Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
1999-09-30
2001-10-16
Wright, Dirk (Department: 3681)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
Reexamination Certificate
active
06301989
ABSTRACT:
FIELD OF THE INVENTION
The present invention relates to an apparatus for positioning a medical imaging instrument. More particularly, the invention relates to an apparatus for adjusting the position of a medical imaging instrument in a number of rotational and translational axes.
BACKGROUND
Medical imaging instruments, such as ultrasound probes, are frequently used by doctors and other medical professionals to conduct non-invasive examination of humans and animals. Imaging instruments, such as ultrasound probes, can be effectively used to examine internal tissue that is not readily examined using normal visual and tactile examination. Kidney stones, tumors, cysts, etc. are all amenable to examination using these medical imaging instruments. In addition, medical imaging instruments are well suited to examination of a growing fetus and to determination of the health of the fetus and to making medical diagnosis' to improve the fetus' health.
Traditionally, the position of many medical imaging instruments, including ultrasound probes, has often been controlled by having the medical practitioner hold the imaging instrument in one or both of his or her hands. In this manner, the medical practitioner manually guides the instrument. Such methods are suitable for many medical procedures, but also pose significant shortcomings in other procedures. One problem associated with manually holding the probe is that the probe can fully occupy one hand of the medical practitioner, thereby making it more difficult to perform ancillary medical procedures, such as removal of a biopsy sample, or even the taking of notes or manipulating the controls of the imaging instrument. Another significant problem associated with holding the probe is that it can be difficult to hold the probe steady, and thus it is difficult to “fine tune” the probe adn direct the imaging field to precise locations in a patient. This fine tuning of the probe location can be particularly important when very localized tissue sampling or medical procedures are being performed, such as during surgical procedures.
In order to address this problem, imaging instrument holding devices have been developed. Unfortunately, existing devices are limited in their effectiveness. For example, Ota et al. have patented a three-dimensional medical locating apparatus (U.S. Pat. No. 5,257,998). Unfortunately, the Ota apparatus is limited to positioning of the instrument in a spherical region about a target point within a patient. Similarly, Winston Barzell and Willet Whitmore of Sarasota, Fla. have developed an imaging positioning system that provides adjustment of an imaging instrument. Unfortunately Barzell and Whitmore's device does not provide for easy and intuitive positioning of an imaging instrument.
SUMMARY OF THE INVENTION
The present invention is directed to a positioning apparatus for adjusting the position of medical imaging instruments, such as ultrasound probes. The preferred implementation of the apparatus includes controls for translational movement along three axes; and controls for rotational movement around three axes. In certain implementations, the rotational movement is around a point coincident with the area of image capture.
In certain embodiments, each of the translational adjustments and rotational adjustments may be made independent of one another. Therefore, translational adjustments in the X-axis can be made without making translational adjustments in the Y-axis or Z-axis. Similarly, translational adjustments can preferably be made in the Y-axis without changing the position of the medical imaging instrument along the X-axis or Z-axis. Likewise, translational adjustments can preferably be made in the Z-axis without altering the position of the medical imaging instrument along the X-axis or Y-axis.
The apparatus provides for rotational positioning of an imaging instrument around one or more rotational axes, and is preferably constructed and arranged such that each rotational axis is independently controllable from the other rotational axes. In certain embodiments of the invention the apparatus preferably provides rotational adjustments around three axes such that at least one axis of the axes of rotational adjustment is through the imaging field of the instrument. Therefore, rotational adjustments of the imaging instrument around the X-axis can preferably be made without altering the position of the imaging instrument around the Y-axis or Z-axis. Similarly, rotation around the Y-axis and Z-axis should preferably be made without alteration of the position of the imaging instrument around the other rotational axes.
The imaging instrument may have an approximate imaging origin and an approximate apparatus origin. The imaging origin corresponds to the source of the image, such as the actual ultrasound transducer in an ultrasound probe, and is preferably proximate the center of the sensor (or sensors) of the imaging instrument. The apparatus origin corresponds approximately to the point at which the imaging instrument is connected to the apparatus, or to the approximate center of mass of the imaging instrument. The apparatus for adjusting the position of the imaging instrument preferably permits the rotational movement of the imaging instrument around at least one axis proximate the imaging origin.
In certain embodiments, the apparatus permits the rotational movement of the imaging instrument around at least two axes located proximate the imaging origin, and in yet other embodiments the apparatus permits the rotational movement of the imaging instrument around three axes located proximate the imaging origin. Also, in certain embodiments, the adjustment apparatus permits the rotational adjustment of the imaging instrument around at least two axes that are positioned intermediate the imaging origin and the apparatus origin.
The above summary of the present invention is not intended to describe each discussed embodiment of the present invention. This is the purpose of the figures and the detailed description which follow.
REFERENCES:
patent: 4006645 (1977-02-01), Newell
patent: 4306464 (1981-12-01), Mosher
patent: 5078140 (1992-01-01), Kwoh
patent: 5961527 (1999-10-01), Whitmore, III et al.
Anderegg Amy
Brown Damon
CIVCO Medical Instruments Inc.
Merchant & Gould P.C.
Wright Dirk
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