EP1729843A1 - Fernbedienbare kanülenführung - Google Patents
Fernbedienbare kanülenführungInfo
- Publication number
- EP1729843A1 EP1729843A1 EP05716344A EP05716344A EP1729843A1 EP 1729843 A1 EP1729843 A1 EP 1729843A1 EP 05716344 A EP05716344 A EP 05716344A EP 05716344 A EP05716344 A EP 05716344A EP 1729843 A1 EP1729843 A1 EP 1729843A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cannula
- remote
- guide
- controllable
- guide according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/06—Body-piercing guide needles or the like
- A61M25/0662—Guide tubes
Definitions
- the present invention relates to a remote-controlled (remote-controlled or manual) cannula guide for inserting long cannulas, for example an injection needle for the injection of medication, medical preparations or contrast media or even instruments, into a patient's body under cramped conditions according to the first claim.
- a remote-controlled (remote-controlled or manual) cannula guide for inserting long cannulas, for example an injection needle for the injection of medication, medical preparations or contrast media or even instruments, into a patient's body under cramped conditions according to the first claim.
- the aforementioned cramped conditions are present, for example, in the case of interventional radiological examinations or interventions, for example in a computer tomograph (CT) or magnetic resonance tomograph (MRT).
- CT computer tomograph
- MRT magnetic resonance tomograph
- the patient usually lies on a patient couch in the MRT or CT channel, while the attending doctor visually monitors the intervention on the screen using the MRI or CT data and controls the operations from the outside.
- Interventions of the aforementioned type are used, for example, to inject medication, medical preparations or contrast media using long cannulas, which are image-supported in the patient, ie. H. can be precisely inserted into a specific target position in the cramped conditions.
- cannulas facilitate precise positioning of the cannula tip in the patent body.
- cannula guides of the type mentioned at the beginning serve to introduce optical, electrical, mechanical or cryotechnical connections (e.g. cables, glass fibers etc.) into a patient's body.
- optical, electrical, mechanical or cryotechnical connections e.g. cables, glass fibers etc.
- DE 41 13 045 C1 describes, by way of example, a cannula guide for a straight cannula, which is arranged to be displaceable from the distal end by a likewise straight plastic guide.
- the said guide has only a limited area of application in the aforementioned cramped conditions.
- the channel walls of an MRI or CT massively limit the space around the patient, so that longer straight cannulas can only be inserted obliquely into a patient's body inserted into the channel.
- the object of the invention is therefore to propose a cannula guide that does not have the aforementioned restrictions, but in particular enables improved and more precise positioning of a cannula tip in the patient's body.
- a cannula guide which comprises at least one forced guide for the cannula.
- a long cannula can be positioned parallel to the patent body to the puncture site and can be deflected there in the direction of the body in a predetermined orientation. This presupposes an elastic cannula, which forms back into the straight starting form outside of the forced guidance.
- Super-elastic materials such as e.g. Shape memory alloys which can be bent even in smaller radii without plastic deformation in the deflection guide and thus advantageously further reduce the space required for the cannula guide.
- the forced deflection guide preferably comprises at least one guide tube fixed at both ends, in which the cannula is guided in an axially displaceable manner.
- Bendable hoses with a dimensionally stable cross section with low frictional resistance towards the cannula are particularly suitable as the guide hose, for example nylon hoses or bottom pull hoses with a Spiraldrahtarmtechnik.
- the two ends are used not only for positioning, but also for the alignment of the cannula leaving the tube at the respective end.
- at least one of the two ends of each guide hose must be adjustable in its position and orientation by means of adjusting devices with drives (piston drives, servomotors, etc.) and, if necessary, a separate sensor system (displacement and angle sensors).
- a feed device preferably a linear drive (servomotor, actuating piston, etc.) with a gripper for gripping and moving the cannula forwards and backwards, is used for pulling the cannula forwards and backwards in the deflection guide.
- a puncture of the cannula in the patient's body that is positioned and aligned as precisely as possible can be achieved if the point of application of the feed device on the cannula is positioned distal to the forced deflection guides directly close to the puncture point on the patient and is not influenced by it.
- the gripper With the gripper, the cannula can be aligned and positioned for the last time before the puncture point outside the patient's body.
- the feed device works similarly to the so-called stick-slip principle. After gripping the cannula, it is pushed axially back or forward and released in the new position, being held in place by the friction in the cannula guide and in the patient's body. There follows a displacement of the loosened gripper on the cannula with a renewed gripping of the cannula by the gripper elsewhere.
- inch worm drives are proposed as feed devices. It consists of two reciprocating grippers for the cannula with an interposed linear actuator for the feed movement.
