WO1998023213A1 - Apparatus for guiding medical instruments during ultrasonographic imaging - Google Patents
Apparatus for guiding medical instruments during ultrasonographic imaging Download PDFInfo
- Publication number
- WO1998023213A1 WO1998023213A1 PCT/CA1997/000904 CA9700904W WO9823213A1 WO 1998023213 A1 WO1998023213 A1 WO 1998023213A1 CA 9700904 W CA9700904 W CA 9700904W WO 9823213 A1 WO9823213 A1 WO 9823213A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ultrasonographic
- reference means
- medical instrument
- target tissue
- aperture
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3411—Needle locating or guiding means using mechanical guide means with a plurality of holes, e.g. holes in matrix arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
Definitions
- the present invention relates to percutaneous medical procedures and more specifically, to a method and apparatus for facilitating the guidance of medical instruments when utilizing ultrasonographic or other imaging techniques.
- resection and removal of undesirable tissues One of the most important functions of clinical surgery is the resection and removal of undesirable tissues.
- the practitioner targets the undesirable tissue and using visual and tactile control, manually resects and removes that tissue.
- Resection implies that an incision is made in the skin to visually expose and gain access to the undesirable tissue.
- resection surgery usually results in considerable trauma to the patient.
- resection surgery was a generally preferred method of operating because the practitioner had confidence in the effectiveness of the procedure. This preference was primarily due to the fact that resection surgery led to, in most cases, complete removal of the undesirable tissue from the patient.
- Minimally invasive surgery is an alternative surgical technique in which undesirable tissue is destroyed without necessitating resection and removal of the undesirable tissue.
- Minimally invasive surgical procedures can be performed using one of several known surgical techniques, the selection of which is usually determined by the type and extent of tissue to be destroyed and the location of the tissue.
- prostate carcinoma is a common type of cancer which may be treated by using a percutaneous cryosurgical technique (a hypothermia application) in which the destruction of the tumour is accomplished by freezing.
- cryoprobe having the general appearance and size of a conventional knitting needle is inserted into an undesirable tissue which is to be destroyed.
- the cryoprobe is provided with cooling sites typically located at the tip of the probe and cryobalation is performed by employing one of a variety of possible cooling means. Examples of such cooling means include: boiling of refrigerants; cooling of refrigerants; Joule-Thomson effects, etc.
- cooling means include: boiling of refrigerants; cooling of refrigerants; Joule-Thomson effects, etc.
- Ultrasonic Percutaneous Transhepatic Cholangiography for suspected carcinoma of the bile ducts
- ultrasonic Percutaneous Pancreatic Ductography for suspected carcinoma of the pancreas
- ultrasonic Percutaneous Transhepatic Portography for obstructing lesions of the portal vein.
- ultrasonographic aspiration biopsy of small intra-abdominal masses are well known and their uses have been extended to biopsy of the thyroid and breast.
- One of the primary disadvantages of performing these types of procedures is that the practitioner is required to accurately guess the depth of the needle placement in the patient's body.
- the practitioner knows when the target tissue has been reached by the passage of a body fluid such as bile, pancreatic fluid or blood through the needle.
- a body fluid such as bile, pancreatic fluid or blood through the needle.
- the depth of penetration through the tissue is not known nor is the position and size of the suspected lesion.
- it is important that the tissue which is the focus of the biopsy is carefully located such that the needle does not puncture other non-target organs such as the gallbladder, aorta or spleen.
- the visual quality of two-dimensional ultrasonography does not represent these vital structures clearly enough, especially when they are positioned behind the target tissue.
- Guidance during minimally invasive procedures refers to the ability to assist the practitioner during planning of the insertion points, target locations, and instrument trajectory.
- the prostate is situated in close proximity to the rectal sphincter muscle, colon, urethra and bladder. Over freezing of the tumour into these regions may cause irreversible damage to these proximal organs, resulting in, for example, incontinence and impotence.
- an apparatus employed in combination with an ultrasonographic system, for facilitating the placement of at least one medical instrument into target tissue, comprising: a reference means including a plurality of apertures arranged in an predefined manner and sized to permit a medical instrument to pass therethrough; a mounting means for mounting the reference means in a predetermined relationship to an ultrasonographic transducer; a processing means for determining the spatial relationship between an ultrasonographic image of the target tissue generated via the ultrasonographic transducer and the reference means; wherein the processing means merges a representation of the plurality of apertures in the reference means with the ultrasonographic image to assist in the placement of the at least one medical instrument in the target tissue via a selected aperture in the reference means
- the predefined manner of arranging the plurality of apertures forms a Cartesian coordinate grid.
