US 2003/0125753 A1Published application

Stereotaxic holders, stereotaxic alignment systems comprising same, and methods for using same

AssigneeCartesian Research, Inc.

InventorJoseph Saracione

Life of this patent

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Abstract

Apparatus and methods are disclosed for holding a subject body (or body portion, generally termed “body”) at a desired stereotaxic orientation relative to a known reference point, in three-dimensional space, where a reference X-axis, a reference Y-axis, and a reference Z-axis mutually intersect. The reference point can be co-positioned with a target point on or in the subject body so as to place the body in a reference position used in a corresponding anatomical atlas or other locational index. With the body so positioned, a probe or other tool can be inserted into the body to a desired locus with high accuracy (in hitting the desired locus) and with high precision (from one animal to the next). The methods and apparatus have especial utility in surgical and diagnostic interventions, including such interventions involving the central nervous system encased in surrounding skull or the like.

Claims46

Dependent claims

A stereotaxic holder for holding a body at a position in three-dimensional space, comprising:

a frame to which a body-holding component, configured to contact a body, can be attached such that the body-holding component extends from the frame to contact the body and hold the body relative to the frame;
an X-axis shift mechanism to which the frame is attached, the X-axis shift mechanism being configured to move the frame, with body-holding component, along an X-axis;
a Y-axis shift mechanism to which the frame is attached, the Y-axis shift mechanism being configured to move the frame, with body-holding component, along a Y-axis that is orthogonal to the X-axis, the movement along the Y-axis being independent of the movement along the X-axis;
a Z-axis shift mechanism to which the frame is attached, the Z-axis shift mechanism being configured to move the frame, with body-holding component, along a Z-axis that is orthogonal to both the X-axis and the Y-axis, the movement along the Z-axis being independent of the movement along the X-axis or along the Y-axis;
the X-axis shift mechanism, Y-axis shift mechanism, and Z-axis shift mechanism being configured relative to each other so as to define a reference X-axis, a reference Y-axis, and a reference Z-axis, respectively, that are orthogonal relative to each other and that mutually intersect at a 0,0,0 point in three-dimensional space, wherein the X-axis shift mechanism, Y-axis shift mechanism, and Z-axis shift mechanism are configured to move a body, mounted to the frame by the body-holding component, as required to place a selected point on or in the body at the 0,0,0 point.

2 more elements

A stereotaxic holder, comprising:

a first U-frame to which a body-holding component, configured to contact a body, can be attached such that the body-holding component extends from the first U-frame to contact and hold the body relative to the first U-frame;
a Z-axis shifting mechanism to which the first U-frame is attached, the Z-axis shifting mechanism being configured to move the first U-frame, with body-holding component, along a Z-axis;
an X-axis shifting mechanism to which the Z-axis shifting mechanism is attached, the X-axis shifting mechanism being configured to move the Z-axis shifting mechanism and first U-frame along an X-axis;
a Y-axis shifting mechanism to which the X-axis shifting mechanism is attached, the Y-axis shifting mechanism being configured to move the X-axis shifting mechanism, Z-axis shifting mechanism, and first U-frame along a Y-axis;
a Y-axis tilting mechanism connecting the X-axis shifting mechanism to the Y-axis shifting mechanism, the Y-axis tilting mechanism defining a reference Y-axis about which the Y-axis tilting mechanism effects tilting of the body;
and
an X-axis tilting mechanism and a Z-axis swing mechanism, wherein the Y-axis shifting mechanism is attached to the X-axis tilting mechanism and the X-axis tilting mechanism is attached to the Z-axis swing mechanism, the X-axis tilting mechanism defining a reference X-axis about which the X-axis tilting mechanism effects tilting of the body, and the Z-axis swing mechanism defining a reference Z-axis about which the Z-axis swing mechanism effects a swing of the body, wherein the reference X-axis, reference Y-axis, and reference Z-axis are orthogonal to each other and mutually intersect at a 0,0,0 point in three-dimensional space.

4 more elements

A stereotaxic alignment system, comprising:

(a) a base plate;
(b) a stereotaxic holder mounted to the base plate, the stereotaxic holder comprising (i) a frame to which a body-holding component, configured to contact a body, can be attached such that the body-holding component extends from the frame to contact and hold the body relative to the frame;
(ii) an X-axis shift mechanism to which the frame is attached, the X-axis shift mechanism being configured to move the frame, with body-holding component, along an X-axis;
(iii) a Y-axis shift mechanism to which the frame is attached, the Y-axis shift mechanism being configured to move the frame, with body-holding component, along a Y-axis that is orthogonal to the X-axis, the movement along the Y-axis being independent of the movement along the X-axis;
(iv) and a Z-axis shift mechanism to which the frame is attached, the Z-axis shift mechanism being configured to move the frame, with body-holding component, along a Z-axis that is orthogonal to both the X-axis and the Y-axis, the movement along the Z-axis being independent of the movement along the X-axis or along the Y-axis, wherein the X-axis shift mechanism, the Y-axis shift mechanism, and the Z-axis shift mechanism are configured relative to each other so as to define a reference X-axis, a reference Y-axis, and a reference Z-axis, respectively, that are orthogonal relative to each other and that mutually intersect at a 0,0,0 point in three-dimensional space, wherein the X-axis shift mechanism, Y-axis shift mechanism, and Z-axis shift mechanism are configured to move a body, mounted to the frame by the body-holding component, as required to place a selected point on or in the body at the 0,0,0 point;
and
(c) a manipulator mounted to the base plate and comprising a controlled end to which an implement can be mounted, the manipulator being configured to present to the body a tool held by the implement, mounted to the controlled end, at a desired locus on or in the body relative to the 0,0,0 point.