- the distal-side gripper can also be designed as a guide gripper, decoupled from the drive, but, if necessary, optionally with an additional direction correction option.
- there are basically also friction wheel drives which, however, can be expected to show increased abrasion on the cannula and thus considerably restrict their use for inserting a cannula into a patient's body.
- the cannula guide must meet special sterility requirements.
- the cannula guide comprises a sterile area for the cannula, which is preferably enclosed by the forced deflection guides and by sterile protective tubes sealingly adjoining them.
- cannula guide such as the minimally invasive insertion of, for example, probes, instruments, electrodes, catheters or actuators such as ultrasound transducers, do not require a fundamentally different design of the cannula guide and are therefore at least covered by the invention as equivalents.
- Fig. 1 is a simplified side view of the embodiment
- Fig. 2 shows a cannula with disposable components of the embodiment.
- FIG. 1 essentially consists of a guide tube 1 for deflecting an elastic cannula 2 towards the patent body 3.
- the feed device 4 designed as an inch worm drive, engages the -> -
- the feed device in FIG. 1 further comprises a bidirectional pneumatic cylinder on both sides as a linear actuator 7, the fixed guide gripper 5 being connected to the cylinder and the movable gripper 6 being connected to the piston.
- the pneumatic feed device does not require any magnetic or electrically conductive components, which makes it particularly suitable for use in MRT or CT.
- the cannula is first held in place by the guide gripper 5 or solely by the friction in the device while the gripper 6 moves to its gripping position. There follows a gripping of the cannula by the gripper 6 and a loosening of the guide gripper 5 with subsequent movement of the cannula via the gripper 6 with the linear actuator 7 in a desired direction or position.
- the guide gripper 5 and the clamping piece 12 advantageously serve as mechanical safety limits for the guide gripper 5.
- the cannula preferably consists of a super-elastic alloy, for example a Ni-Ti alloy with the known mechanical and biocompatible properties.
- the 1 also shows a position measuring system 8 for advancing the cannula 2 and a position measuring system 9 for the linear actuator 7 as parts of the sensor system.
- the position measuring system 9 comprises two displacement sensors for detecting the position of the Grippers 6. The transfer from the grippers to the position measuring system takes place via cable 11 with deflection roller 10.
- a carrier element which serves as a chassis and / or housing for the components shown.
- the guide tube 1 ends on both sides with a clamping piece 12 and 13, which is connected to the carrier element via fixings, not shown.
- the distal-side clamping piece 12 can be aligned and positioned in at least one of the six degrees of freedom (3x lateral, 3x rotatory) in at least one of the six degrees of freedom (fixation, pneumatic cylinder, Bowden cables, etc.) via the fixation in a preferred embodiment.
- the feed device 4 no electrically conductive or magnetizable materials, does not require or generate an electrical or magnetic field).
- the cannula guide in FIG. 1 also shows a plurality of sterile protective tubes 14 (thin-walled plastic tubes) which, together with the guide tube 1, form a sterile area for the cannula 2.
- a sterile protective hose bridges the gap between the two grippers 5 and 6, the gripper ⁇ and the clamping piece 12, and the clamping piece 1.3 and the Luer lock attachment 15 at the proximal end of the cannula 2.
- the aforementioned sterile assembly (disposable components with cannula and sterile area) is removed from the sterile packaging and prepared depending on the application, e.g. connected to a drug dosage or prepared as a guide tube for laser light guide, cryopipes etc. Only then is the assembly inserted into the device (second, non-sterile assembly), the cannula guide only being created when the sterile and non-sterile assembly is joined together.
- the patient support of the exemplary embodiment comprises a conical, compressible cone with a core made of foam, which ensures that the area around the targeted puncture site is in contact with one another and that the tissue layers of the patient's body to be pierced by the cannula do not slip against one another.
