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US 2006/0149147 A1Published application
Remotely held needle guide for ct fluoroscopy
AssigneeKoninklijke Philips N.V.
InventorJeffrey Yanof
Life of this patent
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AssigneeKoninklijke Philips N.V.
InventorJeffrey Yanof
Estimating the term…
A guide apparatus (200) is provided for use with an associated imaging device (100) to direct movement of an associated interventional implement (192) relative to a patient (20) disposed on the imaging device (100). The guide apparatus includes a connector portion (210) coupling the guide apparatus with the associated imaging device (100). A main body portion (220) of the apparatus is supported relative to the associated imaging device by the connector portion (210). A gripping area (230) is formed at a first end (222) of the main body portion (220), the gripping area (230) being adapted to the guide apparatus (200) for manual gripping by an associated operator. A holding area (240) is formed at a second end (224) of the main body portion (220). The holding area (240) is adapted to hold the associated interventional implement (192) in an orientation suitable for motion relative to said patient (20) along a selected linear path (P) and also operative to translate the associated interventional implement (192) along said selected linear path (P) in response to manual force applied by the associated human operator at said gripping area (230). A robot arm (190) positions the apparatus to hold a biopsy needle relative to the patient based on a virtual planned trajectory. A linear slider joint constrains movement of the needle to the path (P) and permits manual insertion of the needle and attendant tactile feedback.
A system (10) for inserting a medical device (191) into a patient, the system including an imaging device (100) scanning the patient to generate a volumetric image data set of the patient, a human readable device (152) for displaying an image of the patient derived from said volumetric image data set, means for selecting a virtual trajectory (300, P) defining a path for inserting the medical device (191) into said patient, robotic means (190) on said imaging device and movable into selected positions relative to the imaging device, and a guide apparatus (200) to direct movement of the medical device (191) relative to the patient (20) disposed on the robotic means (100), the guide apparatus (200) comprising:
The system (10) according to any of the previous claims, wherein said connector portion (210) of the guide apparatus (200) includes a one of a linear slide joint (260) and a prism joint (270).
The system according to any of the previous claims, further including:
The system according to any of the previous claims, wherein the holding area (240) is formed of an x-ray transmissive material.
The system according to any of the previous claims, wherein the holding area (240) includes a set of tweezers-like arm portions (251, 252, 253) adapted to grip the medical device (191) in a V-shaped groove (254) formed by the arm portions.
A method of inserting a medical device (191) into a patient, the method comprising:
The method according to any of the previous claims, wherein providing said connector portion (210) of the guide apparatus (200) includes providing a one of a linear slide joint (260) and a prism joint (270).
The method according to any of the previous claims, further including:
The method according to any of the previous claims, including forming the holding area (240) of an x-ray transmissive material.
The method according to any of the previous claims, wherein providing the holding area (240) includes providing a set of tweezers-like arm portions (251, 252, 253) adapted to grip the medical device (191) in a V-shaped groove (254) formed by the arm portions.
Dependencies are inferred from the claim text.