Removable Separation Cannula for Electrode Placement

Abstract

A method of inserting an electrode into a cranial cavity of a skull may include determining a length of the electrode between a target in the cranial cavity and a proximal end of a multi-piece cannula for inserting the electrode to the target. A distal end of the electrode may be inserted through a multi-piece cannula supported by an instrument holder of a surgical arm. The surgical arm may be positioned such that a distance from the target to the proximal end of the cannula is equal to the length. The electrode may be fed through the cannula, through an anchor bolt, and into the cranial cavity. Feeding of the electrode through the cannula into the cranial cavity may be stopped when the length of the electrode fed into the cavity reaches the length between the proximal opening of the multi-piece cannula and the target.

Description

Background Art

[0001] Claim of Priority This application claims the benefit of U.S. Provisional Patent Application No. 63 / 147,367, filed on Feb. 9, 2021, the benefit of whose priority is claimed herein and the entire content of which is incorporated herein by reference.

[0002] In modern medicine, neurosurgery is common for helping patients with various conditions. Some conditions can be effectively treated using minimally invasive surgical procedures, in which very small incisions and access holes are used to access the patient's cranial cavity. Such minimally invasive procedures require small tools such as needles and electrodes, as well as precisely acquired measurements.

Brief Description of the Drawings

[0003] In the drawings, like numbers may represent like components in different figures, and the figures are not necessarily drawn to scale. Like numbers with different suffixes may represent different instances of like components. The drawings generally, as an illustration and not a limitation, show various embodiments described herein.

[0004]

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[0005] Some minimally invasive neurosurgical procedures require precisely placing a probe or needle through the patient's skull to a target, typically a part of the brain or a tumor, inside the patient's skull. In some cases, electrodes are placed in the target through a hole in the skull. The electrodes can be relatively long and flexible and can be guided to the target by anchor bolts fixed to the patient's skull. Inside the skull, the anchor bolts can guide the path of the electrodes to the target.

[0006] The insertion depth of the electrodes to the target can be determined by calculating the distance from the target to an external landmark of the patient, such as a position on the patient's skull. However, once the insertion of the electrodes begins, it may be difficult to know how much further to insert the electrodes. For this reason, the surgeon or physician may mark the electrodes to accommodate the skull, anchor bolts, caps, and any other objects between the distal end and the proximal end of the electrodes that are still visible when the target is reached. Such measurements can require various steps and can take a significant amount of time during the electrode placement procedure.

[0007] The inventor has recognized that when a robotic surgical arm is used, the above process can be simplified and performed more precisely or accurately. Depending on the positioning of the patient and the surgical arm, the control system can use the imaging data to determine the distance required to reach the target from the proximal end of the cannula. The electrode can be marked at this length, and the surgical arm can be positioned such that the electrode is inserted to the target when the mark reaches the distal end of the cannula. This process can save the time for measurement and marking and can increase the accuracy and precision of the placement of the electrode.

[0008] One problem associated with this method is that the cannula required to guide the electrode is too small for the proximal connector of the electrode to pass through the cannula. The inventor has recognized that a cannula including a removable portion and a remaining portion can be used to help solve this problem. When the electrode is positioned at the target and fixed in its place at the target, the cannula can be disassembled such that the proximal connector of the electrode can pass through the cannula, which helps increase the accuracy and precision of the placement of the electrode and helps save time during the procedure.

[0009] The above description is intended to provide an overview of the issues of this patent application. The above description is not intended to provide an exclusive or exhaustive description of the present invention. The following description is included to provide further information regarding this patent application.

[0010] FIG. 1 shows a perspective view of a surgical system 100 and a skull 50. FIG. 2 shows a perspective view of the surgical system 100 and the skull 50. FIGS. 1 and 2 are described together below. The skull may include a hole or bone tunnel 52. The surgical system 100 may include a surgical arm 102 and an end effector 103 (including a tool holder 104), a cannula 106, and an anchor bolt 108. FIG. 2 shows that the surgical system may include a cap 110 and an electrode 112. FIG. 1 also shows a target T.

[0011] During a neurosurgical procedure, the bone tunnel 52 or hole can be created in the patient's skull 50 for access to the patient's cranial cavity, e.g., for access to a tumor in the patient's brain or within the brain. Once the hole 52 is created, the bone anchor 108 can be fixed in the hole 52. The bone anchor 108 can be fixed at an angle so as to guide an electrode (or other device) along an appropriate trajectory to reach a target within the cranial cavity. The cap 110 can be fixed to the bone anchor 108 and can serve to capture and guide the electrode.

[0012] The surgical arm 102 can be an arm connected to a controller (as will be described in more detail below) and can be manipulated to move within space. The surgical arm 102 can be positioned relative to a landmark on the patient (e.g., the skull) such that the surgical arm 102 (or its controller) recognizes the location of the surgical arm 102 relative to the skull 50 and the hole 52. The control system of the surgical arm 102 can use imaging data to determine the distance D required to reach the target from the proximal end 114 of the cannula 106. The electrode 112 can be marked at this length or distance, and the surgical arm 102 can be positioned such that the electrode 112 is inserted at the target T when the mark reaches the proximal end 114 of the cannula 106. This process can save time in measurement and marking and can increase the accuracy, precision, and exactness of the electrode placement.

[0013] One problem associated with this method is that the cannula required to guide the electrode is too small for the distal connector of the electrode to pass through the cannula. FIGS. 3-5 illustrate a solution to this problem.

