Abstract
This document discusses, among other things, systems and methods for robotically assisted implantation of an implant in a patient. A system includes an implant-positioning unit configured to engage an elongate member of the implant, and a control console communicatively coupled to the positioning unit. The control console may have a user interface that enables a user to input motion control instructions. The control console may generate a motion control signal, according to a specific motion control instruction, to control the external positioning unit to propel the implant into a target implant site, path or shape. The system may be used to robotically control the delivery and positing of a neuromodulating implant during a spinal stimulator implantation or deep brain stimulator implantation surgery.
Claims
1. A system for robotically assisted manipulation of an elongate member in a patient, the system comprising: a drive wheel assembly configured to insert and retract the elongate member into and out of the patient; a steering assembly configured to shape the path and geometry of the elongate member; and a first control circuit communicatively coupled to the drive wheel assembly and the steering assembly and configured to control motion of the drive wheel assembly and the steering assembly to position a tip of the elongate member to a desired implantation site.
2. The system of claim 1, wherein the steering assembly includes a second control circuit coupled to the drive wheel assembly and the first control circuit; and wherein the drive wheel is configured to frictionally move the elongate member in response to a motion control signal of the first control circuit.
3. The system of claim 2, wherein the second control circuit is configured to generate drive signals to electrically drive an electrode of the elongate member for neurostimulation of the patient.
4. The system of claim 1, wherein the steering assembly includes multiple steering mandrels, the multiple steering mandrels configured to wind and unwind pull wires coupled to a sheath positioned between the steering assembly and the drive wheel assembly, the sheath configured to guide lateral positioning of the tip of the elongate member as the wheel assembly inserts or retracts the elongate member.
5. The system of claim 4, including a motor drive circuit configured to mechanically and percutaneously connect with the steering assembly during manipulation of the elongate member and to provide electromotive force to move the multiple steering mandrels. 6, The system of claim 1, wherein the steering assembly includes multiple steering mandrels, the multiple steering mandrels configured to wind and unwind pull wires coupled to the elongate member, to guide lateral positioning of the tip of the elongate member as the drive wheel assembly inserts or retracts the elongate member; wherein the drive wheel assembly is housed with the steering assembly; wherein the motor drive circuit is configured to percutaneously and mechanically connect with the drive wheel and provide electromotive force to the drive wheel to insert and retract the elongate member within the patient; and wherein the motor drive circuit is configured to disconnect from the steering assembly and the drive wheel assembly in response to completion of manipulation of the elongate member.
7. The system of claim 1, wherein an electrode of the elongate member is configured to stimulate nerves within a spine of patient.
8. The system of claim 1, wherein an electrode of the elongate member is configured to stimulate nerves within a brain of the patient,
9. A system for robotically assisted manipulation of an implant in a patient, the system comprising: an implant-positioning unit, including a drive head and a steerable sheath configured to engage an electrode of the implant and roboticalty deliver and position and shape a path of the electrode along a target implantation path; and a control console communicatively coupled to the implant-positioning unit, the control console including a controller circuit configured to generate a motion control signal for controlling the implant-positioning unit to robotically deliver and position the implant into the target implantation site.
10. The system of claim 9, wherein the steerable sheath includes a plurality of pull wires configured to steer a geometry and curvature of a path of the steerable sheath.
11. The system of claim 10, wherein the implant positioning unit includes multiple mandrels coupled to the plurality of pull wires.
12. The system of claim 11, wherein the implant positioning unit includes a first drive wheel configured to engage an outside surface of the electrode and to apply insertion force to the electrode.
13. The system of claim 12, wherein the implant positioning unit includes a second drive wheel configured to engage the outside surface of the electrode opposite the first drive wheel.
14. The system of claim 13, wherein the implant positioning unit includes actuators to vertically offset the first drive wheel and the second drive wheel to rotate electrode about an axis parallel to a major direction of the insertion force.
15. The system of claim 13, including a motor control unit including multiple actuators configured to percutaneously engage the mandrels and to apply torque to the mandrels to control extension and retraction of the pull wires responsive to the control console.
16. A method of manipulating an electrode for stimulation of nerves of a patient, the method comprising: initiating a procedure to modify a position of an electrode; receiving either evoked electrophysiological signals from the patient or non-evoked electrophysiological signals from the patient; convolving the electrophysiological signals with template signals to generate a similarity index; and modifying a position of the electrode based on the similarity index deviating from a threshold.
17. The method of claim 16, wherein modifying a position of the electrode includes generating a motion command signal based on the similarity index.
18. The method of claim 17, wherein modifying a position of the electrode includes receiving the motion command signal at a motor control module coupled to a drive wheel; and moving the drive wheel in response to the motion command signal to further insert or retract the electrode from a current implant location of the patient.
19. The method of claim 18, wherein the motion command signal is based on an input signal received from a camera system, a radiographical tracking system, or a human interaction device.
20. The method of claim 17, wherein modifying a position of the electrode includes receiving the motion command signal at a motor control module coupled to a drive wheel; and wherein modifying a position of the electrode includes rotating the electrode, based on the motion command signal, about a longitudinal axis parallel to the electrode.
21. The method of claim 17, wherein modifying a position of the electrode includes receiving the motion command signal at a percutaneous motor control module coupled to an implanted drive wheel motor.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Various embodiments are illustrated by way of example in the figures of the accompanying drawings. Such embodiments are demonstrative and not intended to be exhaustive or exclusive embodiments of the present subject matter.
[0027] FIG. 1 is a side view elevation of an external positioning device, in accordance with an example embodiment of the present disclosure.
[0028] FIG. 2 is a top view elevation of an external positioning device, in accordance with an example embodiment of the present disclosure.
[0029] FIG. 3 is a prospective view of the external positioning device, in accordance with an example embodiment of the present disclosure.
