An apparatus and method for biopsy and therapy

Abstract

A biopsy and therapy device comprising: a needling unit for holding and inserting a biopsy needle; an imaging module comprising an ultrasound probe and an actuator for moving the probe in a reciprocal action; a first arcuate slide; a second arcuate slide in sliding engagement with the first arcuate slide and a linkage to which the first arcuate slide is mounted; said linkage arranged to move the first and second arcuate slides within a vertical plane; said needling unit mounted to said arcuate slide wherein the first and second arcuate slides are mounted perpendicular to each other so as to rotate the needling unit about respective first and second principal axes.

1 - 21 . (canceled) 
     
     
         22 . A rotary head mountable to a linkage for moving said rotary head, the rotary head comprising:
 a first arcuate slide;   
       a second arcuate slide in engagement with the first actuate slide;
 a needling unit for holding and inserting a biopsy needle; 
 
       said needling unit mounted to said second arcuate slide wherein the first and second arcuate slides are mounted perpendicular to each other so as to rotate the needling unit about respective first and second principal axes; wherein the first and second arcuate slides are concentric about a pivot point and the biopsy needle is co-linear with said pivot point. 
     
     
         23 . The rotary head according to  claim 22 , wherein said rotary head arranged to be moved such that said pivot point is located at a contact point of the needling unit. 
     
     
         24 . The rotary head according to  claim 22 , wherein the needling unit includes a needle holder for holding a needle guide during insertion, said holder including a recess for receiving a needle in a direction transverse to the direction of insertion. 
     
     
         25 . The rotary head according to  claim 22 , wherein said needling unit includes a needle stopper arranged to set a pre-determined depth of penetration of said needle. 
     
     
         26 . The rotary head according to  claim 22 , further including a drape for covering said biopsy device, said needling unit including a recess with which the drape is arranged to engage. 
     
     
         27 . The rotary head according to  claim 22 , wherein the first and second sides are of a unitary construction. 
     
     
         28 . The rotary head according to  claim 22 , wherein said rotary head is arranged to conduct a biopsy procedure based upon one or more of the parameters: a needle insertion point defined as a coordinate position within said vertical plane, a first angle relative to the first principal axis, a second angle relative to the second principal axis and a depth of penetration of the needle. 
     
     
         29 . The rotary head according to  claim 22 , further including a platform to which said linkage and an imaging module are mounted, said image module including a ultrasound probe within a probe sheath positioned on said probe, said probe sheath arranged to allow relative reciprocal motion with said probe. 
     
     
         30 . An imaging module comprising:
 an ultrasound probe and an actuator for moving the probe in a reciprocal action;   a probe sheath positioned on said probe, said probe sheath arranged to allow relative reciprocal motion with said probe.   
     
     
         31 . The imaging module according to  claim 30 , wherein on insertion into the rectum, said probe sheath is arranged to immobilize the prostate from the translational motion of the probe. 
     
     
         32 . A biopsy and therapy device comprising:
 a needling unit for holding and inserting a biopsy needle;   
       an imaging module comprising an ultrasound probe and an actuator for moving the probe in a reciprocal action;
 an arcuate slide and a parallel movement to which the arcuate slide is mounted; 
 
       a rotational linkage in sliding engagement with the arcuate slide; 
       said parallel movement arranged to move the arcuate slide and rotational linkage within a vertical plane; 
       said needling unit mounted to either one of said arcuate slide or said rotational linkage, wherein the arcuate slide and rotational linkage are mounted perpendicular to each other so as to rotate the needling unit about respective first and second principal axes. 
     
     
         33 . The biopsy and therapy device according to  claim 32 , wherein the rotational linkage and arcuate slide are arranged to rotate the needling unit about a pivot point. 
     
     
         34 . The biopsy and therapy device according to  claim 32 , wherein the pivot point is located at a contact point of the needling unit. 
     
     
         35 . The biopsy and therapy device according to  claim 32 , wherein the rotational linkage includes:
 a first pair of arms, each mounted intermediate the needling unit and a drive, forming a parallelogram linkage;   a second pair of arms each mounted intermediate the drive and the arcuate slide for forming a second parallelogram linkage;   
       the drive arranged to extend and retract said first and second parallelogram linkages. 
     
     
         36 . The biopsy and therapy device according to  claim 32 , wherein the arcuate slide, rotational linkage and needling unit form a rotary head, said rotary head arranged to move along principal axes by said first and second linear slides. 
     
     
         37 . The biopsy and therapy device according to  claim 32 , wherein the needling unit includes:
 a needle holder for holding a needle during insertion, said holder including a recess for receiving a needle in a direction transverse to the direction of insertion; and   a needle stopper arranged to set a pre-determined depth of penetration of said needle.   
     
     
         38 . The biopsy and therapy device according to  claim 32 , wherein the imaging module includes a probe sheath positioned on said probe and arranged to allow relative reciprocal motion with said probe. 
     
     
         39 . The biopsy and therapy device according to  claim 32 , wherein said device is arranged to conduct a biopsy procedure based upon one or more parameters of the group consisting of: a needle insertion point defined as a coordinate position within said vertical plane, a first angle relative to the first principal axis, a second angle relative to the second principal axis and a depth of penetration of the needle. 
     
     
         40 . The biopsy and therapy device according to  claim 32 , wherein the parallel movement is a linear slide arranged to facilitate motion along an axis within said plane. 
     
     
         41 . The biopsy and therapy device according to  claim 32 , wherein the parallel movement is a parallel linkage arranged to facilitate motion along said vertical plane.