System and method for controlling the arrangement of objects using a spatial alignment device

Abstract

A spatial alignment system is provided, comprising a spatial alignment tool, a computer, and software having an alignment algorithm. The spatial alignment system provides a user with a set of steps for positioning an object via a user interface. These steps enable the user to operate the alignment tool through multiple degrees of freedom in a predetermined increment to complete the positioning of an object to a desired location and orientation. The system provides the operation of the alignment tool accurately, predictably, and controllably to enable precise positioning of the object. The spatial alignment system may be configured to facilitate the accurate and predictable positioning of surgical instruments and / or medical devices in order to operate the spatial alignment tool. In some embodiments, the system enables the controlled and predictable positioning of medical devices such as cochlear grafts. The spatial alignment tool may include means for the user to operate it through a predetermined increment, and such means provide the user with tactile feedback to confirm that the desired operation has been performed. Thus, an advanced system is provided that helps ensure good positioning of medical devices such as cochlear grafts.

Description

Technical Field

[0001] The present invention relates to a system including a spatial alignment device having a feedback system. In certain embodiments, the spatial alignment device having a feedback system may enable physical alignment with two or more and seven or eight degrees of freedom. In particular, each axis of motion may include an automatically locking gear, an input joint, an output joint, and elements for controlling the axis of motion that provide tactile feedback to the user. In some embodiments, the system according to the invention may include a user interface that displays a series of procedures for moving an object to a desired position and orientation by a spatial alignment device with multiple degrees of freedom. In certain embodiments, the system according to the invention may also include software including an algorithm with a motion model of the spatial alignment device that can provide a series of procedures for moving an object to a desired position and orientation to the user.

[0002] The present invention particularly relates to a system including a spatial alignment device for accurately and controllably operating an object in multiple degrees of freedom, such that the object reaches and maintains its state at a desired position and orientation.

[0003] In certain embodiments, the object may be an active surgical tool that can act as a connector for a surgical tool or a medical implant used to perform a specific surgical procedure. Here, the medical implant must be moved predictably and controllably by the active surgical tool and to an accurately positioned position and orientation by a spatial positioning stage.

[0004] More specifically, the present invention relates to control means for causing a user to perform steps provided by a system that provides a series of operations on a graphical user interface, such as moving surgical instruments and / or medical grafts to specific positions and orientations, or by multi-degree-of-freedom movements. More specifically, the system according to the present invention includes a spatial alignment device, a computer, and software, the software providing a user with a series of steps for operating the spatial alignment device to position surgical instruments and / or medical grafts to specific positions and orientations. [Background technology]

[0005] In many medical and non-medical applications, it is necessary to position devices or objects in a specific location and orientation. This is especially true in medical applications, particularly surgical applications, where surgical instruments or medical grafts must be positioned in a specific location and orientation to facilitate medical or surgical procedures.

[0006] Active continuous kinematic structures (i.e., robots) for positioning end effectors in space are well known in this art. One such example is found in Patent Document 1 (Computer-operated) by Wang et al., in which a robotic device functions to position an endoscopic surgical system in space. This should be distinguished from the passive continuous kinematic structures of the present applicant.

[0007] The robotic system described in Patent Document 1 above illustrates a particularly typical method for positioning surgical instruments and end effectors relative to targets within a patient's body. When combined with a tracking system, these effectively become a stereotactically controlled robotic surgical system. However, the introduction of robots inevitably involves electronic drives, brakes, encoder systems, gearboxes, motors, electronic devices, computer systems, and similar components. This is associated with the relatively large footprint of the robot in terms of volume, weight, and cost. However, in contrast to industrial applications of robots, it is not usually necessary to move objects with large forces / moments or with large speeds / accelerations in the surgical field. Therefore, the concept of a continuous kinematic structure that operates by user input rather than motors is attracting attention. In this disclosure, the applicant presents one such solution, thereby avoiding the indirect costs associated with introducing a robotic system. While meeting the requirements of a particular surgical application, complexity, cost, size, and weight are dramatically reduced or avoided.

[0008] In current state-of-the-art technology, alignment systems most commonly provide a user with a line of sight, thereby allowing the user to adjust the position of an object with one or more degrees of freedom using a robotic manipulator, a manually operated articulated arm, etc. This adjustment procedure may or may not be controlled / monitored by a tracking system. The alignment system typically provides a line of sight viewer to generally assist the user. However, in known systems, the user may not be informed by the alignment system of which specific degrees of freedom need to be adjusted to at a particular point in time, and by how much translation (e.g., mm) or rotation (e.g., angle) is required to position the object in the desired position and orientation.