[0030] FIG. 4 illustrates generally an example of the range of adjustment of a robotic drive head positioning mechanism of a positioning device in accordance with an example embodiment of the present disclosure.
[0031] FIG. 5 illustrates generally an example implant positioning device 502.
[0032] FIGS. 6A-6E are illustrations of an implant positioning device stimulator, and adjustable/positionable sheath, in accordance with an example embodiment of the present disclosure.
[0033] FIG. 7 illustrates an example positioning device that can include positioning circuitry and motors in addition to the actuator array.
[0034] FIG. 8A-8D illustrates generally various states of a modular sheath and electrode positioning device in accordance with the present subject matter.
[0035] FIGS. 9A-9C illustrate generally various examples of a modular electrode positioning device according to the present subject matter.
[0036] FIGS. 10A-10D illustrate generally creation and use of a mechanical percutaneous implant connection port, in accordance with an example embodiment of the present disclosure.
[0037] FIGS. 11A-11D illustrate generally creation and use of an electrical percutaneous implant connection port, in accordance with an example embodiment of the present disclosure.
[0038] FIG. 12A illustrates generally an implant positioning device, the implant, and adjustable lead of a deep brain stimulator system (PBS).
[0039] FIG. 12B illustrates generally the implant with a cover removed.
[0040] FIG. 12C illustrates generally a motor control module for temporary or percutaneous attachment to the implant.
[0041] FIGS. 13A and 13B illustrate generally an example insertion device of an example of a DBS system.
[0042] FIGS. 14A and 14B illustrate generally an example burr hole plate for anchoring certain components of an example DBS system to a patient.
[0043] FIGS. 15A-15E illustrate various states of an example DBS system during and after positioning of the tip of the adjustable lead.
[0044] FIG. 16 is a block diagram illustrating a surgical insertion vision and control system for inserting a stimulation electrode within a patient, in accordance with an example embodiment of the present disclosure.
[0045] FIG. 17 illustrates generally an example method for inserting or positioning an adjustable electrode or steerable sheath and electrode combination according to the present subject matter.
DETAILED DESCRIPTION
[0046] In the following detailed description, reference is made to the accompanying drawings which form a part hereof, and in which is shown by way of illustration specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, and it is to be understood that the embodiments may be combined, or that other embodiments may be utilized and that structural, logical and electrical changes may be made without departing from the spirit and scope of the present invention. References to an, one, or various embodiments in this disclosure are not necessarily to the same embodiment, and such references contemplate more than one embodiment. The following detailed description provides examples, and the scope of the present invention is defined by the appended claims and their legal equivalents.
[0047] Disclosed herein are systems, devices, and methods for robotically assisted implantation of an implant in a patient. Examples of the implants may include leads, catheter, guidewire, guide sheath, or other mechanical or electrical devices. The implants may be designed for temporary or permanent implantation. The implants may additionally be used for medical diagnosis of a disease or other conditions such as diagnostic catheters, or for therapeutic purposes of cure, mitigation, treatment, or prevention of disease, such as implantable electrodes for stimulating cardiac, neural, muscular, or other tissues. The present system may be implemented using a combination of hardware and software designed to provide precise control of implant movement, such as insertion of a neuromodulation implant during a spinal cord stimulation implantation surgery or a deep brain stimulator and/or directed array positioning surgical procedure. The system includes an implant-positioning unit a control console communicatively coupled to the implant-positioning unit. The implant-positioning unit includes a drive head configured to engage an elongate member of the implant and robotically deliver and position the implant into a target implantation site. The control console may have a user interface that enables a user to input motion control instructions. The control console may generate a motion control signal, according to a specific motion control instruction, to control the external positioning unit to propel the implant into a target implant site.
[0048] The device can move/position one or multiple SCS implant electrodes, or cochlear implant electrodes, or neural implant electrodes, neuromodulators or signal processing electrodes, or catheters, or cameras, or clamps, or cautery tools, or biopsy tools, or surgical tools, drug delivery catheters or a combination of these. In some examples, the operation and design of the insertion control unit is similar to the devices described in commonly assigned U.S. Patent Application No. PCT/US2018/018182 entitled MODULAR IMPLANT DELIVERY AND POSITIONING SYSTEM, which refers to wheel arrangement to engage elongate members of an implant, the description of which is incorporated herein by reference in its entirety. Further, other aspects of the system discussed herein includes design and operation similarities with devices and systems discussed in commonly assigned U.S. Provisional Patent Application No. 62/872,625 entitled MODULAR IMPLANT DELIVERY AND POSITIONING SYSTEM, which refers to a modular implant delivery mechanism, the description of which is incorporated herein by reference in its entirety.
[0049] The system consists of modular housings that can be permanently implanted or removed after positioning. The housing can have an entrance for the implant/tool to be positioned to enter. And an exit for the implant/tool to be positioned to exit. The entrance and exit can be sealed by a valve, clamp, or electrical feedthrough. The housing can have fixation flanges (screw/suture fixation points). The device can be fixated in place by screws, or sutures, or bone paste, or osteointegration, or clamps or other implant fixation methods.
[0050] The housing can include one or more drive wheels. Drive wheels can turn and move linearly. Turning the drive wheels drives the implant/tool forwards and backwards. Linearly moving the drive wheels turns/spins the implant.
[0051] Connected to the housing is a sheath or sheaths to guide and or protect the stimulating electrode. The sheath can be composed of a stiff or flexible material or a combination such as a stay put or gooseneck sheath. The sheath can be permanently deformed and stays put when placed. The housing contains an array (1 or more) actuators capable of steering the sheath. The sheath will be fully or partially steerable to desired shape or path.
