CONTROL UNIT FOR MRI-GUIDED MEDICAL INTERVENTIONAL SYSTEMS

• US 20090082783A1
• Filed: 09/24/2008
• Published: 03/26/2009
• Est. Priority Date: 09/24/2007
• Status: Active Grant

• Current Assignee: Clearpoint Neuro, Inc.
• Original Assignee: SurgiVision Inc.
• Inventors: Piferi, Peter
• Granted Patent: US 9,097,756 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00911 for fields applied by a magnetic resonance imaging system
• CPC Class Codes: A61B 2017/3407 including a base for support on the body
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/103 Cranial plugs for access to brain
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3933 Liquid markers
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/395 with marking agent for marking skin or other tissue
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 5/055 : involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/4064 : Evaluating the brain A61B5/031, A61B5/369, A61B5/14553 take precedence
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61N 1/372 : Arrangements in connection with the implantation of stimulators
• CPC Class Codes: G01R 33/283 : Intercom or optical viewing arrangements, structurally associated with NMR apparatus
• CPC Class Codes: G01R 33/286 : involving passive visualization of interventional instruments, i.e. making the instrument visible as part of the normal MR process
• CPC Class Codes: G01R 33/287 : involving active visualization of interventional instruments, e.g. using active tracking RF coils or coils for intentionally creating magnetic field inhomogeneities
• CPC Class Codes: G01R 33/34046 : Volume type coils, e.g. bird-cage coils; Quadrature bird-cage coils; Circularly polarised coils
• CPC Class Codes: G01R 33/3415 : comprising arrays of sub-coils , i.e. phased-array coils with flexible receiver channels

Abstract

A control unit for a medical interventional system includes a housing and a plurality of elongate control devices. The housing includes opposite first and second sides and a plurality of adjacent, spaced-apart passageways extending through the housing from the first side to the second side. Each elongate control device is operably associated with a respective one of the housing passageways, and includes an elongated first flexible member having a bore extending longitudinally therethrough and an elongated second flexible member slidably inserted through the bore of the first flexible member. The first flexible member has a proximal end secured to the housing and an opposite distal end. The elongated second flexible member has a proximal end that extends through a housing passageway and outwardly from the housing second side and a distal end with a connector that extends outwardly from the distal end of the first flexible member.

Claims

1. A control unit for a medical interventional system, comprising:

a housing having opposite first and second sides and a plurality of adjacent, spaced-apart passageways extending through the housing from the first side to the second side; and

a plurality of elongate control devices, each operably associated with a respective one of the housing passageways, and wherein each elongated control device comprises;

an elongated first flexible member having a bore extending longitudinally therethrough, wherein the first flexible member has a proximal end secured to the housing and an opposite distal end, and wherein the first flexible member is in communication with a respective housing passageway;

an elongated second flexible member rotatably and slidably translatable through the bore of the first flexible member and having a proximal end that extends through the housing passageway and outwardly from the housing second side and a distal end that extends outwardly from the distal end of the first flexible member, wherein the second flexible member distal end is longitudinally movable between extended and retracted positions relative to the first flexible member distal end; and

a connector secured to the second flexible member distal end.

2. The control unit of claim 1, wherein the connector is configured to removably engage an actuator associated with the medical interventional system such that movement of the proximal end of the second flexible member causes movement of the actuator.

3. The control unit of claim 2, wherein rotational movement of the proximal end of the second flexible member causes rotational movement of the actuator.

4. The control unit of claim 1, wherein the housing comprises opposite first and second surfaces, and wherein each passageway extending through the housing terminates at a respective aperture in the housing second side, and wherein the housing first surface defines a plane that is substantially tangential to one or more of the apertures.

5. The control unit of claim 1, wherein the housing comprises opposite first and second surfaces, and wherein the first flexible members are secured to the housing such that a portion of an outer surface of each first flexible member is substantially flush with the housing first surface.

6. The control unit of claim 1, wherein each connector comprises at least one biasing tab that allows the connector to releasably engage an actuator.

7. The control unit of claim 1, wherein each connector has a tapered configuration that allows the connector to releasably engage an actuator.

8. The control unit of claim 1, wherein each of the elongate control devices has a respective different length.

9. The control unit of claim 1, wherein the connector is secured to the second flexible member distal end via a cable.

10. The control unit of claim 9, wherein the cable comprises MRI-compatible material.

11. The control unit of claim 9, wherein the cable has a length of less than or equal to about two inches (2″

) and a diameter less than or equal to about one tenth of an inch (0.1″

).

12. The control unit of claim 1, wherein at least a portion of each of the elongate control devices has a respective different color.

13. The control unit of claim 1, wherein the elongate control devices are maintained in adjacent, spaced-apart relationship via at least one separator device attached to each of the first flexible members.

14. The control unit of claim 13, wherein each of the at least one separator devices comprises a plurality of spaced apart, substantially parallel channels that are configured to receive the first flexible members.

15. The control unit of claim 1, further comprising an endcap attached to the proximal end of each second flexible member, wherein the endcap has a tactile configuration that facilitates manipulation thereof by a user.

16. The control unit of claim 15, wherein each endcap has a respective different color.

17. The control unit of claim 1, wherein the housing second side has a generally U-shape with two spaced-apart leg portions and a central portion between the two leg portions, wherein at least one leg portion contains a respective housing passageway and wherein the central portion contains at least one housing passageway.

18. The control unit of claim 17, wherein each leg portion contains a respective housing passageway and wherein the central portion contains two housing passageways.

19. The control unit of claim 1, further comprising a stop secured to the second flexible member that limits how far the second flexible member can be retracted.

20. The control unit of claim 1, further comprising a support member configured to suspend the housing from an object.

21. An MRI-guided interventional system, comprising:

a frame with a cooperating targeting cannula, wherein the frame is configured to move such that the targeting cannula can be positioned to a desired intrabody trajectory, and wherein the targeting cannula includes a guide bore therethrough that is configured to guide placement of an interventional device in vivo;

a plurality of actuators operably connected to the frame that are configured to move the frame relative to the body of a patient so as to position the targeting cannula to a desired intrabody trajectory; and

a control unit, comprising;

a housing having opposite first and second sides and a plurality of adjacent, spaced-apart passageways extending through the housing from the first side to the second side; and

a plurality of elongate control devices, each operably associated with a respective one of the housing passageways, and wherein each elongated control device comprises;

an elongated first flexible member having a bore extending longitudinally therethrough, wherein the first flexible member has a proximal end secured to the housing and an opposite distal end, and wherein the first flexible member is in communication with a respective housing passageway;

an elongated second flexible member rotatably and slidably translatable through the bore of the first flexible member and having a proximal end that extends through the housing passageway and outwardly from the housing second side and a distal end that extends outwardly from the distal end of the first flexible member, wherein the second flexible member distal end is longitudinally slidable between extended and retracted positions relative to the first flexible member distal end; and

a connector secured to the second flexible member distal end, wherein the connector is configured to removably engage a respective one of the actuators such that movement of the proximal end of the second flexible member causes movement of the actuator.