Apparatus for insertion of a medical device during a medical imaging process
The end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.
1. An apparatus comprising:
an end member, a portion of which is configured to be inserted into one of a natural cavity or an artificially formed cavity of a subject while the subject is within an imaging field of a medical imaging apparatus; and
wherein said end member includes:
a carrier member configured to be one of translatably or rotatably disposed inside a sheath member so that translation or rotation of the carrier member is not imparted to the sheath member,
wherein the carrier member is configured to have a passage for a medical device that can be movably received and selectively deployed therefrom between a stored position and a deployed position,
wherein the deployed position of the carrier member is configured so that a portion of the medical device penetrates target tissues located about said one of the natural or artificial body cavity into which said end member is inserted.
2. The apparatus of claim 1 , wherein the sheath member is configured and arranged to be received with said one of natural or artificial body cavity.
3. The apparatus of claim 2 , wherein the sheath member is configured so as to include a through aperture that communicates with the sheath member interior compartment and which extends partially circumferentially and partially longitudinally so as to form a window in an exterior surface of the sheath member, where the medical device passes through the window when being deployed.
4. The apparatus of claim 1 , wherein said end member further includes an imaging device that is configured and arranged so as to allow a volume of tissues including the target tissues to be imaged.
5. The apparatus of claim 2 , wherein said end member further includes an MRI receiver antenna, the MRI receiver antenna being configured and arranged so as to MR/NMR image a volume of tissues including the target tissues.
6. The apparatus of claim 5 , wherein the sheath member is configured so as to include a through aperture that communicates with a sheath member interior compartment and which extends partially circumferentially and partially longitudinally so as to form a window in an exterior surface of the sheath member, wherein the MRI receiver antenna is arranged so as to image tissues opposite the sheath member through aperture, and wherein the medical device passes through the window when being deployed.
7. The apparatus of claim 6 , wherein the MRI receiver antenna comprises an MRI coil antenna and wherein said sheath member is configured and arranged so that the MRI coil antenna is disposed about at least a portion of a perimeter of the sheath member through aperture.
8. The apparatus of claim 1 , wherein said end member further includes an ultrasonic imaging device that is configured and arranged so as to image a volume of tissues including the target tissues.
9. The apparatus of claim 8 , wherein the carrier member is configured and arranged so that the ultrasonic imaging device is disposed therein proximal a location from which the medical device is deployed therefrom.
10. The apparatus of claim 2 , further comprising:
a positioning mechanism operably coupled to the carrier member; and
wherein said positioning mechanism is configured and arranged so as to cause the carrier member to one of translate or rotate within the sheath member interior compartment.
11. The apparatus of claim 10 , wherein said positioning mechanism is configured and arranged so as to selectively rotate or translate the carrier member.
12. The apparatus of claim 1 , wherein said end member further includes one or more tracking devices, each of said one or more tracking devices being configured and arranged so a position of each tracking device can be determined using an imaging system external to the apparatus.
13. The apparatus of claim 12 , wherein the one or more tracking devices are passive fiducials appropriate for the particular imaging technique embodied in the external imaging system.
14. The apparatus of claim 12 , wherein the one or more tracking devices are arranged so as to allow a determination to be made of an amount the carrier member is being translated or rotated r.
15. The apparatus of claim 12 , wherein said end member further includes a plurality or more tracking devices.
16. The apparatus of claim 15 , wherein the plurality or more of tracking devices are arranged so as to allow a determination to be made of an amount the carrier member is being translated or rotated.
17. The apparatus of claim 12 , wherein the external imaging system is an MRI imaging system and wherein the one or more tracking devices comprise one of a passive fiducial or a tracking coil.
18. The apparatus of claim 17 , wherein one of the passive fiducials or the tracking coils are arranged so as to allow a determination to be made of an amount the carrier member is being translated or rotated.
19. The apparatus of claim 18 , wherein said end member comprises three tracking coils being arranged so as to allow a determination to be made of an amount the carrier member is being translated or rotated.
20. The apparatus of claim 19 , wherein said end member includes passive fiducials.
21. The apparatus of claim 1 , wherein the passage is configured and arranged so an exit thereof is from a surface of the carrier member.
22. The apparatus of claim 21 , wherein a portion of the passage proximal the exit is arcuate.
23. The apparatus of claim 22 , further comprising a mechanism operably coupled to the medical device, said mechanism being configured so as to rotate the medical device as the medical device traverses at least a portion of the passage.
24. The apparatus of claim 22 , wherein the passage includes a flexible portion proximal the exit and wherein said carrier member further includes a mechanism operably coupled to the passage flexible portion, the mechanism being configured and arranged so as to selectively control one of a position of the exit with respect an exterior surface of the carrier member or an exit angle of the medical device with respect to the exterior surface of an axis of the carrier member.
25. The apparatus of claim 1 , further comprising the carrier member configured to receive a mechanism for selectively controlling deployment of the medical device from the carrier member into the tissues.
26. The apparatus of claim 1 , wherein the medical device is one of a needle or a flexible needle that is configured to penetrate tissues about the one of natural or artificial body cavity.