Automated image-guided tissue resection and treatment
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.
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 a patient, the probe comprising an outer elongate tube having a working channel and an inner rapid exchange carrier rotatable and translatable within the working channel to position and orient a nozzle to release a pressurized stream of fluid toward the tissue, the inner rapid exchange carrier configured to be inserted and removed from a proximal end of the outer elongate tube;
a processor comprising instructions to rotate and translate the inner rapid exchange carrier to treat the patient; and
a linkage coupled to the processor and the treatment probe to rotate and translate the inner rapid exchange carrier in response to the instructions, the linkage comprising a first fixed portion comprising a housing, and a second moveable portion comprising an linkage tube to drive the inner rapid exchange carrier with rotation and translation, the linkage tube having an inner dimension sized to receive the inner rapid exchange carrier and a locking structure to couple the inner rapid exchange carrier with the linkage tube to move together during rotation and translation;
the first fixed portion of the linkage being coupled to a proximal portion of the outer elongate tube in order for the outer elongate tube to remain substantially fixed when the linkage tube and inner rapid exchange carrier rotate and translate together to treat the patient.
2. An apparatus as in claim 1 , further comprising a manifold and a plurality of channels, the manifold connected to a proximal end of the outer elongate tube, the plurality of channels extending along the outer elongate tube 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 fluid to deliver fluid to a treatment site, wherein the manifold is connected to the linkage by a locking element when the balloon has been inflated.
3. An apparatus as in claim 1 , wherein the outer elongate tube comprises a spine coupled to an anchor, and wherein the spine extends between the anchor and the linkage to fix a distance from the first fixed portion of the linkage to the anchor when the inner rapid exchange carrier is rotated and translated with the second moveable portion of the linkage to position and orient the nozzle to treat a target location of the patient referenced to the anchor.
4. An apparatus as in claim 1 , wherein the outer elongate tube is coupled to an anchor, and wherein the outer elongate tube extends between the anchor and the linkage to fix a distance along the outer elongate tube from the first fixed portion of the linkage to the anchor when the inner rapid exchange carrier is rotated and translated with the second moveable portion of the linkage to position and orient the nozzle to treat the patient.
5. An apparatus as in claim 4 , wherein the outer elongate tube and the inner rapid exchange carrier are configured to deflect as the probe is inserted into the tissue and wherein the outer elongate tube maintains a substantially constant arc length between the first fixed portion of the linkage and the anchor in order to maintain placement of the nozzle in relation to the anchor when the nozzle is rotated and translated along an axis of the probe with the inner rapid exchange carrier to treat the patient.
6. An apparatus as in claim 1 , wherein the linkage comprises an outer hand piece portion graspable and positionable with a hand of a user when the arm is in the first movable configuration.
7. An apparatus as in claim 1 , wherein the first fixed portion of the linkage comprises a support coupled to the treatment probe and the arm to support the treatment probe and the linkage with the arm when the probe has been inserted into the patient.
8. An apparatus as in claim 7 , wherein the support comprises one or more of a rigid casing of the linkage, a frame of the linkage, or the housing of the linkage, and wherein the support remains substantially fixed with the arm when the patient is treated.
9. An apparatus as in claim 7 , wherein the support is coupled to the treatment probe to insert the probe in the patient and position the nozzle at a target location and orientation and wherein the support is coupled to the arm and the outer elongate tube in order to support the probe with the probe positioned and oriented within the patient when the arm is in the second stiff configuration.
10. An apparatus as in claim 7 , wherein the support and arm are capable of supporting the linkage and the treatment probe at an intended position and orientation when the arm is in the second stiff configuration in order to fix the location of the linkage when the patient is treated with the nozzle.
11. An apparatus as in claim 1 , wherein the linkage is coupled to the inner rapid exchange carrier to control a position of the nozzle along an axis of the outer elongate tube and a rotation of the nozzle around the axis of the outer elongate tube.
12. An apparatus as in claim 1 , wherein the apparatus is configured to remove living cells of the tissue in order to provide the living cells outside of the patient.