[0009] For example, current alignment systems may simply provide the user with a target device equipped with a reticle, and the user attempts to move the reticle to a desired position and direction. Therefore, any reticle viewer (or similar) merely provides information about the current displacement state and does not construct or calculate user-oriented recommendations for future actions toward solving the spatial alignment problem.

[0010] This type of system lacks guidance in the form of specific procedures, tactile feedback, and therefore accuracy. Consequently, it is highly doubtful whether such systems are suitable for precise medical applications.

[0011] More specifically, state-of-the-art systems may not provide users with the means to control the speed, accuracy, and predictability of an object's motion across multiple degrees of freedom. Motion in a particular degree of freedom may not be decomposed by the system into increments, specific steps, or specific distances. Therefore, the motion of an object using current spatial alignment systems may be unpredictable or inaccurate.

[0012] Therefore, currently available systems may not provide a specific set of user-oriented procedures (either on a graphical user interface or otherwise) to move the output side of the alignment system toward a desired target (position and orientation), nor may they notify the user of how far and at what speed the alignment system is being moved across multiple degrees of freedom. Current systems are not known to provide the user with means of controlling spatial positioning, including haptic feedback, so that the user knows when an object to be positioned has been moved over one or more predetermined increments in one or more degrees of freedom.

[0013] In many applications, including medical applications, it would be beneficial to provide a system that allows the user to know when the alignment system has moved in a given increment, by providing haptic feedback to the user while offering a series of steps to move an object to a desired position and direction in a given increment across multiple degrees of freedom. In particular, the user may position a spatial alignment device, held in a specific position and direction by a surgical arm, to further position surgical instruments and / or medical grafts on a patient.

[0014] Taking into consideration the identified shortcomings of known spatial alignment systems, the inventors provide a spatial alignment system that provides a user with a series of steps to operate an alignment device through predetermined increments and degrees of freedom to position an object in a desired location and orientation. The system of the present invention can be applied to the placement of surgical instruments and medical grafts. In particular, the system of the present invention can be used, as merely an example in an embodiment, to place a cochlear graft, in which a surgical arm can hold the spatial alignment device and then hold a surgical instrument connected to the cochlear graft, and the spatial alignment device can be operated in a controlled and predictable manner to adjust the electrodes of the cochlear graft to a desired location and orientation. The surgical instrument can also perform a specific motion pattern along a predetermined trajectory for the purpose of slowly and steadily advancing the cochlear graft into the cochlea.

[0015] Those skilled in the art will naturally realize that the same is needed in any surgical field where precise control of the movement and / or precise placement of medical grafts is required. More broadly, it would also be beneficial in the scientific or industrial fields where precise control of movement and even precise placement of components are required. [Prior art documents] [Patent Documents]

[0016] [Patent Document 1] European Patent No. 0653922 [Overview of the project]

[0017] These objectives and benefits are realized by a novel alignment system that includes a spatial alignment device equipped with a feedback system for precise and controllable operation in multiple degrees of freedom. The spatial alignment device in the system is optimized to control the motion of an object in at least five degrees of freedom. In a particular embodiment, the minimum five degrees of freedom include at least three translational degrees of freedom and at least two rotational degrees of freedom. Those skilled in the art will understand that the minimum five degrees of freedom may be at least seven or eight, or more. Those skilled in the art will know how many degrees of freedom are needed to control motion in a particular application, whether medical or non-medical.

[0018] The present invention is a passive continuous kinematic structure (non-robot) and is distinct from the active kinematic structure (robot) described in Patent Document 1 above. In this invention, manual operation is performed by the user operating input knobs in different individual degrees of freedom, which are replaced by geometric displacements of the corresponding end effectors. These geometric displacements are performed in translational and rotational degrees of freedom.

[0019] In some embodiments of this system, the spatial alignment device is configured to control the movement of an object with at least five degrees of freedom so that the object reaches a desired position and orientation. As just one example of a medical application, the spatial alignment device may be configured to move a surgical instrument attached to a medical graft to a desired position and orientation relative to the patient's medical intervention site.