[0052] Steering of the sheath can be controlled mechanically by pull cords/tendons in the sheath wall connected to distal pull rings, or pneumatically controlled with fluids in the sheath wall, or electrically controlled with wires and actuators in the sheath wall, or magnetically with magnets in the sheath wall, or any combination of these. Steering can be controlled percutaneously with removable disposable actuators that engage the housing actuator array, or transcutaneous with a wireless power supply and control and actuating electronics implanted, or magnetically with removable disposable magnets, or by pneumatics with disposable removable pumps. Actuators, disposable or permanently implantable, can be piezo electric in nature, or mechanical in nature, or magnetic in nature, electromechanical or pneumatic in nature. Steering can be multiple degrees of freedom unidirectional, bidirectional, or omnidirectional. Positioning of the implant/tool can involve compound curve or out of plane curves of the steerable sheath.
[0053] Position and velocity are controlled with feedback. Position and velocity feedback are obtained with physical sensing of the actuators with hall sensors, or strain sensors, or magnetic sensors, or resistive sensors or a combination of these sensors. Or feedback can be obtained with bio signal processing. The steerable sheath can consist of a flexible tube in the implantable version, or half tube or slit tubes in the removable disposable embodiments. A fully implantable sheath can be completely sealed at the tip and the lead moved within preventing scar tissue build that can limit adjustment movements.
[0054] FIG. 1 is a side view elevation of an example external, non-implantable spinal cord stimulator, implant-controlled insertion system including an external positioning device 102, in accordance with an example embodiment of the present disclosure. The external positioning device 102, or steering device, is shown mounted to a patient whose anatomy can be identified by a spine 108 and skin 110. The system can include a stimulator processor circuit 100, an electrode 104 with an electrode tip 106, and the positioning device 102. The positioning device 102 can robotically control an attached drive head, or drive wheel assembly, to an optimal angle and orientation of insertion and can control insertion speed of the electrode 104 and positioning of the electrode tip 106 with feedback from stereoscopic cameras, position sensors, pre-op patient imaging analysis, patient biometric sensors and or surgeon input feedback. The drive head of positioning device 102 can dip onto the electrode 104, or electrode array and can use drive wheels to insert or retract the electrode tip 106.
[0055] FIG. 2 is a top view elevation of an external positioning device 102, in accordance with an example embodiment of the present disclosure, in certain examples, the insertion device can be mounted to the patient via a sliding mount 214 and can connect to a drive head 220 via an adjustable neck 212. As discussed above the drive head can clip to the electrode and drive wheels of the drive head can move the electrode 104 for insertion, retraction or positioning of the electrode tip within or near the spinal column of the patient. Split guide tips 216 may enter the patient through soft tissue and clamp open for removal leaving implant lead in place after securing.
[0056] FIG. 3 is a prospective view of the external positioning device 102, in accordance with an example embodiment of the present disclosure, in certain examples, the sliding mount 214 can be equipped with screw/suture points to fix the siding mount and the positioning device 102 to the patient, such as to vertebra, providing stability during an insertion or positioning procedure. In certain examples, the positioning device 102 can be locked in place by position locking toggles of the sliding mount 214 for added stability. Once the positioning device 102 is positioned, the drive head 220 can engage with or can clip around an elongate member, a spinal cord stimulator electrode 104, and can provide the motion and control insertion into the epidural space of the spinal canal by extruding the lead through drive wheels. In certain examples, the drive wheels 218 may include a single driven wheel and an idler wheel. The positioning device 102, sometimes referred to as an external control unit, can robotically slide along the sliding mount and position the drive head via the adjustable neck 212 in a range of orientations using feedback from stereoscopic cameras, sensors, pre op patient imaging analysis, patient biometric sensors and surgeon input. Once a desired target area has been reached by the stimulating tip, or electrode tip (FIG. 1, 106), of the electrode lead 104, the drive head 220, and positioning device 102, can be unclipped or disengaged from the electrode lead 104 and removed. Split guide tips 216 may enter the patient through soft tissue and clamp open for removal leaving implant lead in place after securing. In certain examples, the positioning device 102 and drive head 220 can be disposed of following a insertion or repositioning procedure.
[0057] FIG. 4 illustrates generally an example of the range of adjustment of a robotic drive head 220 positioning mechanism of a positioning device 102, in accordance with an example embodiment of the present disclosure. The positioning device 220 can include electronics such as control circuitry and batteries, a drive motor 332 for providing electromotive force and driving the drive wheels of the drive head 220, one or more pull wire mandrels 328, and one or more pull wire mandrel motors 330. The pull wire mandrels 328, via the corresponding motors 330, can retract and release pull wires 326 that extend with the adjustable neck 212 and can bend the adjustable neck 212 not only in the plane illustrated by FIG. 4 but in other planes or directions as well. The enclosure of the positioning device can robotically move and rotate within the sliding mount allowing for any angle of insertion in multiple degrees of freedom and planes. Manual positioning is also possible with feedback to monitor and control the system through sensors. In an example, a combination of optical (stereotactic imaging) as well as motor positioning feedback (e.g., magnetic) can be used to control motors 330, 332 of the positioning device 102.
[0058] FIG. 5 illustrates generally an example implant positioning device 502. The implant positioning device 502, or steering device, or implant, is illustrated implanted in a patient under the skin 110 and within or near the spine 108. In other examples, the implant position device 502 can be implanted on the skull for positioning electrode within the brain. The implant positioning device 502 is part of a system that can include a stimulator 500, electrode 504 and electrode tip 506, and an adjustable sheath 540. In certain examples, the implant positioning device 502 can allow post-operative adjustments of the position of the sheath 540 and stimulating electrode tip 506 percutaneous mechanically via implant connection ports, transcutaneous electrically via wireless near-field communication (NFC), or combination thereof. When implanted, the positioning device 102 can be secured to soft tissue or bone using screw/suture points. The positioning device 102 can be an additional implant coupled to an existing stimulator or can be a complete stimulator with incorporated control module. In certain examples, the implantable position device 502 can control electrode 504 position in or out of the sheath 540 by extruding the electrode 504 between two drive wheels or a drive wheel and an idler wheel of a drive wheel assembly. An array of actuators or mandrels of a steering assembly can control tension on pull wires or actuators within the walls of the sheath positioning the sheath through multi planar bending in both the rostral-caudal, anterior-posterior, and importantly medial-lateral spans aiming to improve stimulation pain targeting, focus the stimulation field, decrease implanted lead number/size, and decrease unwanted paresthesia or side effects. The repositioning ability of the implant positioning device 502 is advantageous to fine tuning the location of the electrode array or tip within the patient without subsequent surgery.
