Manual Instrumented Medical Tool System

• US 20110071380A1
• Filed: 09/09/2010
• Published: 03/24/2011
• Est. Priority Date: 09/09/2009
• Status: Abandoned Application

• Current Assignee: Engineering Services Inc.
• Original Assignee: Andrew A. Goldenberg, John Trachtenberg, Liang Ma, Yi Yang
• Inventors: TRACHTENBERG, John, GOLDENBERG, Andrew A., MA, Liang, YANG, Yi
• Application Number:
  US12/878,840
• Publication Number:
  US 20110071380A1
• Time in Patent Office: Days
• US Class Current: 600/411
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4209 by using holders, e.g. positioning frames
• CPC Class Codes: A61B 8/5238 for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61N 5/1007 Arrangements or means for the introduction of sources into the body

Abstract

A medical device is for use in association with a medical image of the gland or organ having a known reference point. The medical device comprises a structural frame, a horizontal joint, a vertical joint, a pan join, a tilt joint a medical instrument assembly and a control system. The medical device is positioned at a predetermined location relative to the medical image reference point. Each of the horizontal joint, the vertical joint, the pan joint and the tilt joint have a position sensor and are operably connected to the frame. The medical instrument assembly is operably connected to a sensor and to the horizontal joint, the vertical joint, the pan joint and the tilt joint. The control system is operably connected to the other elements whereby the control system determines the position of a predetermined location on the medical instrument assembly relative to the structural frame.

Claims

1. A medical device for use in association with a medical image of a gland/organ having a known reference point, the medical device comprising;

a mechanical frame being positioned at a predetermined location relative to the medical image reference point;

a horizontal joint operably connected to a horizontal position sensor and operably connected to the frame;

a vertical joint operably connected to a vertical position sensor and operably connected to the frame;

a pan joint operably connected to a pan position sensor and operably connected to the frame;

a tilt joint operably connected a tilt position sensor and operably connected to the frame;

a medical instrument assembly operably connected to a medical instrument position sensor and operably connected to the horizontal joint, the vertical joint, the pan joint and the tilt joint; and

a control system operably connected to the horizontal position sensor, the vertical position sensor, the pan position sensor, the tilt position sensor, the tilt position sensor and the medical instrument position sensor whereby the control system determines an actual position of a predetermined location on the medical instrument assembly relative to the frame.

2. The medical device as claimed in claim 1 further including a mover being positioned at a predetermined location relative to the medical image reference point, wherein the frame is movably attached to the mover and further including a means for determining the position of the frame relative to the mover such that the position of the frame is positioned at a predetermined location relative to the medical image reference point.

3. The medical device as claimed in claim 2 wherein the horizontal joint and horizontal position sensor include a multi-turn potentiometer operably connected to an anti-backless spur gear and a rack, a linear guide unit operably connected to the rack, a locking mechanism operably connected to the rack and a means for moving the rack operably connected to the rack.

4. The medical device as claimed in claim 3 wherein the vertical joint and vertical position sensor include a multi-turn potentiometer operably connected to an anti-backless spur gear and a rack, a locking mechanism operably connected to the rack and a means for moving the rack operably connected to the rack.

5. The medical device as claimed in claim 4 wherein the pan joint and pan position sensor includes a rotary potentiometer a pan joint support operably connected to the potentiometer and a locking mechanism operably connected to the potentiometer.

6. The medical device as claimed in claim 5 wherein the tilt joint and tilt position sensor includes a rotary potentiometer a shaft operably connected to the potentiometer, a tilt joint support operably connected to the potentiometer and a locking mechanism.

7. The medical device as claimed in claim 6 wherein the medical instrument assembly is a needle assembly.

8. The medical device as claimed in claim 7 wherein the needle assembly and medical instrument assembly position sensor includes a linear potentiometer, a needle tool operably connected to the linear potentiometer, a guiding shaft for receiving the needle tool, a lock operably connected to the guiding shaft, a slide block operably connected to the guiding shaft and a connector.