[0020] In some embodiments, the feedback system of the spatial alignment device may include means for the user to know that an object has been moved using the spatial alignment device in one or more degrees of freedom via a predetermined increment. As just one example, the spatial alignment device may have a number of input means, such as knobs or buttons, corresponding to the degrees of freedom, that provide controlled movement of an object. The user may operate the knobs or buttons to move the object in one or more desired degrees of freedom via one or more increments. The user's movement via each increment via the operation of the associated knobs or buttons may produce, for example, an audible click, a beep, or a type of haptic feedback that informs the user that an object has been moved via a predetermined increment in a particular degree of freedom via the operation of the spatial alignment device.

[0021] A spatial alignment system, including a spatial alignment device, may further include a computer, including software for operating the spatial alignment device. In some embodiments, the computer and software may provide a user-oriented set of procedures for operating the spatial alignment device to provide controlled motion of an object in multiple degrees of freedom so that the object is in a desired position. The desired position of the object may include positioning the object in a desired location and / or orientation. More specifically, the procedures may include operating input means of the spatial alignment device to control motion in multiple degrees of freedom through a certain predetermined increment so that the object reaches a desired location and orientation.

[0022] In some embodiments, the system, including a spatial alignment device, a computer, and software, may further include a graphical user interface that displays user-oriented procedures for operating the spatial alignment device. For example, the system may display a series of user-oriented procedures for operating input means of the spatial alignment device to move an object in multiple degrees of freedom and over a predetermined number of increments so as to position the object in a desired location and orientation. Optionally, such procedures may be displayed on the graphical user interface in a step-by-step or sequential manner. As merely an example, the user may be shown procedures for operating appropriate input means to move an object in a predetermined increment of 5 on the x-axis, a predetermined increment of 7 on the y-axis, and a predetermined increment of 6 on the rotation axis.

[0023] In some embodiments, the procedure may be displayed on a graphic user interface as a series of textual steps. In other embodiments, the procedure may be provided to the user by pictorial means, such as a graphical representation of input means to be operated according to, for example, arrows indicating the order of operations and numbers indicating a predetermined number of increments to be performed. In this way, the user can follow the procedure using the system including feedback means and know that the procedure has been performed by haptic feedback or other feedback.

[0024] In some embodiments, the system, which includes a spatial alignment device, a computer, software, and a graphic user interface, also includes a kinematic model of the spatial alignment device. Therefore, given the initial position and orientation of an object held by the spatial alignment device in Cartesian space, and the desired position and orientation of the object in Cartesian space, the system can use the kinematic model to calculate the number of increments in each degree of freedom that must be made to position the object in the desired location and orientation.

[0025] In some embodiments of the present system, the object held by the spatial alignment device may be a tool useful for a particular application. In some applications, the tool may be a surgical tool useful for performing a particular surgical procedure.

[0026] In certain embodiments, the tool held by the spatial alignment device may be an insertion device that moves a medical implant forward or backward along a particular axis. By way of example only, the tool held by the spatial alignment device may be an insertion device that holds a cochlear implant via forceps, where the insertion device is configured to advance or retract the cochlear implant within the patient's ear. In these particular embodiments, the system may be configured to position the insertion device in a desired position and orientation to enable optimal insertion of the cochlear implant into the patient cochlea. Accordingly, a user of the system may be provided with a series of procedures for operating one or more input devices on the spatial alignment device to provide controlled movement to a desired position and orientation proximate the patient's ear and further to enable insertion of the cochlear implant into the patient cochlea in an optimal and high quality manner.

[0027] In some embodiments of the present invention, means are provided for positioning an object in a desired position and orientation. The means includes a spatial alignment system including a spatial alignment device, a computer, software, and a graphic user interface, and a series of user-directed procedures for operating an input means of the spatial alignment device to move an object held by the spatial alignment device in multiple degrees of freedom and through a predetermined plurality of increments to reach a placement in a desired position and orientation.

[0028] The means may use some embodiments of the spatial alignment system or may provide for enabling controllable placement of a medical implant or other medical device useful for surgical applications. The means may also provide for placement of an object in other industrial applications, such as applications to manufacturing that are controlled and require a predetermined input.

[0029] Although the procedure for snail transplantation has been described in some specific embodiments, those skilled in the art will recognize that the present system is equally applicable and useful in any medical or surgical application where the device and graft must be placed in the desired position and orientation to successfully complete the surgical procedure. Applications can be envisioned that minimize invasion and involve positioning of the device and graft. Those skilled in the art will also understand that the present system can be used in other industrial applications where precise device placement is required. For example, the present system and method would be useful in manufacturing applications where it is advantageous to provide the user with a procedure for accurately and controllably placing an object in a desired position and orientation.