[0059] FIGS. 6A-6E are illustrations of an implant positioning device 502 stimulator 500, and adjustable/positionable sheath 540, in accordance with an example embodiment of the present disclosure. The control of the sheath 540 is enabled via an array of actuators 546 of the positioning device 502 controlling the tension of pull wires along the walls of the sheath 540. Drive wheels 518 can advance and retract the electrode 506 into and out of the adjustable sheath 540. The array of actuators 546, 518 can be manipulated by motors housed within the implanted positioning device 502 or via percutaneous engagement of motors outside the patient. FIG. 6E illustrates the implant positioning device 502 stimulator 500, and adjustable/positionable sheath 540 under the skin 110 of a patient with the electrode 506 extending with the spine of the patient. A percutaneous motor module 542 is connected to the implant positioning device 502 via trocar access channels 550. Percutaneous access to the positioning module can avoid the need to implant motors and electronics as well as minimizing degradation of internal components. The percutaneous motor module can be connected to a control system or computer via a power and communication cable 548 such as a USB cable in certain examples.
[0060] In the case of spinal cord stimulators 500, the paresthesia effect is best with optimal orientation of the stimulating electrode tips 506 facing the nerves needing stimulation. Referring to FIG. 6D, by controlling the vertical position of the drive wheels 518a, 518b the orientation of the electrode tips 506 can be controlled to face any direction such as by rotating the electrode about a longitudinal axis that is parallel to the insertion direction of the electrode. In certain examples, actuators coupled to the drive wheel 518a, 518b can offset the drive wheels to rotate the electrode.
[0061] FIG. 7 illustrates an example positioning device 702 that can include positioning circuitry and motors 554 in addition to the actuator array 552. The actuator array can include wire pull mandrels, drive wheels, drive wheel vertical actuators or combination thereof, As with the examples of FIGS. 6A-6E, an electrode and electrode tip 506 connected to a stimulation controller 500 can extend through the actuator array 552 of the positioning device and through the adjustable sheath 540. A transcutaneous power supply 556 can be used to power an implanted battery of the implant positioning device and to communicate between the processing unit of the positioning device 802 and an external surgeon user interface. It is understood that the implant positioning device 802 is shown without a cover for illustrative purposes.
[0062] FIG. 8A-8D illustrates generally various states of a modular sheath and electrode positioning device in accordance with the present subject matter. The illustrated system can include a sheath drive module 858 and an electrode positioning module 862. The sheath drive module 858 can include screw/suture points 824, and sheath drive wheels 860. The electrode positioning module 862 can include screw/suture points 824, one or more steering mandrels 846, one or more electrode drive wheels 818, and an optional electrode chamber 864. The system depicted in FIG. 8A would typically have the sheath drive module 858 secured to a surgical site on the patient. The sheath drive wheels 860 can advance the sheath 840 and connected electrode positioning module 862, into the patient (FIG. 8B). During advancement of the sheath 840, steering mandrels 846 within electrode positioning module 862 can control orientation and position of the tip of the sheath 840, or entire length of the sheath 840, depending on fulcrum points which may vary along the length of the sheath 840 (FIG. 8C). Once the sheath 840 has been advanced to the target site, electrode positioning module 862 can be secured to the patient and the electrode drive wheels can be controlled to advance the electrode 804 out of or back into the adjustable sheath 840 (FIG. 8D). In certain examples, the sheath 840 may have motion capture fiduciary markers 866 (radiographic attenuating, optically reflective, metallic, or optical cameras at the tip or along the length to observe and characterize insertion states, thereby enabling support for closed loop robotic position control of the sheath shape. In certain examples, the sheath 840 may fully enclose the electrode 804. In some examples, the sheath 840 may allow the electrode 804 to protrude and extend past the end of the sheath 840.
[0063] FIGS. 9A and 9B illustrate generally various examples of a modular electrode positioning device according to the present subject matter. FIG. 9A illustrates a modular electrode positioning device 902, without a cover, that can be employed with a second, separate module that houses the stimulation electronics. FIG. 9B illustrates a cut-away view of a modular electrode positioning device 902, without a cover, that includes integrated neuromodulator circuitry 900. Each example of the electrode positioning device 902 can include screw/suture points 924, multiple steering mandrels 946 coupled to pull wires 926 of an adjustable sheath 940, one or more electrode drive wheels 918. and an electrode chamber 968. Mechanical engagement points 970 can assist in positioning of the electrode 904 or the sheath 940. By introducing a mechanical bit connected to a motor that mates with the mechanical engagement points 970 of the mandrels 946 and/or drive wheels 918 through a trocar and self-sealing septum, the position of the sheath 940 or the tip of the electrode 904 can be manipulated and precisely located. An electrical engagement point 974 within the device can allow for powering of batteries and communication with implanted motors (not shown) to control position of the sheath 940 or the tip of the electrode 904. The electrical engagement points 974 can be accessed through a trocar and self-sealing septum. An electrode chamber 968 may be occupied by an excess length of electrode 904 that can be used to reposition the electrode tip deeper within the patient. A wall of the electrode chamber can include a hermetic electrical feedthrough from the integrated neuromodulator circuit 900.
