Motorized biopsy needle positioner

• US 5,240,011 A
• Filed: 11/27/1991
• Issued: 08/31/1993
• Est. Priority Date: 11/27/1991
• Status: Expired due to Term

• Current Assignee: Siemens AG
• Original Assignee: Fischer Imaging Corporation
• Inventors: Assa, Michael
• Primary Examiner(s): Cohen, Lee S.
• Assistant Examiner(s): NASSER, ROBERT L
• Application Number:
  US07/799,418
• Time in Patent Office: 643 Days
• Field of Search: 128/751-755, 606/167-170
• US Class Current: 600/564
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• 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 90/17 for soft tissue, e.g. breast-holding devices
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/30 Image reproducers optical systems for producing stereoscopic or other three-dimensional effects G02B30/00

Abstract

A motorized biopsy needle positioner employed in a mammographic needle biopsy system receives coordinate information representative of a previously identified point of interest within a patient'"'"'s captive breast under examination and automatically positions a biopsy needle in accordance with that coordinate information to permit insertion of the biopsy needle to the previously identified point of interest. An offset mode of operation of the motorized biopsy needle positioner automatically positions the biopsy needle in accordance with coordinate information representative of an offset point within the patient'"'"'s breast that is offset from the previously identified point of interest to permit insertion of the biopsy needle to that offset point. A manual mode of operation of the motorized biopsy needle positioner permits the user to actuate directional keys of a user control unit to position the biopsy needle in one or more directions, as specified by the actuated directional keys.

Claims

1. An apparatus for use in inserting a biopsy needle to a point of interest within a patient'"'"'s captive breast, comprising:

(a) biopsy needle positioning means for controllably retaining a biopsy needle for movement within a spatial coordinate system that encompasses a patient'"'"'s captive breast, the biopsy needle positioning means including motorized means for positioning said biopsy needle in accordance with at least one specified coordinate of the spatial coordinate system;

(b) controller means, coupled to said biopsy needle positioning means, for receiving coordinate information that specifies at least one coordinate of a point of interest within said patient'"'"'s captive breast;

(c) first user control means, coupled to said biopsy needle positioning means, for enabling a user to initiate automatic movement of said biopsy needle in accordance with coordinate information received by said controller means and

(d) offset control means for controlling said biopsy needle positioning means to move said biopsy needle in accordance with offset coordinate information regarding an offset point that is spatially offset from said point of interest so as to permit insertion of said biopsy needle to the offset point within the patient'"'"'s captive breast.

2. The apparatus of claim 1, wherein said first user control means includes display means for visually displaying coordinate information that specifies coordinates of said point of interest in the patient'"'"'s captive breast.

3. The apparatus of claim 1, wherein said first user control means includes display means for visually displaying offset coordinate information that specifies coordinates of said offset point within the patient'"'"'s captive breast.

4. The apparatus of claim 1, further comprising:

safety interlock means, actuable by the user, for preventing inadvertent movement of said biopsy needle.

5. The apparatus of claim 1, wherein said controller means is operative for receiving coordinate information in the form of horizontal angle, vertical angle, and insertion depth distance to specify coordinates of said point of interest within the patient'"'"'s captive breast.

6. The apparatus of claim 1, wherein the controller means is operative for receiving coordinate information in the form of x, y, and z rectangular axes distances to specify coordinates of said point of interest within the patient'"'"'s captive breast.

7. The apparatus of claim 1, further comprising:

second user control means, coupled to said biopsy needle positioning means, for enabling a user to initiate manual movement of said biopsy needle responsive to input from the user.

8. The apparatus of claim 1, further comprising:

directional control means for designating movement of said biopsy needle in one or more selected directions.

9. The apparatus of claim 8, wherein the directional control means comprises up, down, left, and right arrow keys.

10. The apparatus of claim 8, further comprising:

display means for visually displaying coordinate information corresponding to the position of said biopsy needle as it moves in the one or more selected directions in response to actuation of directional control means.

11. The apparatus of claim 1, further comprising:

driven retaining means for retaining and driving said biopsy needle within the patient'"'"'s breast to obtain a tissue sample from said point of interest.

12. The apparatus of claim 1, further comprising:

immobilizing means for immobilizing the patient'"'"'s breast relative to said spatial coordinate system.