METHODS AND APPARATUS FOR INTRODUCING A MEDICAL DEVICE INTO THE BODY OF A PATIENT
An image guided robotic device is provided to perform a diagnostic or therapeutic medical procedure. In one embodiment, the robotic device includes an imaging machine, an actuator, and a controller for controlling the actuator. The robotic device may be configured to introduce a needle, a catheter, or a cannula into an anatomical structure. The device and its components may be sized for use as a portable device and/or operable using one hand of the operator.
1 . A image guided device for introducing a medical device into a body structure, comprising:
an imaging device for acquiring information of a location of the body structure;
an actuator for deploying the medical device; and
a controller for processing information of the location of the body structure and controlling the actuator to place the medical device into the body structure.
2 . The apparatus of claim 1 , wherein the apparatus is portable.
3 . The apparatus of claim 1 , further comprising a cartridge containing the medical device, wherein the cartridge is releasably attached to the actuator.
4 . The apparatus of claim 3 , wherein the actuator comprises a driver for advancing the medical device.
5 . The apparatus of claim 3 , wherein the medical device comprises a catheter.
6 . The apparatus of claim 5 , wherein the cartridge further comprises a needle and the catheter is co-axially disposed around the needle.
7 . The apparatus of claim 6 , wherein the cartridge further comprises a wire at least partially disposed in the needle.
8 . The apparatus of claim 7 , wherein the wire is wound around a spool.
9 . The apparatus of claim 8 , further comprising a driver for moving the needle.
10 . The apparatus of claim 9 , further comprising a second driver for deploying the wire.
11 . The apparatus of claim 3 , further comprising an aspiration device.
12 . The apparatus of claim 11 , wherein the aspiration device comprises a vacuum mechanism.
13 . An image guided device for introducing a tubular into a bodily cavity, comprising:
a console having a monitor;
a handle coupled to the console; and
an actuator pivotally coupled to the console, wherein the actuator includes a motor to introduce the tubular in the bodily cavity.
14 . The apparatus of claim 13 , further comprising an imaging device capable of projecting an image of the bodily cavity on the monitor.
15 . The apparatus of claim 13 , wherein the actuator is adapted to advance and retract the tubular.
16 . A method of cannulating a bodily cavity, comprising:
determining a path of a needle;
simultaneously injecting the needle and a catheter into the bodily cavity, wherein the catheter is co-axially disposed around the needle;
inserting a wire through the needle and into the bodily cavity;
advancing the catheter relative to needle and at least partially over the wire; and
retrieving the needle and the wire.
17 . The method of claim 16 , wherein the retrieving the needle and advancing the catheter are performed simultaneously.
18 . The method of claim 16 , further comprising aspirating a bodily fluid prior to inserting the wire.
19 . The method of claim 16 , further comprising measuring a distance between the needle and the bodily cavity and setting a drive mechanism to advance the needle along the measured distance.
20 . The method of claim 16 , wherein determining a path comprises using an imaging machine to determine the path.
21 . An image guided robotic device for placing a medical device in a bodily cavity, comprising:
an imaging device for acquiring information of the bodily cavity;
a housing coupled to the imaging device;
a cartridge releasably installed on the housing, wherein the cartridge contains the medical device; and
a drive mechanism for deploying the medical device.