Neural interface insertion and retraction tools

• US 10,086,192 B2
• Filed: 07/07/2016
• Issued: 10/02/2018
• Est. Priority Date: 07/07/2016
• Status: Active Grant

• Current Assignee: Modular Bionics, Inc.
• Original Assignee: Modular Bionics, Inc.
• Inventors: Halpern, Ian Loren, Merlo, Mark William
• Primary Examiner(s): Layno, Carl H
• Assistant Examiner(s): Morales, Jon Eric C
• Application Number:
  US15/204,935
• Publication Number:
  US 20180008819A1
• Time in Patent Office: 817 Days
• Field of Search: 600378, 600544
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/076 for removing surgical staples or wound clamps
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00345 Micromachines, nanomachines, microsystems
• CPC Class Codes: A61B 2017/0641 having at least three legs as part of one single body
• CPC Class Codes: A61N 1/0529 Electrodes for brain stimulation
• CPC Class Codes: A61N 1/36007 of urogenital or gastrointestinal organs, e.g. for incontinence control
• CPC Class Codes: A61N 1/3605 Implantable neurostimulators for stimulating central or peripheral nerve system
• CPC Class Codes: A61N 1/36064 Epilepsy
• CPC Class Codes: A61N 1/36067 Movement disorders, e.g. tremor or Parkinson disease stimulating motor muscle A61N1/36003
• CPC Class Codes: A61N 1/36071 Pain
• CPC Class Codes: A61N 1/36075 Headache or migraine
• CPC Class Codes: A61N 1/36082 Cognitive or psychiatric applications, e.g. dementia or Alzheimer's disease
• CPC Class Codes: A61N 1/36085 Eating disorders or obesity
• CPC Class Codes: A61N 1/36089 Addiction or withdrawal from substance abuse such as alcohol or drugs
• CPC Class Codes: A61N 1/36096 Mood disorders, e.g. depression, anxiety or panic disorder
• CPC Class Codes: A61N 1/36107 Sexual dysfunction stimulating genital organs A61N1/36007
• CPC Class Codes: A61N 1/37282 characterised by communication with experts in remote locations using a network

Abstract

Devices and methods for manipulating devices such as micro-scale devices are provided. The devices can include a tether of various materials surrounded by a stiff body. The tether interfaces with microscale devices to draw them against the stiff body, holding the microscale devices in a locked position for insertion into or extraction out of tissue. The tensional hook and stiff body are configurable in a multitude of positions and geometries to provide increased engagement. Such configurations allow for a range of implantation and extraction surgical procedures for the device within research and clinical settings.

Claims

1. A method of inserting a micro-scale device into a target substrate, comprising:

providing an insertion tool comprising a tether having a proximal end, a distal end, and an elongate body, and an end effector operably connected to the distal end of the tether;

mechanically coupling the end effector to a portion of the micro-scale device;

positioning the micro-scale device at a desired location within a target substrate;

mechanically decoupling the end effector from the micro-scale device;

withdrawing the insertion tool from the target substrate, and

monitoring the motion of a nonstationary target surface, wherein positioning the micro-scale device comprises adjusting the positioning speed as a function of the monitored motion of the target surface.

2. The method of claim 1, wherein positioning the micro-scale device at a desired location comprises moving the end effector distally with respect to a housing of the insertion tool.

3. The method of claim 2, wherein the housing comprises a tubular body comprising a central lumen.

4. The method of claim 1, wherein the end effector comprises a hook on its distal end.

5. The method of claim 1, wherein the end effector comprises a releasable connector.

6. The method of claim 4, wherein the micro-scale device comprises a neural interface or a biological interface.

7. The method of claim 4, wherein mechanically coupling the end effector to a portion of the micro-scale device comprises positioning the hook through an aperture on the micro-scale device.

8. The method of claim 4, wherein mechanically decoupling the end effector to a portion of the micro-scale device comprises disassociating the hook from an aperture on the micro-scale device.

9. The method of claim 1, wherein the target substrate is non-stationary.

10. The method of claim 6, wherein the target substrate comprises neural tissue.

11. The method of claim 1, wherein mechanically coupling the end effector to a portion of the micro-scale device does not substantially displace the microscale device.

12. The method of claim 1, wherein positioning comprises manipulating a tab on the end effector.

13. The method of claim 1, wherein positioning the micro-scale device comprises actuating a control on the proximal end of the device to move the tether with respect to the elongate body.

