Cohesive robot-ultrasound probe for prostate biopsy

Patent metadata

Field	Value
Publication number	US-10159469-B2
Application number	US-201314391771-A
Country	US
Kind code	B2
Filing date	Apr 10, 2013
Priority date	Apr 10, 2012
Publication date	Dec 25, 2018
Grant date	Dec 25, 2018

Abstract

An embodiment in accordance with the present invention provides a device and method for a transrectal ultrasound (TRUS) guided prostate biopsy. The device includes an ultrasound wand equipped with a lateral fire ultrasound sensor. The ultrasound wand also defines a channel having an oblique path though the wand. The channel accommodates a biopsy needle, which can be pivoted as well inserted through the channel to different depths in order to perform a biopsy of the prostate. The device therefore uses only three degrees-of-freedom of movement in order to obtain the biopsy samples. Additionally, the ultrasound wand can be used to generate a three-dimensional image of the prostate.

First claim

What is claimed is:

1. A system for performing biopsy of a prostate comprising:
an ultrasound wand comprising:
a probe having a housing and a proximal end and a distal end, the housing further defining a straight channel, and the straight channel takes an oblique path through the probe, wherein the straight channel comprises a first opening on a first side of the probe and a second opening on a second side of the probe, wherein the oblique path of the straight channel extends between the first opening and the second opening, and wherein the oblique path is oblique relative to a longitudinal axis of the probe;
a needle guide disposed oblique to the probe and adjacent to the straight channel;
a lateral fire sensor positioned within the housing of the probe;
a handle operatively coupled to the probe, such that the probe rotates about a longitudinal axis of the handle, wherein the handle includes a first motor to rotate the probe about the longitudinal axis of the handle;

a straight biopsy needle configured for insertion obliquely through the straight channel and through the needle guide, such that the prostate can be biopsied; and,
a second motor operatively coupled to the needle guide to pivot the biopsy needle within the straight channel.

2. The system of claim 1 wherein the needle guide provides the biopsy needle with a first degree-of-freedom of movement.

3. The system of claim 1 further comprising a spacer to limit insertion depth of the needle.

4. An ultrasound wand comprising:
a probe having a housing and a proximal end and a distal end, the housing further defining a straight channel configured to accept a straight biopsy needle, wherein the straight channel is defined by the housing to have an oblique path through the probe, wherein the straight channel comprises a first opening on a first side of the probe and a second opening on a second side of the probe, wherein the oblique path of the straight channel extends between the first opening and the second opening, and wherein the oblique path is oblique relative to a longitudinal axis of the probe;
a needle guide disposed oblique to the probe adjacent to the straight channel;
a lateral fire sensor positioned within the housing of the probe;
a handle operatively coupled to the probe, such that the probe rotates about a longitudinal axis of the handle, wherein the handle includes a first motor to rotate the probe about the longitudinal axis of the handle; and
a second motor operatively coupled to the needle guide to pivot the straight biopsy needle within the straight channel.

5. The ultrasound wand of claim 4 wherein the needle guide provides the biopsy needle with a first degree-of-freedom of movement.

6. The ultrasound wand of claim 4 further comprising a spacer to limit insertion depth of the needle.

7. A method for performing a biopsy with two degree-of-freedom targeting of a prostate comprising:
imaging the prostate using an ultrasound wand having a lateral fire sensor;
inserting a straight biopsy needle through a straight channel defined by a probe of the ultrasound wand, wherein the straight channel defines an oblique path through the probe, wherein a first motor is configured to rotate the probe about a longitudinal axis of a handle operatively coupled to the probe, wherein the straight channel comprises a first opening on a first side of the probe and a second opening on a second side of the probe, wherein the oblique path of the straight channel extends between the first opening and the second opening, and wherein the oblique path is oblique relative to a longitudinal axis of the probe;
pivoting the straight biopsy needle within the straight channel in order to direct the biopsy needle to a predetermined point on the prostate using a second motor;
adjusting the depth of the straight biopsy needle within the straight channel in order to direct the straight biopsy needle to the predetermined point on the prostate; and
taking the biopsy of the prostate at the predetermined point.

8. The method of claim 7 further comprising using robotic control.

9. The method of claim 7 further comprising angulating a needle guide within the ultrasound wand.

10. The method of claim 9 further comprising using a degree-of-freedom taking the form of manipulating the needle guide.

11. The method of claim 7 further comprising using a cohesive ultrasound wand having first and second degrees-of-freedom of movement of the needle incorporated into the ultrasound wand.

12. The method of claim 7 further comprising generating a three-dimensional scan.

Assignees

• Univ Johns Hopkins

Inventors

• Stoianovici Dan
• Han Misop
• Petrisor Doru
• Kim Chunwoo

Classifications

• A61B8/12

  in body cavities or body tracts, e.g. by using catheters · CPC title

• A61B2090/3782

  transmitter or receiver in catheter or minimal invasive instrument · CPC title

• A61B2018/00547

  Prostate · CPC title

• A61B2017/3413

  guided by ultrasound · CPC title

• A61B2017/00274

  Prostate operation, e.g. prostatectomy, turp, bhp treatment · CPC title