- the predefined manner of arranging the plurality of apertures is a Polar coordinate grid.
- the pluraUty of apertures are provided with an index marking scheme to assist in the identification of placement coordinates and the selected aperture.
- the mounting means includes a transverse adjustment means for adjusting the reference means transversely relative to a long axis passing through the ultrasonographic transducer.
- each aperture in the reference means comprises an internal adjustment means comprises a ball disposed in a complementary socket, generally at a mid-portion of the aperture, the ball including a passage therethrough sized to receive the at least one medical instrument therethrough and registerable with the aperture and, an axle oriented parallel to a front face of the reference means, in a plane passing through the passage, wherein the ball permits transverse adjustment of the medical instrument in a plane orthogonal to the front face.
- the present invention provides a method employing an ultrasonographic system for facilitating the guidance and placement of at least one medical instrument in a target tissue, comprising the steps of: i) positioning a reference means relative to a ultrasonographic transducer in a region proximal a site on a patient which facilitates access to the target tissue; ii) referencing the reference means to the ultrasonographic system to determine the spatial relationship therebetween; iii) obtaining an ultrasonographic image of the target tissue; iv) via a processing means, generating a positioning image by superimposing an image of the reference means over the image; v) from the positioning image, selecting a target location within the target tissue where the at least one medical instrument is to be placed; and vi) from the positioning image, determining an insertion path to the target location and determining placement coordinates on the reference means.
- the method may also include a step of placing the at least one medical instrument into the target tissue via the placement coordinates on the reference means, along the insertion path to the target location.
- the present invention provides a reference means for facilitating the placement of at least one medical instrument into a target tissue
- the reference means comprising: a guidance plate having a plurality of apertures arranged in a predefined manner and sized to permit a medical instrument to pass therethrough; mounting means for mounting the guidance plate in a predetermined relationship to an ultrasonographic transducer; and interface means to link the guidance plate with a processing means operable to determining the spatial relationship between an ultrasonographic image of the target tissue generated by the ultrasonographic transducer and the reference means.
- Figure 1 shows a perspective representation of a medical instrument guidance apparatus in accordance with one embodiment of the present invention
- Figure 2 shows a partial side elevation view section through a reference plate in accordance with the embodiment of Figure 1;
- Figure 3 is a partial perspective view of an elevation section view through a mid-section of the reference plate
- Figure 4 is a cut-away sectional plan view of an aperture disposed through the reference plate
- Figure 5 is a cut-away perspective plan view of the aperture with a medical instrument inserted therein;
- Figure 6 is a cut-away perspective elevation view of the aperture with a medical instrument inserted therein and transversely adjusted;
- Figure 7 is a partial side elevation view section through a portion of an instrument guidance apparatus in accordance with the embodiment of Figure 1.
- reference plate 15 is provided with a plurality of regularly spaced apertures 30 in the form of a Cartesian grid.
- the plurality of apertures 30 pass through reference plate 15 orthogonal to a face plane 35.
- apertures 30 are sized to allow at least one medical instruments, such as a biopsy needle 40, to pass therethrough.
- Mounting means 25 is preferably fixedly attached to a portion of ultrasound assembly 20 so as to establish a reference location between ultrasound transducer 45 of assembly 20 and reference plate 15.
- Mounting means 25 preferably includes an adjustment means, such as hinge 38, such that face plane 35 can be adjusted transversely with respect to the longitudinal axis of transducer 45.
- Reference plate 15 is shown in an alternative position with respect to ultrasound transducer 45 in dashed line in Figure 7. The adjustment of face plane 35 with respect to transducer 45 facilitates the projection of at least a portion of the Cartesian grid of apertures 30 to be mapped onto the target location.
- reference plate 15 is moveable along the length of transducer 45. This movement may be achieved by movement of the transducer relative to a stationary plate and/or movement of the plate relative to a stationary transducer.
- each of apertures 30 is preferably provided with an internal adjustment means 50.
- internal adjustment means 50 comprises a ball 55 disposed within a complementary socket 60. Socket 60 is located at a midpoint along the length of aperture 30.
- Each ball 55 has a passageway 65 therethrough sized to receive a portion of biopsy needle 40. Passageway 40 forms a part of aperture 30.
