Frameless stereotactic arm apparatus and method of using same
First Claim
1. A frameless stereotactic surgical apparatus comprising:
- an imaging device for generating first image information regarding a specimen disposed adjacent the imaging device;
a mechanical arm assembly having a first base portion mounted directly onto the imaging device in a predetermined fixed location on the imaging device, a second free end adapted to move into varied positions near the specimen, and at least one pivot joint between the first base portion and the second free end for permitting selective relative movement between the first base portion and the second free end;
an electromagnetic brake device adapted to selectively lock the first base portion to the second free end responsive to an electric brake command signal generated by a control circuit operatively associated with the imaging device; and
,a transform processor for mapping a position of the free end of the mechanical arm in arm space coordinates to a position in scanner space coordinates, the arm space coordinates relating the mechanical arm assembly to the imaging device and the scanner space coordinates relating the specimen to the imaging device.
1 Assignment
0 Petitions
Accused Products
Abstract
An imaging apparatus (18) includes a frameless stereotactic arm apparatus (30) including a first base portion (42) mounted in a fixed relationship to the imaging device. A second free end (40) of the arm assembly is adapted to move into varied positions near a specimen disposed on the imaging apparatus. At least one pivot joint (44, 48, 52, 56, 60) is provided between the first base portion and the free end of the arm for permitting selective relevant movement between the arm members. Electro-mechanical and electro-magnetic brake devices are provided at respective joints to selectively lock the free end of the arm assembly to the base portion. The brakes are responsive to a brake command signal (210) generated by the imaging device. A low pass filter (240) conditions the brake command signal to substantially eliminate high frequency electromagnetic switching noise in the stereotactic arm. So that the arm is movable in emergency situations, the brakes are adapted to rebase in response to application of a force in excess of a predetermined breakaway threshold force.
109 Citations
23 Claims
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1. A frameless stereotactic surgical apparatus comprising:
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an imaging device for generating first image information regarding a specimen disposed adjacent the imaging device; a mechanical arm assembly having a first base portion mounted directly onto the imaging device in a predetermined fixed location on the imaging device, a second free end adapted to move into varied positions near the specimen, and at least one pivot joint between the first base portion and the second free end for permitting selective relative movement between the first base portion and the second free end; an electromagnetic brake device adapted to selectively lock the first base portion to the second free end responsive to an electric brake command signal generated by a control circuit operatively associated with the imaging device; and
,a transform processor for mapping a position of the free end of the mechanical arm in arm space coordinates to a position in scanner space coordinates, the arm space coordinates relating the mechanical arm assembly to the imaging device and the scanner space coordinates relating the specimen to the imaging device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of using a surgical instrument guide apparatus with a stereotactic imaging device adapted to receive a patient or a patient support table, the method comprising the steps of:
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registering the surgical instrument guide apparatus with the stereotactic imaging device by mechanically connecting a base end of the guide apparatus directly to the imaging device; using the imaging device, generating a first image information in scanner space coordinates regarding a patient disposed on the patient support table; generating guide tip position information in guide space coordinates indicating a position of a free end of the guide apparatus relative to said base end of the guide apparatus; using a transform processor in the imaging device, mapping the guide tip position information in said guide space coordinates to guide tip position information in said scanner space coordinates to relate the guide apparatus to the imaging device; using the transform processor in the imaging device, mapping the first image information and the guide tip position information in said scanner space coordinates to image space coordinates adapted for display on a human readable display monitor; and
,displaying on a human readable display monitor said first image information in said image space coordinates together with said guide tip position information in said image space coordinates to present a human interventionist with a visual representation of the surgical instrument guide apparatus together with an image of the patient on the patient support table. - View Dependent Claims (13, 14)
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15. A frameless stereotactic surgical apparatus comprising:
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an imaging device for generating first image information regarding a specimen disposed adjacent the imaging device; a mechanical arm assembly having a first base portion mounted directly onto the imaging device in a predetermined fixed position on the imaging device, a second free end adapted to move into varied positions near the specimen, and at least one pivot joint between the first base portion and the second free end for permitting selective relative movement between the first base portion and the second free end; an electromagnetic brake device for selectively locking the first base portion to the second free end responsive to an electric brake command signal generated by a control circuit operatively associated with the imaging device, the electromagnetic brake device being adapted to support said mechanical arm assembly in a predetermined locked position against a force of gravity and to permit movement of said mechanical arm assembly from said predetermined fixed position against a first offsetting force slightly greater than said force of gravity and against a holding force of said brake devices and, a transform processor for mapping a location of the free end of the mechanical arm in arm space coordinates relating the mechanical arm assembly relative to the imaging device to a location in scanner space coordinates relating a position of said specimen relative to the imaging device. - View Dependent Claims (16, 17, 18)
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19. A frameless stereotactic surgical apparatus comprising:
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an imaging device for generating first image information regarding a specimen disposed adjacent the imaging device; a mechanical arm assembly having a first base portion mounted directly onto the imaging device in a predetermined fixed location on the imaging device, a second free end adapted to move into varied positions near the specimen, and at least one pivot joint between the first base portion and the second free end for permitting selective relative movement between the first base portion and the second free end; an electromagnetic brake device adapted to selectively lock the first base portion to the second free end responsive to an electric brake command signal generated by a control circuit operatively associated with the imaging device; a low pass filter for filtering high frequency noise components from said electric brake command signal; and
,a transform processor for mapping a position of the free end of the mechanical arm assembly in arm space coordinates relating the mechanical arm assembly to the imaging device to a position in scanner space coordinates relating the specimen to the imaging device. - View Dependent Claims (20, 21, 22, 23)
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Specification