Stereotactic drive system

Abstract

A drive system for controlling movement of an elongate member includes a base unit having a first rotatable knob and a second rotatable knob, a follower assembly including a follower slidably coupled to a guide rail, a longitudinal movement wire, and a rotational movement wire. The follower includes a longitudinal movement pulley, a rotational movement pulley, and an alignment element structured to receive an elongate member such that the elongate member is attachable thereto. The longitudinal movement wire operably couples the first rotatable knob to the longitudinal movement pulley such that rotation of the first knob drives the follower in a longitudinal direction along the guide rail. The rotational movement wire operably couples the second rotatable knob to the rotational movement pulley such that rotation of the second knob rotates the alignment element and attached elongate member.

What is claimed is: 
     
       1. A drive system comprising:
 a base unit including first and second spools drive spool shafts to spool, respectively, first and second wires; and 
 an assembly extending in a longitudinal direction and coupled to the base unit by the first and second wires, the assembly including a mount coupled to the assembly, and the mount including a rotatable portion and first and second wire supports that support, respectively, the first and second wires, wherein:
 the rotatable portion is rotatable about an axis of rotation that extends in the longitudinal direction, and is structured to hold and rotate an elongated member about the axis of rotation, 
 the first wire support is coupled to the mount and the assembly such that a movement of the first wire along the first wire support causes the mount to move along the assembly in the longitudinal direction, and 
 the second wire support is coupled to the mount and the rotatable portion such that a movement of the second wire along the second wire support causes the rotatable portion to rotate about the axis of rotation of the rotatable portion, and wherein: 
 the base unit includes first and second spool shafts spools for each of the first and second spools drive spool shafts, such that rotational movements of the first and second spools drive spool shafts cause rotations of each of the respective first and second spool shafts; spools,  
 opposing ends of the first wire are connected to the first and second spools shafts for the first spool drive spool shaft, such that the rotational movement of the first spool drive spool shaft causes, concurrently, both the first and second spool shafts spools for the first spool drive spool shaft to rotate, causing the first and second spool shafts spools for the first spool drive spool shaft to respectively wind and unwind the first wire;, and 
 opposing ends of the second wire are connected to the first and second spools shafts for the second spool drive spool shaft, such that the rotational movement of the second spool drive spool shaft causes, concurrently, both the first and second spool shafts spools for the second spool drive spool shaft to rotate, causing the first and second spool shafts spools for the second spool drive spool shaft to respectively wind and unwind the second wire. 
 
 
     
     
       2. The drive system of  claim 1 , wherein:
 the first wire support includes a first pulley and, wherein  
 the assembly includes a guide rail that includes a track that extends in the longitudinal direction and that is coupled to the first pulley;, and 
 the first wire winds around the first pulley such that winding and unwinding of the first wire causes the first pulley to rotate and move the mount in the longitudinal direction along the track of the guide rail. 
 
     
     
       3. The drive system of  claim 2 , wherein the first pulley has an axis of rotation that is perpendicular to the rotational axis of the rotatable portion and that is rotatably connected to a housing of the mount. 
     
     
       4. The drive system of  claim 1 , wherein:
 the second wire support includes a second pulley that surrounds a portion of the rotatable portion such that the second pulley has an axis of rotation that is the same as the axis of rotation of the rotatable portion; and  
 the mount includes an idler support; and, wherein 
 the second wire enters the mount, winds around the idler support, and then winds around the second pulley, such that winding and unwinding of the second wire causes the second pulley to rotate and move the rotatable portion in a rotational direction about the rotational axis of the rotatable portion. 
 
 
     
     
       5. The drive system of  claim 4 , wherein the idler support includes an idler pulley that has an axis of rotation that is perpendicular to the rotational axis of the rotatable portion and that is rotatably connected to a housing of the mount. 
     
