Koninklijke Philips Corporation N.V.

Picker International, Inc.

Christopher Bauer

Jeffrey Harold Yanof

Karl West

James C Foster

Uri Shreter

Fred C Jensen

Ronald Bryan Sharpless

David Morgan Kwartowitz

David Jeri

Daniel S Furst

Laura L Goldstein

A medical imaging system for conducting an image-guided medical procedure on a subject and a method for performing the same is provided. The system includes a medical imaging apparatus, such as a CT scanner, magnetic resonance imaging system, or ultrasonic imaging system, etc., for obtaining volumetric images of the subject. Through intervention planning techniques, an interventional procedure on a subject using the volumetric images is determined. A mechanical arm assembly disposed in proximity to the medical imaging apparatus carries out the interventional procedure. The mechanical arm assembly includes a base support, a distal end, a plurality of arm segments, and a plurality of joints between the arm segments for carrying out the interventional procedure. An end-effector is disposed at the distal end of the mechanical arm assembly. The end-effector includes gripping means for selectively gripping and releasing a surgical instrument during the interventional procedure.

Diagnostic imaging interventional apparatus

A system ( ) for conducting an image-guided medical procedure on a subject ( ) includes a medical imaging apparatus ( ) which intermittently during the procedure obtains, upon demand, real-time medical images of the actual procedure. A robotic arm ( ) hold a medical instrument (e.g., a biopsy needle ( )) that is used to perform the procedure. The robotic arm ( ) manipulates the medical instrument in response to drive signals from a haptic control ( ). A detector (e.g., a strain gauge ( )) measures forces experienced by the medical instrument during the procedure. The haptic control ( ) generates the drive signals in response to manipulations of an input device (e.g., a knob ( ) or an auxiliary instrument, such as, in the case of a biopsy, a remote needle ( )) by an operator, and the operator receives tactile feedback from the haptic control ( ) in accordance with the measured forces experienced by the medical instrument. A display (e.g., a video monitor ( )) shows a virtual planning view of the procedure. The virtual planning view depicts a pre-procedure image ( ) of the subject ( ) with a virtual medical instrument (e.g., a virtual needle ( )) corresponding to the medical instrument held by the robotic arm ( ) superimposed therein. In response to the drive signals from the haptic control ( ), the virtual medical instrument has its position and orientation updated relative to the pre-procedure image ( ).

Tactile feedback and display in a CT image guided robotic system for interventional procedures

An imaging apparatus (18) includes a frameless stereotactic arm apparatus (30) including a first base portion (42) mounted in a fixed relationship to the imaging device. A second free end (40) of the arm assembly is adapted to move into varied positions near a specimen disposed on the imaging apparatus. At least one pivot joint (44, 48, 52, 56, 60) is provided between the first base portion and the free end of the arm for permitting selective relevant movement between the arm members. Electro-mechanical and electro-magnetic brake devices are provided at respective joints to selectively lock the free end of the arm assembly to the base portion. The brakes are responsive to a brake command signal (210) generated by the imaging device. A low pass filter (240) conditions the brake command signal to substantially eliminate high frequency electromagnetic switching noise in the stereotactic arm. So that the arm is movable in emergency situations, the brakes are adapted to rebase in response to application of a force in excess of a predetermined breakaway threshold force.

Frameless stereotactic arm apparatus and method of using same

A stereotactic guide apparatus 100 is provided for use with a CT scanner device 18 for guiding the entry of a probe into a patient's body. The CT scanner device is provided with a stereotactic arm member 30 having a first base end 42 connected to the CT scanner device 18 and a second free end 40 movable relative to the CT scanner device. The stereotactic surgical instrument guide apparatus includes a first end effector member 106 including a guide channel 152 defining a probe insertion path 150. The surgical instrument guidance device further includes a second end effector member 104 on the free end of the stereotactic arm member and including a laser light source 108 generating a light guide beam along the probe insertion path 150. Each of the first and second end effector members are selectively releasably attached to the free end of the stereotactic arm member and, further, are adapted to provide respective first and second device identification signals to the CT scanner device through the stereotactic arm member. The top end effector member 104 is preferably stationary in use during interventional procedures and the bottom end effector member 106 is selectively retractable into a hollow support tube 142. Alternatively, the first and second end effector members are selectively pivotally attached to the free end of the stereotactic arm member.

Interchangeable guidance devices for C.T. assisted surgery and method of

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Westlake, OH, United States of America

Christopher Bauer