Neural interface insertion and retraction tools
Devices and methods for manipulating devices such as micro-scale devices are provided. The devices can include a tether of various materials surrounded by a stiff body. The tether interfaces with microscale devices to draw them against the stiff body, holding the microscale devices in a locked position for insertion into or extraction out of tissue. The tensional hook and stiff body are configurable in a multitude of positions and geometries to provide increased engagement. Such configurations allow for a range of implantation and extraction surgical procedures for the device within research and clinical settings.
1. A method of inserting a micro-scale device into a target substrate, comprising:
providing an insertion tool comprising a tether having a proximal end, a distal end, and an elongate body, and an end effector operably connected to the distal end of the tether;
mechanically coupling the end effector to a portion of the micro-scale device;
positioning the micro-scale device at a desired location within a target substrate;
mechanically decoupling the end effector from the micro-scale device;
withdrawing the insertion tool from the target substrate, and
monitoring the motion of a nonstationary target surface, wherein positioning the micro-scale device comprises adjusting the positioning speed as a function of the monitored motion of the target surface.
2. The method of claim 1 , wherein positioning the micro-scale device at a desired location comprises moving the end effector distally with respect to a housing of the insertion tool.
3. The method of claim 2 , wherein the housing comprises a tubular body comprising a central lumen.
4. The method of claim 1 , wherein the end effector comprises a hook on its distal end.
5. The method of claim 1 , wherein the end effector comprises a releasable connector.
6. The method of claim 4 , wherein the micro-scale device comprises a neural interface or a biological interface.
7. The method of claim 4 , wherein mechanically coupling the end effector to a portion of the micro-scale device comprises positioning the hook through an aperture on the micro-scale device.
8. The method of claim 4 , wherein mechanically decoupling the end effector to a portion of the micro-scale device comprises disassociating the hook from an aperture on the micro-scale device.
9. The method of claim 1 , wherein the target substrate is non-stationary.
10. The method of claim 6 , wherein the target substrate comprises neural tissue.
11. The method of claim 1 , wherein mechanically coupling the end effector to a portion of the micro-scale device does not substantially displace the microscale device.
12. The method of claim 1 , wherein positioning comprises manipulating a tab on the end effector.
13. The method of claim 1 , wherein positioning the micro-scale device comprises actuating a control on the proximal end of the device to move the tether with respect to the elongate body.
14. The method of claim 13 , wherein actuating a control comprises rotating a control knob in a direction, thereby moving a tracking pin axially distally within a slot oriented substantially parallel to the longitudinal axis of the elongate body.
15. The method of claim 1 , wherein the tether is elastic.
16. The method of claim 7 , wherein a sidewall of the aperture is elastic.
17. A method of inserting a micro-scale device into a target substrate, comprising:
providing an insertion tool comprising a tether having a proximal end, a distal end, and an elongate body, and an end effector operably connected to the distal end of the tether, wherein the tether is elastic;
mechanically coupling the end effector to a portion of the micro-scale device;
positioning the micro-scale device at a desired location within a target substrate;
mechanically decoupling the end effector from the micro-scale device; and
withdrawing the insertion tool from the target substrate.
18. The method of claim 17 , wherein positioning the micro-scale device at a desired location comprises moving the end effector distally with respect to a housing of the insertion tool.
19. The method of claim 18 , wherein the housing comprises a tubular body comprising a central lumen.
20. The method of claim 17 , wherein the end effector comprises a hook on its distal end.
21. The method of claim 17 , wherein the end effector comprises a releasable connector.
22. The method of claim 20 , wherein the micro-scale device comprises a neural interface or a biological interface.
23. The method of claim 20 , wherein mechanically coupling the end effector to a portion of the micro-scale device comprises positioning the hook through an aperture on the micro-scale device.
24. The method of claim 20 , wherein mechanically decoupling the end effector to a portion of the micro-scale device comprises disassociating the hook from an aperture on the micro-scale device.
25. The method of claim 17 , wherein the target substrate is non-stationary.
26. The method of claim 22 , wherein the target substrate comprises neural tissue.
27. The method of claim 17 , wherein mechanically coupling the end effector to a portion of the micro-scale device does not substantially displace the microscale device.
28. The method of claim 17 , further comprising monitoring the motion of the nonstationary target surface.
29. The method of claim 17 , wherein positioning comprises manipulating a tab on the end effector.
30. The method of claim 17 , wherein positioning the micro-scale device comprises actuating a control on the proximal end of the device to move the tether with respect to the elongate body.
31. The method of claim 30 , wherein actuating a control comprises rotating a control knob in a direction, thereby moving a tracking pin axially distally within a slot oriented substantially parallel to the longitudinal axis of the elongate body.
32. The method of claim 23 , wherein a sidewall of the aperture is elastic.
33. A method of inserting a micro-scale device into a target substrate, comprising:
providing an insertion tool comprising a tether having a proximal end, a distal end, and an elongate body, and an end effector operably connected to the distal end of the tether, wherein the end effector comprises a hook on its distal end;
mechanically coupling the end effector to a portion of the micro-scale device, wherein mechanically coupling the end effector to a portion of the micro-scale device comprises positioning the hook through an aperture on the micro-scale device, wherein a sidewall of the aperture is elastic;
positioning the micro-scale device at a desired location within a target substrate;
mechanically decoupling the end effector from the micro-scale device; and
withdrawing the insertion tool from the target substrate.
34. The method of claim 33 , wherein positioning the micro-scale device at a desired location comprises moving the end effector distally with respect to a housing of the insertion tool.
35. The method of claim 34 , wherein the housing comprises a tubular body comprising a central lumen.
36. The method of claim 33 , wherein the end effector comprises a releasable connector.
37. The method of claim 33 , wherein the micro-scale device comprises a neural interface or a biological interface.
38. The method of claim 33 , wherein mechanically decoupling the end effector to a portion of the micro-scale device comprises disassociating the hook from an aperture on the micro-scale device.
39. The method of claim 33 , wherein the target substrate is non-stationary.
40. The method of claim 37 , wherein the target substrate comprises neural tissue.
41. The method of claim 33 , wherein mechanically coupling the end effector to a portion of the micro-scale device does not substantially displace the microscale device.
42. The method of claim 33 , further comprising monitoring the motion of the nonstationary target surface.
43. The method of claim 33 , wherein positioning comprises manipulating a tab on the end effector.
44. The method of claim 33 , wherein positioning the micro-scale device comprises actuating a control on the proximal end of the device to move the tether with respect to the elongate body.
45. The method of claim 44 , wherein actuating a control comprises rotating a control knob in a direction, thereby moving a tracking pin axially distally within a slot oriented substantially parallel to the longitudinal axis of the elongate body.