula includes an axially-extending guide bore therethrough that is configured to guide placement of an interventional device in vivo. Various instrumentation and equipment, such as stimulation leads, ablation catheters, injection catheters, etc., can be inserted through the targeting cannula to execute diagnostic and/or surgical procedures.
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Citations
44 Claims
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1. An MRI-guided interventional system, comprising:
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a frame with a cooperating targeting cannula, wherein the frame is configured to translate and rotate such that the targeting cannula can be positioned to a desired intrabody trajectory, and wherein the targeting cannula includes a guide bore therethrough that is configured to guide placement of an interventional device in vivo, wherein the frame comprises; a base having a patient access aperture formed therein, wherein the base is configured to be secured to the body of a patient; a yoke movably mounted to the base and rotatable about a roll axis; and a platform movably mounted to the yoke and rotatable about a pitch axis, wherein the platform comprises an X-Y support table movably mounted to the platform that is configured to move in an X-direction and Y-direction relative to the platform; and a plurality of user-activatable actuators operably connected to the frame that are configured to translate and rotate the frame relative to the body of the patient so as to position the targeting cannula to a desired intrabody trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 44)
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35. An MRI-guided interventional system, comprising:
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a frame with a cooperating targeting cannula, wherein the frame is configured to move such that the targeting cannula can be positioned to a desired intrabody trajectory, and wherein the targeting cannula includes a guide bore therethrough that is configured to guide placement of an interventional device in vivo, wherein the frame comprises; a base having a patient access aperture formed therein, wherein the base is configured to be secured to the body of a patient; a yoke movably mounted to the base and rotatable about a roll axis; and a platform movably mounted to the yoke and rotatable about a pitch axis; a plurality of user-activatable actuators operably connected to the frame that are configured to rotate the frame relative to the body of the patient so as to position the targeting cannula to a desired intrabody trajectory; and wherein the system further comprises at least one of the following; color-coded actuators wherein each actuator has a respective different color;
ora remote control unit comprising a plurality of elongate control devices, wherein each control device comprises first and second elongate rods axially connected at respective first ends via a first cable, wherein the first rod second end is operably connected to a respective actuator via a second cable, and wherein rotational movement of the second end of the second rod operates the actuator via the second cable. - View Dependent Claims (36, 37)
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38. A method of adjusting a trajectory of an in vivo interventional device, comprising:
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affixing a frame with a cooperating targeting cannula to the body of a patient, wherein the frame is configured to translate in both X and Y directions and rotate about at least two different axes such that the targeting cannula can be positioned to a desired access path trajectory, and wherein the targeting cannula includes a guide bore therethrough that is configured to guide placement of an interventional device in vivo; and adjusting at least one of translation or rotation of the frame to define a desired access path trajectory into the patient while the patient remains in position in a magnetic field associated with an MRI scanner. - View Dependent Claims (39, 40, 41, 42, 43)
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Specification