MRI-guided medical interventional systems and methods

• US 8,374,677 B2
• Filed: 09/24/2008
• Issued: 02/12/2013
• Est. Priority Date: 06/07/2007
• Status: Active Grant

• Current Assignee: Clearpoint Neuro, Inc.
• Original Assignee: MRI Interventions, Inc. (Clearpoint Neuro, Inc.)
• Inventors: Piferi, Peter, Sayler, David John, Jenkins, Kimble
• Primary Examiner(s): Luong, Peter
• Application Number:
  US12/236,950
• Publication Number:
  US 20090112084A1
• Time in Patent Office: 1,602 Days
• Field of Search: 600/417, 600/424, 600/427, 600/429
• US Class Current: 600/417
• CPC Class Codes: A61B 18/00 Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2034/256 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 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 5/0036 : including treatment, e.g., using an implantable medical device, ablating, ventilating
• CPC Class Codes: A61B 5/004 : adapted for image acquisition of a particular organ or body part A61B5/0082 takes precedence; arrangements for optical scanning A61B5/0062
• CPC Class Codes: A61B 5/0042 : for the brain
• CPC Class Codes: A61B 5/0044 : for the heart
• CPC Class Codes: A61B 5/055 : involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/062 : using magnetic field
• CPC Class Codes: A61B 5/4839 : combined with drug delivery
• 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: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61N 1/0529 : Electrodes for brain stimulation
• CPC Class Codes: A61N 1/0534 : Electrodes for deep brain stimulation
• CPC Class Codes: A61N 1/372 : Arrangements in connection with the implantation of stimulators
• 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 33/3415 : comprising arrays of sub-coils , i.e. phased-array coils with flexible receiver channels

Abstract

An MRI-guided interventional system for use with a body of patient and an interventional device includes a base and a targeting cannula. The base is configured to be secured to the body of the patient. The targeting cannula has an elongate guide bore extending axially therethrough and an inlet and an outlet at opposed ends of the guide bore. The guide bore defines a trajectory axis extending through the inlet and the outlet and being configured to guide placement of the interventional device. The frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo. The inlet tapers from an outer diameter distal from the guide bore to an inner diameter proximate the guide bore to guide and facilitate insertion of the interventional device into the guide bore.

Claims

1. An MRI-guided interventional system for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the system comprising a trajectory guide frame including:

a base having a patient access aperture therein and configured to be secured to the body of the patient;

a targeting cannula mounted on the base for movement relative thereto, the targeting cannula having an elongate guide bore extending axially therethrough and an inlet and an outlet at opposed ends of the guide bore, the guide bore defining a trajectory axis extending through the inlet and the outlet and being configured to guide placement of the interventional device;

a tubular cannula guide member defining a cannula guide member passage and having an inlet and outlet on opposed ends of the cannula guide member passage; and

a plurality of MRI-visible fiducial markers mounted on the base, wherein the MRI-visible fiducial markers are relatively positioned in an asymmetric layout to facilitate positive determination of an orientation of the base in free space from an MR image;

wherein the trajectory guide frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo;

wherein the inlet tapers from an outer diameter distal from the guide bore to an inner diameter proximate the guide bore to guide and facilitate insertion of the interventional device into the guide bore;

wherein the targeting cannula is slidably mounted within the cannula guide member passage to move between extended and retracted positions;

wherein the inlet of the targeting cannula is downstream of the inlet of the cannula guide member;

wherein the plurality of MRI-visible fiducial markers includes at least first, second and third MRI-visible fiducial markers each located on a common circle; and

wherein a circumferential spacing between the first and second MRI-visible fiducial markers is less than a circumferential spacing between the first and third MRI-visible fiducial markers.

2. The system of claim 1 including an elongate interventional device configured to be serially inserted through the inlet, the guide bore and the outlet and into the body of the patient in vivo.

3. The system of claim 1 wherein:

the targeting cannula has a main body portion and an extension portion, the extension portion including the inlet of the targeting cannula; and

the main body portion has a primary outer diameter that is greater than a diameter of the inlet of the cannula guide member and the extension portion has a reduced outer diameter that is less than the primary outer diameter and is sized to be received in the inlet of cannula guide member when the targeting cannula is in the retracted position.

4. The system of claim 1 wherein the inlet of the cannula guide member has a diameter that is at least as great as the outer diameter of the inlet of the targeting cannula.

5. An MRI-guided interventional system for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the system including:

a trajectory guide frame including;

a base having a patient access aperture therein and configured to be secured to the body of the patient and defining an access opening; and

a targeting cannula mounted on the base for movement relative thereto, the targeting cannula having an elongate guide bore extending axially therethrough, defining a trajectory axis, and being configured to guide placement of the interventional device through the access opening, wherein the trajectory guide frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo; and

a plurality of MRI-visible fiducial markers mounted on the base, wherein the MRI-visible fiducial markers are relatively positioned in an asymmetric layout to facilitate positive determination of an orientation of the base in free space from an MR image;

a bracket secured to the trajectory guide frame such that the bracket is rotatable about the trajectory axis and axially fixed with respect to the trajectory axis, wherein the bracket is configured to receive a light transmission scope to secure the light transmission scope to the trajectory guide frame such that the light transmission scope is directed at the access opening;

wherein the plurality of MRI-visible fiducial markers includes at least first, second and third MRI-visible fiducial markers each located on a common circle; and

wherein a circumferential spacing between the first and second MRI-visible fiducial markers is less than a circumferential spacing between the first and third MRI-visible fiducial markers.

