Frameless laser guided stereotactic localization system
First Claim
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1. A method for guiding an instrument tip to a target point identified in a patient via an imaging modality, comprising the steps of:
- establishing an imaging space coordinate system;
selecting an entry point;
placing an imaging visible marker at said entry point;
imaging said target point and said entry point to determine the imaging space coordinates thereof;
determining the coordinates of a retrograde point that lies on a line defined by said entry point coordinates and said target point coordinates wherein said entry point is between said retrograde point and said target point; and
,providing a retrograde laser having a retrograde laser beam and a medical instrument having said tip;
causing said retrograde laser beam to be directed along said line to illuminate said retrograde point; and
,guiding said instrument along said line by keeping said retrograde beam on said retrograde point to position said instrument tip proximate to said target point.
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Abstract
A lesion localization system is disclosed which employs imaging visible members (926, 928), and manifested sets of imaging space coordinates to define a retrograde point (1004) that is colinear with a lesion (940) and a selected entry point (946) thereto. Retrograde and antegrade lasers (1014, 1015) are employed to use the retrograde point in guidance of a medical instrument to the lesion. The localization system avoids mechanical calibration of stereotactic frames and is simpler to operate.
100 Citations
19 Claims
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1. A method for guiding an instrument tip to a target point identified in a patient via an imaging modality, comprising the steps of:
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establishing an imaging space coordinate system; selecting an entry point; placing an imaging visible marker at said entry point; imaging said target point and said entry point to determine the imaging space coordinates thereof; determining the coordinates of a retrograde point that lies on a line defined by said entry point coordinates and said target point coordinates wherein said entry point is between said retrograde point and said target point; and
,providing a retrograde laser having a retrograde laser beam and a medical instrument having said tip; causing said retrograde laser beam to be directed along said line to illuminate said retrograde point; and
,guiding said instrument along said line by keeping said retrograde beam on said retrograde point to position said instrument tip proximate to said target point. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of guiding an instrument tip to a target point identified in a patient via an imaging modality, comprising the steps of:
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establishing an imaging space coordinate system; selecting an entry point; placing an imaging visible marker at said entry point; imaging said target point and said entry point to determine the imaging space coordinates thereof; determining the coordinates of a retrograde point that lies on a line defined by said entry point coordinates and said target point coordinates wherein said entry point is between said retrograde point and said target point; providing an antegrade laser having an antegrade laser beam and a medical instrument having a tip; causing said antegrade laser beam to be directed from said retrograde point along said line to illuminate said entry point; and
,guiding said instrument along said antegrade beam to position said instrument tip proximate to said target point. - View Dependent Claims (9, 10, 11)
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12. Apparatus for use with a medical imaging system for guiding an instrument tip to a target point in a patient via a selected entry point on a patient, the apparatus comprising:
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indicia manifesting a selected coordinate set spaced from the patient; means for determining the imaging space coordinates of the entry point and target point, defining a line therebetween, and locating a retrograde point on said line at the intersection of said line with said indicia wherein said entry point is between said retrograde point and said target point; means for manifesting said retrograde point on said indicia; a medical instrument having a tip; and
,means for utilizing said retrograde point for guiding said instrument along said line for positioning said tip proximate to said target point including a retrograde laser for providing a retrograde laser beam along said line for illuminating said retrograde point. - View Dependent Claims (13, 14, 15, 16)
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17. Apparatus for use with a medical imaging system for guiding an instrument tip to a target point in a patient via a selected entry point on a patient, the apparatus comprising:
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indicia manifesting a selected coordinate set spaced from the patient; means for determining the imaging space coordinates of the entry point and target point, defining a line therebetween, and locating a retrograde point on said line at the intersection of said line with said indicia wherein said entry point is between said retrograde point and said target point; means for manifesting said retrograde point on said indicia; a medical instrument having a tip; and
,means for utilizing said retrograde point for guiding said instrument along said line for positioning said tip proximate to said target point including an antegrade laser for providing an antegrade laser beam along said line for illuminating said entry point. - View Dependent Claims (18, 19)
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Specification