# US 10,945,761 B2 · Modular implant delivery and positioning system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,945,761 B2 - Document ID: US10945761B2 - Status: Granted - Kind: B2 - Application number: 16/926,335 - Filed: 2020-07-10 - Published: 2020-10-29 - Granted: 2021-03-16 - Earliest claimed: 2017-02-14 - Assignees: IotaMotion, Inc. - Applicants: IotaMotion, Inc. - Inventors: Christopher Kaufmann; Parker Reineke - Web page: https://patentgrep.com/patent/US10945761B2 ## CPC - A61B 17/3468: {for implanting or removing devices, e.g. prostheses, implants, seeds, wires (devices for implanting seeds A61M37/0069)} - A61B 34/30: Surgical robots - A61N 1/36038: {Cochlear stimulation} - A61N 1/372: Arrangements in connection with the implantation of stimulators - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00026: {Conductivity or impedance, e.g. of tissue} - A61B 2017/00128: {related to intensity or progress of surgical action} - A61B 2017/00199: {with a console, e.g. a control panel with a display} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/3409: {including needle or instrument drives} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) ## Abstract 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. ## Claims ### Claim 1 A system for robotically assisted manipulation of an implant, the system comprising: a drive head configured to engage an elongate member of the implant and robotically deliver and position the implant into a target implantation site, the drive head including: a housing including a first half and a second half, the first half coupled to the second half with a hinge, to enable the housing to receive the elongate member; a guide track configured to accommodate and channel the elongate member in a linear motion; and a coupling unit including a wheel, the coupling unit configured to translate the elongate member using the wheel within the guide track, in response to a motion control signal; a power system electrically coupled to the coupling unit, the power system including a motor and motor control circuitry positioned within the housing and configured to drive the wheel of the coupling unit; and a control console communicatively coupled to the power system, the control console including a controller circuit configured to generate the motion control signal, to robotically deliver and position the implant into the target implantation site, wherein the guide track includes a first longitudinal track portion and a second longitudinal track portion, the first longitudinal track portion defined by the first half of the housing, and the second longitudinal track portion defined by the second half of the housing. ### Claim 2 (depends on 1) The system of claim 1, wherein the drive head includes: an entrance port to receive the elongate member; and an exit port to release the elongate member from the drive head, wherein the guide track is located between the entrance port and the exit port. ### Claim 3 (depends on 1) The system of claim 1, wherein the first and the second longitudinal track portions include a groove configured to accommodate the elongate member and limit rotation or twisting during translation of the elongate member. ### Claim 4 (depends on 1) The system of claim 1, wherein the first and the second longitudinal track portions are in parallel and are configured to accommodate the implant, the first and the second longitudinal track portions together forming a keyhole-shaped cross section of the guide track. ### Claim 5 (depends on 1) The system of claim 1, wherein the first longitudinal track portion defines a cylindrical groove, and the second longitudinal track portion defines a rectangular groove. ### Claim 6 (depends on 5) The system of claim 5, wherein the implant includes an access tab attached to, and projecting from, an electrode array, and wherein the rectangular groove of the second longitudinal track portion is configured to accommodate the electrode array and the access tab by engaging the access tab to limit rotation or twisting of the implant during translation. ### Claim 7 (depends on 6) The system of claim 6, wherein the access tab includes a flange. ### Claim 8 (depends on 1) The system of claim 1, wherein the drive head includes an implant access port open to the first or the second longitudinal track portions, the implant access port configured to enable access to the elongate member from a location external to the drive head. ### Claim 9 (depends on 1) The system of claim 1, wherein a first portion of the implant includes the elongate member and a second portion of the implant includes an electrode array, the electrode array detachably connected to the elongate member. ### Claim 10 (depends on 1) The system of claim 1, wherein the implant is a cochlear implant. ### Claim 11 (depends on 1) The system of claim 1, wherein the drive head includes a locking mechanism configured to releaseably lock the wheel of the drive head, to limit longitudinal translation of the elongate member within the guide track. ### Claim 12 (depends on 11) The system of claim 11, wherein the locking mechanism includes one or more of a locking tab, a clip lock, or a push plug. ### Claim 13 (depends on 1) The system of claim 1, wherein the coupling unit includes at least two wheels configured to engage at least a portion of the elongate member, through compression between portions of radial outer surfaces of the at least two wheels, to rotate to propel the elongate member via friction generated by the compression. ### Claim 14 A system for robotically assisted manipulation of an implant, the system comprising: a drive head configured to engage an elongate member of the implant and robotically deliver and position the implant into a target implantation site; the drive head including: a housing including a first half, a second half, and a hinge movably coupling the first half with the second half to enable the housing to receive the elongate member; a guide track