[0014] FIG. 3 shows a perspective view of a portion of the surgical system 100. FIG. 4 shows a perspective view of a portion of the surgical system 100. FIG. 5 shows a perspective view of a portion of the surgical system 100. FIGS. 3-5 show that the cannula 106 can be made of multiple parts, which will be described together below.

[0015] The cannula 106 can be a rigid or semi-rigid body including a material such as one or more metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like. As shown in FIG. 3, the cannula 106 can include a body 116 and a collar 118 that together define a bore 120 extending along the longitudinal axis of the body 116. The body 116 and the collar 118 can together define a first portion 122 (or separable or removable portion) and a second portion 124 (or remaining portion), and the first portion 122 can be separable from the second portion 124 along planes P1 and P2. The planes P1 and P2 can be orthogonal to each other and orthogonal to the longitudinal axis L, such that the first portion 122 forms a 90-degree wedge of the cannula 106 from a proximal perspective.

[0016] In other embodiments, the planes P1 and P2 that can define a cut separating the first portion 122 and the second portion 124 can be in other positions. For example, the first portion 122 (or separable portion) can be defined by planes P1 and P2 that are separated between 5 degrees and 180 degrees.

[0017] When the first portion 122 and the second portion 124 are arranged together as shown in FIG. 3, the cannula 106 can be insertable into the tool holder 104 as shown in FIG. 4. The cannula 106 can be inserted into the tool holder 104 such that the collar 118 contacts the tool holder and restricts distal movement of the body 116 into the tool holder 104 until the body 116 of the cannula is insertable into the tool holder 104. Once disposed in the tool holder 104, the cannula 106 can be secured to the tool holder 104 using a set screw 126. Other fasteners can be used to secure the cannula 106 to the tool holder 104.

[0018] Also, when the cannula 106 is disposed within the tool holder 104, the post 128 of the tool holder can be inserted into the notch 130 of the collar 118 of the cannula 106. The engagement between the post 128 and the notch 130 can serve to limit rotation of the cannula 106 relative to the tool holder 104. The notch 130 may be oriented relative to the separable portion 122 so as to place the separable portion near the setscrew 126, whereby the setscrew 126 can engage the separable portion 122 and contact the remaining portion 124 to push in the separable portion. Such a force can serve to hold both the separable portion 122 and the remaining portion 124 within the tool holder 104 during use of the cannula 106.

[0019] If it is desired to remove the cannula from the tool holder 104 (or remove the first portion 122), the setscrew 126 can be loosened and either the first portion 122 or the second portion 124 can be removed from the tool holder 104. As shown in FIG. 5, the hole 120 is open to one side of the cannula 106 when the first portion 122 is separated from the second portion 124 such that the hole 120 is radially incomplete when the first portion 122 is separated from the second portion 124. Such separation can allow an electrode or other small device within the hole 120 to be moved radially outward of the hole 120. And a larger portion of an electrode (or device), such as a connector, can pass through the larger opening of the cannula 106 created by removal of the first portion 122.

[0020] Alternatively, when the first portion 122 is separated from the second portion 124, the first portion 122 can be removed from the tool holder 104. And since the device within the hole 120 is no longer captured by the cannula 106, the second portion 124 can also be removed from the cannula and any larger portion of the device (e.g., the electrode) can pass through the tool holder 104.

[0021] FIG. 6 shows a perspective view of a part of the surgical system 100 and the skull 50. FIG. 7 shows a perspective view of a part of the surgical system and the skull 50. FIGS. 6 and 7 are described together below.

[0022] After the electrode is marked, as described above with respect to FIGS. 1 and 2, the distal end 113 of the electrode 112 can reach the target until it is indicated by the mark 115 on the electrode reaching the proximal end 114 of the cannula 106. The electrode can be supplied through the hole 120 of the cannula 106, through the anchor 108 and the hole 52 to the target T. At this point, the surgeon can stop the supply of the electrode 112, and the cap 110 can be tightened onto the anchor bolt 108 so as to fix the electrode 112 to the anchor bolt 108, and thus fix the electrode 112 with respect to the skull 50 and the target T.

[0023] Once the electrode 112 is fixed, the set screw 126 can be loosened from the tool holder 104, and the first portion 122 of the cannula 106 can be separated and removed from the remaining portion 124 and the tool holder 104. Optionally, the remaining portion 124 can be removed from the tool holder 104. Removal of one or more of the first portion 122 and the second portion 124 can provide a gap that allows the lead 132 and the connector 134 of the electrode 112 to pass through the tool holder 104.

[0024] FIG. 8 shows a perspective view of a part of the surgical system 800. The surgical system 800 can be similar to the surgical system 100, and the surgical system 800 can differ in that the system 800 can include an instrument holder 804 having two separable parts. The surgical system 100 can be modified to include such an instrument holder.

[0025] The instrument holder 804 can include a post 828 and a collar 840 that defines a hole 842. The instrument holder 804 can also include a first portion 844, a second portion 846, bolts 848a and 848b, and guide rods 850a and 850b. The second portion 846 can include holes 852a and 852b.

[0026] The instrument holder 804 can be connected to a surgical arm via an end effector 803 or an end effector coupler or the like. The first portion 844 can be connected to the second portion 846 via guide rods 850a and 850b that can move into holes in the first portion 844 or the second portion 846. When the first portion 844 and the second portion 846 are in contact, the first portion 844 and the second portion 846 can form a complete collar 840 and define a hole 842 for holding a cannula (such as cannula 106). Bolts 848a and 848b can be threadable into holes 852a and 852b to fix the first portion 844 to the second portion 846. Similarly, the first portion 844 and the second portion 846 can be separated by loosening the bolts 848 from the holes 852 and pulling the first portion 844 and the second portion 846 apart.