     
       6. The drive system of  claim 1 , wherein:
 the first wire support includes a gear and the assembly includes a gear track to engage with the gear of the first wire support;, wherein 
 the first wire winds around the first wire support such that winding and unwinding of the first wire causes the gear to rotate and move the mount in the longitudinal direction along the gear track; 
 
 the second wire support includes a guide shaft that surrounds a portion of the rotatable portion such that the guide shaft has an axis of rotation that is the same as the axis of rotation of the rotatable portion; and  
 the mount includes an idler support; and 
 wherein the second wire enters the mount, winds around the idler support, and then winds around the guide shaft, such that winding and unwinding of the second wire causes the guide shaft to rotate and move the rotatable portion in a rotational direction about the rotational axis of the rotatable portion. 
 
     
     
       7. The drive system of  claim 1 , further comprising:
 wire sheaths that cover the first and second wires for at least portions of the first and second wires that extend between the base unit and the assembly, wherein 
 the wire sheaths are flexible conduits that allow the first and second wires to travel therein, and that are fixedly secured to the base unit and the assembly. 
 
     
     
       8. The drive system of  claim 7 , wherein:
 the base unit includes first and second tension blocks for the first and second wires;, each of the first and second tension blocks including a respective sheath connector block, wherein 
 respective sheath connector blocks of the first and second tension blocks are attached to respective wire sheaths of the first and second wires;, the sheath connector blocks are elastically secured to the first and second tension blocks;, and 
 the first and second tension blocks relieve tension placed on the first and second wires, during movements thereof, by allowing travel between the wire sheaths and the first and second tension blocks, via the sheath connector blocks. 
 
 
     
     
       9. The drive system of  claim 7 , wherein the base unit and the assembly are flexibly directly connected to each other by only the first and second wires and the wire sheaths. 
     
     
       10. The drive system of  claim 1 , wherein:
 the base unit further includes a gear coupled to each of the first and second spools drive spool shafts, and wherein 
 the gear for each of the first and second spools drive spool shafts is configured to releasably engage respective gear teeth to respectively control respective rotational movement of the first and second spools drive spool shafts. 
 
 
     
     
       11. The drive system of  claim 10 , wherein a knob coupled to each of the first and second spools are drive spool shafts is axially moveable to engage and disengage the gear teeth. 
     
     
       12. The drive system of  claim 1 , wherein the assembly includes an alignment guide that includes an alignment hole that is coaxial with the rotatable portion of the mount. 
     
     
       13. The drive system of  claim 1 , wherein the assembly includes a potentiometer assembly that includes an electrical connector to provide feedback regarding a longitudinal and angular position of the elongate elongated member. 
     
     
       14. The drive system of  claim 1 , further comprising the elongated member. 
     
     
       15. The drive system of  claim 1 , wherein the first and second spools drive spool shafts include respective rotatable knobs that rotate about respective first and second axes. 
     
     
       16. The drive system of  claim 15 , wherein the first and second axes coincide and the first and second drive spool shafts are separated. 
     
     
       17. The drive system of  claim 1 , wherein:
 the rotational movement of the first drive spool shaft causes only the longitudinal movement of the mount and the rotatable portion in the longitudinal direction; and 
 the rotational movement of the second drive spool shaft causes only the rotational movement of the rotatable portion. 
 
     
     
       18. The drive system of  claim 1 , wherein:
 the rotational movement of the first drive spool shaft causes the longitudinal movement of the mount and the rotatable portion in the longitudinal direction in one of opposing forward and backward directions coinciding with the longitudinal direction based on a direction of the rotational movement of the first drive spool shaft; and 
 the rotational movement of the second drive spool shaft causes the rotational movement of the rotatable portion in one of opposing clockwise and counter-clockwise directions about the rotational axis of the rotatable portion based on a direction of the rotational movement of the second drive spool shaft. 
 
     
     
       19. The drive system of  claim 1 , wherein the assembly is magnetic resonance imaging (MRI) compatible. 
     
     
       20. The drive system of  claim 1 , wherein the coupling of the first and second wires between the base unit and the assembly provides a structure in which the base unit can be physically displaced, relative to the assembly, without causing the longitudinal movement of the mount and the rotatable portion in the longitudinal direction, and without causing the rotational movement of the rotatable portion. 
     
