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Articulated needle guide for ultrasound imaging and method of using same

  • US 5,647,373 A
  • Filed: 11/03/1994
  • Issued: 07/15/1997
  • Est. Priority Date: 11/07/1993
  • Status: Expired due to Fees
First Claim
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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:

  • 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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