[0064] FIG. 9C illustrates generally a state of an example of a modular electrode positioning device during an insertion or repositioning procedure. The modular electrode positioning device can include an electrode (not visible) with an electrode tip 906, a sheath 940, an implant electrode positioning device 902, and a percutaneous motor module 942. The electrode tip 906 can be guided to a desired stimulation location via the sheath 940. The sheath 940 can include pull wires coupled to steering mandrels of the implant electrode positioning device 902. As the sheath 940 is inserted, the percutaneous motor module 942 can be coupled to the implant electrode positioning device 902 and motors of the implant electrode positioning device 902 can actuate the steering mandrels to steer the lateral direction of the implanted sheath 940. Lateral steering capability is illustrated by a few of the many directions 940a, 940b, 940c the sheath could be directed via operation of the pull wires of the implant electrode positioning device 902. Upon the electrode tip 906 reaching a desired location along the spine 108, the percutaneous motor module 942 can be removed from the implant electrode positioning device 902, the surgical site of the implant electrode positioning device 902 can be closed, and the implant electrode positioning device 902 can begin delivering stimulation via the electrode tip 906. If adjustments to electrode position are desired or needed to optimize implant position after procedure completion, the percutaneous motor module 942 can be utilized to re-access and engage the implant electrode positioning device 902 and implanted sheath 940 to modify the sheath or electrode positions or location within the body to a target site.
[0065] FIGS. 10A-10D illustrate generally creation and use of a mechanical percutaneous implant connection port, in accordance with an example embodiment of the present disclosure. A mechanical percutaneous implant connection port can be created to access a mechanical interface to drive a drive wheel 1018, a pull wire mandrel or a steering mandrel. FIG. 10A-10D illustrate generally creation of a mechanical percutaneous implant connection port for a drive wheel, such as drive wheel of any of the example implants described herein. Creation as use of a mechanical percutaneous implant connection port for a pull wire mandrel or steering mandrel is the same as for the drive wheel except for the function of the mandrel. The drive wheel 1018 can be housed within casing of the implant 1002 and can have a companion idler wheel 1019 in certain examples. From the description above, the drive wheel 1018 can be used to extend or retract an electrode (e.g., FIG. 2, 218) or sheath (e.g., FIG. 8, 860) for an electrode into or out of the body of a patient.
[0066] FIG. 10A illustrate generally a step in creating the mechanical percutaneous implant connection port and shows a needle 1081 piecing skin 110 above a trocar entrance 1082 of the casing of the implant 1002. The needle leads the way for a trocar 1080 to be received at the trocar entrance 1082. As illustrated in FIG. 11B, the needle and trocar can proceed past the trocar entrance 1082 and enter a self-sealing septum 1083 of the implant 1002. The trocar 1080, with the needle 1081 leading, can be proceed to a trocar stop 1084 of the implant 1002. Once the trocar 1080 is seated at the trocar stop 1084, the needle 1081 can be extracted from the trocar 1080 as illustrated in FIG. 10C to leave the trocar 1080 as a working channel into the implant 1002.
[0067] FIG. 10D illustrates use of the working channel provided by the trocar 1080. For example, a mechanical driver 1071 of a drive module 1042 can be inserted through the trocar 1080 to engage a mechanical interface 1070 of the drive wheel 1018. Upon engagement of the driver 1071 with the mechanical interface 1070 of the drive wheel 1018, a motor 1087 of the motor module 1042 can be used to move the drive wheel 1018. In certain examples, the driver 1071 can include a pentalobe tip for mechanical engagement with the drive wheel 1018 through the working channel of the trocar 1080. The pentalobe bit can be robotically rotated, linearly positioning an electrode or other elongate member of the system including the implant 1002. An external motor 1087 is pictured controlling the drive wheel 1018 through the trocar working channel in FIG. 10D. Also depicted in FIG. 10D is the leer lock quick swap mechanism 1085, 1086 for simple swapping from the needle 1081 to the mechanical driver 1071. Once the electrode, or sheath, is in position, the mechanical driver 1071 and trocar 1080 can be removed allowing the septum 1083 to seal again. By providing a sealed compartment to house the various drive wheels, pull wire mandrels, steering mandrels, electronics engagement points, or combinations thereof, tissue ingrowth and foreign body encapsulation are thereby prevented around the moving or electrical parts.
[0068] FIGS. 11A-11D illustrate generally creation and use of an electrical percutaneous implant connection port, in accordance with an example embodiment of the present disclosure. An electrical percutaneous implant connection port can be created to access a electrical connector or feedthrough 1188 of an implant for distribution of power and communications between the circuitry 1100 of the implant 1102 and controls or interfaces external to the patient. FIG. 10A-10D illustrate generally creation of an electrical percutaneous implant connection port for connection with a electrical connector or feedthrough 1088 of any of the example implants described herein.
[0069] FIG. 11A illustrate generally a step in creating the electrical percutaneous implant connection port and shows a needle 1181 piecing skin 110 above a trocar entrance of the casing of the implant 1102. The needle 1181 can lead the way for a trocar 1180 to be received at the trocar entrance. As illustrated in FIG. 11B, the needle 1181 and trocar 1080 can proceed past the trocar entrance and enter a self-sealing septum 1183 of the implant 1102. The trocar 1180, with the needle 1181 leading, can be proceed to a trocar stop 1184 of the implant 1102. Once the trocar 1180 is seated at the trocar stop 1184, the needle 1181 can be extracted from the trocar 1180 as illustrated in FIG. 11C, to leave the trocar 1080 as a working channel into the implant 1002. In certain examples, the trocar can include a cover 1179 to prevent foreign materials from entering the trocar 1080 during creation of the working channel. In certain examples, the trocar 1080 can include a coupling 1189 for engagement with a interface connector of the power or communication cable 1191 of the device to be electrically coupled with the electrical connector or feedthrough 1074 of the implant 1102 as shown in FIG. 11D.