[0027] During an operation such as when embedding an electrode, the connector of the electrode, such as connector 134, may not be able to pass through the hole of the cannula and may not even be able to pass through the hole 842 of the instrument holder after removal of the cannula (such as the multi-component cannula 106). In such a case, bolt 848a can be loosened or removed from hole 852, and the first portion 844 and the second portion 846 of the tool holder 804 can be separated to increase the size of hole 842 or to completely remove the second portion 846 from the end effector 803 to free the connector. Such a tool holder can make it possible to use the above-described method (wherein the end of the cannula is positioned to indicate when the electrode has reached its target) even when the electrode has a very large proximal connector.

[0028] FIG. 9 shows a schematic view of a surgical system 900 for the robot-assisted insertion of an electrode or a surgical instrument according to at least one embodiment of the present application. The robotic surgical system 900 can include a robotic surgical device 902, and the robotic surgical device 902 can include a robotic arm 904 that includes an end effector 906 and a position sensor 908. The system 900 can be part of the system 100 described above.

[0029] The controller 910 can be a programmable controller such as a single or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), or the like. In other embodiments, the controller 910 can be any computing device, such as a handheld computer, for example, a smartphone, a tablet, a laptop, a desktop computer, or any other computing device including a processor, memory, and communication capabilities.

[0030] The position sensor 908 can be one or more proximity sensors connected to the robotic arm 904 and communicating with the controller 910. The position sensor can be configured to send a signal to the controller based on the position of the arm (such as the position or location of the end effector 906) relative to a space or other landmark.

[0031] The display 912 can be a monitor, a display, or any other device configured to display data or images received from the controller 910 or the robotic surgery device. The user interface 914 can be any display and / or input device. For example, the user interface can be, in one embodiment, a monitor, a keyboard, and a mouse. In other embodiments, the user interface 914 can be a touch screen display. In yet another embodiment, the user interface 914 can provide lights, buttons, and / or switches. The controller 910 and the user interface 914 can include a machine-readable medium. The term "machine-readable medium" can include any medium that can store, encode, or carry instructions for execution by a device, cause a device to perform any one or more of the techniques of the present disclosure, or store, encode, or carry data structures used by or associated with the instructions. Examples of non-limiting machine-readable media can include solid state memory as well as optical and magnetic media. Specific examples of machine-readable media can include non-volatile memory such as semiconductor memory devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM)) and flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks.

[0032] The robotic arm 904 can be controlled by a surgeon using various control devices or systems. For example, the surgeon can guide the robotic arm 904 via a user interface 914 (e.g., through a processor-implemented controller 910 based on machine-readable instructions that, when executed, automatically move the robotic arm or provide force assistance to the robotic arm for the movement of the surgical guide). The controller 910 can include a computer system that can communicate with a display screen 912. The surgeon can use the anatomical imaging displayed on the display screen 912 to guide and position the robotic arm 904. The anatomical imaging can be provided to the display screen 912 from various imaging sources such as one or more cameras disposed on the end effector 906, or from a C-arm that provides pre-operative or intra-operative fluoroscopy.

[0033] The controller 910 can receive pre-operative, intra-operative, or post-operative medical images. These images can be received in any manner, and the images can include, but are not limited to, computed tomography (CT) scans, magnetic resonance imaging (MRI), two-dimensional x-rays, three-dimensional x-rays, ultrasound, or the like. In one embodiment, these images can be transmitted via a server as a file attached to an email. In another embodiment, the images can be stored on an external memory device such as a memory stick connected to a USB port of the robotic system so as to be uploaded into the processing unit. In yet another embodiment, the images can be accessed over a network by the control system 910 from a remote storage device or service.

[0034] In some embodiments, after receiving one or more images, controller 910 may generate one or more virtual models regarding the surgical area. Alternatively, controller 910 may receive a virtual model of the patient's anatomical structure created remotely. Specifically, the virtual model of the patient's anatomical structure may be generated by defining points of the anatomical structure in the image and / or by fitting a statistical anatomical structure model to the image data. The virtual model may be used in calculations together with a virtual representation of the surgical system (e.g., the arm and cannula). In certain treatment types, the virtual model may be utilized to determine the insertion position, trajectory, and depth of an instrument, e.g., an instrument to be received or incorporated within end effector 906. In a specific embodiment, the virtual model may be used to determine the depth of electrode insertion.

[0035] In an embodiment, robotic arm 904 may move autonomously. In another embodiment, robotic arm 904 may provide force assistance or force resistance to the movement of the surgeon or user guidance. In yet another embodiment, a combination of autonomous movement and movement by force assistance or force resistance may be performed by robotic arm 904 (e.g., there is force assistance or force resistance for an initial movement and then moves autonomously in a later movement). In an embodiment, robotic arm 904 may resist an applied force. For example, robotic arm 904 may be programmed to stay at a specific range of positions or a specific location, move at a specific speed (e.g., resist a higher speed by resisting the force), or perform the like.

[0036] The robotic surgery device 902 can output or receive data from the controller 910. In one embodiment, the controller 910 can output information to the display screen 912. The display screen 912 can search for and display information from the imaging camera. The sensor 908 can be or include an imaging camera, and the imaging camera can be an optical navigation camera physically disposed on the robotic surgery device 902, such as on the robotic arm 904 or the end effector 906. The imaging camera can also be a C-arm or an O-arm for capturing intraoperative fluoroscopic images. In an embodiment, the display screen 912 can be used to display the user interface 914. The user can interact with the display screen 912 and the user interface 914 to input control commands, and the control commands can be relayed to the robotic surgery device 902 through the controller 910 to control the robotic surgery device 902. The robotic surgery system 900 can be used to perform all or part of a surgical procedure on a patient.

