Stereotactic drive system

• US 8,728,092 B2
• Filed: 08/13/2009
• Issued: 05/20/2014
• Est. Priority Date: 08/14/2008
• Status: Expired

• Current Assignee: Monteris Medical Incorporated (Monteris Medical US, Inc.)
• Original Assignee: Monteris Medical Incorporated (Monteris Medical US, Inc.)
• Inventors: Qureshi, Salman, Grant, Mark, Fernandes, Luis Filipe Silva
• Primary Examiner(s): Dowe, Katherine
• Assistant Examiner(s): Kapoor, Sidharth
• Application Number:
  US12/540,558
• Publication Number:
  US 20100042112A1
• Time in Patent Office: 1,741 Days
• Field of Search: 600/140, 600/142, 227/19, 227/179.1, 227/180.1
• US Class Current: 606/130
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2017/3409 including needle or instrument drives
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: G05G 1/10 Details, e.g. of discs, knobs, wheels or handles G05G1/085 takes precedence

Abstract

A drive system for controlling movement of an elongate member includes a base unit having a first rotatable knob and a second rotatable knob, a follower assembly including a follower slidably coupled to a guide rail, a longitudinal movement wire, and a rotational movement wire. The follower includes a longitudinal movement pulley, a rotational movement pulley, and an alignment element structured to receive an elongate member such that the elongate member is attachable thereto. The longitudinal movement wire operably couples the first rotatable knob to the longitudinal movement pulley such that rotation of the first knob drives the follower in a longitudinal direction along the guide rail. The rotational movement wire operably couples the second rotatable knob to the rotational movement pulley such that rotation of the second knob rotates the alignment element and attached elongate member.

Claims

1. A drive system, comprising:

a base unit including first and second spools to spool, respectively, first and second wires; and

an assembly extending in a longitudinal direction and coupled to the base unit by the first and second wires, the assembly including a mount coupled to the assembly, and the mount including a rotatable portion and first and second wire supports that support, respectively, the first and second wires, wherein;

the rotatable portion is rotatable about an axis of rotation that extends in the longitudinal direction, and is structured to hold and rotate an elongated member about the axis of rotation,

the first wire support is coupled to the mount and the assembly such that a movement of the first wire along the first wire support causes the mount to move along the assembly in the longitudinal direction, and

the second wire support is coupled to the mount and the rotatable portion such that a movement of the second wire along the second wire support causes the rotatable portion to rotate about the axis of rotation of the rotatable portion, and wherein;

the base unit includes first and second spool shafts for each of the first and second spools, such that rotational movements of the first and second spools cause rotations of the first and second spool shafts;

opposing ends of the first wire are connected to the first and second spools shafts for the first spool, such that the rotational movement of the first spool causes, concurrently, both the first and second spool shafts for the first spool to rotate, causing the first and second spool shafts for the first spool to respectively wind and unwind the first wire; and

opposing ends of the second wire are connected to the first and second spools shafts for the second spool, such that the rotational movement of the second spool causes, concurrently, both the first and second spool shafts for the second spool to rotate, causing the first and second spool shafts for the second spool to respectively wind and unwind the second wire.

2. The drive system of claim 1, wherein:

the first wire support includes a first pulley and the assembly includes a guide rail that includes a track that extends in the longitudinal direction and that is coupled to the first pulley; and

the first wire winds around the first pulley such that winding and unwinding of the first wire causes the first pulley to rotate and move the mount in the longitudinal direction along the track of the guide rail.

3. The drive system of claim 2, wherein the first pulley has an axis of rotation that is perpendicular to the rotational axis of the rotatable portion and that is rotatably connected to a housing of the mount.

4. The drive system of claim 1, wherein:

the second wire support includes a second pulley that surrounds a portion of the rotatable portion such that the second pulley has an axis of rotation that is the same as the axis of rotation of the rotatable portion;

the mount includes an idler support; and

the second wire enters the mount, winds around the idler support, and then winds around the second pulley, such that winding and unwinding of the second wire causes the second pulley to rotate and move the rotatable portion in a rotational direction about the rotational axis of the rotatable portion.

5. The drive system of claim 4, wherein the idler support includes an idler pulley that has an axis of rotation that is perpendicular to the rotational axis of the rotatable portion and that is rotatably connected to a housing of the mount.

6. The drive system of claim 1, wherein:

the first wire support includes a gear and the assembly includes a gear track to engage with the gear of the first wire support;

the first wire winds around the first wire support such that winding and unwinding of the first wire causes the gear to rotate and move the mount in the longitudinal direction along the gear track;

the second wire support includes a guide shaft that surrounds a portion of the rotatable portion such that the guide shaft has an axis of rotation that is the same as the axis of rotation of the rotatable portion;

the mount includes an idler support; and

the second wire enters the mount, winds around the idler support, and then winds around the guide shaft, such that winding and unwinding of the second wire causes the guide shaft to rotate and move the rotatable portion in a rotational direction about the rotational axis of the rotatable portion.

7. The drive system of claim 1, further comprising:

wire sheaths that cover the first and second wires for at least portions of the first and second wires that extend between the base unit and the assembly, wherein

the wire sheaths are flexible conduits that allow the first and second wires to travel therein, and that are fixedly secured to the base unit and the assembly.

