Method and apparatus for intraoperative cardiac tissue injection
The apparatus provides for injecting therapeutic agents at precise locations into the bodily tissue. The apparatus comprises an end effector that is guided to a precise location by motion controllers on a handle. At a precise location, the end effector attaches via a vacuum to the cardiac tissue. A flexible needle is advanced through a deflecting tunnel in the end effector to a desired depth. A therapeutic agent is then introduced via the flexible needle into the cardiac tissue. All these manipulations can be controlled by one hand and can be viewed via imaging methods.
1. An improved apparatus for injecting a therapeutic agent into cardiac tissue at a precise location wherein the apparatus comprises a handle, a catheter, an end effector and a flexible needle;
the handle comprising a set of motion controllers, including a means for advancing the flexible needle;
the catheter comprising a means for carrying a vacuum tube, the flexible needle, and a set of guide wires; wherein the motion controllers manipulate the set of guide wires to guide the end effector to the precise location; the catheter further having a longitudinal axis;
the end effector having a proximal end and a distal end comprising at least a leading face at its distal end, a trailing face at its proximal end, where it is connected to the catheter, and a working face disposed in a sidewall between, and substantially orthogonal to, the leading face and the trailing face; a suction aperture formed in the working face is in fluid communication with a vacuum port in the trailing face; the vacuum port fittingly coupled with the vacuum tube carried in the catheter, for selectively affixing the end effector to the cardiac tissue using suction, wherein the direction of suction flow is substantially orthogonal to the longitudinal axis of the catheter;
a deflecting needle tunnel extending from an injection needle port on the trailing face to a working face needle port;
whereby advancement of the flexible needle through the tunnel causes the needle to be deflected at an angle before emerging from the needle tunnel at the working face needle port and penetrating the cardiac tissue when extended.
2. The improved apparatus of claim 1 wherein advancement of the flexible needle through the tunnel causes the needle to be deflected at an angle in the range of 45 to 90 degrees.
3. The improved apparatus of claim 1 , wherein the end effector further comprises a positional tracking device to enable real-time tracking and navigation.
4. The improved apparatus of claim 3 , wherein in the positional tracking device is an electromagnetic sensor coil.
5. The apparatus of claim 1 further comprising a means for locking the flexible needle into position.
6. The improved apparatus of claim 1 , wherein the end effector further comprises a plurality of sensors for providing information about the tissue.
7. The improved apparatus of claim 1 wherein the end effector may be intentionally directed in at least one dimension.
8. The improved apparatus of claim 1 , further comprising an advancement measurement indicator for determining how far the flexible needle has been advanced.
9. The improved apparatus of claim 8 , wherein data from the advancement measurement indicator can be correlated with computer navigation system data to provide real time positional information about the needle.
10. The improved apparatus of claim 1 , wherein advancement of the needle and manipulation of the guide wires can be performed by the surgeon with one hand via manipulation of the means on the handle.
11. The improved apparatus of claim 1 , wherein the catheter further comprises a distal steerable portion comprised of a series of disks to enable smooth bending while steering the end effector.
12. The improved apparatus of claim 1 , wherein the cross-sectional area of the suction aperture is of a sufficient size, and the working face needle port within the section aperture is a sufficient distance from the outer edge of the suction aperture, such that the end effector does not form a bleb in the tissue adjacent to the working needle face port.
13. The handle of claim 1 , further comprising means for injecting the therapeutic agent into the tissue.
14. A method of injecting a therapeutic agent into cardiac tissues at a precise location, the method comprising:
(a) selecting an injecting instrument comprising:
a handle, a catheter, an end effector and a flexible needle;
the handle comprising a set of motion controllers, a means for advancing the flexible needle;
the catheter comprising a means for carrying a vacuum tube, the flexible needle, a set of guide wires, and a longitudinal axis;
the motion controllers manipulate the set of guide wires to guide the end effector to the precise location;
the end effector having a proximal end and a distal end comprising;
at least a vacuum chamber, a leading face at the distal end, a trailing face at the proximal end, and a working face in a sidewall between, and substantially orthogonal to, the distal and proximal ends; the vacuum chamber having a first end terminating in a suction aperture formed in the working face for selectively affixing the end effector to the tissue and a second end terminating in a vacuum port in the trailing face; the vacuum port fittingly coupled with the vacuum tube in the catheter;
a deflecting arcuate needle tunnel extending from an injection needle port on the trailing face to a working face needle port on the working face,
whereby advancement of the flexible needle through the tunnel causes the needle to be deflected at an angle before exiting the tunnel;
(b) positioning the end effector with the motion controllers at the precise location on the cardiac tissue;
(c) applying a vacuum force through the vacuum port to the suction aperture to affix the end effector at the precise location on the cardiac tissues, such that the direction of the vacuum force on the cardiac tissue is substantially orthogonal to the longitudinal axis of the catheter;
(d) advancing the flexible needle with the motion controllers a measured distance through the working face port into the tissue to a desired depth, and introducing a therapeutic agent via the flexible needle into the tissue.
15. The method of claim 14 , wherein advancement of the flexible needle through the tunnel causes the needle to be deflected at an angle in the range of 45 to 90 degrees.
16. The method of claim 14 , wherein the end effector further comprises a positional tracking device to enable real-time tracking and navigation.
17. The method of claim 14 wherein the end effector further comprises a pair of sensors on the working face for providing information about properties of interest.
18. The method of claim 14 , wherein the end effector may be intentionally directed in at least one direction.
19. The method of claim 14 , further comprising using an advancement measurement indicator to determine the distance the flexible needle has been advanced.
20. The method of claim 19 , further comprising using data from the advancement measurement indicator to correlate with computer navigation system data providing real time positional information about the needle in relation to the cardiac tissue.
21. The method of claim 14 , wherein the catheter further comprises a distal steerable portion comprised of a series of disks to enable smooth bending while steering the end effector.
22. The method of claim 14 , wherein the handle further comprises a means for locking the flexible needle into position.
23. The method of claim 14 , wherein the handle further comprises a means for injecting the therapeutic agent into the cardiac tissue.