14. The method of claim 13, wherein actuating a control comprises rotating a control knob in a direction, thereby moving a tracking pin axially distally within a slot oriented substantially parallel to the longitudinal axis of the elongate body.

15. The method of claim 1, wherein the tether is elastic.

16. The method of claim 7, wherein a sidewall of the aperture is elastic.

17. A method of inserting a micro-scale device into a target substrate, comprising:

providing an insertion tool comprising a tether having a proximal end, a distal end, and an elongate body, and an end effector operably connected to the distal end of the tether, wherein the tether is elastic;

mechanically coupling the end effector to a portion of the micro-scale device;

positioning the micro-scale device at a desired location within a target substrate;

mechanically decoupling the end effector from the micro-scale device; and

withdrawing the insertion tool from the target substrate.

18. The method of claim 17, wherein positioning the micro-scale device at a desired location comprises moving the end effector distally with respect to a housing of the insertion tool.

19. The method of claim 18, wherein the housing comprises a tubular body comprising a central lumen.

20. The method of claim 17, wherein the end effector comprises a hook on its distal end.

21. The method of claim 17, wherein the end effector comprises a releasable connector.

22. The method of claim 20, wherein the micro-scale device comprises a neural interface or a biological interface.

23. The method of claim 20, wherein mechanically coupling the end effector to a portion of the micro-scale device comprises positioning the hook through an aperture on the micro-scale device.

24. The method of claim 20, wherein mechanically decoupling the end effector to a portion of the micro-scale device comprises disassociating the hook from an aperture on the micro-scale device.

25. The method of claim 17, wherein the target substrate is non-stationary.

26. The method of claim 22, wherein the target substrate comprises neural tissue.

27. The method of claim 17, wherein mechanically coupling the end effector to a portion of the micro-scale device does not substantially displace the microscale device.

28. The method of claim 17, further comprising monitoring the motion of the nonstationary target surface.

29. The method of claim 17, wherein positioning comprises manipulating a tab on the end effector.

30. The method of claim 17, wherein positioning the micro-scale device comprises actuating a control on the proximal end of the device to move the tether with respect to the elongate body.

31. The method of claim 30, wherein actuating a control comprises rotating a control knob in a direction, thereby moving a tracking pin axially distally within a slot oriented substantially parallel to the longitudinal axis of the elongate body.

32. The method of claim 23, wherein a sidewall of the aperture is elastic.

33. A method of inserting a micro-scale device into a target substrate, comprising:

providing an insertion tool comprising a tether having a proximal end, a distal end, and an elongate body, and an end effector operably connected to the distal end of the tether, wherein the end effector comprises a hook on its distal end;

mechanically coupling the end effector to a portion of the micro-scale device, wherein mechanically coupling the end effector to a portion of the micro-scale device comprises positioning the hook through an aperture on the micro-scale device, wherein a sidewall of the aperture is elastic;

positioning the micro-scale device at a desired location within a target substrate;

mechanically decoupling the end effector from the micro-scale device; and

withdrawing the insertion tool from the target substrate.

34. The method of claim 33, wherein positioning the micro-scale device at a desired location comprises moving the end effector distally with respect to a housing of the insertion tool.

35. The method of claim 34, wherein the housing comprises a tubular body comprising a central lumen.

36. The method of claim 33, wherein the end effector comprises a releasable connector.

37. The method of claim 33, wherein the micro-scale device comprises a neural interface or a biological interface.

38. The method of claim 33, wherein mechanically decoupling the end effector to a portion of the micro-scale device comprises disassociating the hook from an aperture on the micro-scale device.

39. The method of claim 33, wherein the target substrate is non-stationary.

40. The method of claim 37, wherein the target substrate comprises neural tissue.

41. The method of claim 33, wherein mechanically coupling the end effector to a portion of the micro-scale device does not substantially displace the microscale device.

42. The method of claim 33, further comprising monitoring the motion of the nonstationary target surface.

43. The method of claim 33, wherein positioning comprises manipulating a tab on the end effector.

44. The method of claim 33, wherein positioning the micro-scale device comprises actuating a control on the proximal end of the device to move the tether with respect to the elongate body.

45. The method of claim 44, wherein actuating a control comprises rotating a control knob in a direction, thereby moving a tracking pin axially distally within a slot oriented substantially parallel to the longitudinal axis of the elongate body.