[0030] Although some embodiments have been described in relation to providing a procedure for controlling and moving a spatial alignment device for a human user, those skilled in the art will also recognize that it is possible to envision the present system providing the procedure to a robot. For example, an autonomous robot could control the input means of the spatial alignment device according to a given procedure. In other examples, those skilled in the art can envision variations of the spatial alignment device, such as an end effector of a robotic system where movement occurs in multiple degrees of freedom via predetermined increments under robot control.

[0031] The above and other embodiments of the present system and method are described in more detail below with reference to the accompanying drawings.

Brief Description of the Drawings

[0032] [Figure 1] FIG. 1 shows a flowchart of operating a spatial alignment device in an embodiment according to the present invention.

[0033] [Figure 2] FIG. 2 shows a conceptualization of a spatial alignment device according to the present invention in a broader form including a surgical arm and an adapter to a medical device for surgical applications.

[0034] [Figure 3] Figure 3 shows a joint as a representative example of an input means for a spatial alignment device in an embodiment of the present invention.

[0035] [Figure 4] Figure 4 shows a spatial alignment device equipped with means for adjusting motion in multiple degrees of freedom, according to an embodiment of the present invention.

[0036] [Figure 5] Figure 5 shows a spatial alignment device connected to a coarse positioning arm and an insertion device, according to an embodiment of the present invention for placing a medical implant in the ear of a patient. [Modes for carrying out the invention]

[0037] The present invention is described here in detail in relation to several embodiments and with reference to the accompanying drawings and the claims described later.

[0038] In some embodiments of the present invention, a spatial alignment device for controlling and positioning an object is provided. The spatial alignment system may include a positioning stage having a proximal end and a distal end, a spatial measurement system, and a computer system including software and a graphical user interface. The positioning stage may be configured to (1) be selectively connectable to an arm at its proximal end for free positioning and fixing in space, (2) be selectively connected to an object at its distal end, (3) be configured to move the connected object in one or more degrees of freedom, and (4) be configured to move the connected object by predetermined increments of translation and rotation and manual interaction. The spatial measurement system may be configured to measure the actual position and orientation of the object in three-dimensional space and / or the positioning stage relative to a target. The computer system includes software which may be configured to (1) define a positioning stage relative to a desired position and orientation of an object and / or a target, (2) calculate the relative displacement between the actual position and orientation of the positioning stage and the desired position and orientation, and (3) discretize the relative displacement into an increment number of steps to move the positioning stage in one or more degrees of freedom in order to move the positioning stage from its actual position and orientation to the desired position and orientation. The graphic user interface may display a series of steps in a manner that is easy for the user to understand in order to receive sufficient information to move the positioning stage from its actual position and orientation to the desired position and orientation in one or more degrees of freedom by the discretized steps. Thus, the user may move the positioning stage to the desired position in a finite amount of time and interaction cycles and by the discretized steps, thereby minimizing the movement from the actual position and orientation to the desired position and orientation.

[0039] In some embodiments, the spatial measurement system may be an optical or electromagnetic measurement system.

[0040] In some embodiments, the target of the object may be a subject, where the desired position and orientation of the positioning stage in three-dimensional space is the position and orientation relative to the subject.

[0041] In some embodiments, the positioning stage of a spatial alignment system may have one or more degrees of freedom, and may optionally have a minimum of five degrees of freedom. Those skilled in the art will understand that a wide variety of combinations of translational and rotational degrees of freedom are possible. Optionally, the minimum of five degrees of freedom may include a minimum of three translational degrees of freedom and a minimum of two rotational degrees of freedom.

[0042] In some embodiments, the spatial alignment system may further include adapters configured to selectively connect a positioning stage to an object.

[0043] Those skilled in the art will understand that current spatial alignment systems can move and position virtually any object whose precise position and orientation are required. In some embodiments, the object being positioned may be a passive surgical device, an implantable medical device, or an active surgical instrument that provides additional degrees of freedom in positioning the surgical device or implantable medical device. Those skilled in the art will further understand that these options can be combined. For example, the positioning stage of the present invention may be used in combination with an active surgical instrument that provides additional degrees of freedom for positioning an implantable medical device.

