Medical device implantation and positioning system

Patent metadata

Field	Value
Publication number	US-2016367331-A1
Application number	US-201514947044-A
Country	US
Kind code	A1
Filing date	Nov 20, 2015
Priority date	Jun 18, 2015
Publication date	Dec 22, 2016
Grant date	—

Abstract

An implantation system for positioning and aligning an elongate medical device in three-dimensional space. The system may include: a frame member; and first, second, and third legs each having an adjustable length. Each of the first, second, and third legs includes: a first end having a socket segment, wherein the socket segments of each of the first, second, and third legs together define a socket; and a second end connected to the frame member. A spherical member is adapted to be received within the socket such that the spherical member may rotate about a center of rotation defined by the socket, the spherical member having an inner surface defining a bore passing through the spherical member.

First claim

What is claimed is:

1 . An implantation system for positioning an elongate medical device in three-dimensional space, the system comprising:
a frame member; first, second, and third legs each having an adjustable length, wherein each of the first, second, and third legs comprises:
a first end comprising a socket segment, wherein the socket segments of each of the first, second, and third legs together define a socket; and
a second end connected to the frame member; and
a spherical member adapted to be received within the socket such that the spherical member may rotate about a center of rotation defined by the socket, the spherical member comprising an inner surface defining a bore passing through the spherical member.

2 . The system of claim 1 , further comprising a lock member associated with one or both of the socket and the spherical member, the lock member movable between:
a first position wherein the spherical member is free to rotate within the socket; and a second position wherein the spherical member is immobilized relative to the socket.

3 . The system of claim 1 , wherein each of the first, second, and third legs comprises a leg lock adapted to lock its respective leg at any one of a plurality of lengths.

4 . The system of claim 1 , wherein the frame member comprises a ring.

5 . The system of claim 4 , wherein the ring comprises anchor points each adapted to secure the ring to a corresponding reference point on a mammalian body.

6 . The system of claim 5 , wherein the anchor points comprise three fixed anchor points and one sliding anchor point.

7 . The system of claim 4 , wherein the ring comprises anchor points each adapted to secure the ring to a corresponding reference point on a human skull.

8 . The system of claim 1 , wherein each of the first, second, and third legs defines a longitudinal axis and wherein each of the longitudinal axes intersect one another at the center of rotation defined by the socket.

9 . The system of claim 8 , wherein each of first, second, and third legs is adapted to rotate about its respective longitudinal axis.

10 . The system of claim 1 , further comprising:
fourth, fifth, and sixth legs each having an adjustable length, wherein each of the fourth, fifth, and sixth legs comprises:
a first end comprising a socket segment, wherein the socket segments of each of the fourth, fifth, and sixth legs together define a second socket; and
a second end connected to the frame member; and
a second spherical member adapted to be received within the second socket such that the second spherical member may rotate about a center of rotation defined by the second socket, the second spherical member comprising an inner surface defining a bore passing through the second spherical member.

11 . A system for implanting an elongate medical device into a mammalian skull through a predetermined entry point and at a predetermined trajectory, the system comprising:
a frame comprising three or more anchor points; a spherical guide assembly comprising: three independent socket segments that together define a socket; and a spherical member adapted to be received within the socket such that the spherical member may rotate about a center of rotation defined by the socket, the spherical member comprising an inner surface defining a bore passing through the spherical member; and first, second, and third legs, wherein each of the first, second, and third legs has an adjustable length, and wherein each of the first, second, and third legs is connected both to the spherical guide assembly and to the frame.

12 . The system of claim 11 , wherein the socket segments are formed by concave end portions of the first, second, and third legs.

13 . The system of claim 11 , where the anchor points comprise three fixed anchor points and one sliding anchor point.

14 . The system of claim 11 , wherein end portions of each of the first, second, and third legs attach to the frame via a ball-and-socket connection.

15 . The system of claim 11 , wherein each of the first, second, and third legs comprises a leg lock adapted to lock the respective leg at any one of a plurality of lengths.

16 . The system of claim 11 , further comprising an insertion guide adapted to be secured within the bore of the spherical member.

17 . The system of claim 11 , wherein each of the first, second, and third legs defines a longitudinal axis and wherein each of the longitudinal axes intersect each other at the center of rotation defined by the socket.

18 . The system of claim 11 , further comprising a lock member associated with the spherical guide assembly, the lock member movable between:
a first position wherein the spherical member is free to rotate within the socket; and a second position wherein the spherical member is immobilized relative to the socket.

19 . A method for configuring an implantation system for an elongate medical device, the method comprising:
establishing a coordinate system based upon positions of three or more reference points on a surface of a body; determining coordinates of a target tissue location within the body based upon the coordinate system; positioning a center of rotation of a socket of a spherical guide assembly relative to the target tissue location to provide an implant trajectory, wherein the spherical guide assembly comprises: three independent socket segments that together define the socket; and a spherical member adapted to be received within the socket such that the spherical member may rotate about the center of rotation defined by the socket, the spherical member comprising an inner surface defining a bore passing through the spherical member; supporting the spherical guide assembly with first, second, and third legs, wherein each of the first, second, and third legs has an adjustable length, and wherein each of the first, second, and third legs is connected both to the spherical guide assembly and to a ring adapted to connect to the three or more reference points; engaging a leg lock associated with each of the first, second, and third legs when the center of rotation aligns with the implant trajectory; and adjusting a rotational position of the spherical member within the socket until an axis of the bore of the spherical member is coincident with the implant trajectory.

20 . The method of claim 19 , further comprising immobilizing the spherical member relative to the socket.

21 . The method of claim 19 , wherein positioning the center of rotation of the socket comprises:
securing a probe relative to the center of rotation of the socket, the probe attached to an arm of a coordinate measuring machine; moving the spherical guide assembly within the coordinate system; and observing coordinates of the probe in real time using position data provided by the coordinate measuring machine.

22 . The method of claim 19 , wherein positioning the center of rotation of the socket comprises:
securing a reflective probe relative to the center of rotation of the socket; moving the spherical guide assembly within the coordinate system; and observing coordinates of the probe in real time using a camera.

23 . The method of claim 19 , further comprising:
attaching the ring to the three or more reference points; and surgically implanting the medical device via the bore in the spherical member.

Assignees

• Medtronic Inc

Inventors

• Nelson Brian D
• Agran Jason E

Classifications

• A61B2017/3409

  including needle or instrument drives · CPC title

• A61B2017/3407

  including a base for support on the body · CPC title

• A61B90/10

  for stereotaxic surgery, e.g. frame-based stereotaxis · CPC title

• A61B17/3468

  for implanting or removing devices, e.g. prostheses, implants, seeds, wires (devices for implanting seeds A61M37/0069) · CPC title

• A61B2090/363

  Use of fiducial points · CPC title