NEEDLE PLACEMENT MANIPULATOR WITH ATTACHMENT FOR RF-COIL

• US 20140275978A1
• Filed: 03/15/2013
• Published: 09/18/2014
• Est. Priority Date: 03/15/2013
• Status: Active Application

• Current Assignee: Brigham and Women's Hospital Incorporated, Canon USA, Inc. (Canon Inc.)
• Original Assignee: Canon USA, Inc. (Canon Inc.)
• Inventors: Fujimoto, Kosuke, Arimitsu, Yasumichi, Hata, Nobuhiko, Song, Sang-Eun, Tokuda, Junichi
• Granted Patent: US 10,274,553 B2
• Time in Patent Office: Days
• US Class Current: 600/422
• CPC Class Codes: A61B 2017/3407 including a base for support on the body
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: G01R 33/286 involving passive visualization of interventional instruments, i.e. making the instrument visible as part of the normal MR process
• CPC Class Codes: G01R 33/287 involving active visualization of interventional instruments, e.g. using active tracking RF coils or coils for intentionally creating magnetic field inhomogeneities

Abstract

A needle placement manipulator includes, a needle holder configured to hold a needle, a guide system configured to position the needle holder to a predetermined direction with respect to a subject of needle placement, an attachment including an attaching portion to which the guide system is attached and a setting portion on which an RF-coil is set. A base surface of the setting portion is configured to be disposed on the subject.

Claims

1. A needle placement manipulator comprising:

a needle holder which holds a needle along an insertion axis;

a guide to position the axis of needle holder to a predetermined direction;

a base body on which the guide is supported;

a first attachment including a base surface and a setting portion on which RF-coil is set;

a second attachment connected to the base body and including an attaching portion which attaches the second attachment to the first attachment,

wherein the base surface of the first attachment is configured to be the closest plane of the manipulator to a subject of the needle placement.

2. The needle placement manipulator according to claim 1, wherein the guide includes first rotary guide which is fixed to the base body and second rotary guide which is fixed to the needle holder with their axes of rotation at a first angle with respect to each other.

3. The needle placement manipulator according to claim 1, wherein the first attachment and the second attachment have opening region around the axis of needle.

4. The needle placement manipulator according to claim 1 wherein the guide is a rotary guide which has opening around the axis of needle.

5. The needle placement manipulator according to claim 1, wherein the guide includes first rotary guide and second rotary guide with their rotational axis are fixed at a first angle with respect to each other.

6. The needle placement manipulator according to claim 5, wherein the second rotary guide and the axis of the needle holder are fixed at a second angle with respect to each other, and

wherein the second angle is greater than or equal to the first angle.

7. The needle placement manipulator according to claim 5, wherein two rotational axes of the two rotary guides and the axis of needle holder are crossed at one point.

8. The needle placement manipulator according to claim 7, wherein the crossing point is on the plane of the base surface of the first attachment.

9. The needle placement manipulator according to claim 1 wherein at least one actuator is arranged in the guide.

10. The needle placement manipulator according to claim 1, wherein at least one position sensor is arranged in the guide.

11. The needle placement manipulator according to claim 9, wherein the actuator includes piezoelectric material.

12. The needle placement manipulator according to claim 11, wherein the actuator includes slider part which is pressurized to friction element fixed to piezoelectric material by pressurized means and relatively actuated by the vibration of a vibrator.

13. The needle placement manipulator according to claim 11, wherein the actuator includes vibrator body to which piezoelectric material is fixed and a slider part which is pressurized to vibrator body by pressurize mean and relatively actuated by the vibration of the vibrator.

14. The needle placement manipulator according to claim 13, wherein the vibrator body is made by ceramic material.

15. The needle placement manipulator according to claim 12, wherein the slider part includes resin material.

16. The needle placement manipulator according to claim 12, wherein the friction element includes resin material

17. An image guided needle positioning system comprising:

a needle placement manipulator according to claim 1;

an RF-coil;

an MRI-system which acquires an image of a target area of a subject, an image of needle placement manipulator and an image of the needle;

an image guide system which indicates a needle orientation angle for targeting the target area of the subject;

a manipulator controller which receives the needle orientation angle and calculates two positions of the guide based on the images acquired by the MRI-system;

a motor controller which communicates to a manipulator controller, drive and control motor supplying driving power to motor and position sensor and receiving position signal from position sensor.

18. A needle placement manipulator according to claim 1, wherein the setting portion of the first attachment includes a projection portion which goes through an opening of the RF-coil, and the second attachment is attached rigidly to the projection portion.

19. A needle placement manipulator comprising:

a needle holder configured to hold a needle;

a guide system configured to position the needle holder to a predetermined direction with respect to a subject of needle placement;

an attachment including an attaching portion to which the guide system is attached and a setting portion on which an RF-coil is set, and

wherein a base surface of the setting portion is configured to be disposed on the subject.

20. The needle placement manipulator according to claim 19, wherein the guide system is rotary guide system, and an axis of the needle holder and an axis of the rotary guide system cross at a crossing point located on a plane parallel to the base surface.

21. The needle placement manipulator according to claim 20, wherein the rotary guide system includes a first rotary guide and a second rotary guide.

22. The needle placement manipulator according to claim 21, wherein the second rotary guide is disposed at an slated angle with respect to the first rotary guide.

23. The needle placement manipulator according to claim 22,

wherein an axis of the first rotary guide, an axis of the second rotary guide and the axis of the needle holder cross at the crossing point.

24. The needle placement manipulator according to claim 20, further comprising a distance adjustment mechanism configured to adjust the plane on which the crossing point is located.

25. The needle placement manipulator according to claim 24, wherein the distance adjustment mechanism varies a distance from the base surface of the setting portion to the crossing point such that the crossing point is located at the plane parallel to the base surface above the base surface or below the base surface.