APPARATUS AND METHOD FOR GUIDING INSERTION OF A MEDICAL TOOL

摘要

An apparatus and method for the insertion of a medical tool, for example a needle, within the human body. The apparatus and method are particularly useful in prostate brachytherapy and in prostate biopsy. The apparatus comprises a telescoping guide universally coupled to a first and second positioning means that are used to automatically and/or manually position the guide at a desired needle insertion trajectory. Automatic positioning of the guide is accomplished with reference to three-dimensional transrectal ultrasound images that can also be used to show needle insertion in real-time. The apparatus may be manually positioned in the approximate insertion trajectory and then a computer interconnected with the apparatus may be used to achieve the final trajectory based upon the ultrasound images. The apparatus is particularly useful in cases where multiple needles are to be inserted into a small target area and in cases where pubic arch interference prevents direct access to the target area.