US20080082108A1 - Adjustable trajectory access device and method therefor - Google Patents

Abstract

Devices and methods provide accurate targeting, placement, and/or stabilization of an electrode or other instrument(s) into the brain or other body organ, such as to treat severe tremor or other neurological disorders. Targeting is performed using any form of image-guidance, including real-time MRI, CT, or frameless surgical navigation systems.

Description

CROSS-REFERENCE TO RELATED APPLICATION
• This application is a continuation application of U.S. patent application Ser. No. 10/175,668, filed Jun. 20, 2002, which issues on Jun. 26, 2007 as U.S. Pat. No. 7,235,084, which application is a continuation application of U.S. Pat. No. 7,204,840, filed Apr. 17, 2007, which patent application claims the benefit of priority, under 35 U.S.C. Section 119(e), to U.S. Provisional Patent Application Ser. No. 60/195,663, filed Apr. 7, 2000, the disclosure of which is incorporated herein by reference in its entirety.
FIELD OF THE INVENTION
• This document relates generally to, among other things, surgical placement of a medical instrument deeply into an organ, such as a brain, and specifically, but not by way of limitation, to accurate targeting, placement, and/or acute or chronic stabilization of such an instrument.
BACKGROUND
• In placing a medical device or instrument deeply into an organ, such as a brain, it is often advantageous to precisely target, place, and then secure the device for a period of time that may be several days or even indefinitely. Examples of such devices include catheters, needles, and drug and biological agent delivery instruments, as well as electrical mapping, stimulating and/or ablation leads.
• Targeting such a device is not always an exact science. The target is not always visible from preoperative images. Even when using image-guided minimally invasive techniques, with such imaging modalities magnetic resonance imaging (MRI), computed tomography (CT), frameless surgical navigation systems, and the like, there is often a need for some tweaking or small adjustment in trajectory to accurately hit the target. A single trajectory approach would mean that the need to move the target slightly laterally would require removing the device and then reintroducing it, sometimes as close as 2 mm away from the original entry site.
• One approach to positioning an instrument, such as a deep brain stimulation electrode, uses a conventional stereotactic frame system that is secured to the patient. In this approach, preoperative images of the patient are used to determine the proper trajectory to the target, as measured and aligned relative to the frame. Using accessories mounted to the frame, the electrode is aligned and advanced through a burr hole in the skull to the predetermined target. A base is then inserted into and/or around the burr hole. Various “tool holes” and slots in the base are deformed as the base is slid over the electrode. The tool holes in the base are squeezed together as the base is inserted into the burr hole. When the base is released, it springs back outward against the inside diameter of the burr hole. The stereotactic accessories must then be carefully removed while holding the device in place. This step can be clumsy and inexact. If the electrode moves, it must be repositioned. Before securing the carefully-positioned device to the patient, the equipment used to introduce the device and maintain trajectory must be removed. This action can often dislodge the device requiring the entire placement procedure to be repeated. Even after the stereotactic accessories have been removed, the electrode or other device must be secured. This procedure may also cause electrode movement. In one example, a silicone rubber cap is fit into place to capture and protect the electrode. Placing the rubber cap may cause further electrode movement.
• One disadvantage of this approach is that the instrument positioning is attempted using only a presumed target location, based on the preoperative images, and not an actual determination of the needed trajectory to the target. Another disadvantage is that the stereotactic frame system is both expensive and unwieldy. Yet another disadvantage is that the electrode may move at any one of several times during the procedure and therefore require repositioning. For these and other reasons, the present inventors have recognized that there is a need for improved targeting, placement, and secure stabilization of a deep brain electrode or other medical instrument.
SUMMARY
• This document discusses, among other things a device and method for instrument targeting, placement, and/or stabilization. This system may be used with any instrument, but it is particularly useful with a deep brain neurological stimulation electrode to treat severe tremor or other disorders. The system allows any of a number of imaging modalities, including MRI, CT, and frameless surgical navigation. The MRI environment typically provides both real-time brain images and real-time MRI imaging of trajectory-alignment fiducial markings, although preoperative MRI images of the brain could also be used. The frameless surgical navigation typically uses retrospective brain images (e.g., previously-acquired preoperative MRI images of the brain) and real-time imaging recognition of trajectory-alignment fiducial markings (e.g., using light-emitting diodes, reflective globes, etc.). Both environments, therefore, provide image-guided alignment of the instrument's trajectory to the target location. Such techniques provide accurate placement of the electrode or other medical instrument. It also provides acute and/or chronic stabilization of the instrument. The system includes, among other things, an alignment/targeting system, an instrument introducer system, and a stabilizer system. Other aspects of the present system and methods will become apparent upon reading the following detailed description of the invention and viewing the drawings that form a part thereof.
BRIEF DESCRIPTION OF THE DRAWINGS
• In the drawings, which are not necessarily drawn to scale, like numerals describe substantially similar components throughout the several views. Like numerals having different letter suffixes represent different instances of substantially similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.
• FIG. 1 is a cross-sectional view example of an electrode that has been implanted and secured using the devices and methods discussed herein.
• FIG. 2 is a perspective view example of a base and a cap.
• FIG. 3 is an exploded perspective view example of an assembly of a base, a stabilizer, and a cap.
• FIG. 4 is a perspective view example of a stabilizer.
• FIG. 5 is an exploded perspective view example of a base, a stabilizer, and a cap.
• FIG. 6 provides two perspective view examples of a base and a burr-hole centering device.
• FIG. 7 is a perspective view example of a tool for placing the stabilizer, securing the introduced instrument, and removing the cap.
• FIG. 8 is a perspective view example of an instrument-securing base and a equipment-supporting base.
• FIG. 9 is another perspective view example of an instrument-securing base and an equipment-supporting base.
• FIG. 10 is a further perspective view example of an instrument-securing base and an equipment-supporting base.
• FIGS. 11 and 12 are perspective view examples of a tower-like instrument alignment and introduction guide assembly, also referred to as a deep brain access device.
• FIG. 13 is an exploded perspective view example of portions of a deep brain access device.
• FIG. 14 is a perspective view example of adjusting an instrument trajectory using portions of a deep brain access device with MRI, CT, or another imaging modality.
• FIG. 15 is a perspective view example of adjusting an instrument trajectory using portions of a deep brain access device with a frameless surgical navigational system.