9. The medical device as claimed in claim 8 wherein the medical image is one of an ultrasound image and a MR image.

10. The medical device as claimed in claim 9 wherein the medical image is obtained in real time.

11. The medical device as claimed in claim 8 wherein the medical image is a blended real time ultrasound image and a pre-operative MR image.

12. The medical device as claimed in claim 1 further including a mover being positioned at a predetermined location relative to the medical image reference point, wherein the frame is movably attached to the mover and further including a means for determining the position of the frame relative to the mover such that the position of the frame is positioned at a predetermined location relative to the medical image reference point.

13. The medical device as claimed in claim 1 wherein the horizontal joint and horizontal position sensor include a multi-turn potentiometer operably connected to an anti-backless spur gear and a rack, a linear guide unit operably connected to the rack, a locking mechanism operably connected to the rack and a means for moving the rack operably connected to the rack.

14. The medical device as claimed in claim 1 wherein the vertical joint and vertical position sensor include a multi-turn potentiometer operably connected to an anti-backless spur gear and a rack, a locking mechanism operably connected to the rack and a means for moving the rack operably connected to the rack.

15. The medical device as claimed in claim 1 wherein the pan joint and pan position sensor includes a rotary potentiometer a pan joint support operably connected to the potentiometer and a locking mechanism operably connected to the potentiometer.

16. The medical device as claimed in claim 1 wherein the tilt joint and tilt position sensor includes a rotary potentiometer a shaft operably connected to the potentiometer, a tilt joint support operably connected to the potentiometer and a locking mechanism.

17. The medical device as claimed in claim 1 wherein the medical instrument assembly is a needle assembly.

18. The medical device as claimed in claim 17 wherein the needle assembly and medical instrument assembly position sensor includes a linear potentiometer, a needle tool operably connected to the linear potentiometer, a guiding shaft for receiving the needle tool, a lock operably connected to the guiding shaft, a slide block operably connected to the guiding shaft and a connector.

19. The medical device as claimed in claim 1 wherein the medical image is one of an ultrasound image and a MR image.

20. The medical device as claimed in claim 1 wherein the medical image is obtained in real time.

21. The medical device as claimed in claim 1 wherein the medical image is a blended real time ultrasound image and a pre-operative MR image.

22. A method of positioning a medical instrument assembly including a medical instrument comprising the steps of:

obtaining a magnetic resonance image;

obtaining an ultrasound image;

merging the magnetic resonance image with the ultrasound image to obtain a merged image;

determining a position of a predetermined point on the medical instrument assembly; and

locating the position of the predetermined point on the merged image.

23. The method as claimed in claim 22 wherein the position of the predetermined point of the medical instrument is being determined continuously in real time and a location of the point moves on the merged image as the medical instrument assembly moves.

24. The method as claimed in claim 23 wherein ultrasound image is being obtained continuously in real time.

25. The method as claimed in claim 22 further including the step of determining a best path to reach a predetermined target in order to move the medical instrument and show the best path on the merged image.

30. The method as claimed in claim 22 wherein the method is used in association with minimally invasive surgery.

31. The method as claimed in claim 30 wherein the minimally invasive surgery is chosen from the group consisting of focal ablation, brachytherapy and biopsy.

33. The method as claimed in claim 30 wherein the minimally invasive surgery is chosen from the group consisting of focal ablation, brachytherapy and biopsy.

26. A method of positioning a medical instrument assembly including a medical instrument comprising the steps of:

obtaining a magnetic resonance image;

determining a position of a predetermined point on the medical instrument assembly connected to a manual medical tool system; and

locating the position of the predetermined point on the magnetic resonance image.

27. The method as claimed in claim 26 wherein the position of the predetermined point of the medical instrument is being determined continuously in real time and a location of the point moves on the magnetic resonance image as the medical instrument assembly moves.

28. The method as claimed in claim 27 wherein magnetic resonance image is being updated as the medical instrument is being moved.

29. The method as claimed in claim 26 further including the step of determining a best path based to move the medical instrument and showing the best path on the magnetic resonance image.

32. The method as claimed in claim 26 wherein the method is used in association with minimally invasive surgery.