Neural interface insertion and retraction tools

Abstract

Devices and methods for manipulating devices such as micro-scale devices are provided. The devices can include a tether of various materials surrounded by a stiff body. The tether interfaces with microscale devices to draw them against the stiff body, holding the microscale devices in a locked position for insertion into or extraction out of tissue. The tensional hook and stiff body are configurable in a multitude of positions and geometries to provide increased engagement. Such configurations allow for a range of implantation and extraction surgical procedures for the device within research and clinical settings.

1 - 33 . (canceled) 
     
     
         34 . A system comprising:
 a microscale device configured to be inserted into a target substrate,   a tool comprising a proximal end and a distal end, wherein the tool comprises an end effector configured to reversibly couple or decouple with a portion of the microscale device,   wherein the tool is configured to insert and retract the microscale device relative to the target substrate when the tool is coupled with the portion of the microscale device.   
     
     
         35 . The system of  claim 34 , wherein the tool comprises a spring and dampening system. 
     
     
         36 . The system of  claim 34 , wherein the tool comprises a system to compensate for deflection of tissue. 
     
     
         37 . The system of  claim 34 , wherein the tool is configured to be actively positioned to follow the motion of tissue. 
     
     
         38 . The system of  claim 34 , further comprising a computer configured to monitor the motion of tissue. 
     
     
         39 . The system of  claim 34 , wherein speed and deflection is configured to be adjusted. 
     
     
         40 . The system of  claim 34 , wherein the microscale device comprises one or more shanks extending substantially orthogonal to a baseplate. 
     
     
         41 . The system of  claim 34 , wherein the microscale device comprises a neural interface. 
     
     
         42 . The system of  claim 34 , wherein the microscale device comprises at least one microelectrode. 
     
     
         43 . A method comprising:
 providing a system comprising:
 a microscale device; 
 a tool comprising a proximal end and a distal end, wherein the tool comprises an end effector configured to reversibly couple or decouple with a portion of the microscale device; and 
 inserting and retracting the microscale device relative to the target substrate when the tool is coupled with the portion of the microscale device. 
   
     
     
         44 . The method of  claim 43 , further comprising pushing and pulling the end effector. 
     
     
         45 . The method of  claim 43 , further comprising adjusting a positioning speed as a function of a monitored motion of a target substrate. 
     
     
         46 . The method of  claim 43 , wherein the microscale device comprises a neural interface. 
     
     
         47 . The method of  claim 43 , wherein the target substrate comprises neural tissue. 
     
     
         48 . The method of  claim 43 , wherein the microscale device bends with the motion of neural tissue. 
     
     
         49 . The method of  claim 43 , wherein reversibly coupling or decoupling the end effector with the portion of the microscale device does not substantially displace the microscale device. 
     
     
         50 . The method of  claim 43 , further comprising monitoring motion of the target substrate. 
     
     
         51 . The method of  claim 43 , further comprising adjusting a positioning speed according to a feedback system. 
     
     
         52 . The method of  claim 43 , further comprising adjusting a deflection of according to a feedback system. 
     
     
         53 . The method of  claim 43 , further comprising compensating for deflection of tissue.