- Each ball 55 is rotatable around an axle 70 which is parallel to face plane 35. When biopsy needle 40 is received within passageway 65, rotation of ball 55 around axle 70 permits movement of the needle in a plane perpendicular to face plane 35, as shown by Arrow A in Figure 6.
- reference plate 15 may be formed from two face-to-face plates 80 and 80' held together by a fastener such as bolt 90. The face-to-face construction facilitates placement of balls 55 in sockets 60.
- apertures 30 are approximately 10mm long and have a diameter of about 4.75mm.
- a 6mm diameter ball 55 is placed centrally in each aperture. Passageway 65 through each ball 55 has a diameter of approximately 2mm.
- the internal adjustment means provides approximately a 30° range of movement for a medical instrument (i.e., ⁇ 15 ° from the longitudinal axis of the aperture). If the diameter of the ball is increased to 8mm and the diameter of the aperture is increased to 6.85mm, then the internal adjustment means provides approximately a 50° range of movement (i.e., +25 ° from the longitudinal axis of the aperture).
- the practitioner determines the desired target location for the biopsy needle 40 and inputs this information to the user interface of the computer apparatus controlling ultrasound apparatus 20.
- Ultrasound apparatus 20 then calculates the optimal trajectory of insertion in three dimensions via an appropriate aperture 30 in reference plate 15.
- the results of this calculation are communicated to the practitioner through one of several possible means. Typically the results are displayed on a computer monitor by highlighting or changing the colour of the selected aperture on the positioning image or by display the appropriate index coordinates.
- reference plate 15 may be moved, possibly under the guidance of the previously described orientation sensors, such that the orientation of face plane 35 is perpendicular to the calculated trajectory path.
- the foregoing steps may be consecutively repeated for each instrument or, the plurality of target locations may be entered as a single step.
- the trajectory of the needle can be monitored using real-time three-dimensional ultrasonographic imaging, as described in United States patent no. 5,454,371, incorporated herein by reference. As will be apparent, the calculated trajectory of biopsy needle 40 can be superimposed over the real-time image to further assist the practitioner.
- Internal adjustment means 50 provides the practitioner with the ability to make minor adjustments to the trajectory of the instrument during placement. This is particularly useful if the instrument contacts an impenetrable mass such as bone or delicate tissue such as nerves or blood vessels.
- the minor adjustment also provides for slight movement of the target tissue within the body which ma occur as a result of the patient's breathing.
- the limited movement of the internal adjustment means within the chosen aperture helps ensure that the instrument does not deviate significantly from the preferred trajectory.
- ultrasonographic transducer 45 is manoeuvred until a real-time two-dimensional ultrasonographic image is produced of a plane showing characteristic landmarks of the organ anatomy or the target tissue. This plane is then found in a three- dimensional model generated using the CT or MRI modalities and an image is generated. When the two-dimensional real-time ultrasonographic image matches that of the three-dimensional model image, the characteristic pixels are designated. These reference pixels can again be tracked on a computer to allow reorientation of the three-dimensional MRI or CT model to the new organ position.