8. The drive system of claim 7, wherein:

the base unit includes first and second tension blocks for the first and second wires;

respective sheath connector blocks of the first and second tension blocks are attached to respective wire sheaths of the first and second wires;

the sheath connector blocks are elastically secured to the first and second tension blocks; and

the first and second tension blocks relieve tension placed on the first and second wires, during movements thereof, by allowing travel between the wire sheaths and the first and second tension blocks, via the sheath connector blocks.

9. The drive system of claim 7, wherein the base unit and the assembly are flexibly directly connected to each other by only the first and second wires and the wire sheaths.

10. The drive system of claim 1, wherein:

the base unit further includes a gear coupled to each of the first and second spools, and

the gear for each of the first and second spools is configured to releasably engage respective gear teeth to respectively control respective rotational movement of the first and second spools.

11. The drive system of claim 10, wherein the first and second spools are axially moveable to engage and disengage the gear teeth.

12. The drive system of claim 1, wherein the assembly includes an alignment guide that includes an alignment hole that is coaxial with the rotatable portion of the mount.

13. The drive system of claim 1, wherein the assembly includes a potentiometer assembly that includes an electrical connector to provide feedback regarding a longitudinal and angular position of the elongate member.

14. The drive system of claim 1, further comprising the elongated member.

15. The drive system of claim 1, wherein the first and second spools include respective rotatable knobs that rotate about respective first and second axes.

16. The drive system of claim 15, wherein the first and second axes coincide and are separated.

17. The drive system of claim 1, wherein:

the rotational movement of the first spool causes only the longitudinal movement of the mount and the rotatable portion in the longitudinal direction; and

the rotational movement of the second spool causes only the rotational movement of the rotatable portion.

18. The drive system of claim 1, wherein:

the rotational movement of the first spool causes the longitudinal movement of the mount and the rotatable portion in the longitudinal direction in one of opposing forward and backward directions coinciding with the longitudinal direction based on a direction of the rotational movement of the first spool; and

the rotational movement of the second spool causes the rotational movement of the rotatable portion in one of opposing clockwise and counter-clockwise directions about the rotational axis of the rotatable portion based on a direction of the rotational movement of the second spool.

19. The drive system of claim 1, wherein the assembly is magnetic resonance imaging (MRI) compatible.

20. The drive system of claim 1, wherein the coupling of the first and second wires between the base unit and the assembly provides a structure in which the base unit can be physically displaced, relative to the assembly, without causing the longitudinal movement of the mount and the rotatable portion in the longitudinal direction, and without causing the rotational movement of the rotatable portion.

21. A method for a drive system,

the drive system comprising:

a base unit including first and second spools to spool, respectively, first and second wires, and first and second spool shafts for each of the first and second spools, such that rotational movements of the first and second spools cause rotations of the first and second spool shafts, wherein opposing ends of the first wire are connected to the first and second spools shafts for the first spool, such that the rotational movement of the first spool causes, concurrently, both the first and second spool shafts for the first spool to rotate, causing the first and second spool shafts for the first spool to respectively wind and unwind the first wire; and

opposing ends of the second wire are connected to the first and second spools shafts for the second spool, such that the rotational movement of the second spool causes, concurrently, both the first and second spool shafts for the second spool to rotate, causing the first and second spool shafts for the second spool to respectively wind and unwind the second wire; and

an assembly extending in a longitudinal direction and coupled to the base unit by the first and second wires, the assembly including a mount coupled to the assembly, and the mount including a rotatable portion and first and second wire supports that support, respectively, the first and second wires, wherein;

the rotatable portion is rotatable about an axis of rotation that extends in the longitudinal direction, and is structured to hold and rotate an elongated member about the axis of rotation,

the first wire support is coupled to the mount and the assembly such that a movement of the first wire along the first wire support causes the mount to move along the assembly in the longitudinal direction, and

the second wire support is coupled to the mount and the rotatable portion such that a movement of the second wire along the second wire support causes the rotatable portion to rotate about the axis of rotation of the rotatable portion; and

the method comprising;

rotating the first spool to drive the mount in one of opposing forward and backward directions coinciding with the longitudinal direction based on a direction of the rotating of the first spool; and

rotating the second spool to rotate the rotatable portion in one of opposing clockwise and counter-clockwise directions about the rotational axis of the rotatable portion based on a direction of the rotating of the second spool.

22. The method of claim 21, wherein:

the base unit further includes a gear coupled to each of the first and second spools, and

the gear for each of the first and second spools is configured to releasably engage respective gear teeth to control rotational movement of, respectively, the first and second spools;

the method further comprising;

axially displacing one of the first and second spools to disengage the one of the first and second spools from the respective gear teeth to allow rotating of the one of the first and second spools.

23. The method of claim 21, wherein:

the drive system includes the elongated member,

the rotating the first spool drives the elongated member in the one of opposing forward and backward directions coinciding with the longitudinal direction based on the direction of the rotating of the first spool, and

the rotating the second spool rotates the elongated member in the one of opposing clockwise and counter-clockwise directions about the rotational axis of the rotatable portion based on the direction of the rotating of the second spool.