METHODS AND APPARATUS FOR INTRODUCING A MEDICAL DEVICE INTO THE BODY OF A PATIENT

• US 20100010505A1
• Filed: 07/13/2009
• Published: 01/14/2010
• Est. Priority Date: 07/11/2008
• Status: Abandoned Application

• Current Assignee: K. Wayne Rennicks, Obvius Robotics Incorporated
• Original Assignee: Obvius Robotics Incorporated
• Inventors: Rennicks, K. Wayne, Herlihy, J. Patrick, Cohn, William E.
• Application Number:
  US12/502,038
• Publication Number:
  US 20100010505A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

An image guided robotic device is provided to perform a diagnostic or therapeutic medical procedure. In one embodiment, the robotic device includes an imaging machine, an actuator, and a controller for controlling the actuator. The robotic device may be configured to introduce a needle, a catheter, or a cannula into an anatomical structure. The device and its components may be sized for use as a portable device and/or operable using one hand of the operator.

Claims

1. A image guided device for introducing a medical device into a body structure, comprising:

an imaging device for acquiring information of a location of the body structure;

an actuator for deploying the medical device; and

a controller for processing information of the location of the body structure and controlling the actuator to place the medical device into the body structure.

2. The apparatus of claim 1, wherein the apparatus is portable.

3. The apparatus of claim 1, further comprising a cartridge containing the medical device, wherein the cartridge is releasably attached to the actuator.

4. The apparatus of claim 3, wherein the actuator comprises a driver for advancing the medical device.

5. The apparatus of claim 3, wherein the medical device comprises a catheter.

6. The apparatus of claim 5, wherein the cartridge further comprises a needle and the catheter is co-axially disposed around the needle.

7. The apparatus of claim 6, wherein the cartridge further comprises a wire at least partially disposed in the needle.

8. The apparatus of claim 7, wherein the wire is wound around a spool.

9. The apparatus of claim 8, further comprising a driver for moving the needle.

10. The apparatus of claim 9, further comprising a second driver for deploying the wire.

11. The apparatus of claim 3, further comprising an aspiration device.

12. The apparatus of claim 11, wherein the aspiration device comprises a vacuum mechanism.

13. An image guided device for introducing a tubular into a bodily cavity, comprising:

a console having a monitor;

a handle coupled to the console; and

an actuator pivotally coupled to the console, wherein the actuator includes a motor to introduce the tubular in the bodily cavity.

14. The apparatus of claim 13, further comprising an imaging device capable of projecting an image of the bodily cavity on the monitor.

15. The apparatus of claim 13, wherein the actuator is adapted to advance and retract the tubular.

16. A method of cannulating a bodily cavity, comprising:

determining a path of a needle;

simultaneously injecting the needle and a catheter into the bodily cavity, wherein the catheter is co-axially disposed around the needle;

inserting a wire through the needle and into the bodily cavity;

advancing the catheter relative to needle and at least partially over the wire; and

retrieving the needle and the wire.

17. The method of claim 16, wherein the retrieving the needle and advancing the catheter are performed simultaneously.

18. The method of claim 16, further comprising aspirating a bodily fluid prior to inserting the wire.

19. The method of claim 16, further comprising measuring a distance between the needle and the bodily cavity and setting a drive mechanism to advance the needle along the measured distance.

20. The method of claim 16, wherein determining a path comprises using an imaging machine to determine the path.

21. An image guided robotic device for placing a medical device in a bodily cavity, comprising:

an imaging device for acquiring information of the bodily cavity;

a housing coupled to the imaging device;

a cartridge releasably installed on the housing, wherein the cartridge contains the medical device; and

a drive mechanism for deploying the medical device.