- CT Computer Tomography
- MRI Magnetic Resonance Imaging
- the apparatus may be readily adapted to may other medical instruments, such as cryosurgical probes, guidance sheathes, thermocouples an the like. Further, the present invention is not limited to use in cryosurgery. It is envisioned that the instrument guidance techniques disclosed herein are equally applicable to other non- invasive surgical techniques such as hyperthermia, alcohol ablation, radiation seed implantation, photodynamic therap and brachytherapy.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU51126/98A AU5112698A (en) | 1996-11-29 | 1997-11-28 | Apparatus for guiding medical instruments during ultrasonographic imaging |
US09/308,384 US6206832B1 (en) | 1996-11-29 | 1997-11-28 | Apparatus for guiding medical instruments during ultrasonographic imaging |
IL13005797A IL130057A (en) | 1996-11-29 | 1997-11-28 | Apparatus for guiding medical instruments during ultransonographic imaging |
CA002271661A CA2271661C (en) | 1996-11-29 | 1997-11-28 | Apparatus for guiding medical instruments during ultrasonographic imaging |
EP97945691A EP0951242A1 (en) | 1996-11-29 | 1997-11-28 | Apparatus for guiding medical instruments during ultrasonographic imaging |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US3205896P | 1996-11-29 | 1996-11-29 | |
US60/032,058 | 1996-11-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO1998023213A1 true WO1998023213A1 (en) | 1998-06-04 |
WO1998023213A9 WO1998023213A9 (en) | 1999-03-18 |
Family
ID=21862875
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CA1997/000904 WO1998023213A1 (en) | 1996-11-29 | 1997-11-28 | Apparatus for guiding medical instruments during ultrasonographic imaging |
Country Status (6)
Country | Link |
---|---|
US (1) | US6206832B1 (en) |
EP (1) | EP0951242A1 (en) |
KR (1) | KR20000069165A (en) |
CA (1) | CA2271661C (en) |
IL (1) | IL130057A (en) |
WO (1) | WO1998023213A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0995406A1 (en) * | 1998-10-23 | 2000-04-26 | Picker International, Inc. | Method and apparatus for planning surgical procedures |
EP1088524A1 (en) * | 1999-10-01 | 2001-04-04 | Life Imaging Systems Inc. | System for 3D Ultrasound-guided intraoperative prostate brachytherapy |
WO2002000276A1 (en) * | 2000-06-28 | 2002-01-03 | Forschungszentrum Karlsruhe Gmbh | Device for injection of medical preparations with ct/mri monitoring |
Families Citing this family (71)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6256529B1 (en) * | 1995-07-26 | 2001-07-03 | Burdette Medical Systems, Inc. | Virtual reality 3D visualization for surgical procedures |
AU1331497A (en) | 1995-12-18 | 1997-07-14 | Kerisma Medical Products, L.L.C. | Fiberoptic-guided interstitial seed manual applicator and seed cartridge |
CA2333583C (en) * | 1997-11-24 | 2005-11-08 | Everette C. Burdette | Real time brachytherapy spatial registration and visualization system |
US20020198518A1 (en) * | 1999-05-26 | 2002-12-26 | Mikus Paul W. | Entry position grid for computer guided cryosurgery |
AU2001264632A1 (en) | 2000-05-18 | 2001-11-26 | Integrated Implant Systems, L.L.C. | Needle spin for medical instrument |
AU2001264633A1 (en) | 2000-05-18 | 2001-11-26 | Intergrated Implant Systems, L.L.C. | Needle hub for medical instrument |
US20030135102A1 (en) * | 2000-05-18 | 2003-07-17 | Burdette Everette C. | Method and system for registration and guidance of intravascular treatment |
WO2001087404A2 (en) * | 2000-05-18 | 2001-11-22 | Integrated Implant Systems, L.L.C. | Medical instrument for implanting seeds |
AU2001263207A1 (en) | 2000-05-18 | 2001-11-26 | Integrated Implant Systems, L.L.C. | Targeting fixture for a grid template |
AU2001261678A1 (en) | 2000-05-18 | 2001-11-26 | Integrated Implant Systems, L.L.C. | Cartridge for amedical implanting instrument |
AU2001261679A1 (en) | 2000-05-18 | 2001-11-26 | Intergrated Implant Systems, L.L.C. | Grid sheath for medical instrument |
US6869390B2 (en) * | 2000-06-05 | 2005-03-22 | Mentor Corporation | Automated implantation system for radioisotope seeds |
US7022062B1 (en) * | 2000-08-30 | 2006-04-04 | Murphy Brian B | Radioactive seed implantation system and method |
