MRI-guided medical interventional systems and methods

An MRI-guided interventional system for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the system including:

• a trajectory guide frame including:
• a base having a patient access aperture therein and configured to be secured to the body of the patient and defining an access opening;
• and
• a targeting cannula mounted on the base for movement relative thereto, the targeting cannula having an elongate guide bore extending axially therethrough, defining a trajectory axis, and being configured to guide placement of the interventional device through the access opening, wherein the trajectory guide frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo;
• and
• a plurality of MRI-visible fiducial markers mounted on the base, wherein the MRI-visible fiducial markers are relatively positioned in an asymmetric layout to facilitate positive determination of an orientation of the base in free space from an MR image;
• a bracket secured to the trajectory guide frame such that the bracket is rotatable about the trajectory axis and axially fixed with respect to the trajectory axis, wherein the bracket is configured to receive a light transmission scope to secure the light transmission scope to the trajectory guide frame such that the light transmission scope is directed at the access opening;
• wherein the plurality of MRI-visible fiducial markers includes at least first, second and third MRI-visible fiducial markers each located on a common circle;
• and
• wherein a circumferential spacing between the first and second MRI-visible fiducial markers is less than a circumferential spacing between the first and third MRI-visible fiducial markers.

A trajectory guide frame for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the trajectory guide frame comprising:

• a base having a patient access aperture therein, wherein the base is configured to be secured to the body of the patient;
• a yoke mountable on the base in a prescribed orientation with respect to the base;
• a targeting cannula mounted on the yoke for movement therewith relative to the base, the targeting cannula including a guide bore therethrough that is configured to guide placement of the interventional device in vivo;
• first and second spaced apart, opposed pivot holes in one of the base and the yoke and first and second opposed pivot pins associated with the other of the base and the yoke;
• wherein the yoke is configured to be mounted on the base in the prescribed orientation with the first pivot pin received in the first pivot hole and the second pivot pin received in the second pivot hole, whereby the yoke is pivotable relative to the base about the first and second pivot pins about a roll axis;
• wherein the first and second holes are relatively configured to prevent operative engagement between the first pivot pin and the second pivot hole to inhibit pivotal mounting of the yoke on the base in an orientation other than the prescribed orientation;
• and
• wherein the first and second pivot holes are located in the base, and the base includes a pair of spaced apart mount arms each having a guide slot therein extending to a respective one of the first and second pivot holes to receive and guide the first and second pivot pins to the first and second pivot holes.

A trajectory guide frame for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the trajectory guide frame comprising:

• a base having a patient access aperture therein, wherein the base is configured to be secured to the body of a patient;
• a targeting cannula mounted on the base for movement relative thereto, the targeting cannula including a guide bore therethrough that is configured to guide placement of the interventional device in vivo;
• and
• a plurality of MRI-visible fiducial markers mounted on the base, wherein the MRI-visible fiducial markers are relatively positioned in an asymmetric layout to facilitate positive determination of an orientation of the base in free space from an MR image;
• wherein the plurality of MRI-visible fiducial markers includes at least first, second and third MRI-visible fiducial markers each located on a common circle;
• and
• wherein a circumferential spacing between the first and second MRI-visible fiducial markers is less than a circumferential spacing between the first and third MRI-visible fiducial markers.

An MRI-guided interventional system for use with a body of patient and an interventional device, the system including first and second trajectory guide frames, each of the trajectory guide frames including:

• a base configured to be secured to the body of the patient;
• and
• a targeting cannula having an elongate guide bore extending axially therethrough, defining a trajectory axis, and being configured to guide placement of the interventional device, wherein the trajectory guide frame is operable to move the targeting cannula relative to the base to position the trajectory axis to a desired intrabody trajectory to guide placement of the interventional device in vivo;
• and
• wherein the first and second trajectory guide frames are sized and configured to be simultaneously mounted side-by-side on the patient's head to conduct a bilateral surgical procedure on the patient.

A trajectory guide frame for guiding an interventional device with respect to a body of a patient in an MRI-guided procedure, the trajectory guide frame comprising:

• a base having a patient access aperture therein, wherein the base is configured to be secured to the body of the patient, the base defining a fiducial cavity and a tab aperture communicating with a fiducial cavity;
• a targeting cannula mounted on the base for movement relative thereto, the targeting cannula including a guide bore therethrough that is configured to guide placement of the interventional device in vivo;
• and
• an MRI-visible fiducial marker mounted on the base and including a body portion containing an MRI-visible material and a fill tab extending from the body portion, wherein at least a portion of the body portion is disposed in the fiducial cavity and the fill tab extends through the tab aperture;
• wherein the MRI-visible material is a liquid MRI-visible material.