Robotic Trajectory Guide

• US 20080039869A1
• Filed: 10/16/2007
• Published: 02/14/2008
• Est. Priority Date: 04/07/2000
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Miller, Thomas, Mills, Gerald, Raghavan, Raghu, David, John, Solar, Matthew, Brady, Martin
• Granted Patent: US 8,083,753 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 disclosed 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 device comprising:

a base, the base having a mounting plane;

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;

a local adjustment device attached to the adjustable joint; and

an actuator remotely coupled to the local adjustment device, the actuator being controlled from a remote location.

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

3. The alignment device of claim 1, wherein the local adjustment device includes a linear slide coupled to the insertion guide.

4. The alignment device of claim 3, wherein the linear slide includes a threaded adjuster coupled to a collar, the collar being coupled to the insertion guide.

5. The alignment device of claim 4, wherein the collar includes a ball and socket joint coupled to the insertion guide.

6. The alignment device of claim 1, wherein the local adjustment device includes a rotating joint that rotates about an axis normal to the mounting plane.

7. The alignment device of claim 6, wherein the rotating joint includes a worm gear mechanism.

8. The alignment device of claim 1, wherein the actuator includes an electrically powered actuator.

9. The alignment device of claim 8, wherein the electrically powered actuator includes a stepper motor.

10. An alignment device comprising:

a base assembly;

a ball member moveable relative to the base assembly, wherein the ball member defines a ball through-bore;

an insertion guide defining an opening therein and an insertion axis through the opening, wherein the insertion axis is aligned with the ball through-bore;

an adjustable assembly operably coupled to the insertion guide and to the base assembly, including;

a first block member operable to moveably engage the insertion guide; and

a first rail member operable to engage the first block member to define a range of motion of the first block member;

a first local adjustment device operable to drive the first block member along the first rail member; and

an actuator coupled to the first local adjustment device, the actuator being controlled from a remote location.

11. The alignment device of claim 10, wherein the base assembly further includes a socket portion operable to capture at least a portion of the ball member;

wherein the ball member is operable to move within the socket to define a selected angle of the ball through-bore relative to a mounting plane of the base assembly.

12. The alignment device of claim 10, wherein the adjustable assembly further includes:

a second block member operable to moveably engage the insertion guide;

wherein the first block member and the second block member cooperate to define an engaging passage operable to engage the insertion guide.

13. The alignment device of claim 12, wherein the adjustable assembly further includes:

a first slide including the first rail member;

a second slide relative to which the first slide is operable to move; and

a second local adjustment device operable to move the first slide relative to the second slide.

14. The alignment device of claim 13, wherein the first local adjustment device and second local adjustment device each include at least one of a worm gear, a threaded member, a beveled gear, or combinations thereof.

15. The alignment device of claim 12, wherein the adjustable assembly further includes:

a drive gear attached to a first slide; and

a worm gear operable to drive the drive gear; and

wherein the drive gear is operable to be driven around a central axis with the worm gear.

16. The alignment device of claim 10, further comprising:

an interface operable to remotely couple the actuator to the first local adjustment device.

17. A method of manufacturing an alignment device comprising:

providing a base;

coupling an adjustable assembly to the base;

coupling an insertion guide to the adjustable assembly;

attaching a local adjustment device to the adjustable assembly, the local adjustment device being capable of adjusting the insertion guide within a range of motion;

attaching a detachable actuator to the local adjustment device; and

remotely coupling a control module to the actuator.

18. The method of claim 17, wherein attaching a detachable actuator to the local adjustment device includes remotely coupling a rotary motor to the local adjustment device through a rotating cable.

19. The method of claim 17, further comprising:

providing an interface;

wherein attaching a detachable actuator includes providing a distance of the interface between the detachable actuator and the local adjustment device.

20. The method of claim 17, wherein remotely coupling a control module to the actuator includes providing a processor operable to execute instructions to control the actuator;

and

interconnecting the processor with the actuator including providing at least one of a wired connection, a wireless connection, or combinations thereof.

21. The method of claim 17, further comprising:

providing the adjustment assembly including;

providing a first slide assembly operable to move in at least a linear direction, a rotational direction, or combinations thereof;

wherein moving the first slide assembly is operable to move the insertion guide.

22. The method of claim 21, further comprising:

providing a second slide assembly wherein the first slide assembly is operable to move the insertion guide in a first direction and the second slide assembly is operable to move the insertion guide in a second direction.

23. The method of claim 21, further comprising:

forming at least one of the base, the adjustment assembly, the insertion guide, the local adjustment, the detachable actuator, or combinations thereof from an MR compatible material.

24. An alignment device comprising:

a base defining a mounting plane;

an insertion guide positioned through at least a portion of the base, wherein the insertion guide defines an opening therein and an insertion axis through the opening;

an adjustable assembly operably coupled to the insertion guide, including;

a slide body movably coupled to the base;

a block slidably coupled 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; and

an actuator coupled to the adjustable assembly.

25. The alignment device of claim 24, further comprising:

a remote control system operable to allow control of the actuator from a location displaced from and remote from the base;

wherein the actuator is responsive to a command from the remote control system to drive the threaded adjuster.