US20080045934A1 (en) * | 2000-10-24 | 2008-02-21 | Galil Medical Ltd. | Device and method for coordinated insertion of a plurality of cryoprobes |
US6706037B2 (en) * | 2000-10-24 | 2004-03-16 | Galil Medical Ltd. | Multiple cryoprobe apparatus and method |
WO2007086056A2 (en) * | 2006-01-26 | 2007-08-02 | Galil Medical Ltd. | Device for coordinated insertion of a plurality of cryoprobes |
US20020188287A1 (en) * | 2001-05-21 | 2002-12-12 | Roni Zvuloni | Apparatus and method for cryosurgery within a body cavity |
US20020068929A1 (en) * | 2000-10-24 | 2002-06-06 | Roni Zvuloni | Apparatus and method for compressing a gas, and cryosurgery system and method utilizing same |
US20080051776A1 (en) * | 2001-05-21 | 2008-02-28 | Galil Medical Ltd. | Thin uninsulated cryoprobe and insulating probe introducer |
US20080051774A1 (en) * | 2001-05-21 | 2008-02-28 | Galil Medical Ltd. | Device and method for coordinated insertion of a plurality of cryoprobes |
US7853312B2 (en) * | 2001-06-07 | 2010-12-14 | Varian Medical Systems, Inc. | Seed localization system for use in an ultrasound system and method of using the same |
US6549802B2 (en) * | 2001-06-07 | 2003-04-15 | Varian Medical Systems, Inc. | Seed localization system and method in ultrasound by fluoroscopy and ultrasound fusion |
US6659956B2 (en) * | 2001-06-29 | 2003-12-09 | Barzell-Whitmore Maroon Bells, Inc. | Medical instrument positioner |
KR20030058423A (en) * | 2001-12-31 | 2003-07-07 | 주식회사 메디슨 | Method and apparatus for observing biopsy needle and guiding the same toward target object in three-dimensional ultrasound diagnostic system using interventional ultrasound |
US7187800B2 (en) * | 2002-08-02 | 2007-03-06 | Computerized Medical Systems, Inc. | Method and apparatus for image segmentation using Jensen-Shannon divergence and Jensen-Renyi divergence |
US7604645B2 (en) * | 2002-08-07 | 2009-10-20 | Civco Medical Instruments Inc. | Ultrasound probe support and stepping device |
EP1542591A2 (en) * | 2002-08-29 | 2005-06-22 | Computerized Medical Systems, Inc. | Methods and systems for localizing a medical imaging probe and for spatial registration and mapping of a biopsy needle during a tissue biopsy |
US7289599B2 (en) * | 2002-10-04 | 2007-10-30 | Varian Medical Systems Technologies, Inc. | Radiation process and apparatus |
US6789545B2 (en) * | 2002-10-04 | 2004-09-14 | Sanarus Medical, Inc. | Method and system for cryoablating fibroadenomas |
WO2004093720A2 (en) * | 2003-04-21 | 2004-11-04 | Galil Medical Ltd. | Apparatus and method positioning a therepeutic probe with respect to a therapeutic target |
US6923801B2 (en) * | 2003-09-11 | 2005-08-02 | Endocare, Inc. | Ablation device placement spacer |
US20050059879A1 (en) * | 2003-09-16 | 2005-03-17 | Robert Sutherland | Localization of a sensor device in a body |
US20050059887A1 (en) * | 2003-09-16 | 2005-03-17 | Hassan Mostafavi | Localization of a target using in vivo markers |
ES2385085T3 (en) | 2003-10-14 | 2012-07-18 | Nucletron B.V. | Method and apparatus for determining the position of a surgical instrument with respect to a target volume within an animal body |
US7244234B2 (en) | 2003-11-11 | 2007-07-17 | Soma Development Llc | Ultrasound guided probe device and method of using same |
US8007847B2 (en) * | 2004-01-13 | 2011-08-30 | Eytan Biderman | Feeding formula appliance |
US7524288B2 (en) * | 2005-02-22 | 2009-04-28 | Chinn Douglas O | Holder for a high intensity focused ultrasound probe |
WO2006089426A1 (en) * | 2005-02-28 | 2006-08-31 | Robarts Research Institute | System and method for performing a biopsy of a target volume and a computing device for planning the same |
US20070129634A1 (en) * | 2005-10-17 | 2007-06-07 | Hickey Katherine M | Biomedical positioning and stabilization system |
US7740593B2 (en) * | 2005-12-09 | 2010-06-22 | Senorx, Inc | Guide block for biopsy or surgical devices |
EP1973461A2 (en) * | 2005-12-16 | 2008-10-01 | Galil Medical Ltd | Apparatus and method for thermal ablation of uterine fibroids |
WO2007129309A1 (en) | 2006-05-02 | 2007-11-15 | Galil Medical Ltd. | Probe insertion guide with user-directing features |
US20080140061A1 (en) * | 2006-09-08 | 2008-06-12 | Arbel Medical Ltd. | Method And Device For Combined Treatment |