[0037] In the operation of some embodiments, the user can interact with the user interface 914 on the display screen 912 to turn on the power of the robotic surgery device 902. The power can be indicated, for example, by a light on the user interface 914 or on the robotic arm 902. When the power of the robotic surgery device 902 is turned on, the user can operate the robotic arm 904 to operate the end effector 906 and any tools inside it. Then, a positioning process can be performed, where position markers are fixed to the patient and the robotic arm, and sensors such as the position sensor 908 or an optical tracking device are configured to detect the positions of the patient and the robotic arm and enable the system 900 to update the positions of the arm 904 and the patient throughout the surgical procedure.

[0038] In some embodiments, the robotic surgery system 900 (e.g., the controller 910) may receive imaging data or other data regarding the patient, such as a scan of the patient's skull. The controller 910 may also receive a target position within the skull. In some embodiments, the user interface 914 may be used to set the target position. Once the target position is determined, the surgical procedure may proceed following step 1002, described below, by either the user or the system 900. The method 1000, described below, does not explicitly include the steps described with respect to FIG. 9, but those steps may be included in the method 1000, particularly as appropriate.

[0039] FIG. 10 is a schematic diagram of a method 1000 according to at least one embodiment of the present disclosure. The method 1000 may be a method of guiding an electrode to a target using a surgical arm and a cannula of a plurality of components. More specific embodiments of the method 1000 are described below. The steps or operations of the method 1000 are shown in a particular order for convenience and clarity, and many of the operations described may be performed in a different order or in parallel without substantially affecting the other operations. The method 1000 described includes operations performed by a plurality of different actors, devices, and / or systems. It is understood that a subset of the operations described in the method 1000 may be attributable to a single actor, device, or system and may be considered separate stand-alone processes or methods.

[0040] In step 1002, the surgical arm may be positioned. For example, the surgical arm 102 or 904 may be positioned by the controller near the skull or cranium 50. In step 1004, the length of the electrode to be inserted at the target within the cranial cavity may be determined. For example, the distance D (in FIG. 1) may be determined by the controller 910 based on, for example, imaging and target selection (as described above with respect to FIG. 9), and based on the known dimensions of the tool holder 104 and cannula 106 and the position of the surgical arm. In step 1006, the electrode may be marked at the determined length.

[0041] In step 1006, the anchor bolt can be fixed to the skull at a certain position and angle so as to guide the electrode towards the target. For example, the anchor bolt 108 can be fixed to the skull 50. Then, in step 1010, the cap can be connected to the anchor bolt, for example, the cap 110 and the anchor bolt 108 in FIG. 2. In step 1012, the distal end of the electrode can be inserted through a cannula of a plurality of components supported by the instrument holder of the surgical arm. For example, the distal end of the electrode 112 can be inserted through the hole 120 of the cannula 106. In step 1014, the distal end of the electrode can be inserted into the cap and the anchor bolt, for example, the cap 110 and the anchor bolt 108.

[0042] In step 1016, the electrode can be supplied into the cranial cavity towards the target through the cannula and through the anchor bolt. For example, the electrode 112 can be supplied into the skull 50 through the cap 110 and the anchor bolt 108. In step 1018, when the mark of the electrode reaches the proximal opening of the cannula of the plurality of components, the supply of the electrode into the cranial cavity through the cannula can be stopped. For example, when the mark 115 (as shown in FIG. 6) reaches the proximal end 114 of the cannula 106, the supply of the electrode 112 can be stopped.

[0043] In step 1020, a cap can be fixed to the anchor bolt so as to fix the position of the electrode with respect to the anchor bolt and the skull. For example, cap 110 can be fixed to anchor bolt 108 so as to fix the position of electrode 112. In step 1022, the cannula can be loosened from the surgical arm. For example, setscrew 126 can be loosened from tool holder 104 and removed from cannula 106. In step 1024, the separable portion of the cannula can be separated or removed from the remaining portion of the cannula and the instrument holder. For example, separable portion 122 can be separated from remaining portion 124 and removed from tool holder 104. Optionally, the remaining portion of the cannula can be removed from the instrument holder (e.g., remaining portion 124 can be removed from instrument holder 104). In step 1026, the proximal end of the electrode (such as a connector) can be passed through the cannula and the instrument holder. For example, connector 134 can be passed through tool holder 104 and optionally through cannula 106. Such a process enables the surgical arm being used to determine and indicate the depth of the electrode to be implanted, which can save time during the procedure by reducing a number of measurements and calculations performed during the procedure, and at the same time can help increase the accuracy and precision of the electrode placement.

[0044] FIG. 11 shows a block diagram of an exemplary machine 1100 in which any one or more of the techniques (e.g., methods) described herein may function. An embodiment as described herein may include logic or a number of components or mechanisms in or by which the machine 1100 operates. A circuit configuration (e.g., a processing circuit configuration) is an aggregate of circuits implemented in a physical substance of the machine 1100 that includes hardware (e.g., simple circuits, gates, logic, etc.). Circuit components may be flexible over time. A circuit configuration includes members that can perform certain operations, alone or in combination, when operating. In an embodiment, the hardware of the circuit configuration may be designed to be invariant (e.g., hardwired) to perform certain operations.

