Needle positioning apparatus and method

• US 8,774,901 B2
• Filed: 01/17/2013
• Issued: 07/08/2014
• Est. Priority Date: 10/16/2006
• Status: Active Grant

• Current Assignee: Perfint Healthcare Pvt Ltd.
• Original Assignee: Perfint Healthcare Pvt Ltd.
• Inventors: Velusamy, Gnanasekar, Sarma, Kannan Neelakanta, Agilandam, Kasi Viswanathan, Santosham, Roy
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): HOFFA, ANGELA MARIE
• Application Number:
  US13/743,960
• Publication Number:
  US 20130184572A1
• Time in Patent Office: 537 Days
• Field of Search: None
• US Class Current: 600/427
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/0407 Supports, e.g. tables or beds, for the body or parts of the body
• CPC Class Codes: A61B 6/461 Displaying means of special interest
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

Apparatus for accurate positioning of a needle guide is disclosed. The apparatus provides a means for taking as input the position vector for the point of insertion of the needle into the body. This point of insertion can be selected from images produced by a Computer Tomography system. Similarly, the apparatus has a means for taking as input the point of target. A controller determines the directional vector between point of insertion and point of target. A guide manipulator accurately positions the needle guide in line with the directional vector, such that the needle can easily be inserted through the guide to the point of target. The positioning of the guide manipulator in accordance with the directional vector is done with the help of motors.

Claims

1. A method, comprising:

positioning a mobile needle positioning device at a location relative to an imaging device when a movable patient cradle of the imagine device is at a location outside of an imaging space of the imaging device, the mobile needle positioning device having a needle guide;

after the positioning, actuating the mobile needle positioning device to cause the needle guide to be moved to a fixed target location along a directional vector such that a needle can be inserted through the needle guide at the target location, through an insertion point on a patient disposed on the patient cradle of the imaging device, and into a target point within the patient, the directional vector being determined based at least in part on image data received from the imaging device; and

after the actuating and while the needle guide is at the fixed target location, inserting a needle through an opening defined by the needle guide along the directional vector and into the patient at the insertion point on the patient and into the target point within the patient.

2. The method of claim 1, wherein the inserting the needle includes manually inserting the needle through the opening of the needle guide.

3. The method of claim 1, wherein the inserting the needle includes moving the needle a distance substantially equal to a length of the needle.

4. The method of claim 1, wherein the inserting the needle includes moving the needle a distance substantially equal to a length of the needle such that the target point within the patient is contacted by the needle.

5. The method of claim 1, further comprising:

prior to positioning the mobile needle positioning device, moving the patient cradle with the patient disposed thereon to a location within the imaging space of the imaging device; and

actuating the imaging device to image a target area on the patient.

6. The method of claim 1, further comprising:

prior to the inserting the needle, locking the mobile needle positioning device at the location relative to the imaging device.

7. The method of claim 1, wherein the inserting the needle includes moving the needle such that a predetermined portion of the needle is inserted within the patient until the needle contacts the target point within the patient.

8. A method, comprising:

receiving from an imaging device images of a portion of a patient disposed on a patient cradle of the imaging device, the patient cradle being disposed at a first location with respect to the imaging device with the imaged portion of the patient disposed inside an imaging space of the imaging device;

determining, based at least in part on the received images, a fixed target location to position a needle guide of a needle positioning device, the fixed location being along a directional vector, the needle positioning device being movable between a first location remote from the imaging device and a second location with respect to the imaging device when the patient cradle is disposed at a second location with respect to the imaging device and with the imaged portion of the patient disposed outside of the imaging space of the imaging device, the target location being relative to the imaged portion of the patient when the patient is disposed on the patient cradle and the patient cradle is in the second location; and

causing the needle guide to be moved to the target location such that a needle can be inserted through an opening of the needle guide along the directional vector and into the patient at an insertion point and to a target point on the patient.

9. The method of claim 8, further comprising:

determining the location outside of the imaging space to move the patient cradle such that the imaged portion of the patient is disposed outside of the imaging space of the imaging device.