US8187260B1 (en) | 2006-12-29 | 2012-05-29 | Endocare, Inc. | Variable cryosurgical probe planning system |
US20080208181A1 (en) * | 2007-01-19 | 2008-08-28 | Arbel Medical Ltd. | Thermally Insulated Needles For Dermatological Applications |
US7976469B2 (en) * | 2007-06-04 | 2011-07-12 | Medtronic, Inc. | Percutaneous needle guide |
US20100162730A1 (en) * | 2007-06-14 | 2010-07-01 | Arbel Medical Ltd. | Siphon for delivery of liquid cryogen from dewar flask |
WO2009000321A1 (en) * | 2007-06-25 | 2008-12-31 | Rimann Andre | Prostate immobilization and positioning appliance for perineal access |
US20100324546A1 (en) * | 2007-07-09 | 2010-12-23 | Alexander Levin | Cryosheath |
US20090156881A1 (en) * | 2007-10-15 | 2009-06-18 | Stokes John P | Convergent well irradiating plaque for choroidal melanoma |
US20090227874A1 (en) * | 2007-11-09 | 2009-09-10 | Eigen, Inc. | Holder assembly for a medical imaging instrument |
WO2009066292A1 (en) * | 2007-11-21 | 2009-05-28 | Arbel Medical Ltd. | Pumping unit for delivery of liquid medium from a vessel |
WO2009090647A2 (en) * | 2008-01-15 | 2009-07-23 | Arbel Medical Ltd. | Cryosurgical instrument insulating system |
US8083733B2 (en) | 2008-04-16 | 2011-12-27 | Icecure Medical Ltd. | Cryosurgical instrument with enhanced heat exchange |
US8057432B2 (en) * | 2008-05-22 | 2011-11-15 | Suros Surgical Systems, Inc. | Selective locking mechanism for an introducer device |
US20090326555A1 (en) * | 2008-06-30 | 2009-12-31 | Eigen, Inc. | Support assembly for a tracking assembly and mounted transrectal ultrasound probe |
US20100016710A1 (en) * | 2008-07-11 | 2010-01-21 | Dinesh Kumar | Prostate treatment apparatus |
US20100281917A1 (en) * | 2008-11-05 | 2010-11-11 | Alexander Levin | Apparatus and Method for Condensing Contaminants for a Cryogenic System |
US7967814B2 (en) | 2009-02-05 | 2011-06-28 | Icecure Medical Ltd. | Cryoprobe with vibrating mechanism |
WO2010105158A1 (en) | 2009-03-12 | 2010-09-16 | Icecure Medical Ltd. | Combined cryotherapy and brachytherapy device and method |
US20100305439A1 (en) * | 2009-05-27 | 2010-12-02 | Eyal Shai | Device and Method for Three-Dimensional Guidance and Three-Dimensional Monitoring of Cryoablation |
US20110082364A1 (en) * | 2009-10-05 | 2011-04-07 | Hibner John A | MRI Biopsy Targeting Cube with Retention Wiper |
US8761862B2 (en) * | 2009-10-09 | 2014-06-24 | Stephen F. Ridley | Ultrasound guided probe device and sterilizable shield for same |
US7967815B1 (en) | 2010-03-25 | 2011-06-28 | Icecure Medical Ltd. | Cryosurgical instrument with enhanced heat transfer |
US7938822B1 (en) | 2010-05-12 | 2011-05-10 | Icecure Medical Ltd. | Heating and cooling of cryosurgical instrument using a single cryogen |
US8080005B1 (en) | 2010-06-10 | 2011-12-20 | Icecure Medical Ltd. | Closed loop cryosurgical pressure and flow regulated system |
WO2016154709A1 (en) | 2015-03-31 | 2016-10-06 | Centre For Imaging Technology Commercialization (Cimtec) | A counterbalancing apparatus for gimbal joints and/or a method for counterbalancing a load on a gimbal joint |
US10816132B2 (en) | 2017-09-08 | 2020-10-27 | Aaron Fenster | Counterbalancing mechanism and stabilizer design and method for counterbalancing and stabilizing a load |
EP3937795A4 (en) * | 2019-03-13 | 2022-11-16 | Exact Imaging Inc. | Needle guide for an angled endocavity transducer |
US11633224B2 (en) | 2020-02-10 | 2023-04-25 | Icecure Medical Ltd. | Cryogen pump |
US11759232B2 (en) * | 2021-03-14 | 2023-09-19 | Sang E Sim | Needle guide template for perirectal spacer and fiducial marker placement |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4010573A1 (en) * | 1989-04-13 | 1990-10-18 | Siemens Ag | Guide template for needle - is used during perineum puncture and has holes arranged on lines radiating from common point |
DE4225001C1 (en) * | 1992-07-29 | 1993-11-18 | Siemens Ag | Stereo-tactic additional device for nuclear spin tomography for investigation of mammary disorders - has two compression plates parallel and displaceable towards one another, between which object for investigation e.g breast is positioned |