[0045] In an embodiment, the hardware of the circuit configuration can include a physically modified machine-readable medium (e.g., a magnetically and electrically movable arrangement of particles of invariant mass, etc.) that encodes instructions for a particular operation, and variably connected physical components (e.g., execution units, transistors, simple circuits, etc.). In the connection of the physical components, the fundamental electrical characteristics of the hardware components are changed, for example, from an insulator to a conductor or vice versa. By the instructions, the embedded hardware (e.g., an execution unit or a loading mechanism) can generate members of the circuit configuration within the hardware through variable connections and execute a part of a particular operation during operation. Thus, in an embodiment, the machine-readable medium element is part of the circuit configuration or communicably connected to other components of the circuit configuration when the device is operating. In an embodiment, any of the physical components can be used in multiple members of multiple circuit configurations. For example, during operation, an execution unit can be used at a certain time in a first circuit within a first circuit configuration and reused at different times by a second circuit within the first circuit configuration or a third circuit within a second circuit configuration. Additional embodiments of these components related to machine 1100 follow.

[0046] In an alternative embodiment, machine 1100 may operate as a stand-alone device or may be connected (e.g., network-connected) to other machines. In a network-connected arrangement, machine 1100 may operate with the capabilities of a server machine, a client machine, or both in a server-client network environment. In an example, machine 1100 may function as a peer machine in a peer-to-peer (P2P) (or other distributed) network environment. Machine 1100 can be a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a cellular phone, a web appliance, a network router, a switch or bridge, or any machine that can execute (sequentially or otherwise) instructions that specify operations to be taken by that machine. Further, although only a single machine is shown, the term "machine" also should be construed to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described herein, e.g., cloud computing, software as a service (SaaS), other computer cluster configurations.

[0047] A machine (e.g., a computer system) 1100 may include a hardware processor 1102 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), a main memory 1104, a static memory (e.g., a memory or storage for firmware, microcode, basic input / output (BIOS), unified extensible firmware interface (UEFI), etc.) 1106, and a mass storage 1108 (e.g., a hard drive, a tape drive, a flash storage, or other block device), and some or all of which may communicate with each other via an interlink (e.g., a bus) 1130. The machine 1100 may further include a display unit 1110, an alphanumeric input device 1112 (e.g., a keyboard), and a user interface (UI) navigation device 1114 (e.g., a mouse). In an embodiment, the display unit 1110, the input device 1112, and the UI navigation device 1114 may be a touch screen display. The machine 1100 may further include a storage device (e.g., a drive unit) 1108, a signal generation device 1118 (e.g., a speaker), a network interface device 1120, and one or more sensors 1116 such as a global positioning system (GPS) sensor, a compass, an accelerometer, or other sensors. The machine 1100 may include an output controller 1128 such as a serial (e.g., universal serial bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection) to communicate with or control one or more peripheral devices (e.g., a printer, a card reader, etc.).

[0048] The registers of processor 1102, main memory 1104, static memory 1106, or mass storage 1108 can be, or can include, a machine-readable medium 1122 that stores one or more sets of data structures or instructions 1124 (e.g., software) that are implemented or utilized by any one or more of the techniques or functions described herein. The instructions 1124 can also be present, in whole or at least in part, in any of the registers of processor 1102, main memory 1104, static memory 1106, or mass storage 1108 while the machine 1100 is executing it. In an example, one or any combination of the hardware processor 1102, main memory 1104, static memory 1106, or mass storage 1108 can constitute the machine-readable medium 1122. Although the machine-readable medium 1122 is shown as a single medium, the term "machine-readable medium" can include a single medium or a plurality of media (e.g., a centralized or distributed database, and / or associated caches and servers) configured to store one or more instructions 1124.

[0049] The term "machine-readable medium" can include any medium that can store, encode, or carry instructions for execution by machine 1100, cause any one or more of the techniques of the present disclosure to be performed by machine 1100, or store, encode, or carry data structures used by or associated with such instructions. Examples of non-limiting machine-readable media can include solid-state memory, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon-based signals, audio signals, etc.). In an example, a non-transitory machine-readable medium has a plurality of particles having an invariant (e.g., stationary) mass, and thus comprises a machine-readable medium that is a physical composition of an object. Thus, a non-transitory machine-readable medium is a machine-readable medium that does not include a transitory propagation signal. Specific examples of non-transitory machine-readable media can include non-volatile memories such as semiconductor memory devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM)), and flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks.

[0050] Command 1124 may include any of the above-described steps or processes and may be further transmitted or received over communication network 1126 using a transmission medium via network interface device 1120 that utilizes any one of a number of transfer protocols (e.g., frame relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Exemplary communication networks may include, among others, local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), cellular phone networks (e.g., cellular networks), plain old telephone service (POTS) networks, and wireless data networks (e.g., Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards known as Wi-Fi®, IEEE 802.16 family of standards known as WiMax®, IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks). In an embodiment, network interface device 1120 may include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas for connecting to communication network 1126. In an embodiment, network interface device 1120 may include multiple antennas for wirelessly communicating using at least one of single input multiple output (SIMO), multiple input multiple output (MIMO), or multiple input single output (MISO) techniques. The term “transmission medium” should be construed to include any intangible medium that can store, encode, or carry instructions for execution by machine 1100 and that includes digital or analog communication signals or other intangible media for facilitating such software communication. The transmission medium is a machine-readable medium.

[0051] Notes and Examples The following non-limiting examples detail particular aspects of the subject matter for solving problems and providing the advantages described herein.