[0070] FIG. 12A illustrates generally an implant positioning device, the implant 1202, and adjustable lead 1205 of a deep brain stimulator system (DBS). FIG. 12B illustrates generally the implant 1202 with a cover removed. The exterior of the implant can include screw/suture points 1224 and mechanical connection ports 1282 for receiving a driver 1271 for driving steering mandrels 1246 of the implant 1202. The steering mandrel can extend or retract pull wires 1226 connected to the adjustable lead 1205. In certain examples, the implant 1202 can include stimulator circuitry 1200 for electrically stimulating the adjustable lead 1205.
[0071] FIG. 12C illustrates generally a motor control module 1242 for temporary attachment to the implant 1202. The motor control module 1242 is attached to the implant 1202 when initially positioning the tip of the adjustable lead 1205 within the brain of a patient and when repositioning the tip of the adjustable lead 1205. The motor control module 1242 can include motors 1230 and drive bits 1271 for mechanically moving the steering mandrels of the implant. A access canula 1280 can assist coupling a corresponding drive bit 1271 with the respective connection port 1282 of the implant 1202. A cable 1248 can provide power and communication to the motors 1230 and related circuitry of the motor control module 1242. In certain examples, the related circuitry (not shown) can include processing circuitry and position sensors to assist in controlling the direction of the adjustable lead 1205 as the lead is inserted into the brain of the patient. In certain examples, the cable 1248 cab be a universal serial bus (USB) cable.
[0072] FIGS. 13A and 13B illustrate generally an example insertion device 1320 of an example of a DBS system. The insertion device 1320 can include a motor 1332, a drive wheel 1318, an idler wheel 1319, a clip hinge 1323 and one or mor burr hole fixation points 3121. The insertion device 1320 can be clipped on to the adjustable lead (FIG. 12, 1205) and secured to a burr hole plate (FIG. 14A, 1490) or the head of the patient, via the burr hole fixation points 1321, to provide the insertion motion for positioning the adjustable lead. In certain examples, the spring-loaded clip hinge 1323 can allow the drive wheel 1318 and idler wheel 1319 to be separated from each other for clipping of unclipping the insertion device on the adjustable lead. When the insertion device 1320 is clipped to the adjustable lead 1205, the spring-loaded clip hinge 1323 can clamp adjustable lead between the drive wheel 1218 and the idler wheel 1219. The motor 1332 can provide the mechanical force to insert and retract the adjustable lead. In some examples, the insertion device 1320 can include position sensors, such as encoders to provide precise velocity and position control of the motor 1332. A cable (not shown) of the insertion device 1320 can provide power and communications.
[0073] FIGS. 14A and 14B illustrate generally an example burr hole plate 1490 for anchoring certain components of an example DBS system to a patient. The burr hole plate can include fixation points 1494 for the insertion device (FIG. 13A, 1320), bone screws 1491, and sliding plates 1492, 1497. The bone screws 1491 can couple the burr hole plate to the patient. The slides 1492, 1497 can allow access to a burr hole in the head of a patient in an open position and can cover the burr hole in a closed position. The slides 1492, 1497 can include secure holes 1493 and notches 1496. The secure holes 1493 can allow the slides 1492, 1497 to be secured in the closed position with additional screws 1498. In the closed position, the notches 1496 can secure and fix the adjustable lead (FIG. 12A, 1205) between the slides 1492, 1497 after the tip of the adjustable lead has been positioned.
[0074] FIGS. 15A-15E illustrate various states of an example DBS system during and after positioning of the tip of the adjustable lead 1205. FIG. 15A illustrates generally early stages of the adjustable lead being inserted into the brain of a patient 1509 through a burr hole 1507 within the head 1511 of the patient. In addition to the adjustable lead 1205, the DBS system can include a burr hole plate 1490, and insertion device 1320, the implant 1202 and a motor control module 1242. FIG. 15B illustrates generally various progressions an insertion procedure can take as the adjustable electrode 1205 is inserted. The insertion device 1320 can provide the insertion motion to the adjustable lead 1205 and the motor control module 1242 and steering mandrels and pull wires of the implant 1202 can steer the tip of the adjustable electrode 1205.
[0075] FIG. 15C illustrates generally a state of the DBS system soon after the tip of the adjustable lead 1205 has been positioned in a desired location within the brain 1509 of the patient. The insertion device 1320 has been removed from the burr hole plate 1490, and the slides 1492, 1497 have been closed and secured to fix the adjustable lead 1205. FIG. 15D illustrates the implant 1202 after being placed in the implant position. The motor control module 1242 remains connected to the implant 1202 while the implant 1202 is placed in the implant position to assist with the placement using the pull wires of the implant 1202. Once placed and secured in the implant position, the motor control module 1492 can be removed from the implant 1202 as shown in FIG. 15E. The surgical site of the implant 1202, exposed portion of the adjustable lead 1205 and the burr hole plate can be closed within skin of the patient. If adjustments to electrode position are desired or needed to optimize implant or electrode orientation after procedure completion and skin closure, the percutaneous motor module 1242 can be utilized to re-access and engage the implant 1202 and adjustable lead 1205 to modify the electrode positions or location within the body toward a target site or electrophysiological response.