WO1995008293A2 (en) * | 1993-09-20 | 1995-03-30 | Hussman Karl L | Breast localizer |
US5454371A (en) * | 1993-11-29 | 1995-10-03 | London Health Association | Method and system for constructing and displaying three-dimensional images |
WO1996032066A1 (en) * | 1995-04-13 | 1996-10-17 | Neovision Corporation | Image-guided biopsy apparatus with enhanced imaging and methods |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5494039A (en) * | 1993-07-16 | 1996-02-27 | Cryomedical Sciences, Inc. | Biopsy needle insertion guide and method of use in prostate cryosurgery |
US5437280A (en) * | 1993-09-20 | 1995-08-01 | Hussman; Karl L. | Magnetic resonance breast localizer |
US5647868A (en) * | 1994-02-02 | 1997-07-15 | Chinn; Douglas Owen | Cryosurgical integrated control and monitoring system and method |
US6095975A (en) * | 1997-05-27 | 2000-08-01 | Silvern; David A. | Apparatus and method for determining optimal locations to place radioactive seeds at a cancerous site |
US5931786A (en) * | 1997-06-13 | 1999-08-03 | Barzell Whitmore Maroon Bells, Inc. | Ultrasound probe support and stepping device |
US5871448A (en) * | 1997-10-14 | 1999-02-16 | Real World Design And Development Co. | Stepper apparatus for use in the imaging/treatment of internal organs using an ultrasound probe |
US6129670A (en) * | 1997-11-24 | 2000-10-10 | Burdette Medical Systems | Real time brachytherapy spatial registration and visualization system |
US6027446A (en) * | 1998-01-12 | 2000-02-22 | Washington Univ. Of Office Of Technology Transfer | Pubic arch detection and interference assessment in transrectal ultrasound guided prostate cancer therapy |
US6120493A (en) * | 1998-01-27 | 2000-09-19 | Genetronics, Inc. | Method for the introduction of therapeutic agents utilizing an electroporation apparatus |
US5957935A (en) * | 1998-04-15 | 1999-09-28 | Brown; Samuel D. | Guide and holding bracket for a prostate implant stabilization device |
US6036632A (en) * | 1998-05-28 | 2000-03-14 | Barzell-Whitmore Maroon Bells, Inc. | Sterile disposable template grid system |
US5976092A (en) * | 1998-06-15 | 1999-11-02 | Chinn; Douglas O. | Combination stereotactic surgical guide and ultrasonic probe |
-
1997
- 1997-11-28 WO PCT/CA1997/000904 patent/WO1998023213A1/en not_active Application Discontinuation
- 1997-11-28 US US09/308,384 patent/US6206832B1/en not_active Expired - Lifetime
- 1997-11-28 IL IL13005797A patent/IL130057A/en not_active IP Right Cessation
- 1997-11-28 EP EP97945691A patent/EP0951242A1/en not_active Withdrawn
- 1997-11-28 KR KR1019997004710A patent/KR20000069165A/en not_active Application Discontinuation
- 1997-11-28 CA CA002271661A patent/CA2271661C/en not_active Expired - Lifetime
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4010573A1 (en) * | 1989-04-13 | 1990-10-18 | Siemens Ag | Guide template for needle - is used during perineum puncture and has holes arranged on lines radiating from common point |
DE4225001C1 (en) * | 1992-07-29 | 1993-11-18 | Siemens Ag | Stereo-tactic additional device for nuclear spin tomography for investigation of mammary disorders - has two compression plates parallel and displaceable towards one another, between which object for investigation e.g breast is positioned |
WO1995008293A2 (en) * | 1993-09-20 | 1995-03-30 | Hussman Karl L | Breast localizer |
US5454371A (en) * | 1993-11-29 | 1995-10-03 | London Health Association | Method and system for constructing and displaying three-dimensional images |
WO1996032066A1 (en) * | 1995-04-13 | 1996-10-17 | Neovision Corporation | Image-guided biopsy apparatus with enhanced imaging and methods |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0995406A1 (en) * | 1998-10-23 | 2000-04-26 | Picker International, Inc. | Method and apparatus for planning surgical procedures |
US6366796B1 (en) | 1998-10-23 | 2002-04-02 | Philips Medical Systems (Cleveland), Inc. | Method and apparatus for planning brachytherapy surgical procedures |
EP1088524A1 (en) * | 1999-10-01 | 2001-04-04 | Life Imaging Systems Inc. | System for 3D Ultrasound-guided intraoperative prostate brachytherapy |
US6610013B1 (en) | 1999-10-01 | 2003-08-26 | Life Imaging Systems, Inc. | 3D ultrasound-guided intraoperative prostate brachytherapy |