[0052] Example 1 is a method of inserting an electrode into the cranial cavity of the skull, the method comprising determining the length of the electrode for inserting the electrode to the target between the target in the cranial cavity and the proximal end of the cannula of a plurality of components, inserting the distal end of the electrode through the cannula of the plurality of components supported by the instrument holder of the surgical arm, arranging the surgical arm such that the distance from the target to the proximal end of the cannula is equal to the length, supplying the electrode into the cranial cavity through the cannula and through the anchor bolt, and stopping the supply of the electrode into the cranial cavity through the cannula when the length of the electrode supplied into the cavity reaches the length between the proximal end of the cannula of the plurality of components and the target.

[0053] In Example 2, the subject matter of Example 1 optionally includes removing the separable portion of the cannula from the instrument holder and passing the proximal end of the electrode through the cannula and the instrument holder.

[0054] In Example 3, the subject matter of Example 2 optionally includes removing the remaining portion of the cannula from the instrument holder.

[0055] In Example 4, the subject matter of Example 3 optionally includes increasing the opening size of the instrument holder.

[0056] In Example 5, the subject matter of any one or more of Examples 1 to 4 optionally includes marking the electrode at the length and stopping the supply of the electrode into the cranial cavity through the cannula when the mark on the electrode reaches the proximal opening of the cannula of the plurality of components.

[0057] In Example 6, the subject matter of any one or more of Examples 1 to 5 optionally includes fixing the anchor bolt to the skull at a certain position and angle so as to guide the electrode to the target and connecting the cap to the anchor bolt.

[0058] In Example 7, the subject matter of Example 6 optionally includes inserting the distal end of the electrode into a cap and an anchor bolt.

[0059] In Example 8, the subject matter of Example 7 optionally includes fixing the cap to the anchor bolt so as to fix the position of the electrode with respect to the anchor bolt and the skull.

[0060] In Example 9, the subject matter of any one or more of Examples 1 to 8 optionally includes removing the fixation of the cannula from the surgical arm.

[0061] Example 10 is a method of inserting an electrode into the cranial cavity of the skull, the method comprising determining the length of the electrode for inserting the electrode to a target between the target in the cranial cavity and the proximal end of a cannula of a plurality of components, inserting the distal end of the electrode through the cannula of the plurality of components supported by an instrument holder of a surgical arm, arranging the surgical arm such that the distance from the target to the proximal end of the cannula is equal to the length, supplying the electrode into the cranial cavity through the cannula and through the anchor bolt, stopping the supply of the electrode into the cranial cavity through the cannula when the length of the electrode supplied into the cavity reaches the length between the proximal end of the cannula of the plurality of components and the target, removing the separable portion of the cannula from the instrument holder, and passing the proximal end of the electrode through the cannula and the instrument holder.

[0062] In Example 11, the subject matter of Example 10 optionally includes removing the remaining portion of the cannula from the instrument holder.

[0063] In Example 12, the subject matter of Example 11 optionally includes increasing the opening size of the instrument holder.

[0064] In Example 13, one or more of the themes of Examples 10 to 12 are optionally included in marking the electrode at the length and, when the mark of the electrode reaches the proximal opening of the cannula of multiple components, stopping the supply of the electrode into the cranial cavity through the cannula.

[0065] In Example 14, one or more of the themes of Examples 10 to 13 are optionally included in fixing the anchor bolt to the skull at a certain position and angle so as to guide the electrode to the target and connecting the cap to the anchor bolt.

[0066] In Example 15, the theme of Example 14 is optionally included in inserting the distal end of the electrode into the cap and the anchor bolt.

[0067] In Example 16, the theme of Example 15 is optionally included in fixing the cap to the anchor bolt so as to fix the position of the electrode with respect to the anchor bolt and the skull.

[0068] Example 17 is a cannula for guiding an electrode inserted into the cranial cavity, the cannula comprising a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis, and a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body, the collar being engageable with a surgical arm so as to orient the cannula with respect to the surgical arm, the body and the collar together defining a separable portion and a remaining portion, the separable portion being separable from the remaining portion so as to expose the hole.

[0069] In Example 18, the theme of Example 17 is optionally included in that the separable portion and the reminder portion are separable along the longitudinal plane of the body.

[0070] In Example 19, the theme of Example 18 is optionally included in that the longitudinal plane of the body is orthogonal to the longitudinal axis and orthogonal to each other.

[0071] Example 20 is a surgical system for guiding an electrode inserted into the cranial cavity. The system includes a cannula having a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis, and a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body. The body and the collar together define a separable portion and a remaining portion, and the separable portion is separable from the remaining portion to expose the hole. The system also includes a robotic arm including an instrument holder configured to receive the cannula therein, wherein the collar can engage with the instrument holder to orient the cannula with respect to the surgical arm, and a control system communicating with the robotic arm, the control system being configured to operate the robotic arm to position the cannula.

[0072] In Example 21, the subject matter of Example 20 optionally includes that the control system is configured to receive a calculated distance from the proximal end of the cannula to a target in the cranial cavity.

[0073] In Example 22, the subject matter of Example 21 optionally includes that the control system is configured to position the cannula such that the actual distance between the proximal end of the cannula and the target is the calculated distance.

[0074] Example 23 is a cannula for guiding an electrode inserted into the cranial cavity. The cannula includes a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis, and a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body. The collar can engage with the surgical arm to orient the cannula with respect to the surgical arm, and the body and the collar together define a separable portion and a remaining portion, and the separable portion is separable from the remaining portion to expose the hole.

