Modular implant delivery and positioning system
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 external positioning unit. The control console can have a user interface that enables a user to input motion control instructions. The control console can 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. The system can be used to robotically control the delivery and positing of a cochlear implant during a hearing-preservation cochlear implant surgery.
1. A method for robotically assisted positioning of a guide sheath and implant, the method comprising:
positioning a guide sheath adjacent to an implantation site using a robotically controlled implant positioning system including a drive head including a housing containing a guide track, the guide track including a first longitudinal track portion and a second longitudinal track portion;
determining, using the robotically controlled implant positioning system, that a distal end of the guide sheath is in a first target position;
positioning an implant through the guide sheath, using the robotically controlled implant positioning system, into the implantation site; wherein the positioning the implant includes guiding the implant through the drive head to limit rotation or twisting during translation;
monitoring a position of the implant; and
determining, using the robotically controlled implant positioning system, that a distal end of the implant has reached a second target position.
2. The method of claim 1 , wherein the determining that the distal end of the implant reached the second target position includes monitoring electrophysiological measurements to determine an optimal implant position.
3. The method of claim 2 , wherein monitoring the electrophysiological measurements includes receiving real-time feedback signals from a biofeedback system communicatively coupled to the robotically controlled implant positioning system.
4. The method of claim 1 , wherein the determining that the distal end of the implant reached the second target position includes monitoring real-time signals from a biofeedback system communicatively coupled to the robotically controlled implant positioning system, the real-time signals including data representative of electrophysiological, biological or image based sensor data.
5. The method of claim 1 , wherein the determining that the distal end of the implant reached the second target position includes monitoring a motion control parameter for the implant.
6. The method of claim 5 , wherein monitoring the motion control parameter includes monitoring one or more of movement rate, movement distance, or force imposed on the implant.
7. The method of claim 5 , wherein monitoring the motion control parameter includes receiving sensor data from one or more sensors from the group of sensors and imaging technologies consisting of:
an encoder;
a hail effect sensor,
a capacitive sensor;
a force sensor;
radiography;
magnetic resonance imaging;
optical coherence tomography;
ultrasonography; and
impedance measures.
8. The method of claim 1 , wherein guiding the implant through the drive head includes capturing an access tab attached to the implant within one of the first longitudinal track portion and the second longitudinal track portion.
9. The method of claim 8 , wherein the second longitudinal track portion defines a rectangular groove or longitudinal slit; and
wherein the capturing the access tab includes receiving at least a portion of the access tab within the rectangular groove or longitudinal slit.
10. The method of claim 1 , wherein positioning the implant includes engaging the implant with a coupling unit portion of the drive head to translate the implant.
11. The method of claim 10 , wherein the coupling unit includes at least two wheels configured to engage at least a portion of the implant, through compression between portions of radial outer surfaces of the at least two wheels, and wherein translating the implant occurs through rotation of the wheels via friction generated by the compression.