Medical manipulator for use with an imaging device
First Claim
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1. A manipulator for use in medical procedures comprising:
- a movable guide;
a carriage mounted on and movable along the guide;
an actuator operatively connected to the carriage for moving the carriage along the guide; and
a positioning mechanism mounted on the carriage for holding a medical tool, the positioning mechanism including at least one actuator for moving the medical tool and being capable of moving the tool with at least two degrees of freedom with respect to the carriage including rotating the medical tool about a yaw axis and a pitch axis perpendicular to the yaw axis.
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Abstract
A manipulator for use in medical procedures can manipulate a medical tool with one or more degrees of freedom with respect to a patient. The manipulator is particularly useful for positioning a medical tool with respect to a patient disposed inside an imaging device such as a computer tomography machine.
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Citations
25 Claims
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1. A manipulator for use in medical procedures comprising:
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a movable guide;
a carriage mounted on and movable along the guide;
an actuator operatively connected to the carriage for moving the carriage along the guide; and
a positioning mechanism mounted on the carriage for holding a medical tool, the positioning mechanism including at least one actuator for moving the medical tool and being capable of moving the tool with at least two degrees of freedom with respect to the carriage including rotating the medical tool about a yaw axis and a pitch axis perpendicular to the yaw axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An imaging arrangement comprising:
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a medical imaging device having a gantry and a table for supporting a patient extending into a bore of the gantry;
a guide movable in a lengthwise direction of the table about a patient lying on the table;
a carriage mounted on the guide for movement along the guide;
a carriage actuator operatively connected to the carriage for moving the carriage along the guide;
a medical tool mounted on the carriage, the guide being movable to a position in which the medical tool lies in a viewing field of the imaging device including the patient; and
a positioning mechanism mounted on the carriage and including at least one actuator for moving the medical tool, the positioning mechanism being capable of moving the tool with respect to the carriage with at least three degrees of freedom including rotation of the tool about first and second axes perpendicular to a lengthwise direction of the tool and movement of the tool toward and away from a patient lying on the table. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification