COCHLEAR ELECTRODE INSERTION

• US 20100114288A1
• Filed: 10/30/2009
• Published: 05/06/2010
• Est. Priority Date: 10/31/2008
• Status: Active Grant

• Current Assignee: Advanced Bionics AG (Sonova Holding AG)
• Original Assignee: Advanced Bionics LLC (Sonova Holding AG)
• Inventors: Haller, Matthew I., Overstreet, Edward H.
• Granted Patent: US 8,594,799 B2
• Time in Patent Office: Days
• US Class Current: 607/137
• CPC Class Codes: A61B 17/3468 for implanting or removing devices, e.g. prostheses, implants, seeds, wires devices for implanting seeds A61M37/0069
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61N 1/0541 Cochlear electrodes

Abstract

A system for mechanically assisted insertion of an electrode includes: an insertion tool configured to insert the electrode into biological tissues; and a controller configured to control the insertion tool, in which the controller is further configured to select operating parameters comprising a maximum allowable force profile from a library of operating parameters, in which the maximum allowable force profile is generated from data recorded during a number of previous successful operations. Also, a method for insertion of a cochlear lead, includes: selecting operating parameters comprising a maximum allowable force profile from a library of operating parameters; inserting the cochlear lead while sensing real time force and position; and continuing the insertion while the real time force is below the maximum allowable force profile, in which the maximum allowable force profile is generated from data recorded during a number of previous successful operations.

Claims

1. A method for insertion of a cochlear lead, comprising:

selecting operating parameters comprising a maximum allowable force profile from a library of operating parameters;

inserting said cochlear lead while sensing real time force and position; and

continuing said insertion while said real time force is below said maximum allowable force profile,

in which said maximum allowable force profile is generated from data recorded during a number of previous successful operations.

2. The method of claim 1, in which said step of inserting said cochlear lead is performed automatically via a controller controlling an insertion tool, semi-automatically via a controller controlling an insertion tool and manual manipulation, via manual manipulation, or combinations thereof.

3. The method of claim 1, in which said maximum allowable force profile is selected based on the patient'"'"'s diagnostic imaging, case history, diagnosis, or combinations thereof.

4. The method of claim 1, in which said data recorded during a number of previous successful operations includes data comparing preoperative and postoperative residual hearing capability of the patients associated with said previous successful operations.

5. The method of claim 1, further comprising retrieving a minimum force trajectory from said library, said minimum force trajectory describing a multidimensional trajectory of said cochlear lead that is expected to require minimum insertion force.

6. The method of claim 5, further comprising taking corrective action if an actual force approaches said maximum allowable force profile, there exists a substantial deviation from said minimum force trajectory, or combinations thereof.

7. The method of claim 6, in which said corrective action is automatically selected by matching said operating parameters and real time data to a library of previous surgical data.

8. A system for insertion of an electrode comprising:

an insertion tool configured to insert said electrode into biological tissues; and

a number of force sensors configured to provide data of forces applied in a number of directions by said electrode to said biological tissues,

in which said system is further configured to select operating parameters comprising a maximum allowable force profile from a library of operating parameters,

in which said maximum allowable force profile is generated from data recorded during a number of previous successful operations.

9. The system of claim 8, further comprising a controller configured to control said insertion tool in which said controller selects said operating parameters.

10. The system of claim 8, in which said controller is further configured to insert said electrode while sensing real time force and position, and continue insertion while said real time force is below said maximum allowable force profile.

11. The system of claim 8, in which said maximum allowable force profile varies with insertion depth.

12. The system of claim 8, in which said controller is configured to provide for operating modes including fully automatic insertion of said electrode, semi-automatic insertion of said electrode and manual manipulation, manual insertion of said electrode with feedback, or combinations thereof.

13. The system of claim 8, in which said maximum allowable force profile is selected based on the patient'"'"'s diagnostic imaging, case history, diagnosis, or combinations thereof.

14. The system of claim 8, in which said data recorded during a number of previous successful operations includes data comparing preoperative and postoperative residual hearing capability of the patients associated with said previous successful operations.

15. The system of claim 8, in which said controller controls said insertion tool such that said electrode follows a minimum force trajectory in which said minimum force trajectory describes a multidimensional trajectory of said cochlear lead that is expected to require minimum insertion force.

16. The system of claim 15, in which said controller is further configured to take corrective action if an actual force approaches said maximum allowable force profile, there exists a substantial deviation from said minimum force trajectory, or combinations thereof.

17. The system of claim 16, in which said corrective action is automatically selected by said controller by matching said operating parameters and real time data to a library of previous surgical data.

18. The system of claim 16, in which said controller is further configured to request human confirmation of said selected corrective action, accept human selection of said corrective action, direct human intervention via a haptic controller, or combinations thereof.

19. The system of claim 9, in which said data of forces is conveyed to a user through at least one of haptic feedback, visual feedback, audio feedback, and combinations thereof.

20. The system of claim 19, in which said audio feedback comprises an audible indicator that changes in pitch, amplitude, frequency, or combinations thereof.

21. The system of claim 9, further comprising a haptic controller, said haptic controller conveying an amplified representation of said data of forces to a user, said user manipulating said haptic controller to generate instruction data directed to said insertion tool.

22. The system of claim 10, further comprising a visual display, said visual display conveying a maximum allowable force profile and data of forces in which said visual display is further configured to display a representation of said biological tissues and representation of said electrode during insertion of said electrode into said biological tissues.

23. The system of claim 8, in which said electrode is an intracochlear electrode array.

24. The system of claim 8, further comprising a number of imaging devices configured to provide to said controller position data of said electrode within said biological tissues