Automated image-guided tissue resection and treatment

Patent metadata

Field	Value
Publication number	US-11737776-B2
Application number	US-202016846159-A
Country	US
Kind code	B2
Filing date	Apr 10, 2020
Priority date	Feb 29, 2012
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A system to treat a patient comprises a user interface that allows a physician to view an image of tissue to be treated in order to develop a treatment plan to resect tissue with a predefined removal profile. The image may comprise a plurality of images, and the planned treatment is shown on the images. The treatment probe may comprise an anchor, and the image shown on the screen may have a reference image marker shown on the screen corresponding to the anchor. The planned tissue removal profile can be displayed and scaled to the image of the target tissue of an organ such as the prostate, and the physician can adjust the treatment profile based on the scaled images to provide a treatment profile in three dimensions. The images shown on the display may comprise segmented images of the patient with treatment plan overlaid on the images.

First claim

What is claimed is:

1. An apparatus to treat tissue of a patient, comprising:
an arm coupled to a base, the arm comprising a first movable configuration and a second stiff configuration;
a treatment probe to treat the patient, the treatment probe comprising an outer elongate structure having a working channel and an inner carrier rotatable and translatable within the working channel to position and orient an energy source to release a treatment energy toward the tissue;
a processor comprising instructions to rotate and translate the energy source on the inner carrier to treat the patient; and
a linkage coupled to the processor and the treatment probe to rotate and translate the energy source in response to the instructions while the arm remains in the second stiff configuration, the linkage comprising a support coupled to the arm to support the linkage and the treatment probe, wherein a location of the support remains fixed while the energy source on the inner carrier is rotated and translated to treat the tissue with the arm in the second stiff configuration.

2. The apparatus of claim 1 , further comprising a manifold and a plurality of channels, the manifold connected to a proximal end of the outer elongate structure, the plurality of channels extending along the outer elongate structure to couple a first port of the manifold to a balloon anchor with a first channel and to couple a second port of the manifold with an opening near a distal end of the outer elongate structure to deliver fluid to a treatment site and wherein the manifold comprises a locking structure and the linkage comprises a locking structure to connect the linkage to the manifold.

3. The apparatus of claim 1 , wherein the outer elongate structure comprises a spine coupled to an anchor, and wherein the spine extends between the anchor and the linkage to fix a distance from a first portion of the linkage to the anchor when the inner carrier is rotated and translated with a second portion of the linkage to position and orient the energy source to treat a target location of the patient referenced to the anchor.

4. The apparatus of claim 1 , wherein the outer elongate structure is coupled to an anchor, and wherein the outer elongate structure extends between the anchor and the linkage to fix a distance along the outer elongate structure from a first portion of the linkage to the anchor when the inner carrier is rotated and translated with a second portion of the linkage to position and orient the energy source to treat the patient.

5. The apparatus of claim 4 , wherein the outer elongate structure and the inner carrier are configured to deflect as the treatment probe is inserted into the tissue and wherein the outer elongate structure maintains a substantially constant arc length between a fixed portion of the linkage and the anchor in order to maintain placement of the energy source in relation to the anchor when the energy source is rotated and translated along a probe axis with the inner carrier to treat the patient.

6. The apparatus of claim 1 , wherein the linkage comprises an outer hand piece portion graspable and positionable with a hand of a user when the arm comprises an unlocked configuration.

7. The apparatus of claim 1 , wherein the support comprises one or more of a rigid casing of the linkage or a frame of the linkage and wherein the casing remains substantially fixed with the arm when the patient is treated.

8. The apparatus of claim 1 , wherein the support is coupled to the treatment probe to insert the treatment probe in the patient and position the energy source at a target location and orientation and wherein the support is coupled to the arm and the outer elongate structure in order to support the treatment probe with the treatment probe positioned and oriented within the patient when the arm comprises the second stiff configuration.

9. The apparatus of claim 1 , wherein the support and arm are capable of supporting the linkage and the treatment probe at an intended position and orientation when the arm comprises the second stiff configuration.

10. The apparatus of claim 1 , wherein the linkage is coupled to the inner carrier to control and position the energy source along an axis of the outer elongate structure and a rotation of the energy source around the axis of the outer elongate structure.

Assignees

• Procept Biorobotics Corp

Inventors

• Aljuri Nikolai
• Mantri Surag
• Baez Luis
• Surjan George
• Sasnett Michael W
• Foote Jonathan

Classifications

• A61B17/3203 Primary

  Fluid jet cutting instruments · CPC title

• A61B1/307 Primary

  for the urinary organs, e.g. urethroscopes, cystoscopes · CPC title

• A61B17/00234

  for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence) · CPC title

• A61B17/32037

  for removing obstructions from inner organs or blood vessels, e.g. for atherectomy · CPC title

• A61B18/04

  by heating (by applying electromagnetic radiation A61B18/18) · CPC title