[0076] FIG. 16 is a block diagram illustrating a surgical insertion vision and control system 1600 for inserting a stimulation electrode within a patient, in accordance with an example embodiment of the present disclosure. The surgical system 1600 can include a central processing and control system 1601 for storing and updating procedure settings, configuration, and display. The surgical system 1600 can include a graphical user interface 1602 for adjusting view and other procedure settings. the graphical user interface can display information to user such as multi-dimensional anatomy images, cross-sectional anatomy images, insertion position graphics, buttons, etc. The surgical system 1600 can include a peripheral management system 1610 for managing communication with user-connected devices used for supplying information to, or interacting with, the surgical system. The peripheral management system 1610 can interface with a live patient imaging system 1611, a patient pre-op imaging system 1612, and a human interaction device 1613 among other things. The live patient imaging system 1611 can provide data used for real-time (live) imaging for visualization and target location information. Examples could include CT, MRI, Fluoroscopy. The patient pre-op imaging system 1612 can provide data used to create patient-specific visualizations and surgical templates. The human interaction device 1613 can include devices that allow a user of the surgical system 1600 to interact or control procedural actions and/or settings. Examples of such devices can include but are not limited to a foot pedal, a touchpad, a touchscreen, a hand-held controller or combinations thereof. The surgical system can include an insertion device 1614 such as the various components discussed above in FIGS. 1-15. The surgical system 1600 can include an algorithm and processing system 1630 that can provide real time feedback by applying algorithms and logic for determining surgical events and states. The surgical events and states can then be used as a feedback source for updating procedure settings and display. Parameters of the algorithm and processing system 1630 may include providing system parameter updates and modification based on object positional data over time, physiological patterns, or object angles relative to key points in the surgical site. The algorithm and processing system 1630 can interact with several subsystems including, but not limited to, an image processing system 1631, a signal processing system 1634, and a patient monitoring system 1636.
[0077] The image processing system 1631 can receive image information from a number of cameras or sensors such as a first camera 1632 in a position to view the surgical site such that it captures a left field, a second camera 1633 in a position to view the surgical site such that it captures the right field. The image processing system 1631 can process stereo camera imaging data from each camera view to create a multi-dimensional geometric map of the procedure site. A multi-dimensional geometric map can include detecting various objects in the view and can determine parameters such as location, angle, or distance of those objects in relation to one or more reference points. The signal processing system 1634 can interface with one or more instruments or sensors used to sense physiological signal waves of the patient and can include various electrodes 1635. The patient monitoring system 1636 can interface with one or more monitoring sensors 1637 to process data from the surgical suite, which can be fed back to a motor control algorithm during an insertion or positioning procedure. the one or more monitoring sensors can include, but are not limited to, an audio device, a video device, a nerve and muscular sensor, a tactical feedback device, a temperature sensor, a force sensor, or combinations thereof.
[0078] FIG. 17 illustrates generally an example method 1700 for inserting or positioning an adjustable electrode or steerable sheath and electrode combination according to the present subject matter. At 1701, a procedure can be initiated via a graphical user interface for example. Initiation may include selecting a template for electrophysiological response signals, template signals, such as a template saved in a previous procedure for the patient. At 1703, optional stimulation can be applied to the patient such as via one or more electrodes, such as the inserted electrode. In some examples, the stimulation can be sound stimulation. In some examples, artificial stimulation of the patient is not provided and a response signal can be a continuously occurring or non-evoked response signal. An evoked response signal is an electrophysiological signal which is emitted in response to the optional stimulus or stimuli. At 1705, electrophysiological signals, response signals, can be acquired from the patient whether optional stimulation has been applied to the patient or not. In certain examples, acquisition of the response signals can include applying signal conditioning such as filtering, windowing, amplification, or combinations thereof. In some examples, the response signals can be digitized and transmitted to a central processing computer such as a processor of the algorithm processing and detection system 1630 of FIG. 16, for example. At 1707, the response signals or response signal data can be convolved with the template signals to identify or determine a similarity index with the template. In certain examples, the convolution can further include filtering and evaluating temporal or frequency trajectories of the similarity index collected over time to identify trends, magnitude, maxima, minima, etc. In certain examples, a correlation algorithm can be used to determine a similarity index instead of a convolution algorithm. In some examples, a convolution algorithm and a correlation algorithm can be used to determine a similarity index between the template signals and the response signals. At 1709, parameters for modifying a position of orientation of the inserted electrode, during or after an insertion procedure, can be determined and evaluated for possible improvement. If improvement of the position or orientation of the electrode is possible, at 1711, the position or orientation of the inserted electrode can be modified in real-time during an insertion or repositioning procedure based on parameters determined from the similarity index and analysis thereof, and the method can repeat by continuing to stimulate the one or more electrodes at 1703. If an optimal position has been established, the positioning and evaluation parameters can be stored as a template or can be used to update the existing template and template signals at 1713.
[0079] The pattern match algorithm for real-time surgical robotics decision adaptation described here improves this process by calculating and determining a value for a recorded signal measurement that signifies if the ongoing electrophysiological signal levels are changing overtime or throughout a clinical procedure. The algorithm improves the robotic surgical systems decision making and matrix tree. Existing electrophysiological recording methods can be less robust to environmental electrical noise and recording set parameters. In the operating room environment setting, where multiple electrical devices are present and the noise environment is an unknown and constantly variable, such robustness can improve procedure efficiency by avoiding inconsistent and unreliable electrophysiological patient recordings. For example, the current art algorithms are based exclusively on the Fast Fourier Transform method which must be tuned to specific acquisition rates and signal window length prior to or during the recording procedure in order to achieve specific resolutions in the desired electrophysiological frequency domain. The pattern match algorithm for real-time surgical robotics decision adaptation described here is less susceptible to environmental electrical noise and minimizes the need to modify, set, or adjust the signal window length and acquisition rate during the procedure. The method described herein, therefore, enables real-time analysis of electrophysiological data and prevents data lossmaking it useful in a high noise, clinical environment with surgical robotic decision making.
[0080] In a first example, Example 1, a system for robotically assisted manipulation of an elongate member in a patient can include a drive wheel assembly configured to insert and retract the elongate member into and out of the patient; a steering assembly configured to shape the path and geometry of the elongate member; and a first control circuit communicatively coupled to the drive wheel assembly and the steering assembly and configured to control motion of the drive wheel assembly and the steering assembly to position a tip of the elongate member to a desired implantation site.
[0081] In Example 2, the subject matter of Example I includes, wherein the steering assembly includes a second control circuit coupled to the drive wheel assembly and the first control circuit; and wherein the drive wheel is configured to frictionally move the elongate member in response to a motion control signal of the first control circuit.