[0044] As merely an example, in one embodiment of the present invention, the positioning stage may be connected by an adapter to an active surgical instrument operated to insert forceps for holding an implantable medical device. In a particular embodiment, the implantable medical device may be a cochlear graft.

[0045] In several alternative embodiments, a controlled alignment method relating to a target which may selectively be a subject is provided. The method includes a procedure for providing the spatial alignment system and a procedure for instructing software to perform several procedures, including the following three: (1) define a desired position and orientation of a positioning stage with respect to a reference coordinate axis system; (2) calculate the relative displacement between the actual position and orientation of the positioning stage and the desired position and orientation; and (3) discretize the relative displacement into an increment number in which the positioning stage must be moved in one or more degrees of freedom to move from the actual position and orientation of the positioning stage to the desired position and orientation. The method may also include a procedure for instructing software to display on a user-friendly graphical user interface a series of procedures for receiving sufficient information to move a positioning stage with one or more degrees of freedom from the actual position and orientation to the desired position and orientation in the discretized procedures, or the user may move the positioning stage to the desired position in a finite amount of time and interaction cycles and in the discretized procedures, thereby minimizing the movement of the positioning stage from the actual position and orientation to the desired position and orientation.

[0046] In many embodiments of the methods of the present invention, a user may perform a series of steps to move one or more degrees of freedom of a positioning stage from its actual position and orientation to a desired position and orientation in a discretized procedure. The method may include a step to verify, after following a given series of steps, whether the actual position and orientation of the positioning stage is acceptablely close to the desired position and orientation. This verification may be performed by the user or a computer system.

[0047] In some embodiments, a series of steps for moving a positioning stage (and any connected object) to a desired position and orientation via multiple degrees of freedom may include a separate display showing incrementing digits for each of the one or more degrees of freedom necessary to move the positioning stage from its actual position and orientation to the desired position and orientation.

[0048] Optionally, a series of steps on a graphical user interface may also include a virtual representation of a positioning stage that indicates to the user which direction and by how many increments to change the positioning stage by inputting selected input means on the positioning stage. This virtual representation may change dynamically as the user performs the series of steps.

[0049] In some embodiments, the software may provide a series of steps, displayed on a graphical user interface, for moving an object in multiple degrees of freedom, followed by one degree of freedom, in a manner calculated to be most advantageous for the optimal positioning of the object relative to the target.

[0050] In some embodiments, the software may provide the user with a continuous feedback loop that updates the user with the progress being made toward the objective of positioning an object to a desired location and orientation. The system provides a continuous feedback loop by measuring the actual orientation of the positioning stage (and / or object) via a spatial measurement system and providing immediate feedback by discretizing and visualizing it with high temporal resolution in comparison to the user's actions.

[0051] Here, the methods and systems related to this spatial alignment device will be described in detail, with particular reference to the attached drawings. Figure 1 shows a flowchart for using the spatial alignment system to control and position an object relative to a target. Thus, the spatial measurement system 101 measures the actual position and orientation of the positioning stage relative to the object or target in three-dimensional space and provides the measured position to the computer system 102. The software of the computer system 102 calculates 103 the displacement of the object or positioning stage from the desired position and orientation and provides the displacement of the positioning stage to the inverse kinematics model 104 according to the embodiment of the present invention. The software uses the inverse kinematics model 104 and the identification function 105 to determine the number of increments that must be made using the positioning stage to move the positioning stage or object to the desired position and orientation. The software further displays the increment procedure as a series of steps on the graphic interface 106. The user 107 can perform a series of steps to change the position of the positioning stage (aiming device 108) toward the desired position and orientation. A feedback loop is possible when the spatial measurement system can determine the updated actual position and orientation of the positioning stage relative to the object or target, and, if necessary, provide a set of other steps to complete the movement of the object or positioning stage to the desired position and orientation.

[0052] Figure 2 conceptualizes a spatial alignment device according to the present invention in a broader form, including a surgical arm and an adapter to a medical device for use in surgical applications. In one of the possible embodiments shown in Figure 2, a coarse adjustment arm 202 is deployed between a control room table 201 and an adapter unit 203. The adapter unit 203 is connected to a positioning stage (or aiming device) 205 according to an embodiment of the present invention. The positioning stage comprises numerous joints for controlling movement in a corresponding number of degrees of freedom. The positioning stage may also be connected to a medical device adapter 204 for connecting to a medical device or implantable medical device that requires precise positioning and orientation.