6. The system of claim 5 wherein the trajectory guide frame includes one of a groove and a projection and the bracket includes the other of the groove and the projection, and the projection is cooperatively seated in the groove to permit rotation of the bracket with respect to the trajectory axis while preventing axial translation of the bracket along the trajectory axis.

7. The system of claim 6 wherein the groove is configured to limit rotation of the bracket with respect to the trajectory axis to a prescribed range of rotation.

8. The system of claim 5 wherein the bracket and the trajectory guide frame are configured to permit the bracket to be alternatively mounted on each of two opposed sides of the targeting cannula.

9. The system of claim 5 wherein the bracket is configured to removably snap fit onto the trajectory guide frame.

10. The system of claim 5 including a locking device to secure the light transmission scope to the bracket.

11. The system of claim 5 including the light transmission scope, wherein the light transmission scope is a fiber scope including a plurality of optical fibers.

12. A trajectory guide frame for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the trajectory guide frame comprising:

a base having a patient access aperture therein, wherein the base is configured to be secured to the body of the patient;

a yoke mountable on the base in a prescribed orientation with respect to the base;

a targeting cannula mounted on the yoke for movement therewith relative to the base, the targeting cannula including a guide bore therethrough that is configured to guide placement of the interventional device in vivo;

first and second spaced apart, opposed pivot holes in one of the base and the yoke and first and second opposed pivot pins associated with the other of the base and the yoke;

wherein the yoke is configured to be mounted on the base in the prescribed orientation with the first pivot pin received in the first pivot hole and the second pivot pin received in the second pivot hole, whereby the yoke is pivotable relative to the base about the first and second pivot pins about a roll axis;

wherein the first and second holes are relatively configured to prevent operative engagement between the first pivot pin and the second pivot hole to inhibit pivotal mounting of the yoke on the base in an orientation other than the prescribed orientation; and

wherein the first and second pivot holes are located in the base, and the base includes a pair of spaced apart mount arms each having a guide slot therein extending to a respective one of the first and second pivot holes to receive and guide the first and second pivot pins to the first and second pivot holes.

13. The trajectory guide frame of claim 12 wherein the first pivot pin has a greater diameter than the second pivot pin and the second pivot hole.

14. The trajectory guide frame of claim 12 wherein at least one of the first and second pivot pins is adjustable to selectively change a length of said adjustable pivot pin extending toward its associated one of the first and second pivot holes.

15. The trajectory guide frame of claim 12 wherein the first and second pivot pins are located on first and second yoke mount arms, respectively, and the base is configured to elastically deflect the first and second yoke mount arms apart as the first and second pivot pins are slid down the guide slots to the first and second pivot holes to mount the yoke on the base.

16. The trajectory guide frame of claim 12 wherein the first and second pivot pins are releasably spring loaded into engagement with the first and second pivot holes to permit the yoke to be selectively dismounted from the base.

17. A trajectory guide frame for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the trajectory guide frame comprising:

a base having a patient access aperture therein, wherein the base is configured to be secured to the body of a patient;

a targeting cannula mounted on the base for movement relative thereto, the targeting cannula including a guide bore therethrough that is configured to guide placement of the interventional device in vivo; and

a plurality of MRI-visible fiducial markers mounted on the base, wherein the MRI-visible fiducial markers are relatively positioned in an asymmetric layout to facilitate positive determination of an orientation of the base in free space from an MR image;

wherein the plurality of MRI-visible fiducial markers includes at least first, second and third MRI-visible fiducial markers each located on a common circle; and

wherein a circumferential spacing between the first and second MRI-visible fiducial markers is less than a circumferential spacing between the first and third MRI-visible fiducial markers.

18. The trajectory guide frame of claim 17 wherein:

the base includes a fiducial mount structure and a fiducial locator feature associated with the fiducial mount structure; and

one of the MRI-visible fiducial markers is mounted on the fiducial mount structure, wherein the MRI-visible fiducial marker is toroidal and defines a central opening, and wherein the fiducial locator structure extends into the central opening to positively physically position the MRI-visible fiducial marker with respect to the base.

19. The trajectory guide frame of claim 17 wherein the first, second and third MRI-visible fiducial markers all lie on a common fiducial marker plane.

20. The trajectory guide frame of claim 19 wherein the fiducial marker plane is spaced apart above a plane of the patient access aperture.

21. An MRI-guided interventional system for use with a body of patient and an interventional device, the system including first and second trajectory guide frames, each of the trajectory guide frames including:

a base configured to be secured to the body of the patient; and

a targeting cannula having an elongate guide bore extending axially therethrough, defining a trajectory axis, and being configured to guide placement of the interventional device, wherein the trajectory guide frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo; and

wherein the first and second trajectory guide frames are sized and configured to be simultaneously mounted side-by-side on the patient'"'"'s head to conduct a bilateral surgical procedure on the patient.

22. A trajectory guide frame for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the trajectory guide frame comprising:

a base having a patient access aperture therein, wherein the base is configured to be secured to the body of the patient, the base defining a fiducial cavity and a tab aperture communicating with a fiducial cavity;

a targeting cannula mounted on the base for movement relative thereto, the targeting cannula including a guide bore therethrough that is configured to guide placement of the interventional device in vivo; and

an MRI-visible fiducial marker mounted on the base and including a body portion containing an MRI-visible material and a fill tab extending from the body portion, wherein at least a portion of the body portion is disposed in the fiducial cavity and the fill tab extends through the tab aperture;

wherein the MRI-visible material is a liquid MRI-visible material.