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 external 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 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. The system may be used to robotically control the delivery and positing of a cochlear implant during a hearing-preservation cochlear implant surgery.
1 . A system for implantation of an implant in a patient, the system comprising:
an external positioning unit including a coupling unit to engage at least a portion of an elongate member of the implant, and to robotically deliver and position the implant into a target implantation site;
an external motor enclosure including a motor to provide a motion input to the external positioning unit; and
a flexible shaft connecting the external positioning unit and the external motor enclosure to deliver the motion input from the external motor enclosure to the external positioning unit.
2 . The system of claim 1 , wherein the external positioning unit is mountable to the patient adjacent an implantation site.
3 . The system of claim 1 , wherein the external positioning unit is a handheld device.
4 . The system of claim 1 , wherein the external motor enclosure includes control circuitry to control the motor and the external positioning unit.
5 . The system of claim 4 , wherein the flexible shaft includes a flexible drive shaft and a communication cable linking the external positioning unit and the control circuitry.
6 . The system of claim 4 , further comprising a user control device to provide control inputs to the control circuitry.
7 . The system of claim 6 , wherein the user control device includes a foot pedal.
8 . The system of claim 4 , wherein the control circuitry is configured to control a speed, direction, or type of motion generated by the motor.
9 . The system of claim 4 , further comprising a sensor to provide electrophysiological data in real-time to the control circuitry to enable closed-loop feedback-based positioning of the implant with the external positioning unit.
10 . The system of claim 9 , wherein the electrophysiological data include electrocochleography (ECoG) data.
11 . The system of claim 1 , wherein the motor is configured to drive translational, rotational, or combined motion of the elongate member of the implant.
12 . The system of claim 1 , wherein the coupling unit includes at least two frictional surfaces configured to compressionally engage at least the portion of the elongate member of the implant.
13 . The system of claim 1 , wherein the coupling unit includes at least one of:
a leadscrew;
a clamp;
two or more rotors; or
a rack and pinion arrangement.
14 . The system of claim 1 , wherein the coupling unit includes adjustable couplers for reversible or interchangeable coupling between the external positioning unit and the elongate member.
15 . A method for delivering and positioning an implant into a target implantation site in a patient using an external positioning unit, the method comprising:
engaging at least a portion of an elongate member of the implant into a coupling unit of the external positioning unit;
connecting the external positioning unit and a motor included in an external motor enclosure via a flexible shaft, wherein the external motor enclosure is separate and remote from the external positioning unit; and
providing motion input from the motor to the external positioning unit via the flexible shaft to facilitate positioning of the implant into the target implantation site.
16 . The method of claim 15 , further comprising mounting the external positioning unit to the patient adjacent an implantation site.
17 . The method of claim 15 , further comprising controlling the motor and the external positioning unit via control circuitry included in the external motor enclosure.
18 . The method of claim 17 , further comprising providing control inputs to the control circuitry via a user control device including a foot pedal.
19 . The method of claim 17 , further comprising collecting electrocochleography (ECoG) data using a sensor and providing collected ECoG data in real-time to the control circuitry to enable closed-loop feedback-based positioning of the implant with the external positioning unit.
20 . The method of claim 15 , wherein engaging at least the portion of the elongate member into the coupling unit is through compression exerted by at least two frictional surfaces of the coupling unit.