• FIG. 16 is a perspective view example of an MRI-imagable alignment stem.
• FIG. 17 is a perspective view example of an adapter for receiving a frameless surgical navigation instrument.
• FIG. 18 is a perspective view example of a technique for introducing an instrument along the previously established trajectory using a peel-away sheath and stylet.
• FIG. 19 provides two perspective view examples of a multilumen insert portion of a deep brain access device.
• FIG. 20 is a perspective view example of a hub and stylets.
• FIG. 21 is a perspective view example of a single peel-away sheath.
• FIG. 22 is a perspective view example of a guide bridge mounted onto a multilumen insert of a deep brain access device.
• FIG. 23 is a perspective view example of an offset guide bridge.
• FIG. 24 is a perspective view example of a center guide bridge.
• FIGS. 25 and 26 are perspective view examples, respectively, of a remote introducer mounted onto a deep brain access device.
• FIG. 27 is a perspective view alternate example of an instrument-securing base.
• FIG. 28 is a perspective view example of a ball-housing socket on a translational stage.
• FIG. 29 is a perspective view example of an alternate remote introducer mounted to a deep brain access device.
• FIG. 30 is a cross-sectional view example of an alternate deep brain access device.
• FIG. 31 is a perspective view example of a ball and inner sleeve with guide lumens.
• FIG. 32 provides various perspective and cross-sectional view examples of a peel-away sheath with depth markers, a stylet, and a deep brain access device receiving the sheath and stylet.
• FIG. 33 provides various perspective and cross-sectional view examples of an alternate stabilizer.
• FIG. 34 provides various perspective view examples of another alternate stabilizer and accompanying tool.
• FIG. 35 provides various perspective and cross-sectional view examples of a guide alternative to the peel-away sheaths.
• FIG. 36 provides a perspective and a cross-sectional view examples of a sheath having rotatable components for allowing side access, which is useful as an alternative to the peel-away sheath.
• FIG. 37 is a cross-sectional view example of an alternative deep brain access device, mounted to a skull, and a remote introducer mounted to the deep brain access device.
• FIG. 38 is a perspective view example of an alternative deep brain access device providing a pivoting base, an arc-like path, and a ball-and-socket movement for adjusting a trajectory of an instrument being introduced into the brain.
• FIG. 39 is a perspective view illustrating an alternate example of a multilumen insert including imaging-recognizable fiducial markings.
DETAILED DESCRIPTION
• The following detailed description refers to the accompanying drawings, which form a part of this detailed description and illustrate specific embodiments of the invention. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. However, other embodiments may be used, thus structural, logical and electrical changes may be made to this description without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, as the scope of the invention is defined only by the appended claims.
• One example of trajectory guides for surgical applications is discussed in Truwit et al., International Patent Application No. PCT/US98/10008 (International Publication No. WO 98/51229), which is incorporated herein by reference.
• FIG. 1 is a cross-sectional view illustrating an example of a flexible primary medical instrument, such as an implanted deepbrain neurostimulator electrode100.FIG. 1 also illustrates portions of a secondary medical device, such as deepbrain access device102, and portions of a patient's brain in which electrode100 andaccess device102 are used.Electrode100 includes adistal end100A and aproximal end100B.Proximal end100B emerges from under a skin flap of the patient into which it has been inserted.Access device102 includes, among other things, a base104 access plate or ring secured concentrically around and/or in aburr hole106 in the skull.Base104 provides an access opening that is approximately the same diameter as a standard burr hole.Electrode100 extends throughburr hole106 into atarget location108 in the brain, and is held in place bystabilizer110.Access device102 also includes a substantiallyrigid cap112 that coversburr hole106,stabilizer110, andbase plate104, and is overlaid by a tapered low profile flexible (e.g., silicone or other elastomer)conformal cap114 to soften the profile of the implanted apparatuses under the patient's scalp to more closely match theskull surface116.
• A suitable hole inconformal cap114 and/or the overlying skin flap permits any upturnedproximal portion100B ofelectrode100 to be exposed outside the skin flap, if desired. In this example,conformal cap114 includes an engaging lip that mates with a lip ofcap112 orbase104. This holdsconformal cap114 in place.
• In one example, portions ofaccess device102 allow attachment by other apparatuses during targeting/alignment, positioning, and/or acutely or chronically securing the implanted instrument. Although designed for use with a trajectory alignment system,stabilizer110 can be used alone to stabilize catheters, needles, and drug and biological agent delivery instruments, as well as electrodes used for any purpose (e.g., electrical mapping, stimulation, or ablation) that have been placed using alternate targeting and placement methods and systems.
• FIG. 2 is a perspective view of anexample base104. In this example,base104 is attached to the patient's skull by any suitable fastening device, such asbone screws200A and200B. Alternatively,base104 is secured by threads that screw intoburr hole106. Other examples of attachment to the skull or other portions of the patient's body include adhesive, suction and other techniques.Base104 includes one ormore grooves202 for receiving theproximal end100B ofelectrode100, or other flexible instrument, which is laterally bent intogroove202 for conformally exitingbase104, so thatproximal end100B ofelectrode100 lies generally parallel to theskull surface116.Proximal end100B ofelectrode100 extends alongskull surface116 for a clinically appropriate distance.Cap112 covers portions ofburr hole106, and the assembly ofbase104 andelectrode100. In this example,base104 includesrecesses204A-B, such as for receiving respectivepry lip extensions206A-B ofcap112.
• FIG. 3 is an exploded view illustrating an example of an assembly ofbase104,stabilizer110, andcap112.Cap112 includes a relatively larger top300 and a relatively smaller, generallycylindrical base302.Cap112 includes male finger or female receptacle snap-fits304 (or other attachment device(s)) that are coupled to respective mating female receptacle or male finger snap-fits306 ofbase104 so that, when assembled,cap112 is coupled tobase104, within itscenter opening307, and coversstabilizer110. Thecylindrical base portion302 ofcap112 includes at least oneopening308 permittingelectrode100 to exitbase104 viagroove202.
• In the example ofFIG. 3,stabilizer110 includes adisk310 coupled to acam312.Cam312 rotates, with respect todisk310, about an axis perpendicular to the plane ofdisk310, to create and substantiallyclose opening314 in which electrode100 is either passed freely (when open) or clamped (when closed) Thus,cam312 is understood to include any form of clamping device.FIG. 3 illustratescam312 in its open position.Stabilizer110 also includes snap-fits or other fastening features for coupling it tobase104. In the example ofFIG. 3,stabilizer110 can be snapped intobase104 in any rotational orientation. That is, the user can rotate stabilizer110 a full 360 degrees to choose a specific rotational orientation with respect tobase104, and then snapstabilizer110 intobase104 at that orientation. Moreover,elongate opening314 extends radially from the center of the disk-like stabilizer110 to its outer circumference. Along with the full rotational coupling capability ofstabilizer110, this allows an instrument, such aselectrode100, to be clamped withinopening314 in any location over the full area of opening307 inbase104. This provides additional precision in placing theelectrode100 or other instrument.