[0082] In Example 3, the subject matter of Example 2 includes, wherein the second control circuit is configured to generate drive signals to electrically drive an electrode of the elongate member for neurostimulation of the patient.
[0083] In Example 4, the subject matter of Examples 1-3 includes, wherein the steering assembly includes multiple steering mandrels, the multiple steering mandrels configured to wind and unwind pull wires coupled to a sheath positioned between the steering assembly and the drive wheel assembly, the sheath configured to guide lateral positioning of the tip of the elongate member as the wheel assembly inserts or retracts the elongate member.
[0084] In Example 5, the subject matter of Example 4 includes, a motor drive circuit configured to mechanically and percutaneously connect with the steering assembly during manipulation of the elongate member and to provide electromotive force to move the multiple steering mandrels.
[0085] In Example 6, the subject matter of Examples 1-5 includes, wherein the steering assembly includes multiple steering mandrels, the multiple steering mandrels configured to wind and unwind pull wires coupled to the elongate member, to guide lateral positioning of the tip of the elongate member as the drive wheel assembly inserts or retracts the elongate member; wherein the drive wheel assembly is housed with the steering assembly; wherein the motor drive circuit is configured to percutaneously and mechanically connect with the drive wheel and provide electromotive force to the drive wheel to insert and retract the elongate member within the patient; and wherein the motor drive circuit is configured to disconnect from the steering assembly and the drive wheel assembly in response to completion of manipulation of the elongate member.
[0086] In Example 7, the subject matter of Examples 1-6 includes, wherein an electrode of the elongate member is configured to stimulate nerves within a spine of patient.
[0087] In Example 8, the subject matter of Examples 1-7 includes, wherein an electrode of the elongate member is configured to stimulate nerves within a brain of the patient.
[0088] Example 9 is a system for robotically assisted manipulation of an implant in a patient, the system comprising: an implant-positioning unit, including a drive head and a steerable sheath configured to engage an electrode of the implant and robotically deliver and position and shape a path of the electrode along a target implantation path; and a control console communicatively coupled to the implant-positioning unit, the control console including a controller circuit configured to generate a motion control signal for controlling the implant-positioning unit to robotically deliver and position the implant into the target implantation site.
[0089] In Example 10, the subject matter of Example 9 includes, wherein the steerable sheath includes a plurality of pull wires configured to steer a geometry and curvature of a path of the steerable sheath.
[0090] In Example 11, the subject matter of Example 10 includes, wherein the implant positioning unit includes multiple mandrels coupled to the plurality of pull wires.
[0091] In Example 12, the subject matter of Example 11 includes, wherein the implant positioning unit includes a first drive wheel configured to engage an outside surface of the electrode and to apply insertion force to the electrode.
[0092] In Example 13, the subject matter of Example 12 includes, wherein the implant positioning unit includes a second drive wheel configured to engage the outside surface of the electrode opposite the first drive wheel.
[0093] In Example 14, the subject matter of Example 13 includes, wherein the implant positioning unit includes actuators to vertically offset the first drive wheel and the second drive wheel to rotate electrode about an axis parallel to a major direction of the insertion force.
[0094] In Example 15, the subject matter of Examples 13-14 includes, a motor control unit including multiple actuators configured to percutaneously engage the mandrels and to apply torque to the mandrels to control extension and retraction of the pull wires responsive to the control console.
[0095] Example 16 is a method of manipulating an electrode for stimulation of nerves of a patient, the method comprising: initiating a procedure to modify a position of an electrode; receiving either evoked electrophysiological signals from the patient or non-evoked electrophysiological signals from the patient; convolving the electrophysiological signals with template signals to generate a similarity index; and modifying a position of the electrode based on the similarity index deviating from a threshold.
[0096] In Example 17, the subject matter of Example 16 includes, wherein modifying a position of the electrode includes generating a motion command signal based on the similarity index.
[0097] In Example 18, the subject matter of Example 17 includes, wherein modifying a position of the electrode includes receiving the motion command signal at a motor control module coupled to a drive wheel; and moving the drive wheel in response to the motion command signal to further insert or retract the electrode from a current implant location of the patient.
[0098] In Example 19, the subject matter of Example 18 includes, wherein the motion command signal is based on an input signal received from a camera system, a radiographical tracking system, or a human interaction device.
[0099] In Example 20, the subject matter of Examples 17-19 includes, wherein modifying a position of the electrode includes receiving the motion command signal at a motor control module coupled to a drive wheel; and wherein modifying a position of the electrode includes rotating the electrode, based on the motion command signal, about a longitudinal axis parallel to the electrode.
[0100] In Example 21, the subject matter of Examples 17-20 includes, wherein modifying a position of the electrode includes receiving the motion command signal at a percutaneous motor control module coupled to an implanted drive wheel motor.
[0101] Example 22 is at least one machine-readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations to implement of any of Examples 1-21.
[0102] Example 23 is an apparatus comprising means to implement of any of Examples 1-21.
[0103] Example 24 is a system to implement of any of Examples 1-21.
[0104] Example 25 is a method to implement of any of Examples 1-21.
[0105] Various embodiments are illustrated in the figures above. One or more features from one or more of these embodiments may be combined to form other embodiments.
[0106] The method examples described herein can be machine or computer-implemented at least in part. Some examples may include a computer-readable medium or machine-readable medium encoded with instructions operable to configure an electronic device or system to perform methods as described in the above examples. An implementation of such methods may include code, such as microcode, assembly language code, a higher-level language code, or the like. Such code may include computer readable instructions for performing various methods. The code can form portions of computer program products. Further, the code can be tangibly stored on one or more volatile or non-volatile computer-readable media during execution or at other times.
[0107] The above detailed description is intended to be illustrative, and not restrictive. The scope of the disclosure should, therefore, be determined with references to the appended claims, along with the full scope of equivalents to which such claims are entitled.