[0075] In Example 24, the subject matter of Example 23 optionally includes that the separable part and the remaining part are separable along the longitudinal plane of the body.

[0076] In Example 25, the subject matter of Example 24 optionally includes that the longitudinal plane of the body is orthogonal to the longitudinal axis and orthogonal to each other.

[0077] In Example 26, the subject matter of any one or more of Examples 24 to 25 optionally includes that the color includes a notch that can engage with the post of the surgical arm so as to limit the rotation of the cannula with respect to the surgical arm.

[0078] In Example 27, the subject matter of any one or more of Examples 23 to 26 optionally includes that the hole is configured to receive an electrode through the hole.

[0079] In Example 28, the subject matter of Example 27 optionally includes that the separable part is separable from the remaining part when the electrode is disposed in the hole.

[0080] In Example 29, the subject matter of any one or more of Examples 27 to 28 optionally includes that the hole extends through at least a part of the remaining part and at least a part of the separable part.

[0081] Example 30 is a surgical system for guiding an electrode inserted into the cranial cavity. The system includes a cannula having a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis, and a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body. The body and the collar together define a separable portion and a remaining portion, and the separable portion is separable from the remaining portion to expose the hole. The system further includes a robotic arm including an instrument holder configured to receive the cannula therein, wherein the collar is engageable with the instrument holder to orient the cannula with respect to the surgical arm, and a control system in communication with the robotic arm, the control system being configured to operate the robotic arm to position the cannula.

[0082] In Example 31, the subject matter of Example 30 optionally includes that the control system is configured to receive a calculated distance from the proximal end of the cannula to a target within the cranial cavity.

[0083] In Example 32, the subject matter of Example 31 optionally includes that the control system is configured to position the cannula such that an actual distance between the proximal end of the cannula and the target is the calculated distance.

[0084] In Example 33, the subject matter of any one or more of Examples 30 to 32 optionally includes that the separable portion and the remaining portion are separable along a longitudinal plane of the body.

[0085] In Example 34, the subject matter of Example 33 optionally includes that the longitudinal plane of the body is orthogonal to the longitudinal axis and orthogonal to each other.

[0086] In Example 35, any one or more of the themes of Examples 31 to 34 are optionally included in that the color includes notches that can engage with the post of the surgical arm so as to limit the rotation of the cannula with respect to the surgical arm.

[0087] In Example 36, any one or more of the themes of Examples 30 to 35 are optionally included in that the hole is configured to receive an electrode through the hole.

[0088] In Example 37, the theme of Example 36 is optionally included in that the separable part is separable from the remaining part when the electrode is disposed in the hole.

[0089] In Example 38, any one or more of the themes of Examples 36 to 37 are optionally included in that the hole extends through at least a part of the remaining part and at least a part of the separable part.

[0090] In Example 39, any one or any combination of the devices or methods of Examples 1 to 38 can optionally be configured such that all of the recited elements or options are available and are used or selected.

[0091] The description detailed above includes references to the accompanying drawings that form part of the detailed description. The drawings show, by way of example, specific embodiments in which the present invention can be implemented. Such embodiments are also referred to herein as "Examples". Such examples can include additional elements to the elements shown or described. However, the inventor also contemplates examples in which only the elements shown or described are provided. Further, the inventor also contemplates examples using any combination or permutation of the elements (or one or more aspects thereof) shown or described with respect to a particular example (or one or more aspects thereof) or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0092] If there is a grammatical conflict between this specification and any specification incorporated by reference, the grammar in this specification shall prevail. In this specification, the terms "including" and "in which" are used as corresponding to the ordinary English of the respective terms "comprising" and "wherein". Also, in the following claims, the terms "including" and "comprising" are open-ended, that is, a system, device, article, composition, formulation, or process that includes additional elements with respect to those listed after such terms in the claims is still considered to fall within the scope of that claim.

