Needle placement manipulator with attachment for RF-coil
First Claim
Patent Images
1. A needle placement manipulator comprising:
- a needle holder which holds a needle along an axis of the needle holder;
a ring-shaped rotatable guide configured to support the needle holder and to position the axis of the needle holder to a direction of insertion such that the axis of the needle holder passes through an insertion point on a subject of needle placement;
a base body on which the ring-shaped rotatable guide is supported;
a first attachment including a base surface and a setting portion on which an RF-coil is set; and
a second attachment connected to the base body and including an attaching portion which attaches the second attachment to the first attachment,wherein the base surface of the first attachment is configured to be the closest plane of the needle placement manipulator to the subject of needle placement,wherein the ring-shaped rotatable guide is slanted and not parallel with respect to the base body such that the axis of the needle holder intersects a rotation axis of the ring-shaped rotatable guide at a remote center of motion, andwherein, during needle placement, the ring-shaped rotatable guide rotates to move the needle holder along a circular path around a cone of acceptance such that the axis of the needle holder, the apex of the cone of acceptance, and the rotation axis of the ring-shaped rotatable guide constantly intersect each other at the remote center of motion even when the direction of insertion changes during rotation of the ring-shaped rotatable guide.
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Abstract
A needle placement manipulator includes, a needle holder configured to hold a needle, a guide system configured to position the needle holder to a predetermined direction with respect to a subject of needle placement, an attachment including an attaching portion to which the guide system is attached and a setting portion on which an RF-coil is set. A base surface of the setting portion is configured to be disposed on the subject.
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Citations
32 Claims
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1. A needle placement manipulator comprising:
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a needle holder which holds a needle along an axis of the needle holder; a ring-shaped rotatable guide configured to support the needle holder and to position the axis of the needle holder to a direction of insertion such that the axis of the needle holder passes through an insertion point on a subject of needle placement; a base body on which the ring-shaped rotatable guide is supported; a first attachment including a base surface and a setting portion on which an RF-coil is set; and a second attachment connected to the base body and including an attaching portion which attaches the second attachment to the first attachment, wherein the base surface of the first attachment is configured to be the closest plane of the needle placement manipulator to the subject of needle placement, wherein the ring-shaped rotatable guide is slanted and not parallel with respect to the base body such that the axis of the needle holder intersects a rotation axis of the ring-shaped rotatable guide at a remote center of motion, and wherein, during needle placement, the ring-shaped rotatable guide rotates to move the needle holder along a circular path around a cone of acceptance such that the axis of the needle holder, the apex of the cone of acceptance, and the rotation axis of the ring-shaped rotatable guide constantly intersect each other at the remote center of motion even when the direction of insertion changes during rotation of the ring-shaped rotatable guide. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A needle placement manipulator comprising:
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a needle holder configured to hold a needle; a ring-shaped rotary guide system configured to hold the needle holder and to position the needle holder to a direction of insertion with respect to a subject of needle placement; and an attachment including an attaching portion to which the ring-shaped rotary guide system is attached and a setting portion on which an RF-coil is set, wherein a base surface of the setting portion is configured to be disposed on the subject, wherein the ring-shaped rotary guide system is slanted and not parallel with respect to the attaching portion such that the axis of the needle holder intersects a rotation axis of the ring-shaped rotary guide system at a remote center of motion, and wherein, during needle placement, ring-shaped rotary guide system is configured to move the needle holder along a circular path around the base of a cone of acceptance such that the axis of the needle holder, the apex of the cone of acceptance, and the rotation axis of the ring-shaped rotary guide system constantly intersect each other at the remote center of motion even when the direction of insertion changes during rotation of the ring-shaped rotary guide system. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32)
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Specification