Articulated needle guide for ultrasound imaging and method of using same
First Claim
1. Apparatus for performing needle biopsy or aspiration by automatically controlling the direction of a medical needle towards a target as indicated by an ultrasound imaging device, the apparatus comprising:
- at least one post provided with means for firmly positioning the at least one post on a horizontal surface near a patient, said at least one post being provided with a vertical, cylindrical portion,a first arm for permitting manual positioning of an ultrasound transducer on any portion of a patient'"'"'s body, said arm including;
a first horizontal link movable along and around said vertical portion of said at least one post,a first allaround movable link,first universal joint means for attaching one end of said first allaround movable link to said first horizontal link,an ultrasound transducer, andsecond universal joint means for attaching said ultrasound transducer to an opposite end of said first allaround movable link,a second arm for permitting manual positioning of a medical needle held by a needle guide on any portion of a patient'"'"'s skin, said second arm including;
a second horizontal link movable along and around said vertical post portion independently of said first horizontal link,a second allaround movable link,third universal joint means for attaching one end of said second allaround movable link to said second horizontal link,a needle guide for holding said medical needle, andfourth universal joint means for attaching said needle guide to an opposite end of said second allaround movable link,a rotatable shaft for carrying said needle guide, said shaft being rotatably mounted in said fourth universal joint means,first servo motor means for rotating said shaft and said needle guide,two links connecting said needle guide to one end of said shaft and movable in a common plane defined by an angular position of said shaft,second servo motor means for changing an angle of said needle guide in said plane,an ultrasound generating and imaging apparatus connected to said ultrasound transducer,an electronic processor including computing, image processing and controlling means for computing;
a relative position of said transducer and of said needle guide,a position of the target in the patient'"'"'s body from signals received from said ultrasound generating and imaging device, anda direction of said needle guide towards the target by signals issued to both of said servo motor means, andmeans for transmitting signals defining the position of said ultrasound transducer and of said needle guide to said electronic processor, by one of (i) a conductor and (ii) wireless means.
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Accused Products
Abstract
An apparatus configured to direct a medical needle onto a target inside a living body as indicated by an ultrasound imaging device includes an ultrasound transducer and a needle guide holding the medical needle, both attached to a vertical post by movable arms, an ultrasound imaging device and a computer-controller. The arms are provided with links connected by universal joints which permit positioning by the physician of the transducer and the needle guide in any place on the body in the desired direction. The position of the components is indicated to the computer controller by sensors mounted in the joints of the arms or by wireless transmission. The transducer issues signals regarding the target point to the imaging device which transmits the information to the computer controller, the latter adjusting the angular direction of the needle trajectory onto the target. The physician places the transducer on the body in accordance with the image of the target projected on the screen of the imaging device, and places the needle point on the skin close to the target, whereupon the direction of the needle trajectory is automatically adjusted by the apparatus.
346 Citations
16 Claims
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1. Apparatus for performing needle biopsy or aspiration by automatically controlling the direction of a medical needle towards a target as indicated by an ultrasound imaging device, the apparatus comprising:
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at least one post provided with means for firmly positioning the at least one post on a horizontal surface near a patient, said at least one post being provided with a vertical, cylindrical portion, a first arm for permitting manual positioning of an ultrasound transducer on any portion of a patient'"'"'s body, said arm including; a first horizontal link movable along and around said vertical portion of said at least one post, a first allaround movable link, first universal joint means for attaching one end of said first allaround movable link to said first horizontal link, an ultrasound transducer, and second universal joint means for attaching said ultrasound transducer to an opposite end of said first allaround movable link, a second arm for permitting manual positioning of a medical needle held by a needle guide on any portion of a patient'"'"'s skin, said second arm including; a second horizontal link movable along and around said vertical post portion independently of said first horizontal link, a second allaround movable link, third universal joint means for attaching one end of said second allaround movable link to said second horizontal link, a needle guide for holding said medical needle, and fourth universal joint means for attaching said needle guide to an opposite end of said second allaround movable link, a rotatable shaft for carrying said needle guide, said shaft being rotatably mounted in said fourth universal joint means, first servo motor means for rotating said shaft and said needle guide, two links connecting said needle guide to one end of said shaft and movable in a common plane defined by an angular position of said shaft, second servo motor means for changing an angle of said needle guide in said plane, an ultrasound generating and imaging apparatus connected to said ultrasound transducer, an electronic processor including computing, image processing and controlling means for computing; a relative position of said transducer and of said needle guide, a position of the target in the patient'"'"'s body from signals received from said ultrasound generating and imaging device, and a direction of said needle guide towards the target by signals issued to both of said servo motor means, and means for transmitting signals defining the position of said ultrasound transducer and of said needle guide to said electronic processor, by one of (i) a conductor and (ii) wireless means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16)
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14. Apparatus for performing needle biopsy or aspiration by automatically controlling the direction of a medical needle towards a target as indicated by an ultrasound imaging device, the apparatus comprising:
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at least one post provided with means for firmly positioning the at least one post on a horizontal surface near a patient, said at least one post being provided with a vertical, cylindrical portion, a first arm for permitting manual positioning of an ultrasound transducer on any portion of a patient'"'"'s body, said arm including; a first horizontal link movable along and around said vertical portion of said at least one post, a first allaround movable link, first universal joint means for attaching one end of said first allaround movable link to said first horizontal link, an ultrasound transducer, and second universal joint means for attaching said ultrasound transducer to an opposite end of said first allaround movable link, a second arm for permitting manual positioning of a medical needle held by a needle guide on any portion of a patient'"'"'s skin, said second arm including; a second horizontal link movable along and around said vertical post portion, a second allaround movable link, third universal joint means for attaching one end of said second allaround movable link to said second horizontal link, a needle guide for holding said medical needle, and fourth universal joint means for attaching said needle guide to an opposite end of said second allaround movable link, a rotatable shaft for carrying said needle guide, said shaft being rotatably mounted in said fourth universal joint means, first servo motor means for rotating said shaft and said needle guide, two links connecting said needle guide to one end of said shaft and movable in a common plane defined by an angular position of said shaft, second servo motor means for changing an angle of said needle guide in said plane, an ultrasound generating and imaging apparatus connected to said ultrasound transducer, an electronic processor including computing, image processing and controlling means for computing; a relative position of said transducer and of said needle guide, a position of the target in the patient'"'"'s body from signals received from said ultrasound generating and imaging device, and a direction of said needle guide towards the target by signals issued to both of said servo motor means, and means for transmitting signals defining the position of said ultrasound transducer and of said needle guide to said electronic processor, by one of (i) a conductor and (ii) wireless means, said means for transmitting signals defining the position of said ultrasound transducer and of said needle guide to said electronic processor includes; wireless transmitting units, mounted on said needle guide and on said ultrasound transducer, said wireless transmitting units including one of radio transmitting units, ultrasound transmitting units, and light transmitting units, said light transmitting units including infrared transmitting units; and receiving means for detecting signals issued by said wireless transmitting units, said receiving means including means for transmitting said detected signals to said processor.
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Specification