Tracker holder assembly
First Claim
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1. A device for positioning and tracking in three dimensions the position of an ultrasound imaging probe, comprising:
- a base element;
a linkage of at least three rigid arms, wherein said rigid arms are hingedly connected and a first end of the linkage is hingedly connected to said base element and a second end of said linkage is a free end that is operative to move in three dimensions;
encoders disposed between each hinged connection of said linkages and said base element, wherein said encoders generate an output indicative of an angular position of hingedly connected arms;
a rotational shaft interconnected to the free end of said linkage; and
an encoder operative to generate an output indicative of rotation of said rotational shaft about a rotational axis;
an ultrasound probe holder attached to said rotational shaft for releasable holding an ultrasound probe;
an ultrasound probe releasably interconnected to said ultrasound probe holder, said ultrasound probe having an elongated acquisition end designed for insertion into a patient orifice and a probe handle, wherein the acquisition end is offset from the handle end and wherein the ultrasound probe holder engages the probe handle to align a long axis of the acquisition end with the rotational axis of the rotational shaft;
wherein said outputs from all said encoders provide information for calculating a location of said acquisition end of said probe relative to said base element.
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Abstract
Provided herein are devices and methods for mounting variously configured medical imaging probes to a tracker assembly for imaging applications. In one aspect, a tracker assembly provides multiple degrees of freedom for positioning a probe relative to a patient and/or maintaining a probe in a desired location for imaging purposes. The tracker generates location information that may be utilized as frame of reference information for acquired images. In another aspect a holding device allows for interfacing/holding differently configured probes in a common orientation to a predetermined frame of reference.
35 Citations
12 Claims
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1. A device for positioning and tracking in three dimensions the position of an ultrasound imaging probe, comprising:
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a base element; a linkage of at least three rigid arms, wherein said rigid arms are hingedly connected and a first end of the linkage is hingedly connected to said base element and a second end of said linkage is a free end that is operative to move in three dimensions; encoders disposed between each hinged connection of said linkages and said base element, wherein said encoders generate an output indicative of an angular position of hingedly connected arms; a rotational shaft interconnected to the free end of said linkage; and an encoder operative to generate an output indicative of rotation of said rotational shaft about a rotational axis; an ultrasound probe holder attached to said rotational shaft for releasable holding an ultrasound probe; an ultrasound probe releasably interconnected to said ultrasound probe holder, said ultrasound probe having an elongated acquisition end designed for insertion into a patient orifice and a probe handle, wherein the acquisition end is offset from the handle end and wherein the ultrasound probe holder engages the probe handle to align a long axis of the acquisition end with the rotational axis of the rotational shaft; wherein said outputs from all said encoders provide information for calculating a location of said acquisition end of said probe relative to said base element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification