Target depth locators for trajectory guide for introducing an instrument

• US 7,559,935 B2
• Filed: 02/20/2003
• Issued: 07/14/2009
• Est. Priority Date: 02/20/2003
• Status: Active Grant

• Current Assignee: Image Guided Neurologics, Inc. (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Lee, David, Skakoon, James G., Solar, Matthew S., Miller, Thomas I., Bridges, Thomas L.
• Primary Examiner(s): TRUONG, KEVIN THAO
• Application Number:
  US10/370,083
• Publication Number:
  US 20040167542A1
• Time in Patent Office: 2,336 Days
• Field of Search: 606/130, 606/129, 600401-407
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/3405 using mechanical guide means
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

This document discusses, among other things, examples of a stereotactic apparatus that includes reticles or other imagable locators for confirming placement of an instrument introduced along a desired trajectory. In certain examples, the reticles are re-positionable with respect to the trajectory to permit placement confirmation along different views. In other examples, the reticles are positionable toward or away from a skull.

Claims

1. An apparatus comprising:

a mounting base, configured to be locally secured relative to an entry portal in a surface;

a trajectory guide assembly, adjustably coupled to the mounting base, the trajectory guide assembly including at least one adjustably orientable instrument guide structure to establish a trajectory for an instrument to be introduced through the entry portal in the surface;

first and second imagable locators, coupled to the trajectory guide assembly at respective different first and second positions that are located away from the trajectory, the first and second imagable locators defining a first line therebetween that intersects the trajectory; and

wherein the first and second imagable locators are each adjustably coupled to the trajectory guide assembly such that each of the first and second imagable locators are moveable to adjust the first line to substantially orthogonally intersect the trajectory at different points along the trajectory.

2. The apparatus of claim 1, in which the first line continues to intersect the trajectory as the trajectory guide assembly is adjusted with respect to the mounting base to orient the instrument guide structure.

3. The apparatus of claim 1, in which the first and second imagable locators are positioned away from the trajectory guide assembly such that, when the mounting base is affixed to a skull-shaped surface and the trajectory guide assembly is coupled to the mounting base, the first and second imagable locators are located on opposite sides of the skull-shaped surface.

4. The apparatus of claim 1, in which the first and second imagable locators are carried by at least one positioning assembly that is couplable to the trajectory guide assembly in different orientations to permit the first line to intersect the trajectory from different directions.

5. The apparatus of claim 4, in which the at least one positioning assembly includes at least one positioner configured to permit axial adjustment of locations of at least one of the first and second imagable locators to adjust the first line to intersect the trajectory at different points along the trajectory.

6. The apparatus of claim 1, in which the first and second imagable locators include alignment reticles, the alignment reticles comprising a pattern of concentric circles spaced about a centerpoint of the first and second imagable locators, and crosshairs that intersect at the respective centerpoints of the first and second imagable locators to enable a user to sight along the first line.

7. An apparatus for use with a trajectory guide assembly that is adjustably coupled to a mounting base that is configured to be locally secured relative to an entry portal in a surface, the trajectory guide assembly defining a trajectory, through the entry portal, along which an instrument is introduced, the apparatus configured for confirming, using an imaging system, a depth to which the instrument is inserted along the trajectory, the apparatus comprising:

a positioning assembly that is adapted to be coupled to the trajectory guide assembly and including a first and second side arm coupled to the positioning assembly at respective different first and second locations away from the trajectory, the first and second side arms each extending and axially adjustable along a longitudinal axis;

first and second imagable locators, each coupled to a respective one of the first and second side arms of the positioning assembly such that, when the positioning assembly is coupled to the trajectory guide assembly, a first line between the first and second locators intersects the trajectory; and

wherein the positioning assembly includes at least one positioner configured to permit adjustment of locations of the first and second imagable locators to adjust the first line to intersect the trajectory at different points along the trajectory.

8. The apparatus of claim 7, in which the first line substantially orthogonally intersects the trajectory.

9. The apparatus of claim 7, in which the positioning assembly is adapted to be adjustably coupled to the trajectory guide to adjust the first line to intersect the trajectory at different points along the trajectory.

10. The apparatus of claim 7, in which the first line continues to orthogonally intersect the trajectory as the trajectory guide assembly is adjusted with respect to the mounting base.

11. The apparatus of claim 7, in which the first and second imagable locators are positioned away from the trajectory guide assembly such that, when the mounting base is affixed to a skull-shaped surface and the trajectory guide assembly is coupled to the mounting base and the positioning assembly is coupled to the trajectory guide assembly, the first and second imagable locators are located on opposite sides of the skull-shaped surface.

12. The apparatus of claim 7, in which the positioning assembly is couplable to the trajectory guide assembly in different orientations to permit the first line to intersect the trajectory from different directions.

13. The apparatus of claim 7, in which the first and second imagable locators include alignment reticles.

14. An apparatus comprising:

a mounting base, configured to be locally secured relative to an entry portal in a surface of a skull;

a trajectory guide assembly, adjustably coupled to the mounting base, the trajectory guide assembly including;

an instrument guide structure that is configured to establish a trajectory for an instrument to be introduced through the entry portal in the surface;

a rotational joint, that permits the instrument guide structure to rotate about a first axis concentric to the entry portal and orthogonal to the surface; and

an arc-shaped joint, that permits the instrument guide to tilt to adjust an angle between the trajectory and the first axis concentric to the entry portal; and

a positioning assembly that includes first and second radial arms that are operable to be coupled to the instrument guide structure, first and second side arms that are adjustably coupled to a respective one of the first and second radial arms, and first and second imagable locators coupled to respective distal ends of the first and second side arms, the first and second side arms extending generally parallel to each other and orthogonal to the first and second radial arms, such that a first line formed between the first and second side arms intersects the trajectory, with the first and second imagable locator operable to indicate whether the instrument has reached a target along the trajectory.

15. The apparatus of claim 14, in which the first and second imagable locators include first and second reticles such that they are positioned on opposing side of the skull, the first and second imagable reticles including respective first and second centers, with the first line formed between the centers of the first and second imagable reticles, and the first line intersects the trajectory statically and while the instrument guide is being positioned using the rotational and arc-shaped joints.

16. The apparatus of claim 15, in which the positioning assembly is rotatably coupled to the instrument guide structure to permit at least some rotation of the first and second reticles about the skull such that the first line intersects the trajectory in a plurality of different directions.

17. The apparatus of claim 15, in which the positioning assembly includes at least one positioner configured to permit adjustment of locations of the first and second reticles to adjust the first line to intersect the trajectory at different points along the trajectory.

18. The apparatus of claim 15, in which the first and second reticles are adjustably coupled to the positioning assembly to permit the first and second reticles to be moved toward or away from the skull.

19. A method comprising:

locally mounting a base relative to an entry portal in a surface;

obtaining a desired trajectory through the entry portal toward a target beyond the surface;

inserting an instrument along the trajectory;

positioning first and second imagable locators on opposing sides of the trajectory; and

determining a depth of the instrument along the trajectory to ensure that the instrument has reached the target, in which the determining includes aligning the first and second imagable locators with the instrument and obtaining an image of the first and second imagable locators aligned with the instrument to determine the depth of the instrument using the first and second imagable locators.

20. The method of claim 19, in which the locally mounting the base includes securing a trajectory guide in or about a burr hole.

21. The method of claim 19, in which the obtaining the desired trajectory includes adjusting an instrument guide with respect to the base.

22. The method of claim 21, in which the obtaining the desired trajectory includes custom-fabricating an instrument guide, to point the trajectory toward the target, using images of the target.

23. The method of claim 19, in which the obtaining the desired trajectory includes at least one of:

rotating an instrument guide about an axis concentric to the burr hole and orthogonal to the surface; and

tilting the instrument guide to adjust an angle between the trajectory and the axis.

24. The method of claim 19, in which the positioning the first and second imagable locators includes coupling a positioning assembly to an instrument guide in one of a plurality of possible orientations in which a first line between the first and second imagable locators orthogonally intersects the trajectory.

25. The method of claim 19, in which the positioning the first and second imagable locators includes coupling at least a portion of a positioning assembly to an instrument guide in one of a plurality of possible positions such that a first line between the first and second imagable locators intersects the trajectory in a desired one of a plurality of different points along the trajectory, the desired one of the plurality of different points along the trajectory corresponding to a location of the target on the trajectory.

26. A method comprising:

locally mounting a base relative to an entry portal in a surface;

adjusting an orientation of an instrument guide structure, with respect to the base, to obtain a desired trajectory through the entry portal toward a target beyond the surface;

inserting an instrument along the trajectory using the instrument guide structure to guide the instrument along the trajectory;

coupling first and second imagable locators to the instrument guide structure such that a first line between the first and second imagable locators orthogonally intersects the trajectory; and

determining a depth of the instrument along the trajectory to ensure that the instrument has reached the target, in which the determining includes obtaining an image of the first and second imagable locators and the instrument.

27. The method of claim 26, in which the locally mounting the base includes securing a trajectory guide in or around a burr hole.

28. The method of claim 26, in which the adjusting the orientation of the instrument guide structure includes at least one of:

rotating a portion of the instrument guide structure about an axis concentric to the burr hole and orthogonal to the surface; and

tilting a portion of the instrument guide structure to adjust an angle between the trajectory and the axis.

29. The method of claim 26, in which the positioning the first and second imagable locators includes coupling a positioning assembly to the instrument guide in one of a plurality of possible orientations in which a first line between the first and second imagable locators intersects the trajectory.

30. The method of claim 26, in which the positioning the first and second imagable locators includes coupling at least a portion of a positioning assembly to the instrument guide in one of a plurality of possible positions such that a first line between the first and second imagable locators intersects the trajectory in a desired one of a plurality of different points along the trajectory, the desired one of the plurality of different points along the trajectory corresponding to a location of the target on the trajectory.

31. The method of claim 26, in which the positioning the first and second imagable locators includes moving at least one of the imagable locators toward or away from the trajectory to obtain a desired position, and securing the at least one of the imagable locators at the desired position.