10. The method of claim 8, further comprising:

receiving image data associated with the patient from the imaging device; and

based at least in part on the image data, determining the location outside of the imaging space to move the patient cradle such that the imaged portion of the patient is disposed outside of the imaging space of the imaging device.

11. The method of claim 8, further comprising:

receiving image data associated with the patient from the imaging device; and

determining the insertion point and the target point on the patient based at least in part on the image data received from the imaging device.

12. The method of claim 8, further comprising:

determining the insertion point and the target point on the patient, and

the determining the target location to position the needle guide being based at least in part on the insertion point and the target point.

13. The method of claim 8, further comprising:

determining the insertion point and the target point on the patient, and

the determining the target location to position the needle guide being based at least in part on the insertion point, the target point and a length of the needle to be inserted into the insertion point on the patient.

14. The method of claim 8, wherein the determining a target location to position a needle guide of the needle positioning device includes determining the target location outside of the imaging space of the imaging device.

15. A method, comprising:

receiving images of a patient from an imaging device;

determining, based at least in part on the received images, a location of an insertion point on the patient relative to a gantry of the imaging device when the patient is disposed on a movable cradle of the imaging device and the movable cradle is disposed outside of the imaging space of the imaging device such that insertion point is outside of the imaging space;

determining a directional vector between the insertion point on the patient and a target point within the patient;

determining based at least in part on the received images, a target location to position a needle guide of a needle positioning device, the needle positioning device being disposed at a location relative to the imaging device, the target location being in line with the directional vector and based at least in part on the determined location of the insertion point and the directional vector;

causing the needle guide to be moved to the target location; and

maintaining the needle guide in a fixed position at the target location such that a needle can be inserted through an opening of the needle guide and into the patient at the insertion point and inserted into the target point within the patient.

16. The method of claim 15, further comprising:

prior to determining a target location, determining the location relative to the imaging device to position the needle positioning device relative to the imaging device when the patient cradle of the imaging device is at the location outside of the imaging space of the imaging device.

17. The method of claim 15, further comprising:

determining the location outside of the imaging space to move the patient cradle based at least in part on the received images.

18. The method of claim 15, further comprising:

determining the target point within the patient,

the determining the target location to position the needle guide being based at least in part on the insertion point, the target point and a length of the needle to be inserted into the insertion point on the patient and into the target point within the patient.

19. The method of claim 15, further comprising:

determining the target point based at least in part on the images received from the imaging device.

20. A method comprising:

moving a mobile needle positioning device having a needle guide from a first location remote from a patient cradle of an imaging system to a second location relative to the imaging device when the patient cradle is disposed outside of the imaging space of the imaging device;

actuating the mobile positioning device to cause the needle guide to be moved to a target location relative to a patient disposed on the patient cradle outside of the imaging space and to maintain the needle guide in a fixed position at the target location, the target location being along a directional vector determined based at least in part on image data received from the imaging device;

after actuating the mobile needle positioning device and simultaneously with the maintaining, inserting a needle through an opening defined by the needle guide and along the directional vector and into the patient at an insertion point on the patient and to a target point within the patient;

after the inserting, actuating the mobile needle positioning device to release the needle from the needle guide; and

moving the mobile needle positioning device from the second location to the first location.

21. The method of claim 20, wherein the mobile needle positioning device includes a plurality of wheels configured to engage a floor surface such that the moving the mobile positioning device from its first location to its second location includes rolling the mobile positioning device from its first location to its second location.

22. The method of claim 20, wherein the inserting the needle includes manually inserting the needle through the opening of the needle guide.

23. The method of claim 20, wherein the inserting the needle includes moving the needle a distance substantially equal to a length of the needle until the needle reaches the target point within the patient.

24. The method of claim 20, wherein:

the actuating the mobile needle positioning device to release the needle from the needle guide includes actuating the needle guide such that the needle guide defines a gap in fluid communication with the opening, the gap allowing the needle guide to be moved away from the needle.