BIOPSY DEVICE
A biopsy system driver includes a motor having a rotatable output shaft, a support structure, a drive shaft, an elongate lead screw and a biopsy instrument drive member. The drive shaft is rotatably coupled to the support structure and includes or is otherwise operatively connected to the motor output shaft such that activation of the motor rotates the drive shaft. The elongate lead screw is coupled to the drive shaft such that rotation of the drive shaft rotates the lead screw about an axis of the lead screw. The lead screw is axially translatable relative to the drive shaft and to the support structure. The biopsy instrument drive member is threadably coupled to the lead screw such that rotation of the lead screw causes axial translation of one of the lead screw and biopsy instrument drive member relative to the other one and to the support structure.
1 - 9 . (canceled)
10 . A method of operating a biopsy device including a needle assembly having an outer cannula and an inner cannula, the method comprising:
inserting a portion of the needle assembly into tissue of a patient;
firing the biopsy device, wherein, when the needle assembly is in a fired configuration, an outer cannula drive member coupled to the outer cannular is locked in a distal fired position and an inner cannula drive member coupled to the inner cannula is in an unlocked position, and wherein the outer cannula drive member is operatively coupled to the inner cannula drive member via a lead screw coupled to a drive shaft and configured to translate axially along the drive shaft; and
initiating a cutting cycle of the inner cannula including:
begin a cutting stroke of the inner cannula by rotating the lead screw via a motor to retract the inner cannula drive member in a proximal direction;
continue the cutting stroke of the inner cannula by reversing rotation direction of the lead screw via the motor to advance the inner cannula drive member in a distal direction; and
once the inner cannular drive member reaches a full distal position, operating the lead screw in a dwell mode, wherein, when the lead screw is in the dwell mode, continued rotation of the lead screw via the motor compresses a dwell spring while rotating the inner cannula without axial movement.
11 . The method of claim 10 , wherein the cutting cycle of the inner cannula further includes that after the dwell mode, reversing rotation direction of the lead screw via the motor to retract the inner cannula drive member in the proximal direction.
12 . The method of claim 10 , wherein prior to the needle assembly being in the fired configuration, the method further comprises:
pre-arming the biopsy device by locking the outer cannula drive member in a full distal position and unlocking the inner cannula drive member; and
rotating the lead screw via the motor to retract the inner cannula drive member in the proximal direction.
13 . The method of claim 12 , wherein pre-arming the biopsy device includes selectively rotating a cam engaged with the inner cannula drive member and the outer cannula drive member to lock the outer cannula drive member and unlock the inner cannula drive member.
14 . The method of claim 12 , further comprising:
arming the biopsy device by locking the inner cannula drive member in a full proximate position and unlocking the outer cannula drive member; and
rotating the lead screw via the motor to retract the outer cannula drive member in the proximal direction.
15 . The method of claim 14 , wherein arming the biopsy device includes selectively rotating a cam engaged with the inner cannula drive member and the outer cannula drive member to lock the inner cannula drive member and unlock the outer cannula drive member.
16 . The method of claim 14 , wherein retraction of the outer cannula drive member compresses a firing spring.
17 . The method of claim 14 , wherein firing the biopsy device comprises:
unlocking the inner cannula drive member; and
propelling the inner cannula drive member and the outer cannula drive member linked together by the lead screw via a firing spring in the distal direction.
18 . The method of claim 17 , wherein firing the biopsy device further comprises selectively rotating a cam engaged with the inner cannula drive member and the outer cannula drive member to unlock both the inner cannula drive member and the outer cannula drive member.
19 . The method of claim 17 , wherein the dwell spring has a larger spring force than the firing spring.
20 . The method of claim 10 , wherein prior to inserting the portion of the needle assembly, the method further comprises:
setting a reusable portion of the biopsy device to a home position, the reusable portion including the inner cannula drive member and the outer cannula drive member; and
attaching a disposable portion of the biopsy device to the reusable portion, the disposable portion including the inner cannula and the outer cannula.
21 . The method of claim 20 , wherein setting the reusable portion to the home position includes:
driving the inner cannula drive member in the proximal direction until triggering a limit sensor;
driving the outer cannula drive member in the proximal direction until the outer cannula drive member abuts the inner cannula drive member; and
moving both the inner cannula drive member and the outer cannula drive member in the distal direction and towards their respective distal-most positions.
22 . The method of claim 20 , wherein in the home position both the inner cannula drive member and the outer cannula drive member are unlocked.
23 . The method of claim 20 , wherein attaching the disposable portion includes unlocking axial movement of an outer cannula hub and an inner cannula hub of the disposable portion via a pair of pins on the reusable portion.
24 . The method of claim 10 , further comprising controlling locking and unlocking positions of the inner cannula drive member and the outer cannula drive member by selectively rotating a cam engaged with the inner cannula drive member and the outer cannula drive member.
25 . The method of claim 24 , wherein rotation of the cam is driven by an actuator that is separate from the motor.
26 . The method of claim 24 , further comprising determining a rotational position of the cam.
27 . The method of claim 26 , wherein determining the rotational position of the cam includes sensing, via a sensor, an encoding disc fixed to the cam.
28 . The method of claim 10 , wherein during the dwell mode, the inner cannula drive member is prevented from moving in the distal direction by a hard stop.
29 . The method of claim 28 , wherein during the dwell mode, an axial cutting force of the inner cannula is equal to a preloaded spring force of the dwell spring.