• FIG. 4 is a perspective view illustrating a closer view ofstabilizer110 in whichcam312 is in a closed position.FIG. 4 also illustrates coupling features400A-B forcoupling stabilizer110 tobase104. In this example, one ormore recesses402A-B, or other engaging features, is provided. By using a tool that engages at least one ofrecesses402A-B,stabilizer110 can be placed intobase104 and snap-coupled thereto.Cam312 also includes one ormore recess404, or other engaging feature. By using a tool that engagesrecess404,cam312 can be moved between open and substantially closed positions. In this example,cam312 also includes acatch406 that prevents unwanted accidental movement ofcam312 into the open position whencam312 is intended to be in the closed position to secureelectrode100 or other medical instrument. In this manner,cam312 locks into the closed position, and is opened by pressing down on atool engaging recess404. This allows catch406 to slide underdisk310.
• FIG. 5 is an exploded view of an alternate embodiment in whichstabilizer110 includes strain relief features500A-B, either of which may be used to secure a small amount of slack inelectrode100 or other instrument. Also in this example, a plurality ofgrooves202 inbase104, and a corresponding plurality ofgrooves308 incap112, allowselectrode100 to laterallyexit base104.
• FIG. 6 provides two perspective views of anexample base positioner600 device for centeringbase104 around burr hole106 (of known diameter) in the skull. Adistal portion602 ofpositioner600 is appropriately sized to be received into center opening307 ofbase104 and further intoburr hole106. This centersbase104 concentrically aroundburr hole106. Bone screws200A-B are temporarily captured within openings inextension wings604A-B ofpositioner600, such that bone screws200A-B are aligned to corresponding openings inbase104. Bone screws200A-B are then loosely secured to the patient's skull, such thatbase104 is properly positioned and centered aroundburr hole106.Wings604A-B are scored or otherwise constructed so as to separate when bone screws200A-B are more securely tightened, thereby releasingbone screws200A-B so that they can fasten base104 to the patient's skull.Positioner600 is then removed, such as by snapping it out ofbase104, leavingbase104 securely fastened in the proper position with respect toburr hole106.
• FIG. 7 is a perspective view of an example of atool700 for performing procedures with respect to, among other things,base104,cap112, and/orstabilizer110. In this example,tool700 includes ahandle702, a firstengaging arm704, and a secondengaging arm706. The end ofarm704 is appropriately sized to engage one ofrecesses402A-B ofdisk310 ofstabilizer110 for placingstabilizer110 intobase104. The end ofarm706 is appropriately sized to engagerecess404 incam312 for movingcam312 between its open and closed positions. In this example, at least one ofends704 and706 is appropriately sized for being inserted into one ofrecesses204A-B (seeFIG. 2) ofbase104, and under one ofcorresponding extensions206A-B for pryingcap112 away frombase104.
• FIG. 8 is a perspective view of an example of a different base, such assupport base800. In this example,support base800 provides a ring-like or any other (e.g., cylindrical)suitable platform802 for supporting other surgical equipment, such as for targeting/alignment of the trajectory of the instrument being introduced, and/or for introducing the instrument after such proper alignment is obtained. In this example, theequipment support base800 is separate frominstrument securing base104, however, these two bases could alternatively be integrally formed or otherwise joined. In the example ofFIG. 8, however,support base800 is secured directly to the patient's skull over and around securingbase104, usingbone screws804A-C through legs extending downward fromplatform802, by using any other appropriate affixation technique.
• FIG. 9 is a perspective view of an alternate example of abase800, secured directly to the patient's skull by fourbone screws804A-D through respective legs extending downward fromplatform802. This four-legged example advantageously allows for a smaller incision (e.g., in the direction of the instrument exit slot of base104) into the patient's skull than the three-legged example ofFIG. 8. Because the legs in the example ofFIG. 9 are closer together than the legs in the example ofFIG. 8, the skin does not have to be laterally spread apart as far to allow placement of the example ofFIG. 9. Such a reduced lateral skin-spreading in turn reduces the required length of the incision slit.
• FIG. 10 is a perspective view of an alternate example of asupport base800. In this example,support base800 is secured by any suitable means to instrument-securingbase104, which, in turn, is secured to the patient's skull, such as discussed above. In the example ofFIG. 10,legs1000A-D space platform802 away frombase104. Each oflegs1000A-D includes one or more snap-fit features1002 for engaging corresponding mating features onbase104. Tightening screws1004A-B are each captured by a respective threaded portion ofplatform802, and extend downward to press againstbase104 whenbase104 andplatform802 are snapped together. By adjustingscrews1004A-B,support base800 is backed away from instrument-securingbase104 so that these two bases are more tightly coupled to each other. This provides added stability toplatform802.
• FIGS. 11 and 12 are perspective views of an example of a tower-like instrument alignment and introduction guide assembly, also referred to as a deepbrain access device1100.DBA device1100 can also be regarded as includingbase104,stabilizer110,cap112, andsupport base800. Atower base1102 ofdevice1100 snaps onto and rotates upon the ring-like orother platform802 ofFIGS. 8-10, such as by one or more snap-fitting side blocks1104. Side blocks1104 provide added stability to preventtower base1102 from rocking from side-to-side onplatform ring802. Acurved saddle1106 is coupled to and seated on a curved portion oftower base1102, such as by at least one arcuate sliding joint, as illustrated. The curved portions ofsaddle1106 andtower base1102 can be tilted with respect to each other to alter a trajectory angle of an instrument being introduced, and can be secured to fix this aspect of the trajectory angle of the instrument.
• An affixation mechanism, such asthumbscrew1108, passes through an opening intower base1102 and engages a portion ofplatform802 to prevent further rotation oftower base1102 with respect toplatform802 once a desired rotational position has been obtained. In this example, a capturing device, such as L-shapedarm1110, retainsthumbscrew1108 together withtower base1102.
• Another affixation mechanism, such asthumbscrew1112, passes through a slotted opening (tilt slot) insaddle1106 and engages a portion oftower base1102 to prevent further riding of the curved portion ofsaddle1106 along the curved portion oftower base1102 once a desired trajectory angle has been obtained. This example also includesattachment fasteners1113A-B passing through corresponding slots insaddle1106 for additionally securingsaddle1106 to towerbase1102.Attachment fasteners1113A-B include screws passing through respective retainer brackets, each of which includes a curved surface conforming to a curved surface ofsaddle1106.