     
       21. A method for a drive system, the drive system
 comprising: a base unit including
 first and second spools drive spool shafts to spool, respectively, 
 first and second wires, and 
 first and second spool shafts spools for each of the first and second spools drive spool shafts, such that rotational movements of the first and second spools drive spool shafts cause rotations of each of the respective first and second spool shafts spools, wherein
 opposing ends of the first wire are connected to the first and second spools shafts for the first spool drive spool shaft, such that the rotational movement of the first spool drive spool shaft causes, concurrently, both the first and second spool shafts spools for the first spool drive spool shaft to rotate, causing the first and second spool shafts spools for the first spool drive spool shaft to respectively wind and unwind the first wire;, and 
 opposing ends of the second wire are connected to the first and second spools shafts for the second spool drive spool shaft, such that the rotational movement of the second spool drive spool shaft causes, concurrently, both the first and second spool shafts spools for the second spool drive spool shaft to rotate, causing the first and second spool shafts spools for the second spool drive spool shaft to respectively wind and unwind the second wire; and 
 
 
 an assembly extending in a longitudinal direction and coupled to the base unit by the first and second wires, the assembly including 
 a mount coupled to the assembly, and the mount including
 a rotatable portion, and 
 first and second wire supports that support, respectively, the first and second wires, wherein:
 the rotatable portion is rotatable about an axis of rotation that extends in the longitudinal direction, and is structured to hold and rotate an elongated member about the axis of rotation, 
 the first wire support is coupled to the mount and the assembly such that a movement of the first wire along the first wire support causes the mount to move along the assembly in the longitudinal direction, and 
 the second wire support is coupled to the mount and the rotatable portion such that a movement of the second wire along the second wire support causes the rotatable portion to rotate about the axis of rotation of the rotatable portion; and 
 
 
 the method comprising:
 rotating the first spool drive spool shaft to drive the mount in one of opposing forward and backward directions coinciding with the longitudinal direction based on a direction of the rotating of the first spool drive spool shaft; and 
 rotating the second drive spool shaft to rotate the rotatable portion in one of opposing clockwise and counter-clockwise directions about the rotational axis of the rotatable portion based on a direction of the rotating of the second spool drive spool shaft. 
 
 
     
     
       22. The method of  claim 21 , wherein:
 the base unit further includes a gear coupled to each of the first and second spools drive spool shafts, and wherein 
 the gear for each of the first and second spools drive spool shafts is configured to releasably engage respective gear teeth to control rotational movement of, respectively, the first and second spools drive spool shafts; and the method further comprising: comprises 
 axially displacing one of the first and second spools drive spool shafts to disengage the one of the first and second spools from the respective gear teeth to allow rotating of the one of the first and second spools drive spool shafts. 
 
 
 
     
     
       23. The method of  claim 21 , wherein:
 the drive system includes the elongated member,;  
 the rotating the first spool drive spool shaft drives the elongated member in the one of opposing forward and backward directions coinciding with the longitudinal direction based on the direction of the rotating of the first spool, drive spool shaft; and 
 the rotating the second spool drive spool shaft rotates the elongated member in the one of opposing clockwise and counter-clockwise directions about the rotational axis of the rotatable portion based on the direction of the rotating of the second spool drive spool shaft. 
 
     
     
       24. The drive system of claim 1 further comprising:
 a display provided on the base unit that displays longitudinal positioning of the elongated member extending in the longitudinal direction.   
     
     
       25. The drive system of claim 24, further comprising:
 a potentiometer assembly attached to the elongated member extending in the longitudinal direction and configured to provide feedback regarding the longitudinal positioning of the elongated member extending in the longitudinal direction.   
     
     
       26. The drive system of claim 25, further comprising:
 a processing means connected to the potentiometer assembly, wherein the processing means processes the feedback regarding the longitudinal positioning.   
     
     
       27. The drive system of claim 26, wherein:
 the feedback regarding the longitudinal positioning of the elongated member extending in the longitudinal direction is displayed as a numerical value relative to a longitudinal zero reference point.