The recently completed re-reduction of the Hipparcos data by van Leeuwen (2007, Astrophys. Space Library 350) makes it possible to search for the astrometric signatures of planets and brown dwarfs known from radial velocity surveys in the improved Hipparcos intermediate astrometric data. Our aim is to put more significant constraints on the orbital parameters which cannot be derived from radial velocities alone, i.e. the inclination and the longitude of the ascending node, than was possible before. The determination of the inclination in particular allows to calculate an unambiguous companion mass, rather than the lower mass limit which can be obtained from radial velocity measurements.