configured to accommodate and channel the elongate member in a linear motion; a coupling unit including a wheel, the coupling unit configured to translate the elongate member using the wheel within the guide track, in response to a motion control signal; a control console communicatively coupled to the power system, the control console including a controller circuit configured to generate the motion control signal, to robotically deliver and position the implant into the target implantation site; a user interface configured to display a graphical user interface to a user, the user interface in communication with the control console, the user interface configured to receive an input from a user to operate the control console and drive head using the user interface, wherein the guide track includes a first longitudinal guide track and a second longitudinal guide track, the first longitudinal guide track defined by the first half of the housing, and the second longitudinal guide track defined by the second half of the housing. ### Claim 15 (depends on 14) The system of claim 14, wherein the user interface includes a touchscreen and the graphical user interface is displayed on the touchscreen, the touchscreen configured to receive contact input from the user to operate the control console and the drive head. ### Claim 16 (depends on 15) The system of claim 15, further comprising a foot pedal communicatively coupled to the control console, the foot pedal operable to control translation of the drive head. ### Claim 17 (depends on 16) The system of claim 16, wherein the foot pedal includes a first pedal and a second pedal, the first pedal configured to control translation of the elongate member in a first direction, and the second pedal configured to control translation of the elongate member in a second direction. ### Claim 18 (depends on 14) The system of claim 14, wherein the first longitudinal guide track configured to accommodate a first elongate member and the second guide track configured to accommodate a second elongate member different from the first elongate member. ### Claim 19 (depends on 18) The system of claim 18, wherein the first and the second guide tracks are in parallel and adjacent to each other. ### Claim 20 The system of 18, wherein the first and the second longitudinal guide tracks each include a groove configured to accommodate the respective first and second elongate members and to limit rotation or twisting during translation of the respective first and second elongate members. ### Claim 21 (depends on 18) The system of claim 18, wherein the coupling unit includes the wheel as a first wheel and a second wheel, the first wheel and the second wheel together configured to engage at least a portion of the first and the second elongate members through compression between respective portions of radial outer surfaces of the wheel and the second wheel, to rotate to propel the elongate member via friction generated by the compression. ### Claim 22 (depends on 21) The system of claim 21, wherein the first wheel includes a first guide groove configured to engage the first elongate member and the second wheel includes a second guide groove configured to engage the second elongate member. ### Claim 23 (depends on 18) The system of claim 18, wherein the first elongate member includes a sheath, and the second elongate member includes an electrode array at least partially enclosed in the sheath, and the coupling unit is configured to engage the second elongate member to move the second elongate member out of the drive head. ### Claim 24 (depends on 23) The system of claim 23, wherein the coupling unit is configured to engage the first elongate member to move the first elongate member out of the drive head and pass through the sheath. ### Claim 25 An apparatus for robotically assisted implantation of an implant having an electrode array disposed on a first elongate member, the apparatus comprising: a drive head including a first half a second half, and a hinge pivotably coupling the first half to the second half to enable insertion of the first elongate member into the drive head; at least two wheels arranged within the drive head to compress at least a portion of the first elongate member between portions of radial outer surfaces of each wheel and to translate the first elongate member to deliver an implant to a target implantation site; a guide track configured to accommodate and channel the first elongate member during linear translation; a power system including a motor and motor control circuitry configured to drive the at least two wheels to translate the first elongate member; and a control console communicatively coupled to the power system, the control console including a controller circuit configured to generate a motion control signal for controlling translation of the first elongate member via the at least two wheels, wherein the guide track includes a first longitudinal track portion and a second longitudinal track portion, the first longitudinal track portion defined by the first half of the housing, and the second longitudinal track portion defined by the second half of the housing. ### Claim 26 (depends on 25) The apparatus of claim 25, wherein the first and the second longitudinal track portions configured to accommodate and channel the first elongate member during linear translation. ### Claim 27 (depends on 26) The apparatus of claim 26, wherein the first and the second longitudinal track portions are in parallel and are configured to accommodate the first elongate member, the first and the second longitudinal track portions together forming a keyhole-shaped cross section of the guide track. ### Claim 28 (depends on 25) The apparatus of claim 25, wherein the guide track includes an entrance port, to receive the first elongate member, and an exit port, to release the first elongate member, and wherein the guide track defining a lumen that extends between the entrance port and the exit port.