Method and apparatus for the imaging of tissue

• US 6,190,334 B1
• Filed: 05/24/1999
• Issued: 02/20/2001
• Est. Priority Date: 05/24/1999
• Status: Expired due to Fees

• Current Assignee: RBP, Inc.
• Original Assignee: RBP, Inc.
• Inventors: Pasch, Kenneth A., Lasky, Harold J.
• Primary Examiner(s): HINDENBURG, MAX F
• Application Number:
  US09/317,935
• Time in Patent Office: 638 Days
• Field of Search: 600/550, 600/552, 600/553, 600/587
• US Class Current: 600/587
• CPC Class Codes: A61B 5/0053 by applying pressure, e.g. compression, indentation, palpation, grasping, gauging
• CPC Class Codes: A61B 5/4312 Breast evaluation or disorder diagnosis A61B5/0091 takes precedence
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures

Abstract

A tissue examination apparatus particularly useful for automated breast palpation is provided. The apparatus includes an actuator having an extendable probe for contacting the tissue and an electronic control module that controls extension and retraction of the probe. The electronic control module determines displacement distances of the probe and forces exerted on the probe at each displacement distance when the probe is extended so as to contact the tissue. The apparatus also has a drive assembly secured to a frame. The drive assembly includes a movable carriage and a corresponding drive motor. The actuator is mounted on the movable carriage. The drive motor receives motion control signals from the electronic control module and thereby moves the actuator over a patient'"'"'s body. At different locations, the probe is extended into the patient'"'"'s tissue and force and displacement readings are obtained and sent to the electronic control module. A signal processor such as a computer receives the force and the displacement distance determinations from the electronic control module and analyzes the force and the displacement distance determinations to provide a visual data analysis indicating any lesion within the tissue.

Claims

1. A tissue examination apparatus for performing an examination of breast tissue of a person with a breast facing upwardly comprising:

an actuator having a downwardly extendable probe for contacting tissue;

an electronic control module communicating with the actuator, the electronic control module controlling extension and retraction of the probe, and the electronic control module determining displacement distances of the probe and forces exerted on the probe at each displacement distance when the probe is extended so as to contact the tissue; and

a signal processor communicating with the electronic control module and receiving the force and the displacement distance determinations from the electronic control module, the signal processor analyzing the force and the displacement distance determinations to provide a data analysis indicating any localized area of stiffer or softer tissue within the tissue,

a support structure,

a sheet of material secured to a support structure and adapted to be placed over and in contact with said breast facing upwardly, the sheet of material immobilizing the tissue being examined.

2. The tissue examination apparatus of claim 1 further comprising:

the actuator and the electronic control module being mounted on the support structure.

3. The tissue examination apparatus of claim 2 wherein:

the support structure includes a frame and a motion control assembly,

the motion control assembly including a movable carriage, the motion control assembly being mounted on the frame, and the actuator being mounted on the movable carriage.

4. The tissue examination apparatus of claim 3 wherein:

the motion control assembly further includes a drive motor for moving the carriage, the drive motor receiving motion control signals from the electronic control module.

5. The tissue examination apparatus of claim 1 further comprising:

a targeting device mounted on the support structure, the targeting device enabling placement of the support structure in a particular spatial relationship with a predetermined area of tissue.

6. The tissue examination apparatus of claim 1 further comprising:

a storage device communicating with the signal processor, the storage device storing the force and the displacement determinations and the data analysis of the signal processor in order to allow a user to perform serial data analysis.

7. The tissue examination apparatus of claim 1 further comprising:

a display device communicating with the signal processor, the display device displaying the data analysis of the signal processor.

8. The tissue examination apparatus of claim 1 wherein:

the probe has a tissue-engaging tip including at least one sensor selected from the group consisting of force sensors, shear or other tactile or tactile array sensors, ultrasonic sensors, capacitive sensors, inductive sensors, resistive sensors, temperature sensors, and moment sensors.