- a central, conical opening for the cannula in the middle of the patient support is not shown in FIG. 1.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Engineering & Computer Science (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Surgical Instruments (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004015971A DE102004015971B4 (de) | 2004-04-01 | 2004-04-01 | Fernbedienbare Kanülenführung |
PCT/EP2005/003132 WO2005094934A1 (de) | 2004-04-01 | 2005-03-24 | Fernbedienbare kanülenführung |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1729843A1 true EP1729843A1 (de) | 2006-12-13 |
Family
ID=34962371
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05716344A Withdrawn EP1729843A1 (de) | 2004-04-01 | 2005-03-24 | Fernbedienbare kanülenführung |
Country Status (6)
Country | Link |
---|---|
US (1) | US20070049820A1 (de) |
EP (1) | EP1729843A1 (de) |
JP (1) | JP2007530191A (de) |
CA (1) | CA2561398A1 (de) |
DE (1) | DE102004015971B4 (de) |
WO (1) | WO2005094934A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8401620B2 (en) * | 2006-10-16 | 2013-03-19 | Perfint Healthcare Private Limited | Needle positioning apparatus and method |
US20120190970A1 (en) | 2010-11-10 | 2012-07-26 | Gnanasekar Velusamy | Apparatus and method for stabilizing a needle |
BE1020228A3 (nl) | 2011-10-12 | 2013-06-04 | Mepy Benelux Bvba | Naaldgeleider en werkwijze voor het bepalen van de positie van een naald die beweegbaar in een dergelijke naaldgeleider aan een beeldvormingsonde is aangebracht. |
WO2015052718A1 (en) * | 2013-10-07 | 2015-04-16 | Technion Research & Development Foundation Ltd. | Gripper for robotic image guided needle insertion |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1945015A1 (de) * | 1969-09-05 | 1971-03-11 | Kurt Dr Sauerwein | Geraet zur medizinischen Behandlung mit Strahlen radioaktiver Stoffe |
DD140980A1 (de) * | 1979-02-28 | 1980-04-09 | Gert Mueller | Fuehrungseinrichtung fuer medizinische geraete und instrumente |
US5053042A (en) * | 1990-01-16 | 1991-10-01 | Bidwell Clifford D | Biopsy needle guide for use with CT scanner |
DE4113045C1 (de) * | 1991-04-22 | 1992-07-16 | Ludger 4400 Muenster De Meyer | |
GB9307572D0 (en) * | 1993-04-13 | 1993-06-02 | Gould Derek A | Transintimal recanalisation device |
DE19501069A1 (de) * | 1995-01-16 | 1996-07-18 | Wolfgang Kloess | Lichtvisier |
US7090683B2 (en) * | 1998-02-24 | 2006-08-15 | Hansen Medical, Inc. | Flexible instrument |
IL123646A (en) * | 1998-03-11 | 2010-05-31 | Refael Beyar | Remote control catheterization |
US6245028B1 (en) * | 1999-11-24 | 2001-06-12 | Marconi Medical Systems, Inc. | Needle biopsy system |
SE9904782D0 (sv) * | 1999-12-22 | 1999-12-22 | Gambro Lundia Ab | Remote control for extracorporeal blood processing machines |
US6595958B1 (en) * | 2000-08-08 | 2003-07-22 | Scimed Life Systems, Inc. | Tortuous path injection device and method |
WO2002089872A2 (en) * | 2001-05-06 | 2002-11-14 | Stereotaxis, Inc. | System and methods for advancing a catheter |
DE60112591T2 (de) * | 2001-11-23 | 2006-05-18 | Nucletron B.V. | Automatische bildgesteuerte Einrichtung zur Einführung einer Kanüle in einen menschlichen oder tierischen Körper zur Strahlentherapie im diesem Körper |
EP1442720A1 (de) * | 2003-01-31 | 2004-08-04 | Tre Esse Progettazione Biomedica S.r.l | Gerät zum Manövrieren flexibler Katheter im menschlichen kardiovaskulären System |
-
2004
- 2004-04-01 DE DE102004015971A patent/DE102004015971B4/de not_active Expired - Fee Related
-
2005
- 2005-03-24 CA CA002561398A patent/CA2561398A1/en not_active Abandoned
- 2005-03-24 JP JP2007505456A patent/JP2007530191A/ja not_active Withdrawn
- 2005-03-24 WO PCT/EP2005/003132 patent/WO2005094934A1/de active Application Filing
- 2005-03-24 EP EP05716344A patent/EP1729843A1/de not_active Withdrawn
-
2006
- 2006-09-22 US US11/526,893 patent/US20070049820A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2005094934A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2005094934A1 (de) | 2005-10-13 |
DE102004015971B4 (de) | 2006-07-06 |
DE102004015971A1 (de) | 2005-10-20 |
US20070049820A1 (en) | 2007-03-01 |
JP2007530191A (ja) | 2007-11-01 |
CA2561398A1 (en) | 2005-10-13 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20060627 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR |
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RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: STERN, DIETER Inventor name: GUMB, LOTHAR Inventor name: KOEHN, SWEN |
|
DAX | Request for extension of the european patent (deleted) | ||
17Q | First examination report despatched |
Effective date: 20090327 |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: INNOMEDIC GMBH Owner name: KARLSRUHER INSTITUT FUER TECHNOLOGIE |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20100831 |