Method for automated opening of craniotomies for mammalian brain access
A method for automated opening of craniotomies includes, under the control of a computer processor, drilling into a skull for a predetermined distance and determining when there is a conductance drop near the drilling tip that indicates skull breakthrough. If the conductance is not below a predetermined threshold, drilling continues iteratively manner until conductance is below the threshold. A craniotomy pattern may be predetermined and automatically drilled under control of the processor. A cranial window may be created by drilling along a path that interpolates between holes to form the circumference of the window. An automated craniotomy opening apparatus includes a drilling apparatus with a drilling tip, at least one drilling apparatus positioning device, a detection device, and a computer processor that controls the drilling apparatus, the positioning device, and the detection device according to the method. Determining conductance may include use of an impedance detection circuit.
1. A method for automated opening of craniotomies, comprising:
positioning a craniotomy apparatus drilling tip at a starting position relative to a target skull;
automatically opening a craniotomy, without user intervention, by the steps of:
under the automatic control of a computer processor specially configured with control software for automatically and iteratively operating a craniotomy apparatus,
drilling into the target skull with the drilling tip for a predetermined distance;
after drilling, automatically determining the conductance near the drilling tip;
if the conductance is below a predetermined threshold, automatically returning the drilling tip to a home position; and
if the conductance is not below the predetermined threshold, automatically repeating the steps of drilling for the predetermined distance and determining the conductance until the conductance exceeds the predetermined threshold.
2. The method of claim 1 , wherein the step of determining the conductance comprises the steps of:
under the control of the computer processor,
measuring impedance with an impedance detection circuit; and
calculating the conductance using the measured impedance.
3. The method of claim 2 , wherein the step of measuring impedance comprises the steps of:
under the control of the computer processor,
sending a signal through the impedance circuit to the drilling tip;
detecting a voltage at the target skull; and
sending a signal representing the detected voltage from the impedance circuit to the computer processor.
4. The method of claim 3 , wherein the step of calculating comprises determining a voltage drop across the impedance circuit.
5. The method of claim 2 , wherein the step of measuring impedance comprises the steps of:
under the control of a computer processor,
sending a signal at a predetermined voltage through the impedance circuit to the target skull;
detecting a voltage at the drilling tip; and
sending a signal representing the detected voltage from the impedance circuit to the computer processor.
6. The method of claim 5 , wherein the step of calculating comprises determining a voltage drop across the impedance circuit.
7. The method of claim 1 , further comprising the steps of:
predetermining a drill hole pattern comprising a plurality of craniotomies to be drilled in the target skull using the method of claim 1 ; and
creating the drill hole pattern by drilling the plurality of craniotomies using the method of claim 1 .
8. The method of claim 7 , wherein the predetermined drill hole pattern is selected to facilitate creation of a cranial window in the target skull.
9. The method of claim 8 , further comprising the step of creating the cranial window by drilling along a path that interpolates between the holes to form a circumference of the cranial window.