# US 12,758,255 B2 · MRI-CT-compatible remote-controlled micropositioning system

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- Number: US 12,758,255 B2
- Document ID: US12758255B2
- Status: Granted
- Kind: B2
- Application number: 18/564,380
- Filed: 2022-05-30
- Published: 2024-07-18
- Granted: 2026-10-13
- Earliest claimed: 2021-05-31
- Assignees: Otto-Von-Guericke-Universitat Magdeburg; Medizinische Hochschule Hannover
- Applicants: Otto-von-Guericke-Universität Magdeburg; Medizinische Hochschule Hannover
- Inventors: Ivan Vogt; Robert Odenbach; Bennet Hensen; Enrico Pannicke
- Web page: https://patentgrep.com/patent/US12758255B2

## CPC

- A61B 17/3403: {Needle locating or guiding means}
- A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers}
- A61B 2017/00212: {using remote controls}
- A61B 2017/3407: {including a base for support on the body}
- A61B 2017/3409: {including needle or instrument drives}
- A61B 2090/3954: {magnetic, e.g. NMR or MRI}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The invention relates to a positioning device for positioning a medical instrument relative to a patient, wherein the positioning device has a patient fastening member which is specified to fasten the positioning device to the patient, and has an instrument holder which is specified to hold the medical instrument, wherein the patient fastening member has a patient holding surface for bearing on the patient.

## Claims

### Claim 1

A positioning device for positioning a medical instrument relative to a patient comprising:
a patient fastening member configured to fasten the positioning device to the patient and including a patient holding surface for bearing on the patient, and
an instrument holder including a rotary mechanism and a displacement mechanism, wherein the instrument holder is configured to:
hold the medical instrument,
connect to the patient fastening member via the rotary mechanism, such that the instrument holder is mounted in an axis orthogonal to the patient holding surface so as to be rotatable relative to the patient fastening member, and
couple to the patient fastening member via the displacement mechanism such that:
the instrument holder is displaceable in several directions in a plane parallel to the patient holding surface or in a spherically or cylindrically curved path, and
the rotary mechanism is displaceable via the displacement mechanism in several directions.

### Claim 2 (depends on 1)

The positioning device as claimed in claim 1, wherein the instrument holder is coupled to the patient fastening member via a pivoting mechanism by way of which the angular position of the instrument holder is adjustable in relation to the patient holding surface.

### Claim 3 (depends on 2)

The positioning device as claimed in claim 2, wherein the pivoting mechanism, conjointly with the instrument holder, by way of the rotary mechanism is able to be twisted about the axis orthogonal to the patient holding surface relative to the patient fastening member.

### Claim 4 (depends on 1)

The positioning device as claimed in claim 1, wherein the pivoting mechanism by way of the displacement mechanism is displaceable in one or a plurality of directions in the plane parallel to the patient holding surface.

### Claim 5 (depends on 1)

The positioning device as claimed in claim 1, wherein the instrument holder, or a component of the positioning device that is connected thereto, is releasably connected to the patient fastening member by way of a releasable connection, in particular a bayonet connection.

### Claim 6 (depends on 1)

The positioning device as claimed in claim 1, wherein the positioning device has an instrument advancing mechanism by way of which the instrument holder is displaceable along a holding axle of the positioning device relative to the patient fastening member, the rotary mechanism, the pivoting mechanism and/or the displacement mechanism.

### Claim 7 (depends on 1)

The positioning device as claimed in claim 1, wherein the rotary mechanism, the pivoting mechanism, the displacement mechanism and/or the instrument advancing mechanism have/has a cable pull mechanism for adjusting the instrument holder in at least one degree of freedom.

### Claim 8 (depends on 7)

The positioning device as claimed in claim 7, wherein the positioning device has a remote-controlled drive for at least one cable pull mechanism.

### Claim 9 (depends on 7)

The positioning device as claimed in claim 7, wherein the positioning device has an electric-motor drive as the drive for at least one cable pull mechanism.

### Claim 10 (depends on 9)

The positioning device as claimed in claim 9, wherein the electric-motor drive has an electrically controllable stepper motor which by way of a worm gear is coupled to a cable drum to which is fastened at least one cable of a cable pull mechanism.

### Claim 11 (depends on 1)

The positioning device as claimed in claim 1, wherein integrated in at least one component of the positioning device is a transmitter and/or receiver coil for generating and receiving fields arising during the magnetic resonance tomography.

### Claim 12 (depends on 1)

The positioning device as claimed in claim 1, wherein the patient fastening member and/or an instrument guide sleeve have/has a plurality of marker elements which are/is identifiable during magnetic resonance tomography examinations and/or computer tomography examinations.