• Also in this example, an interior portion of asocket1114 onsaddle1106 provides a socket portion of a ball-and-socket joint. An affixation mechanism, such asthumbscrew1116, passes through a threaded opening insocket1114 to secure the position of a ball housed therein.Socket1114 also includes fine-tuning thumbscrews1118A-C, which pass through threaded openings insocket1114 for further adjusting the exact position of a ball withinsocket1114.Socket1114 further carries a multilumen instrumentguide insert assembly1120.Multilumen insert1120 includes a tapered sleeve that is releasably coupled, byrelease tab1122 and associated structure(s), within a cylindrical opening through the spherical ball housed withinsocket1114.
• To release the multilumen insert1120 from the ball, thetab1122 is pressed inward toward the sleeve. This forces or wedges a portion of therelease tab1122 against a top portion of the ball and aids in releasing the multilumen insert1120 from the ball. The top portion ofmultilumen insert1120 provides a multilumen guide having a plurality of openings, such as thecenter opening1124A andside openings1124B-E; these openings are also referred to as lumens.Openings1124B-E are spaced apart fromcenter opening1124A by a known predetermined distance. Therefore, ifelectrode100 is inserted throughcenter opening1124A, and misses itstarget location108 in the brain, it can be inserted into one of theside openings1124B-E, without readjusting the trajectory, to reach a target at a known distance away fromcenter opening1124A in the plane of themultilumen insert1120. In this example,multilumen insert1120 also includes T-shaped receptacles orrecesses1126A-D for receiving further equipment, as discussed below. In one embodiment,multilumen insert1120 includes one or more fiducial points (e.g., LEDs, reflective globes, or microcoils), such as for trajectory alignment in a frameless surgical navigation system or in an MRI environment.
• FIG. 13 is an exploded perspective view of an example of portions of deepbrain access device1100, including instrument-securingaccess base104,support base800,tower base1102,saddle1106,socket1114A,ball1300,multilumen insert1120, and other associated components. As illustrated inFIG. 13,tower base1102 includes a bottom orgroove portion1302 that engagesplatform802, such as using hookedside blocks1104, and allowstower base1102 to rotate about the ring-like orother platform802.
• FIG. 13 also illustrates acylindrical opening1306 throughball1300, which is seated insocket1114A.Multilumen insert1120 includes a taperedsleeve1308 or barrel portion that fits snugly withinopening1306.Release1122 includes a ring portion that fits over the exterior ofsleeve1308. To release multilumen insert1120 fromball1300, the tab portion ofrelease1122 is pressed inward towardsleeve1308. This forces or wedges a portion ofrelease1122 against the top portion ofball1300 and aids in releasingsleeve1308 of multilumen insert1120 fromball1300. The tapered barrel provided bysleeve1308 ofmultilumen insert1120 includes, in one example, a closed end with openings corresponding tolumens1124A-E ofmultilumen insert1120.
• FIG. 14 is a perspective view illustrating an example of adjusting an instrument trajectory using portions of deepbrain access device1100 with MRI, CT, PET, or another imaging modality. InFIG. 14,multilumen insert1120 has been removed, and an imagable reference device, such asalignment stem1400, has been inserted into the cylindrical passageway ofball1300 in its place. In this example,alignment stem1400 includes at least two fiducial points that are recognizable by the imaging modality. The various above-described positioning mechanisms of deepbrain access device1100 are adjusted to make the fiducial points collinear with thetarget location108 in the brain. In one example, this may include adjusting the rotation oftower1102 onplatform802, adjusting the tilt ofsaddle1106 with respect totower1102, adjusting the spherical position ofball1300 withinsocket1114, and then fine tuning the exact position ofball1300 using one or more ofscrews1118A-C. The imaging modality includes a computer or other processor that provides a display indicating the relative alignment between the trajectory ofalignment stem1400 andtarget location108. This display further indicates when the trajectory becomes collinear withtarget location108 during the positioning process. The positioning mechanisms provide locking devices that are then locked in, and thealignment stem1400 is replaced bymultilumen insert1120 for continuing the procedure of introducingelectrode100 or other instrument along this trajectory to targetlocation108 in the brain.
• FIG. 15 is a perspective view illustrating an example of adjusting an instrument trajectory using portions of deepbrain access device1100 in conjunction with a frameless surgical navigational system. Examples of such systems use LEDs, light reflecting globes, or other spatially-separated fiducial markers to establish a desired instrument trajectory orientation. In the frameless example ofFIG. 15,multilumen insert1120 remains in place within the cylindrical passageway ofball1300.Adapter1500 is inserted intocenter lumen1124A ofmultilumen insert1120. In this example,adapter1500 includes a center-bored seat1502 that snugly receives a portion of frameless navigation reference device instrument. The frameless navigation reference instrument provides spatially-separated fiducial points that are recognized by the frameless imaging modality. These fiducial points are viewed, using the appropriate imaging modality, while the various positioning mechanisms of the deep brain access device are adjusted, to orient the instrument's trajectory toward the desiredtarget location108 in the brain, then locked in. The frameless navigation instrument is then removed from center-bored seat1502 ofadapter1500.Adapter1500 is then removed fromcenter lumen1124A ofmultilumen insert1120 for continuing the procedure of introducingelectrode100 or other instrument along this trajectory tobrain target location108.
• FIG. 16 is a perspective view illustrating an example ofalignment stem1400 when separated from deepbrain access device1100. In this example,alignment stem1400 is filled with an imagable fluid provided through a one-way valve1600 at a proximal end ofalignment stem1400. A distal end ofalignment stem1400 includes a protuberance orother extension1602. In this example,extension1602 is a thin cylindrical container having adistal tip1604.Distal tip1604 is located at the pivot point ofball1300 whenball1300 is seated insocket1114 ofsaddle1106. In this example, imagable fiducial points are provided atproximal valve1600 anddistal tip1604. The trajectory is established by adjusting the various positioning mechanisms of deepbrain access device1100 so that these imagable fiducial points are collinear withtarget location108 in the brain. In one example, the exact position oftarget location108 is obtained using real-time imaging of the brain while the positioning mechanisms of deepbrain access device1100 are being adjusted. In another example, preoperative brain images are used to determine the position oftarget location108 while adjusting the various positioning mechanisms of deepbrain access device1100.FIG. 16 also illustrates arelease mechanism1606, which includesknob1608 andramp1610. By imparting a force onknob1608 towardball1300,ramp1610 engages the top ofball1300 to assist in releasingalignment stem1400 from the cylindrical passageway ofball1300. Then,multilumen insert1120 is reinserted into the cylindrical passageway ofball1300, for introducingelectrode100 or other medical instrument(s) through lumen(s)1124 ofmultilumen insert1120.
• FIG. 17 is a perspective view illustrating an example offrameless adapter1500 when separated from deepbrain access device1100. In this example,adapter1500 includes stainless steel pin, having adistal tip1700, that is appropriately sized for being inserted intocenter lumen1124A ofmultilumen insert1120. When fully inserted,distal tip1700 is located the pivot point ofball1300 whenball1300 is seated insocket1114 ofsaddle1106. In this example, a frameless navigation instrument with frameless imagable fiducial points is inserted into center-bored seat1502 at the proximal end ofadapter1500, or onto the outer portion ofadapter1500, or otherwise coupled toadapter1500 by any other appropriate coupling technique.