4 more elements

A stereotaxic alignment system, comprising:

(a) abase plate;
(b) a stereotaxic holder mounted to the base plate, the stereotaxic holder comprising (i) a first U-frame to which a body-holding component, configured to contact a body, can be attached such that the body-holding component extends from the first U-frame to contact and hold the body relative to the first U-frame;
(ii) a Z-axis shifting mechanism to which the first U-frame is attached, the Z-axis shifting mechanism being configured to move the first U-frame, with body-holding component, along a Z-axis;
(iii) an X-axis shifting mechanism to which the Z-axis shifting mechanism is attached, the X-axis shifting mechanism being configured to move the Z-axis shifting mechanism and first U-frame along an X-axis;
(iv) a Y-axis shifting mechanism to which the X-axis shifting mechanism is attached, the Y-axis shifting mechanism being configured to move the X-axis shifting mechanism, Z-axis shifting mechanism, and first U-frame along a Y-axis;
(v) a Y-axis tilting mechanism connecting the X-axis shifting mechanism to the Y-axis shifting mechanism, the Y-axis tilting mechanism defining a reference Y-axis about which the Y-axis tilting mechanism effects tilting of the body;
and (vi) an X-axis tilting mechanism and a Z-axis swing mechanism, wherein the Y-axis shifting mechanism is attached to the X-axis tilting mechanism and the X-axis tilting mechanism is attached to the Z-axis swing mechanism, the X-axis tilting mechanism defining a reference X-axis about which the X-axis tilting mechanism effects tilting of the body, and the Z-axis swing mechanism defining a reference Z-axis about which the Z-axis swing mechanism effects a swing of the body, wherein the reference X-axis, reference Y-axis, and reference Z-axis are orthogonal to each other and mutually intersect at a 0,0,0 point in three-dimensional space;
and
(c) a manipulator mounted to the base plate and comprising a controlled end to which an implement can be mounted, the manipulator being configured to present to the body a tool held by an implement, mounted to the controlled end, at a desired locus on or in the body relative to the 0,0,0 point.

6 more elements

A method for performing a stereotaxic alignment of a body, comprising:

providing a reference X-axis, a reference Y-axis, and a reference Z-axis that are orthogonal to each other and that mutually intersect at a 0,0,0 point in three-dimensional space;
mounting the body in a holder configured to effect respective controlled shifts of the body in an X-axis direction, a Y-axis direction, and a Z-axis direction, and to effect respective controlled tilts of the body about the reference X-axis and reference Y-axis, as well as controlled swings of the body about the reference Z-axis;
using the holder, shifting the body as required in the X-axis, Y-axis, and Z-axis dimensions to place a selected target point on or in the body at the 0,0,0 point;
using the holder, swinging the body as required about the reference Z-axis while maintaining the target point at the 0,0,0 point, to obtain a desired orientation of the body relative to the reference Y-axis or the reference X-axis;
using the holder, tilting the body as required about the reference Y-axis while maintaining the target point at the 0,0,0 point, to obtain a desired orientation of the body relative to the reference X-axis;
and
using the holder, tilting the body as required about the reference X-axis while maintaining the target point at the 0,0,0 point, to obtain a desired orientation of the body relative to the reference Y-axis.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/217,884Filed 12 Aug 2002
Priority: 26 Feb 1999
Published: 3 Jul 2003
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

A61B 90/14
For stereotaxic surgery, e.g. frame-based stereotaxis: fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
A61B 34/70
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: manipulators specially adapted for use in surgery
A61B 90/11
For stereotaxic surgery, e.g. frame-based stereotaxis: with guides for needles or instruments, e.g. arcuate slides or ball joints
A61B 2090/061
Measuring instruments not otherwise provided for: for measuring dimensions, e.g. length

Family

Application60/122,484Us provisional application · filed 26 Feb 1999
Application09/514,008Continuation · filed 25 Feb 2000
Application10/217,884Continuation · filed 12 Aug 2002
US 6,716,220 B2Related patent
US 2003/0125753 A1This patent

From the US filing history. Foreign family members aren’t listed.