9. A tissue examination apparatus comprising:

an actuator having an extendable probe for contacting tissue;

an electronic control module communicating with the actuator, the electronic control module controlling extension and retraction of the probe, and the electronic control module determining displacement distances of the probe and forces exerted on the probe at each displacement distance when the probe is extended so as to contact the tissue; and

a signal processor communicating with the electronic control module and receiving the force and the displacement distance determinations from the electronic control module, the signal processor analyzing the force and the displacement distance determinations to provide a data analysis indicating any localized area of stiffer or softer tissue within the tissue

a support structure, the actuator and the electronic control module being mounted on the support structure

the support structure includes a frame and a pair of motion control assemblies secured to the frame, each motion control assembly including a movable carriage and a corresponding drive motor, each drive motor receiving motion control signals from the electronic control module,

the motion control assemblies being mounted on the frame, and the actuator being mounted on one of the movable carriages.

10. The tissue examination apparatus of claim 9 wherein:

the electronic control module transmits signals to the actuator and the drive motors such that the actuator moves in a predetermined pattern over the tissue and the probe extends and retracts in a predetermined sequence.

11. An apparatus for the detection and monitoring of lesions in a human breast, the apparatus comprising:

an actuator having an extendable probe for contacting the breast;

an electronic control module communicating with the actuator, the electronic control module controlling extension and retraction of the probe, and the electronic control module determining displacement distances of the probe and forces exerted on the probe at each displacement distance when the probe is extended so as to contact the breast;

a frame;

a pair of motion control assemblies secured to the frame, each motion control assembly including a movable carriage and a corresponding drive motor, each drive motor receiving motion control signals from the electronic control module, the motion control assemblies being mounted on the frame, and the actuator being mounted on one of the movable carriages;

a sheet of material secured to the frame, the sheet of material immobilizing the breast being examined; and

a signal processor communicating with the electronic control module and receiving the force and the displacement distance determinations from the electronic control module, the signal processor analyzing the force and the displacement distance determinations to provide a data analysis indicating any lesion within the breast.

12. The apparatus of claim 11 wherein:

the electronic control module transmits signals to the actuator and the drive motors such that the actuator moves in a predetermined pattern over the breast and the probe extends and retracts in a predetermined sequence.

13. The apparatus of claim 12 further comprising:

a display device communicating with the signal processor, the display device displaying the data analysis of the signal processor.

14. The apparatus of claim 13 further comprising:

a storage device communicating with the signal processor, the storage device storing the force and the displacement determinations and the data analysis of the signal processor.

15. The apparatus of claim 14 further comprising:

a pair of opposed spaced apart panels mounted on the frame, the panels being adjustable so that the panels may be positioned on opposite sides of the rib cage of a patient being examined.

16. The apparatus of claim 15 further comprising:

a targeting device mounted on the frame, the targeting device enabling placement of the frame in a particular spatial relationship with a predetermined area of the breast.

17. The apparatus of claim 15 wherein:

the probe has a tissue-engaging tip including at least one sensor selected from the group consisting of force sensors, shear or other tactile or tactile array sensors, ultrasonic sensors, capacitive sensors, inductive sensors, resistive sensors, temperature sensors, and moment sensors.

18. The apparatus of claim 15 wherein:

the probe has roller tip.

19. The apparatus of claim 11 wherein:

the forces exerted on the probe are determined by way of calculations using proportional servo tracking error.

20. An apparatus for the detection and monitoring of lesions in a human breast, the apparatus comprising:

a plurality of actuators, each actuator having an extendable probe for contacting the breast;

an electronic control module communicating with each actuator, the electronic control module controlling extension and retraction of each probe, and the electronic control module determining displacement distances of each probe and forces exerted on each probe at each displacement distance when each probe is extended so as to contact the breast;

a frame;

a pair of motion control assemblies secured to the frame, each motion control assembly including a movable carriage and a corresponding drive motor, each drive motor receiving motion control signals from the electronic control module, the motion control assemblies being mounted on the frame, and each actuator being mounted on one of the movable carriages;

a sheet of material secured to the frame, the sheet of material immobilizing the breast being examined; and

a signal processor communicating with the electronic control module and receiving the force and the displacement distance determinations from the electronic control module, the signal processor analyzing the force and the displacement distance determinations to provide a data analysis indicating any lesion within the breast.

21. The apparatus of claim 20 wherein:

the electronic control module transmits signals to each actuator and the drive motors such that each actuator moves in a predetermined pattern over the breast and each probe extends and retracts in a predetermined sequence.