• FIG. 18 is a perspective view illustrating an example of a technique for introducing an instrument along the previously established trajectory to targetlocation108 in the brain. InFIG. 18,multilumen insert1120 is used to guide a distal end of a secondary medical instrument, such as an elongate lumenal catheter or peel-away sheath, for example, one ofsheaths1800A-C, towardtarget location108. Before sheath1800 is inserted into one oflumens1124A-E ofmultilumen insert1120, however, a stylet is inserted through a hollow center bore or lumen of sheath1800. This prevents coring of brain tissue by the hollow center bore of sheath1800 and, in one embodiment, provides additional rigidity for performing the insertion and obtaining an accurate path along the established trajectory towardtarget location108.
• The example ofFIG. 18 illustrates atriple sheath assembly1802, with linearly-arrangedsheaths1800A-C, appropriately spaced apart for being inserted into three linearly-arranged lumens1124 ofmultilumen insert1120. This example similarly illustrates atriple stylet assembly1804 in which three linearly-arranged stylets are spaced apart for insertion in the linearly-arrangedsheaths1800A-C. This triple sheath/stylet illustration is merely an example. The exact number of sheaths1800 and corresponding stylets being introduced ranges from a single sheath/stylet to the number of available lumens1124 inmultilumen insert1120. Aftersheath assembly1802 andstylet assembly1804 has been guided approximately to targetlocation108,stylet assembly1804 is removed and a guide bridge is secured tomultilumen insert1120 for guidingelectrode100 into the center bore of one ofsheaths1800A-C for positioningelectrode100 attarget location108. Thesheaths1800A-C are then removed by pulling apart handles1806A-B. In the illustrated example, each sheath1800 breaks into two pieces as it is being extracted.
• FIG. 19 provides two perspective views of an example ofmultilumen insert1120, which includes the tapered barrel-like sleeve1308 that is inserted intocenter hole1306 ofball1300.Lumens1124A-E extend from the top of multilumen insert1120 through thebarrel sleeve1308. As discussed above,side lumens1124B-E are appropriately radially-spaced (e.g., 3 millimeters, center-to-center) fromcenter lumen1124A to provide capability for repositioning ofelectrode100 by a known amount by simply removingelectrode100 fromcenter lumen1124A and reinserting it into a desired one ofside lumens1124B-E.FIG. 19 also illustratesreceptacles1126A-D, opposing pairs of which are used for receiving a guide bridge or other equipment desired to be mounted to the top ofmultilumen insert1120.
• FIG. 20 is a perspective view illustrating an alternate example of astylet assembly2000, including ahub2002 for uniting 1-5stylets2004A-C for insertion into corresponding peel-away or other sheaths inserted through corresponding lumens1124 ofmultilumen insert1120. In one embodiment,hub2002 includes a Touhy-Borst adapter, or other suitable adapter for grippingstylets2004A-C.
• FIG. 21 is a perspective view illustrating an example of a single peel-awaysheath2100 including adistal tip2102, aproximal end2104, and a center bore or lumen extending therebetween.Handles2106A-B are included atproximal end2104.Sheath2100 is peeled away and extracted by pulling apart handles2106A-B.
• FIG. 22 is a perspective view illustrating an example of a guide lumen selector, such asguide bridge2200 having tabs or legs that are snap-mounted onto an opposing pair ofreceptacles1126A-D ofmultilumen insert1120. In this example,guide bridge2200 includes acylindrical guide tube2202 extending upward from a base portion ofguide bridge2200.Guide tube2202 includes acenter bore hole2204 for passingelectrode100 or other instrument therethrough. A proximal portion ofguide tube2202 includes alip2206 extending outward circumferentially around the perimeter ofguide tube2202. In one example, the center borehole2204 is tapered inward in a direction away fromlip2206. That is, an inner diameter ofbore hole2204 necks down so the instrument passed therethrough is automatically centered as it approaches the base portion ofguide bridge2200. In this example,guide bridge2200 also assists in holding the sheath(s) in place as the electrode is being passed through a sheath to targetlocation108. The handle portions of the sheath do not pass throughguide tube2202, but instead, exit under the sides ofguide bridge2200. In one example,guide bridge2200 includes a wedge-like ridge on its underside to assist in splitting the peel-away sheath.
• FIGS. 23 and 24 are perspective views illustrating an offsetguide bridge2300 and acenter guide bridge2400, respectively.Lumens1124A-E provide a primary guide device forelectrode100 or other instrument, and the selected one of offsetguide bridge2300 andcenter guide bridge2400 provides a secondary guide device forelectrode100 or other instrument. Offsetguide bridge2300 is selected when the instrument being introduced is intended to pass through one ofside lumens1124B-E inmultilumen insert1120. In this example, guidetube2202 is offset from the center of the base of offsetguide bridge2300, such that its center bore2204 is aligned with one ofside lumens1124B-E ofmultilumen insert1120. Alignment with the particular desired side lumen is obtained by appropriately rotating the orientation of offsetguide bridge2300 and snappingtabs2302A-B into corresponding opposing pairs of receptacles1126. By contrast, incenter guide bridge2400,guide tube2202 is centered on the base portion ofcenter guide bridge2400, such that its center bore2204 aligns withcenter lumen1124A ofmultilumen insert1120 whencenter guide bridge2400 is snapped into opposing pairs of receptacles1126 ofmultilumen insert1120. In each of the examples ofFIGS. 23 and 24, an outside portion oflip2206 is threaded for engaging other equipment. Alternatively, other equipment may be mounted ontoguide tube2202 by using a compression fit to a threaded or unthreadedlip2206.
• FIGS. 25 and 26 are perspective views of deepbrain access device1100, on which acenter guide bridge2400 is mounted tomultilumen insert1120. In these examples, anintroducer2500 mechanism is mounted ontoguide tube2202 using a compression fitting tolip2206.Introducer2500 includes aslide2502 mechanism on which a slidingclamp2504 rides toward and away from deepbrain access device1100 and, therefore, toward and away fromburr hole106 in the skull or other entry portal.Clamp2504 holds theelectrode100 or other instrument being introduced. In one example, introducer2500 is operated remotely bycontrols2506A-B to slideclamp2504 alongslide2502, and therefore, to introduce the instrument being held byclamp2504 into and/or out of the brain along the predetermined trajectory in a controlled manner. One example of an appropriateremote introducer2500 is the Fathom® Remote Introducer available from Image-Guided Neurologics, Inc. of Melbourne, Fla. U.S.A. Another example of an appropriateremote introducer2500 is described in Skakoon et al. U.S. patent application Ser. No. ______, entitled “Medical Device Introducer,” filed on Apr. 5, 2001 and assigned to the assignee of the present patent application, the disclosure of which is incorporated herein by reference in its entirety.
• FIG. 27 is a perspective view of an alternate example of an instrument-securingbase2700. In this example,base2700 is centered aroundburr hole106 and secured to the skull usingbone screws2702A-D extending through openings in leg portions.Base2700 includes two opposing mating slides2704A-B that move toward and away from each other, and that mate and engage each other to clampelectrode100 or other instrument therebetween. One ormore slots202 are provided for providing a lateral exit forelectrode100, as discussed above. Other equipment is either attached directly to the skull aroundbase2700, or attached indirectly to the skull, thoughbase2700, such as by snapping or clamping such equipment to receivingsides2706A-B.
