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 tool configured for inserting and retracting a micro-scale device, comprising:
a housing;
an elastic tether comprising a proximal end, a distal end, and an elongate body, a portion of the tether configured to extend distally from the housing in a first configuration and be retracted within the housing in a second configuration; and
an end effector operably connected to the distal end of the tether, the end effector configured to reversibly mechanically couple with a portion of the micro-scale device, wherein the tool is configured such that the mechanical coupling does not substantially displace the micro-scale device.
2. The tool of claim 1 , wherein the housing comprises a tubular body, and the tether is configured to slide within a channel of the housing.
3. The tool of claim 1 , wherein the end effector comprises a hook.
4. The tool of claim 1 , wherein the end effector comprises a pivoting joint connected to the hook.
5. The tool of claim 1 , wherein the end effector comprises a laterally-extending tab configured to allow a user to position the micro-scale device within a target location.
6. The tool of claim 1 , wherein the end effector comprises an aperture near a proximal end of the end effector, the aperture configured to house a portion of the tether therethrough, thereby coupling the end effector and the tether.
7. The tool of claim 1 , wherein the tubular body comprises a slot oriented axially with respect to a longitudinal axis of the tubular body.
8. The tool of claim 1 , configured to insert and retract a neural array.
9. The tool of claim 1 , wherein the proximal end of the housing comprises a control knob operably connected to and configured to actuate the tether proximally or distally with respect to the housing.
10. The tool of claim 9 , further comprising a slot on the housing, the slot oriented substantially parallel to a longitudinal axis of the housing.
11. The tool of claim 9 , further comprising a radially oriented pin on an inner member configured to slide axially with respect to the housing, the radially oriented pin configured to move axially within the slot.
12. A method of removing a micro-scale device from a target substrate, comprising:
providing an removal tool comprising an elastic 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 embedded at least partially within the target substrate; and
withdrawing the removal tool and the micro-scale device from the target substrate.
13. The method of claim 12 , wherein the end effector comprises a hook on its distal end.
14. The method of claim 12 , wherein the end effector comprises a releasable connector.
15. The method of claim 12 , wherein the micro-scale device comprises a neural interface or a biological interface.
16. The method of claim 12 , 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.
17. The method of claim 12 , wherein the target substrate is non-stationary.
18. The method of claim 17 , wherein the target substrate comprises neural tissue.
19. The method of claim 12 , wherein mechanically coupling the end effector to a portion of the micro-scale device does not substantially displace the microscale device.
20. The method of claim 12 , further comprising monitoring the motion of the nonstationary target surface.