[0053] Figure 3 shows a joint as a representative example of input means for a spatial alignment device in an embodiment of the present invention. A spatial alignment device in an embodiment of the present invention, such as a positioning stage or a aiming device, includes input means provided in a joint that controls the operation of the spatial alignment device in multiple degrees of freedom. Generally, the spatial alignment device includes a number of joints corresponding to the desired number of degrees of freedom. In a joint as shown in Figure 3, the input means may take the form of a rotatable knob 303. An actual joint is shown as 301 and includes corresponding input links 302 and output links 305. Rotation of the knob is performed via identifier 304, discretizing the operation of joint 301 into predetermined increments or steps.

[0054] Figure 4 shows a spatial alignment device having input / adjustment means for moving in multiple degrees of freedom in an embodiment of the present invention. The spatial alignment device shown in Figure 4 allows control of movement in 5 degrees of freedom via the use of knobs as input means for controlling joints. Specifically, the spatial alignment device in Figure 4 allows control of movement in 3 translational degrees of freedom and 2 rotational degrees of freedom. The Tx knob 401 allows the user to control along the x-axis of translation. The Ty knob 402 allows the user to control along the y-axis of translation. The Tz knob 403 allows the user to control along the z-axis of translation. The Rx knob 404 allows the user to control along the x-axis of rotation. The Ry knob 405 allows the user to control along the y-axis of rotation.

[0055] Figure 5 shows a spatial alignment device 501 connected to an insertion device 503 and a rough positioning arm 502 for placing a medical implant in a patient's ear, according to an embodiment of the present invention.

[0056] Up to this point, the present invention has been described and explained with reference to specific embodiments, but those skilled in the art will understand that various modifications may be made in form and detail without deviating from the spirit and scope of the invention as defined in the claims below. For the sake of argument, and without limitation, those skilled in the art will readily understand that the methods / systems disclosed herein are applicable to other surgical fields.

Claims

1. A spatial alignment system for controlling and positioning objects, A positioning stage comprising a proximal end and a distal end, To allow for free placement and fixation within space, it is configured to be selectively connectable to an arm at its proximal end. It is configured to be selectively connected to the object at its distal end, The connected objects are configured to move in one or more degrees of freedom. A positioning stage configured to move the connected object by manual interaction in predetermined translational and rotational increments, A spatial measurement system configured to measure the actual position and orientation of the object in three-dimensional space and / or the positioning stage relative to the target, A computer system including software, Define the desired position and orientation of the object and / or the positioning stage relative to the target, The relative displacement between the actual position and orientation of the positioning stage and the desired position and orientation is calculated. A computer system configured to discretize the relative displacement into an increment number that moves the positioning stage in one or more degrees of freedom, in order to move it from its actual position and orientation to a desired position and orientation. A graphic user interface, The system includes a graphical user interface that displays a series of steps in a user-friendly manner in order to receive sufficient information for moving the positioning stage, which has one or more degrees of freedom, from its actual position and orientation to a desired position and orientation in a discretized procedure, A spatial alignment system that minimizes movement from an actual position and orientation to a desired position and orientation by allowing the user to move the positioning stage to the desired position in a finite amount of time and interaction cycles and discretized procedures.

2. The spatial alignment system according to claim 1, wherein the spatial measurement system is an optical or electromagnetic measurement system.

3. The spatial alignment system according to claim 1, wherein the target is a subject.

4. The spatial alignment system according to claim 3, wherein the desired position and orientation of the positioning stage in three-dimensional space is the desired position and orientation relative to the subject.

5. The spatial alignment system according to claim 1, wherein the one or more degrees of freedom is at least five degrees of freedom.

6. The spatial alignment system according to claim 5, wherein the minimum 5 degrees of freedom include a minimum of 3 translational degrees of freedom and a minimum of 2 rotational degrees of freedom.

7. The spatial alignment system according to claim 1, further comprising an adapter configured to selectively connect the positioning stage to the object.

8. The spatial alignment system according to claim 7, wherein the object to be arranged is selected from the following group. a. Passive surgical instruments b. Implantable medical devices c. Active surgical instruments that provide additional flexibility with respect to surgical instruments or implantable medical devices. d. A combination of the aforementioned options.

9. The spatial alignment system according to claim 8, wherein the object is an active surgical instrument for inserting forceps holding an implantable medical device.

10. The spatial alignment system according to claim 9, wherein the implantable medical device is a cochlear graft.

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