• FIG. 28 is a perspective view of a ball-housing socket2800, used as an alternative tosocket1114. In this example,socket2800 rides on a slidingtranslational stage2802 on amount2804 coupled to saddle1106 or other portion of deepbrain access device1100. This example includes asqueeze release2806 for disengagingmount2804 fromsaddle1106 or other affixation point of deepbrain access device1100. Alternatively,mount2804 is affixed to securingbase2700 by a hookedengagement mechanism2808 that engages an underside of securingbase2700, or by using any other appropriate coupling technique.Thumbscrew2810 engages a threaded opening inmount2804 and also engages and controls translational movement of slidingstage2802.Thumbscrew2812 engages a threaded opening inmount2804 and secures the position ofstage2802 to prevent unwanted translational movement after its desired position is obtained. Either thumbscrew may be captured to prevent accidental separation frommount2804.
• FIG. 29 is a perspective view illustrating aremote introducer2900, provided as an alternative tointroducer2500. In this example, introducer2900 is coupled to a portion of deepbrain access device2901, such as by using a Touhy-Borst adapter2902 threaded onto a lip of a guide tube, similar tolip2206 ofguide tube2202. In this example,electrode100 is inserted through a peel-away sheath2100 (after removing a stylet).Sheath2100 is secured to a squeeze-release clamp2904 that slides toward and away from the skull alongslide2906. In this example, advancement and retraction ofclamp2904 is remotely controlled usingcontrols2506A-B.
• FIG. 30 is a cross-sectional view illustrating a deepbrain access device3000, provided as an alternative to deepbrain access device1100. In this example,base104 is secured to the skull using bone screws. A pedestal ortower3002 is secured to base104 as illustrated or, alternatively, is secured directly to the skull.Tower3002 includes asocket3004 housing aball3006.Ball3006 includes a center opening that receives a rotatinginner barrel sleeve3008. In this example,sleeve3008 includes one ormore lumens3010A-C extending therethrough for passing and guiding instruments, sheaths, stylets, etc. An affixation device, such asthumbscrew3012, fixes the position ofball3006 when the desired trajectory alignment has been obtained, such as by using the MRI, CT, PET, or frameless navigational guidance techniques discussed above. Proximal portions oflumens3010A-C include recesses for snapping into place lips on devices inserted therein, such as alignment stem (or frameless adapter)3014 and/orLuer stem3016. A remote introducer may be attached toLuer stem3016, as discussed above. Luer stem3016 may include awedge3018, for assisting in splitting a peel-away sheath inserted through corresponding lumen3010 before Luer stem3016 is inserted therein. Luer stem3016 may also includeorientation tabs3020 to appropriately align the wedge to provide the desired assistance in splitting the peel-away sheath.
• FIG. 31 is a perspective view illustrating an example ofball3006 andsleeve3008, including an illustration of the ball-and-socket movement ofball3006 and rotational movement ofsleeve3008 withinball3006. In this example, lumens3010 include associatedtransverse grooves3100 extending laterally in opposite directions from the lumens3010 to opposing edges ofsleeve3008.Grooves3100 receive and/or hold peel-away portions of one or more peel-away sheaths inserted into respective lumens3010.
• FIG. 32 provides various perspective and side views of portions of deepbrain access device3000 and associated components. In this example, a threeprong titanium stylet3200 assembly is inserted into corresponding lumens of a triple peel-awayplastic sheath3202 assembly. One or more prongs ofsheath3202 includesdepth markers3204. The combinedsheath3202 andstylet3200 is inserted into corresponding lumens3010 ofguide sleeve3008 to the desired depth, as indicated bydepth markers3204 onsheath3202. The proximal portion ofsheath3202 is then separated as illustrated inFIG. 32 and flattened out laterally.Wedge3206 on a proximal handle portion ofstylet3200 may assist in splittingsheath3202. This establishes the prongs ofsheath3202 at the desired depth.Stylet3200 is then removed, andelectrode100 or another instrument is introduced into position through thesheath3202.
• FIG. 33 provides exploded perspective and cross-sectional views of astabilizer3300, which can serve as an alternative tostabilizer110. In this example,stabilizer3300 includes a substantially rigid ring-like base3302, a substantially rigid upper plate,3304, and a softmiddle plate3306 interposed betweenupper plate3304 andlower ring3302.Upper plate3304 andmiddle plate3306 include corresponding openings3308. Aneurostimulating electrode100 or other instrument is passed through one of these openings3308. A soft male protuberance around the opening inmiddle plate3306 is received within a female receptacle around the opening inupper plate3304. Whenupper plate3304 is clamped down againstbase3302, the soft protuberance is squeezed against theelectrode100, holding it securely in place.
• FIG. 34 is a perspective view of anstabilizer3400, which provides an alternative tostabilizer110. In this example,stabilizer3400 is rubber or any other flexible material that tends to return to its original shape. Aspreader3402 is used to open aslot3406 instabilizer3400, which is then inserted into an instrument-securing base-plate fastened to the skull. When electrode100 or other instrument is properly positioned, the spreader is removed, allowingstabilizer3400 to return to its original shape with theslot3406 closed around theelectrode100 to hold it securely in place.
• FIG. 35 provides a perspective view and several cross-sectional views illustrating a sheath-substitute guide3500, which provides an alternative to the peel-away sheaths discussed above. In this example,guide3500 includes one or moreelongate guides3500A-C that do not have a central bore lumen for guiding an instrument through. Instead, eachguide3500A-C includes a cross-section that is formed for guiding an instrument along its side. In this example, the cross-section is crescent-shaped so as to provide a degree of mating to the outer diameter ofelectrode100,stylet3502, or other instrument that is introduced into the patient along the side of theguide3500. In one example,guide3500 is introduced in tandem withremovable stylet3502, which provides additional rigidity to the introduction process. In another example,guide3500 is introduced withoutremovable stylet3502. Becauseguide3500 does not use a central bore lumen, coring of brain tissue during its introduction may be of less concern.Guide3500 allows access to theadjacent electrode100 along its entire length, allowingelectrode100 to be gripped and/or secured very close to the skull (such as using instrument-securing base104) beforeguide3500 is removed. This prevents excessive movement ofelectrode100 during extraction ofguide3500, which provides more accurate placement ofelectrode100 or other instrument.
