Patent ID: 6249713
Filing Date: 2001-06-19
Classification: A61B

Abstract:
Apparatus for automatically positioning a guide for a biopsy needle for its proper insertion into the body of a patient from a selected point on a surface of said body, so as to enter in a straight line passing through a designated target region within said body, in conjunction with an imaging system including at least one source of X-ray radiation, said apparatus comprising:a first source position for radiating X-rays for deriving a first radiographic image on a first image plane of a portion of said body including a first image of said selected point and a first image of said target region; wherein said first source position, said first image of said selected point, and said first image of said target region defining a first viewing plane .pi.;a second source position for radiating X-rays for deriving a second radiographic image on a second image plane of said portion of said body, including a second image of said selected point and a second image of said target region; wherein said second source position, said second image of said selected point, and said second image of said target region defining a second viewing plane .pi.', said guide being constructed so as to be identifiable by its guide image on said radiographic images, at least as to its direction;controllable means for moving said guide so as to change its direction of pointing;reading means coupled to said image planes for identifying and reading said direction of pointing on said radiographic images;programmable computer means coupled to said controllable means and to said reading means for:selecting a first auxiliary plane at an angle .THETA..sub.1 ;moving said guide within said first auxiliary plane to an angle .phi..sub.1 so as to cause said guide image on said first image plane to be aligned in a straight line through said target region;storing values for said angles .THETA..sub.1 and .phi..sub.1 ;selecting a second, different, auxiliary plane at an angle .THETA..sub.2 ;moving said guide to an angle .phi..sub.2 within said second auxiliary plane so as to cause said guide image on said second image plane to be aligned in a straight line through said target region;storing values for said angles .THETA..sub.2 and .phi..sub.2 ;calculating, by utilizing values stored for said angles, rotations .alpha. and .THETA. so as to derive said first viewing plane .pi.; andmoving said guide within said first viewing plane .pi. to an angle .phi..sub.3 SO as to cause said guide image on said second image plane to be aligned in a straight line through said target region.