Robotic trajectory guide

• US 7,366,561 B2
• Filed: 04/04/2001
• Issued: 04/29/2008
• Est. Priority Date: 04/07/2000
• Status: Expired due to Term

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Solar, Matthew S., Raghavan, Raghu, David, John, Miller, Thomas I., Brady, Martin, Mills, Gerald W.
• Primary Examiner(s): Casler; Brian L.
• Assistant Examiner(s): Cheng; Jacqueline
• Application Number:
  US09/825,786
• Publication Number:
  US 20010053879A1
• Time in Patent Office: 2,582 Days
• Field of Search: 600/417, 600/114, 600/410, 606/130
• US Class Current: 600/417
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

A surgical alignment device is shown that is controlled remotely through the use of an actuator, where the actuator in turn controls at least one local adjustment device. The alignment device is suited for neurosurgery, although it is not exclusively limited to neurosurgery. The alignment device includes an insertion guide that is coupled to the local adjustment device, the insertion guide being used to guide a device such as a catheter into a patient. The alignment device may also be coupled to a control module such as a microcomputer that controls the orientation of the insertion guide in response to inputs from the surgeon as to a location of interest within the patient.

Claims

1. An alignment system for an imaging device comprising:

an alignment device comprising;

a base, the base having an affixation deice to mount on a patient surface;

an insertion guide, having an opening therein and an insertion axis through the opening;

an adjustable joint attached to a distal end of the insertion guide, and coupled to the base;

an MR compatible local device including;

a slide body movably coupled to the base;

a block slidably attached to the slide body;

a collar engaged to the insertion guide and movably retained by the block, the collar and block forming a ball and socket joint between the block and the insertion guide; and

a threaded adjuster coupled to the block, the threaded adjuster configured to cause linear motion of the collar with respect to the slide;

an actuator detachably coupled to the local adjustment device, wherein the actuator is spaced apart from the local adjustment device to enable location of the actuator outside an imaging region of the imaging device while the local adjustment device is within the imaging region of the imaging device; and

a control module in remote communication with the actuator and in communication with the imaging device, the control module aligning the insertion axis with the target location.

2. The alignment system of claim 1, wherein the control module includes microcomputer.

3. The alignment system of claim 1, wherein the imaging device includes a magnetic resonance imaging (MRI) device.

4. The alignment system of claim 1, further including a first reference device coupled to the insertion guide, the first reference device being capable of locating the insertion axis in three dimensional space relative to a patient.

5. The alignment system of claim 4, further including a second reference device coupled to a patient reference frame, the second reference device being capable of locating the patient relative to the first reference device.

6. The alignment system of claim 4, wherein the first reference device includes a conducting coil capable of locating the insertion axis in three dimensional space relative to the patient.

7. The alignment system of claim 4, wherein the first reference device includes a number of LED devices capable of locating the insertion axis in three dimensional space relative to the patient.

8. The alignment system of claim 4, wherein the first reference device includes a number of infra red (IR) reflecting devices capable of locating the insertion axis in three dimensional space relative to the patient.

9. The alignment system of claim 4, wherein the first reference device includes a potentiometer capable of locating a primary medical device along the insertion axis.

10. The alignment system of claim 4, wherein the alignment system is a closed loop system.

11. The alignment system of claim 1, wherein the adjustable joint includes a ball and socket joint.

12. A method of aligning a medical device comprising:

coupling a base to a patient reference frame;

attaching an insertion guide to the base using an adjustable joint, the insertion guide having an insertion axis, and the adjustable joint having a range of motion;

attaching a local adjustment device to the adjustable joint, the local adjustment device including a slide body movably coupled to the base, a block slidably attached to the slide body, and a collar angaged to the insertion guide and movably retained by the block, the collar and block forming a ball and socket joint between the block and the insertion guide;

coupling an actuator to the local adjustment device;

wherein coupling the actuator to the local adjustment device includes remotely coupling the actuator to the local adjustment device

remotely actuating the actuator to adjust alignment of the insertion axis within the range of motion, the actuator configured to cause at least one of motion of the slide body with respect to the base and linear motion of the block with respect to the body, the motion of the slide body with respect to the base being one of linear motion and rotatable motion; and

detaching the actuator from the local adjustment device upon completion of a procedure.

13. The method of claim 12, wherein coupling a base includes attaching a base directly to the skull of a patient.

14. The method of claim 12, wherein actuating the actuator includes engaging a rotary motor, the rotary motor being coupled to the local adjustment device by a rotating cable drive.

15. The method of claim 14, further including coupling the actuator to a remote control module, the remote control module being capable of adjusting the insertion axis by remotely actuating the actuator.

16. The method of claim 15, further including:

imaging a patient with a tissue imaging device;

inputting a target location to the control module; and

computing an adjustment with the control module and aligning the insertion axis with the target location through actuation of the actuator.

17. The method of claim 16, wherein computing an adjustment with the control module and aligning the insertion axis includes computing an adjustment with the control module and aligning the insertion axis using a closed loop system.