• FIG. 36 provides a perspective view and a cross-sectional view illustrating asheath3600 assembly, which provides another alternative to the peel-away sheaths discussed above. In this example,sheath3600 assembly includes one or moreelongate sheaths3600A-C. Eachelongate sheath3600 includes an open slot along its length, or a portion thereof. In the illustrated example, eachelongate sheath3600 includes two C-shapedportions3602A-B that rotate with respect to each other by manipulating a handle portion of thesheath3600. When the C-shapedportions3602A-B are rotated into a closed position, they together effectively provide acentral lumen3604 through which electrode100 or other instrument may be passed. When the C-shapedportions3602A-B are rotated into an open position, they together effectively provide an open slot along their length, allowing access toelectrode100 or other instrument that has been inserted therethrough. This allowselectrode100 to be gripped and/or secured very close to the skull (such as using instrument-securing base104) beforesheath3600 is removed. This prevents excessive movement ofelectrode100 during extraction ofsheath3600, which provides more accurate placement ofelectrode100 or other instrument. In this example, stylet(s) may be inserted into thelumen3604 beforesheath1600 is introduced, to avoid coring of brain tissue.
• FIG. 37 is a cross-sectional view illustrating an example of deepbrain access device3000 mounted onto the patient's skull withremote introducer2500 mounted ontoLuer stem3016, which is snapped intocentral lumen3010B.Neurostimulating electrode100 is held byintroducer2500, and passed throughcentral lumen3010B to targetlocation108 of the brain.
• FIG. 38 is a cross-sectional view illustrating an alternate example of a deepbrain access device3800. This example illustrates abase3802, which is centered aroundburr hole106 and secured to the skull. Atower3804 is secured to base3802 or, alternatively, directly to the skull.Tower3804 includes mountinglegs3806 and3808, which are affixed to base3802 or to the skull. The mountinglegs3806 and3808 are coupled to apedestal3810 bypivot pins3812 and3814.Pins3812 and3814 are aligned to provide a longitudinal axis about whichpedestal3810 pivots until locked in place bythumbscrew3816, which engages one of thepins3812 and3814. Thus,pedestal3810 would be capable of pivoting into and out of the drawing ofFIG. 38.
• In the example ofFIG. 38,pedestal3810 includes anarc3818 extending betweenleg extensions3820A-B that are coupled to pivotpins3812 and3814.Arc3818 is curved, so that acenter portion3822, away fromleg extensions3820A-B, would be more distant from the viewer ofFIG. 38 than the portions ofarc3818 that are closer toleg extensions3820A-B. Arc3818 includes aslot3824 extending substantially along its length betweenleg extensions3820A-B. A socket3826 engages and rides alongslot3824, until locked into position by securingthumbscrew3828 againstarc3818.Socket3826 houses aball3006 that can be adjusted spherically until locked into place by one or more thumbscrews.Ball3006 includes acenter sleeve3008 having one or more lumens, as discussed above with respect toFIG. 30. In the example ofFIG. 38, aLuer stem3016 is snapped into a center lumen ofsleeve3008, and aremote introducer2500 is mounted onto the Luer stem for guidingelectrode100 to targetlocation108.
• FIG. 39 is a perspective view illustrating an alternate example of amultilumen insert1120. In this example,multilumen insert1120 includes one or morefiducial markers3900A-C (e.g., LEDs, reflective globes, or MRI-imagable microcoils), such as for trajectory alignment in a frameless surgical navigation system or in an MRI environment. This illustration shows three such imagablefiducial markers3900A-C defining a plane.Fiducials3900A-C are supported on respective arms extending from anattachment extension3902, which is coupled by an fastener, such asscrew3904, to anarm3906 that extends upward and outward from theplanar face plate3908 ofmultilumen insert1120. This coupling is performed (e.g., using integral alignment guides or, alternatively, performing a calibration adjustment) so that a predetermined known spatial relationship exists between the plane formed by imagable fiducials3900A-C and the plane offace plate3908, which is orthogonal to the instrument trajectory axis through each oflumens1124A-E. Consequently,imaging fiducials3900A-C are viewed in conjunction with adjusting the various positioning mechanisms of the deep brain access device to obtain and fix the desired instrument trajectory with respect to the entry portal. Although, in this example,imaging fiducials3900A-C are illustrated as being attached and in a known spatial relationship toplate3908,imaging fiducials3900A-C may alternatively be attached to any other component of the deep brain access device so as to establish a known spatial relationship between the fiducials3900A-C and an axial trajectory provided by one or more oflumens1124A-E. As another alternative, any component of the deep brain access device includes an adapter for receiving one of several commercially available surgical navigation instruments. Such surgical navigation instruments similarly provide imaging-recognizable fiducials. Such an adapter should be oriented such that the spatial relationship between the surgical navigation instrument and the instrument trajectory is known, thereby allowing imaging of the fiducials to assist in adjusting the trajectory to targetlocation108.
• The discussed devices and methods may be used in with frameless surgical navigation or with MRI or other imaging. Such techniques permit real-time determination and confirmation of anatomical placement of the instrument for improving targeting and placement accuracy. Other advantages include, among other things, an alignment apparatus that uses a localized coordinate system in which positioning and aligning is based on a coordinate system relative to the patient's skull and the skull entry point rather than a stereotactic frame; real-time imaging that eliminates the need for retrospective imaging and also allows direct confirmation of the anatomical placement; an anatomically determined initial targeting angle (the angle between the body or skull surface and the theoretical target) that is selected based on the patient's actual anatomy; a unique center-of-arc principle using rotation about the nominal trajectory axis, thus simplifying optimization of the first angular adjustment; a locking ball-and-socket arrangement for easy and accurate direct targeting under real-time imaging or frameless surgical navigation; peel-away or alternative sheaths that allow the device to be easily secured into position; access to the base plate assembly so that the electrode can be captured at the surface of the skull immediately after successful placement and before disassembly of the targeting apparatus; and visible (under the imaging method chosen, e.g., under CT or MM) alignment stems.
• Similarly, the stabilization system provides for in situ stabilization immediately upon proper placement, through use of a disk and cam arrangement, thus eliminating inadvertent movement during disassembly of the alignment apparatus, and reducing the likelihood of the electrode moving after implantation; the snap-fit solid cap protects the electrode and its capture mechanism from damage; the stabilization system is substantially sealed to minimize ingress and egress; the base plate is securely attached to the body; a special tool facilitates placement of the base plate correctly into the burr hole, thus assuring adequate clearance for proper assembly of all parts, as well as pre-positioning apparatus for easy attachment; and the electrode is captured by clamping it in a gap between two parts, therefore electrode damage cannot occur because the gap size is limited by a physical stop.
• Although the examples primarily discuss targeting, placement, and stabilization of a deep brain electrode, this is just an example of one of the possible procedures that can be done using the body portal type trajectory guide. Numerous other procedures will be accomplished using this device. In addition, the device will give rise to other future surgical procedures.
• It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments may be used in combination with each other. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the invention should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.

