Apparatus and method for implantation of devices into soft tissue

• US 10,350,021 B2
• Filed: 08/08/2016
• Issued: 07/16/2019
• Est. Priority Date: 06/18/2012
• Status: Active Grant

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Gilgunn, Peter J., Ozdoganlar, O. Burak, Kozai, Takashi Daniel Yoshida, Fedder, Gary, Cui, Xinyan, Weber, Douglas J.
• Primary Examiner(s): Anderson, Gregory A
• Application Number:
  US15/231,699
• Publication Number:
  US 20170156815A1
• Time in Patent Office: 1,072 Days
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 5/4851 Prosthesis assessment or monitoring
• CPC Class Codes: A61B 5/6838 Clamps or clips
• CPC Class Codes: A61B 5/6843 Monitoring or controlling sensor contact pressure
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis

Abstract

Apparatus and method for surgeon-assisted rapid surgical implantation of devices into soft tissue. The apparatus comprises several subsystems that enable the referencing of the spatial position and orientation of the device being implanted with respect to the soft tissue into which it is being implanted and then the controlled implantation of the device at a predefined speed with higher positional accuracy and precision and a reduction in soft tissue damage, provided by ultrasonic assisted motion, compared to current state-of-the-art implantation methods and devices. The method includes automated loading of the device being implanted into a clamping mechanism from a cartridge holding a number of implants, referencing of the device position and orientation, referencing of the surface of the tissue into which the device is being implanted, monitoring of the tissue motion, identification of desirable implant location based on the soft tissue profile, allowance of surgeon selection and fine adjustment of the final implant location, high-speed implantation, device release and implant actuator retraction.

Claims

1. A method of implanting a device in tissue comprising:

positioning the device within an implant vicinity;

capturing image data of the tissue in the implant vicinity;

identifying tissue structures in the image data subject to damage by implantation of the device;

simulating damage to the tissue structures by implantation for a plurality of virtual implantation sites within the implant vicinity; and

positioning the device with respect to an implant site having a minimal amount of damage.

2. The method of claim 1, further comprising:

implanting the device in the implant site having the minimal amount of damage.

3. The method of claim 1, further comprising:

determining a vertical distance and angular orientation between the device and a surface of the tissue at the implant site having the minimal amount of damage; and

adjusting a position of the device so that a longitudinal axis of the device is normal to the surface of the tissue at the implant site having the minimal amount of damage.

4. The method of claim 2, further comprising:

measuring a force between the device and the tissue during implantation.

5. The method of claim 2, wherein the device is implanted with an actuator moving along an axis aligned with a longitudinal axis of the device.

6. The method of claim 4, further comprising:

adjusting a speed in which the device is implanted based on the measured force.

7. The method of claim 4, wherein the device will be implanted to a depth in the tissue based on a reference point on a surface of the tissue corresponding to a location of the device when a feedback force is first measured.

8. The method of claim 4, further comprising:

adjusting implantation of the device based on a difference between the measured force and a predicted force of implantation.