[0093] The above description is intended to be illustrative and not restrictive. For example, the above-described embodiments (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used by those skilled in the art and the like when reconsidering the above description. The abstract is provided in accordance with 37 C.F.R. §1.72(b) so that readers can quickly ascertain the essence of the technical disclosure. It is submitted with the understanding that it is not used to interpret or limit the scope or meaning of the claims. Also, in the above detailed description, various features may be grouped together to simplify the disclosure. This should not be construed as intending that the disclosed features not claimed are essential to any of the claims. Rather, the subject matter of the invention may lie in fewer features than all the features of a particular disclosed embodiment. Accordingly, the following claims are incorporated herein by reference as examples or embodiments, and each claim is placed as a separate embodiment in itself, and it is contemplated that the embodiments may be combined with each other in various combinations or permutations. The scope of the present invention should be determined with reference to the appended claims, along with the full scope of equivalents to which the claims are entitled. According to aspect (1), a cannula for guiding an electrode inserted into the cranial cavity, the cannula comprising: a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis; a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body; and comprising the collar being engageable with the surgical arm to orient the cannula with respect to the surgical arm, the body and the collar together defining a separable portion and a remaining portion, the separable portion being separable from the remaining portion to expose the hole, the cannula. According to aspect (2), the separable portion and the remaining portion are separable along a longitudinal plane of the body. According to aspect (3), the longitudinal plane of the body is orthogonal to the longitudinal axis and orthogonal to each other. According to aspect (4), the collar includes a notch engageable with a post of the surgical arm to limit rotation of the cannula with respect to the surgical arm. According to aspect (5), the hole is configured to receive the electrode through the hole. According to aspect (6), the separable portion is separable from the remaining portion when the electrode is disposed inside the hole. According to aspect (7), the hole extends through at least a portion of the remaining portion and at least a portion of the separable portion. According to aspect (8), a surgical system for guiding an electrode inserted into the cranial cavity, the system comprising: a cannula, a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis; a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body, the body and the collar together defining a separable portion and a remaining portion, the separable portion being separable from the remaining portion to expose the hole, the collar; and comprising the cannula; A robotic arm including a device holder configured to receive the cannula therein, wherein the collar is engageable with the device holder to orient the cannula with respect to the surgical arm, the robotic arm, A control system in communication with the robotic arm, the control system being configured to operate the robotic arm to position the cannula, the control system, A surgical system comprising. According to aspect (9), the control system is configured to receive a calculated distance from the proximal end of the cannula to a target within the cranial cavity. According to aspect (10), the control system is configured to position the cannula such that an actual distance between the proximal end of the cannula and the target is equal to the calculated distance. According to aspect (11), the separable portion and the remaining portion are separable along a longitudinal plane of the body. According to aspect (12), the longitudinal planes of the body are orthogonal to the longitudinal axis and orthogonal to each other. According to aspect (13), the collar includes a notch engageable with a post of the surgical arm to limit rotation of the cannula with respect to the surgical arm. According to aspect (14), the hole is configured to receive the electrode therethrough. According to aspect (15), the separable portion is separable from the remaining portion when the electrode is disposed inside the hole. According to aspect (16), the hole extends through at least a portion of the remaining portion and at least a portion of the separable portion. According to aspect (17), a method of inserting an electrode into a cranial cavity of a skull, the method comprising Determining a length of the electrode for inserting the electrode to a target between the target within the cranial cavity and a proximal end of a cannula of a plurality of components; Inserting a distal end of the electrode through the cannula supported by a device holder of a surgical arm; Positioning the surgical arm such that a distance from the target to the proximal end of the cannula is equal to the length; Supplying the electrode into the cranial cavity through the cannula and through an anchor bolt; When the length of the electrode supplied into the cavity reaches the length between the proximal end of the cannula of the plurality of components and the target, stopping the supply of the electrode into the cranial cavity through the cannula; A method comprising. According to aspect (18), removing the separable portion of the cannula from the device holder; Passing the proximal end of the electrode through the cannula and the device holder; Further comprising. According to aspect (19), further comprising removing the remaining portion of the cannula from the device holder. According to aspect (20), further comprising increasing the opening size of the device holder. According to aspect (21), marking the electrode at the length; When the mark on the electrode reaches the proximal opening of the cannula of the plurality of components, stopping the supply of the electrode into the cranial cavity through the cannula; Further comprising. According to aspect (22), fixing the anchor bolt to the skull at a position and an angle so as to guide the electrode to the target; Connecting a cap to the anchor bolt; Further comprising. According to aspect (23), further comprising inserting the distal end of the electrode into the cap and the anchor bolt. According to aspect (24), further comprising fixing the cap to the anchor bolt so as to fix the position of the electrode with respect to the anchor bolt and the skull. According to aspect (25), further comprising removing the fixation of the cannula from the surgical arm.

Claims

1. A cannula for guiding an electrode inserted into the cranial cavity, the cannula comprising: a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis and into which the electrode is inserted; and a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body, the hole extending continuously from the body and into the interior of the collar, the collar including a notch that can engage a post of a device holder to limit rotation of the cannula relative to a surgical arm; and the cannula can be inserted into the device holder of the controllable surgical arm to orient the cannula relative to the surgical arm, the body and the collar together define a separable portion and a remaining portion, the separable portion is separable from the remaining portion to expose the hole; the cannula, wherein the separable portion and the remaining portion are defined by cutting the body and the collar along two planes parallel to the longitudinal axis.

2. The cannula according to claim 1, wherein the two planes are orthogonal to each other when viewed along the direction of the longitudinal axis.

3. The cannula according to claim 1, wherein the hole extends through at least a portion of the remaining portion and at least a portion of the separable portion.

4. A surgical system for guiding an electrode inserted into the cranial cavity, the surgical system comprising: a cannula, a body defining a longitudinal axis and defining a hole extending through the body along the longitudinal axis and into which the electrode is inserted; and a collar connected to the proximal portion of the body and extending radially outward from the proximal portion of the body, the hole extending continuously from the body and into the interior of the collar, the body and the collar together define a separable portion and a remaining portion, the separable portion is separable from the remaining portion to expose the hole; and a robotic arm including a device holder configured to receive the cannula therein, the cannula can be inserted into the device holder to orient the cannula relative to the robotic arm. A control system that communicates with the robotic arm, the control system being configured to operate the robotic arm to place the cannula, the control system, comprising, the collar includes a notch that can engage with the post of the instrument holder so as to limit the rotation of the cannula with respect to the surgical arm, a surgical system.

5. The surgical system according to claim 4, wherein the control system is configured to receive a calculated distance from the proximal end of the cannula to a target within the cranial cavity.

6. The surgical system according to claim 5, wherein the control system is configured to stop the supply of the electrode into the cranial cavity through the cannula when the length of the electrode supplied into the cranial cavity becomes the same as the calculated distance.

7. The surgical system according to claim 4, wherein the separable portion and the remaining portion are defined by cutting the body and the collar along two planes parallel to the longitudinal axis.

8. The surgical system according to claim 7, wherein the two planes are orthogonal to each other when viewed along the direction of the longitudinal axis.

9. The surgical system according to claim 4, wherein the hole extends through at least a part of the remaining portion and at least a part of the separable portion.

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