Claims (23)

1. An access device for guiding an instrument along a trajectory through an entry portal in a surface, the entry portal defining an entry plane, the access device comprising:

a base, configured to be mounted to the surface in or about the entry portal; and

an instrument guide assembly coupled to the base, the instrument guide assembly including:

an instrument guide, including at least one guide lumen for guiding the instrument, the at least one guide lumen defining at least one insertion axis; and

a lateral adjustment device coupled to the instrument guide and configured to laterally adjust a location of the at least one guide lumen in at least first and second directions that are each substantially parallel to the entry plane.

2. The access device ofclaim 1, wherein the lateral adjustment device includes a translational stage slidably coupled with respect to the instrument guide assembly.

3. The access device ofclaim 2, wherein the translational stage is slidably coupled to a mount.

4. The access device ofclaim 3, wherein the mount is rotatably coupled to the base, the mount being rotatable about a rotation axis.

5. The access device ofclaim 3, wherein the mount is detachably coupled to the base.

6. The access device ofclaim 5, wherein the mount includes a squeeze release configured to disengage the mount from the base.

7. The access device ofclaim 5, wherein the mount is selectively couplable to an instrument immobilizing device.

8. The access device ofclaim 3, comprising an arc-shaped sliding joint coupling the mount to the base, the joint configured to selectively adjust an insertion angle of the at least one insertion axis.

9. The access device ofclaim 3, wherein the lateral adjustment device includes at least a first thumbscrew engaged with the stage and configured to control translational motion of the stage with respect to the mount.

10. The access device ofclaim 9, wherein the first thumbscrew is engaged within a threaded opening in the mount.

11. The access device ofclaim 9, wherein the lateral adjustment device includes at least a second thumbscrew configured to inhibit translational motion of the stage with respect to the mount.

12. The access device ofclaim 2, wherein the lateral adjustment device includes a socket attached to the stage and configured to retain a ball at least partially within the socket.

13. The access device ofclaim 12, wherein the instrument guide is coupled to or integral with the ball to provide a ball-and-socket adjustment of the at least one insertion axis.

14. The access device ofclaim 1, wherein the base and the instrument guide assembly are sized and shaped to allow viewing of the entry portal during the insertion of the instrument through the entry portal as directed by the instrument guide.

15. The access device ofclaim 1, wherein the base and the instrument guide assembly are sized and shaped to allow access to the instrument during the insertion of the instrument through the entry portal as directed by the instrument guide.

16. A method, comprising:

mounting an adjustable trajectory access device to a surface in or about an entry portal therein, wherein the entry portal defines an entry plane;

laterally adjusting a location of at least one guide lumen within the adjustable trajectory access device in a first direction that is substantially parallel to the entry plane;

laterally adjusting a location of the at least one guide lumen in a second direction that is substantially parallel to the entry plane; and

guiding an instrument through the at least one guide lumen.

17. The method ofclaim 16, wherein laterally adjusting includes slidably adjusting a translational stage.

18. The method ofclaim 17, comprising selectively inhibiting slidable motion of the stage.

19. The method ofclaim 16, comprising rotatably adjusting the location of the at least one guide lumen within the adjustable trajectory access device about a rotation axis.

20. The method ofclaim 16, comprising angularly adjusting the at least one guide lumen with respect to the entry plane.

21. An access device for guiding an instrument along a trajectory through an entry portal in a surface, the entry portal defining an entry plane, the access device comprising:

means for mounting the access device to the surface in or about the entry portal therein;

means for guiding an instrument through the entry portal; and

means for laterally adjusting the means for guiding the instrument within the access device in first and second directions that are substantially parallel to the entry plane.

22. The access device ofclaim 21, comprising means for rotatably adjusting the means for guiding the instrument about a rotation axis.

23. The access device ofclaim 21, comprising means for angularly adjusting the means for guiding the instrument with respect to the entry plane.

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