Needle biopsy system

• US 6,245,028 B1
• Filed: 11/24/1999
• Issued: 06/12/2001
• Est. Priority Date: 11/24/1999
• Status: Expired due to Term

• Current Assignee: Marconi Medical Systems, Inc. (Koninklijke Philips N.V.)
• Original Assignee: Marconi Medical Systems, Inc. (Koninklijke Philips N.V.)
• Inventors: Furst, Daniel S., Heuscher, Dominic J., Shekhar, Raj, Chandra, Shalabh
• Primary Examiner(s): Winakur, Eric F.
• Assistant Examiner(s): Marmor, II, Charles
• Application Number:
  US09/449,322
• Time in Patent Office: 566 Days
• Field of Search: 600/411, 600/416, 600/417, 600/562, 600/564, 600/568, 606/130, 414/1, 414/5, 434/262
• US Class Current: 600/568
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 2017/3405 using mechanical guide means
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

A needle biopsy system (10) includes a biopsy needle (210), and a needle support assembly (200). The needle support assembly (200) holds the biopsy needle (210) and manipulates the biopsy needle (210) in response to received control signals. A needle simulator (250) having an input device (252) generates the control signals in response to manipulation of the input device (252) by an operator. The operator, in turn, receives feedback from the needle simulator (250) in accordance with forces experienced by the biopsy needle (210). In a preferred embodiment, the feedback received by the operator includes tactile sensations experienced by the operator as the operator manipulates the input device (252). The tactile sensations mimic those the operator would have received had the operator directly manipulated the biopsy needle (210). Optionally, a curved needle guide (280) is employed to restrict the biopsy needle'"'"'s progression longitudinally therethrough.

Claims

1. A needle biopsy system comprising:

a biopsy needle;

a needle support assembly that holds the biopsy needle and manipulates the biopsy needle in response to received control signals;

a force measuring transducer associated with the needle support assembly for measuring forces experienced by the biopsy needle; and

,

a needle simulator having an input device, said needle simulator generating the control signals in response to manipulation of the input device by an operator, said operator receiving feedback from the transducer in accordance with the forces experienced by the biopsy needle.

2. The needle biopsy system according to claim 1, wherein the feedback received by the operator comprises tactile sensations experienced by the operator as the operator manipulates the input device, said tactile sensations mimicking those the operator would have received had the operator directly manipulated the biopsy needle.

3. The needle biopsy system according to claim 1, wherein the force measuring transducer includes:

a load cell connected to the biopsy needle, said load cell generating force signals in response to detected forces acting on the biopsy needle, said force signals being relayed to the needle simulator.

4. The needle biopsy system according to claim 3, wherein the load cell also generates moment signals in response to moments acting on the biopsy needle, said moment signals being relayed to the needle simulator.

5. The needle biopsy system according to claim 1, wherein prior to the needle support assembly manipulating the biopsy needle, the control signals are filtered to compensate for unwanted manipulations of the input device by the operator.

6. The needle biopsy system according to claim 1, wherein said needle biopsy system further includes:

an image guidance system comprising a medical diagnostic imager having a human viewable display which is employed to visualize procedures.

7. The needle biopsy system according to claim 1, wherein needle biopsy system further comprises:

an indicator panel having at least one of a visual and an audible signal controlled in response to the forces experienced by the biopsy needle and perceivable by the operator.

8. A needle biopsy system comprising:

a biopsy needle;

a needle support assembly that holds the biopsy needle and manipulates the biopsy needle in response to received control signals;

a needle guide attached to the needle support assembly, said needle guide comprising a hollow shaft dimensioned to receive the biopsy needle such that the biopsy needle freely progresses longitudinally therethrough while restricting the needle'"'"'s lateral movement; and

a needle simulator having an input device, said needle simulator generating the control signals in response to manipulation of the input device by an operator, said operator receiving feedback from the transducer in accordance with the forces experienced by the biopsy needle.

9. The needle biopsy system according to claim 8, wherein the hollow shaft is curved.

10. The needle biopsy system according to claim 8, wherein the biopsy needle is connected to the needle support assembly via a quick release coupling arranged such that the biopsy needle is readily detachable from the needle support assembly.

11. The needle biopsy system according to claim 10, wherein the quick release coupling automatically releases the biopsy needle from the needle support assembly upon application of an amount of force thereto in excess of a determined level.

12. A method for performing a needle biopsy on a subject, said method comprising:

(a) adjusting a needle support assembly which holds a biopsy needle such that the biopsy needle is positioned relative to the subject at a desired insertion point and orientation;

(b) manipulating an input of a needle simulator remote from said needle support assembly in order to effect a desired manipulation of the biopsy needle;

(c) generating a needle control signal in response to the manipulation of the input of the needle simulator;

(d) relaying the needle control signal to the needle support assembly;

(e) producing the desired manipulation of the biopsy needle in response to the needle control signal;

(f) sensing a force on the biopsy needle;

(g) generating a force signal in response to the sensed force on the biopsy needle;

(h) relaying the force signal to the needle simulator; and

,

(i) applying tactile feedback to the input of the needle simulator in response to the force signal.

13. The method according to claim 12, wherein the tactile feedback mimics tactile sensations which would have been felt had the biopsy needle been manipulated directly.

14. The method according to claim 12, wherein between steps (c) and (e) the method further comprises:

filtering the control signal to compensate for unwanted components of the manipulation of the input of the needle simulator.

15. The method according to claim 12, wherein during the needle biopsy said method further comprises:

obtaining medical diagnostic images of a region of interest of the subject, said region of interest having the biopsy needle located therein.

16. The method according to claim 12, wherein the method further comprises:

providing a human perceivable signal in response to the force signal.

17. The method according to claim 16, wherein the human perceivable signal is an alarm which is triggered when the force signal crosses a determined threshold.

18. An image-guided needle biopsy system, said system comprising:

a CCT imaging unit having a subject support for suspending a subject at least partially within an examination region;

a biopsy needle; and

a mechanical needle biopsy system, said mechanical needle biopsy system comprising;

a robotic arm adjustably mounted to said subject support, said robotic arm inserting and retracting the biopsy needle into and out of the subject and sensing forces acting on the biopsy needle;

a needle guide through which the biopsy needle is directed, said needle guide being detachably mounted to the robotic arm; and

,

a haptic needle simulator that is manipulated in order to control the biopsy needle remotely, said haptic needle simulator reflecting sensed forces acting on the biopsy needle to an interventionalist manipulating the haptic needle simulator.

19. The image-guided needle biopsy system according to claim 18, wherein the biopsy needle is flexible and the needle guide is curved.

20. The image-guided needle biopsy system according to claim 18, wherein the biopsy needle is detachably coupled to the robotic arm.