WO2002000276A1 (en) * | 2000-06-28 | 2002-01-03 | Forschungszentrum Karlsruhe Gmbh | Device for injection of medical preparations with ct/mri monitoring |
US7566321B2 (en) | 2000-06-28 | 2009-07-28 | Forschungszentrum Karlsruhe Gmbh | Device for the injection of medical preparations with CT/MRI monitoring |
Also Published As
Publication number | Publication date |
---|---|
IL130057A0 (en) | 2000-02-29 |
EP0951242A1 (en) | 1999-10-27 |
US6206832B1 (en) | 2001-03-27 |
CA2271661C (en) | 2003-07-29 |
IL130057A (en) | 2004-03-28 |
CA2271661A1 (en) | 1998-06-04 |
KR20000069165A (en) | 2000-11-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6206832B1 (en) | Apparatus for guiding medical instruments during ultrasonographic imaging | |
WO1998023213A9 (en) | Apparatus for guiding medical instruments during ultrasonographic imaging | |
US6019724A (en) | Method for ultrasound guidance during clinical procedures | |
US6146380A (en) | Bent tip electrical surgical probe | |
US6881214B2 (en) | Ablation treatment of bone metastases | |
US6423009B1 (en) | System, employing three-dimensional ultrasonographic imaging, for assisting in guiding and placing medical instruments | |
Jolesz | 1996 RSNA Eugene P. Pendergrass New Horizons Lecture. Image-guided procedures and the operating room of the future. | |
US8010181B2 (en) | System utilizing radio frequency signals for tracking and improving navigation of slender instruments during insertion in the body | |
US20090118724A1 (en) | Method and Apparatus for Positioning a Medical Instrument | |
WO1998023214A9 (en) | System, employing three-dimensional ultrasonographic imaging, for assisting in guiding and placing medical instruments | |
WO1996025882A1 (en) | Method for ultrasound guidance during clinical procedures | |
Zamorano et al. | Stereotactic endoscopic interventions in cystic and intraventricular brain lesions | |
CA2491003A1 (en) | Method and apparatus for positioning a surgical instrument | |
Zamorano et al. | Endoscopic stereotactic interventions in the treatment of brain lesions | |
CN111770714A (en) | Composite device and method for guiding an endoscopic device | |
US20030120267A1 (en) | Percutaneous device for site specific delivery and method of use | |
CA2863977A1 (en) | Laser ablation system for tissue ablation | |
Tatli et al. | Interventional MRI for oncologic applications | |
CN114760951A (en) | Precision planning, guidance and placement of probes within a body | |
Lamb et al. | Interventional magnetic resonance imaging | |
Wong et al. | Open-configuration MR imaging, intervention, and surgery of the urinary tract | |
Zamorano et al. | Endoscopic laser stereotaxis: indication for cystic or intraventricular lesions | |
Zamorano et al. | Neuroendoscope laser stereotaxis for cystic and intraventricular lesions | |
Dupre et al. | Evaluation of the Feasibility | |
Yanof et al. | Image-guided therapy (IGT): New CT and hybrid imaging technologies |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AL AM AT AU AZ BA BB BG BR BY CA CH CN CU CZ DE DK EE ES FI GB GE GH HU IL IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG US UZ VN YU ZW AM AZ BY KG KZ MD RU TJ TM |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH KE LS MW SD SZ UG ZW AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
COP | Corrected version of pamphlet |
Free format text: PAGES 1/4-4/4, DRAWINGS, REPLACED BY NEW PAGES 1/4-4/4; DUE TO LATE TRANSMITTAL BY THE RECEIVING OFFICE |
|
ENP | Entry into the national phase |
Ref document number: 2271661 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1997945691 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1019997004710 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 09308384 Country of ref document: US |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8642 |
|
WWP | Wipo information: published in national office |
Ref document number: 1997945691 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1019997004710 Country of ref document: KR |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1019997004710 Country of ref document: KR |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1997945691 Country of ref document: EP |