WO2021096352A1 - Method for shaping a position stabilizing body and waterjet surgery system - Google Patents

Method for shaping a position stabilizing body and waterjet surgery system Download PDF

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Publication number
WO2021096352A1
WO2021096352A1 PCT/NL2020/050635 NL2020050635W WO2021096352A1 WO 2021096352 A1 WO2021096352 A1 WO 2021096352A1 NL 2020050635 W NL2020050635 W NL 2020050635W WO 2021096352 A1 WO2021096352 A1 WO 2021096352A1
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WO
WIPO (PCT)
Prior art keywords
stabilizing body
nozzle
position stabilizing
waterjet
surgery
Prior art date
Application number
PCT/NL2020/050635
Other languages
French (fr)
Inventor
Steven DEN DUNNEN
Gabrielle TUIJTHOF
Original Assignee
Technische Universiteit Delft
Amsterdam Universitair Medisch Centrum
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Technische Universiteit Delft, Amsterdam Universitair Medisch Centrum filed Critical Technische Universiteit Delft
Publication of WO2021096352A1 publication Critical patent/WO2021096352A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3203—Fluid jet cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
    • A61B17/025—Joint distractors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3203—Fluid jet cutting instruments
    • A61B17/32037—Fluid jet cutting instruments for removing obstructions from inner organs or blood vessels, e.g. for atherectomy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y80/00—Products made by additive manufacturing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00526—Methods of manufacturing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
    • A61B2017/00557—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated inflatable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
    • A61B17/025—Joint distractors
    • A61B2017/0268—Joint distractors for the knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
    • A61B2017/22051—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an inflatable part, e.g. balloon, for positioning, blocking, or immobilisation
    • A61B2017/22065—Functions of balloons
    • A61B2017/22069—Immobilising; Stabilising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides

Definitions

  • the invention relates to a waterjet surgery system comprising a water pump, a fluid line and a nozzle, wherein the fluid line connects the water pump to the nozzle.
  • EP 1589 884 teaches an example of such a waterjet surgery system.
  • WO2019/056248 discloses a device and method to print or use a patient-specific waterjet cut guide, wherein image data of a bone of a patient is received, a model of the bone is rendered and a cut guide model is generated using the model of the bone.
  • the method may include printing a waterjet cut guide, using a three-dimensional (3D) printer, based on the cut guide model.
  • the patient-specific waterjet cut guide uses a waterjet cutting device, the waterjet cutting device includ ing a nozzle insertable into a cut guide slot of the patient- specific waterjet cut guide.
  • the patient-specific waterjet cut guide may according to WO2019/056248 be made in accordance with the techniques described in US 9,060,786, which is in its entirety incorporated in WO2019/056248.
  • US 9,060,786 teaches a patient-specific femoral posi tioning jig and/or tibial positioning jig provided with align ment members in the form of screws to fix the position of the jig on patient-specific positions on the femur or tibia, re spectively.
  • the jig is made patient-specific based on x-rays of the patient, which are less costly and more readily attain able than more complex three dimensional imaging, such as CT scans and MRIs. Based thereon the jig is positioned at said predetermined positions of the region of interest and by set ting the alignment members.
  • the invention is aimed at providing a more reliable solution for the above pictured problem. According to the in vention the solution is promoted by applying one or more of the appended claims.
  • a waterjet surgery system comprising a water pump, a fluid line and a nozzle, wherein the fluid line connects the water pump to the nozzle, and wherein the nozzle is embodied within a position stabilizing body
  • the invention provides that an outer contour of the position stabilizing body is shaped to match the shape of an external object on which it is to be applied during surgery, and that the nozzle is embodied at a fixed position within the position stabilizing body, wherein the nozzle exit is provided at a side of the position stabilizing body which is intended to face the external object on which it is to be applied during surgery. This avoids the use of screws or pins to fix the position stabilizing body with reference to the external object on which it is to be ap plied during surgery.
  • fixation means comprise infla tion means mounted on the position stabilizing body.
  • the inflation means are embodied as an in flatable cushion.
  • the fixation means com prise a friction coating provided on the position stabilizing body.
  • the friction coating can also be provided on the infla tion means, notably on the cushion. With such a friction coat ing it is possible to either increase or to lower the fric tion, depending on the circumstances.
  • the invention is also embodied in a method for shap ing a position stabilizing body for use in a waterjet surgery system according to the invention, wherein the position stabi lizing body is made by rapid prototyping based on a model that is created using data of a patient, comprising the step of im aging hard tissue, particularly bones, of the patient on which surgery is to be carried out.
  • rapid prototyping based on a model that is created using data of a patient, comprising the step of im aging hard tissue, particularly bones, of the patient on which surgery is to be carried out.
  • the method comprises the steps of:
  • -figure 1 shows a waterjet surgery system wherein the position stabilizing body with the nozzle according to the in vention can be applied;
  • FIG. 5 shows an example of using the position sta bilizing body manufactured according to the method depicted in figure 4.
  • a waterjet surgery system 1 which comprises a source of water 2, a cyl inder piston pump 3, and a fluid line 4 with a jet nozzle 5 which can be directed to an object which is to be cut or drilled. It is remarked that whenever in this application wa ter is mentioned, it is not intended to refer to pure water, but to water which is suitable for medical applications and which accordingly comprises a saline solution derived from a storage 2.
  • the cylinder piston pump 3 with a piston 6 and a spring 7 that loads the piston 6 is only shown as an example of a possible embodiment of a pump. Other arrangements are al so feasible.
  • the invention comes into play where it concerns the implementation of the nozzle 5 within a position stabilizing body 8. It may be best understood with reference to figure 5 that according to the invention in particular an outer contour of the position stabilizing body 8 is shaped to match the shape of an external object 10 on which it is to be applied during surgery.
  • the nozzle 5 is embodied at a fixed position within the position stabilizing body 8, wherein the nozzle ex it is at a side 8' of the position stabilizing body 8 facing the external object 10 on which it is to be applied during surgery. See also figure 4D.
  • FIG 4 a method is depicted for manufacturing and shaping the position stabilizing body 8 for use in a waterjet surgery system 1 as shown in figure 1.
  • first hard tissue 16 representing a bone structure 10 of a pa tient 15 is being imaged, as is shown in figure 4A and 4B.
  • the position stabilizing body 8 with a nozzle is formed by rapid prototyping as depicted in figure 4C, wherein the position stabilizing body 8 is shaped to match the shape of the bones 10 of the patient 15 at a position which has to be subjected to surgery.
  • the eventual position stabilizing body 8 to be used is shown in figure 4D and in figure 5 same is shown in actual use.
  • Figure 4D further images a waterjet stream 17, indicating the position of the nozzle (not shown) at the underside 8' of the position stabilizing body 8.
  • Figures 2A and 2B show for clarity in a schematic way the position stabilizing body 8, which features the nozzle (not shown), usually located at the underside 8' of the body 8.
  • the position stabilizing body 8 in this example a disc, can be provided with additional fixation means 9 to assist in fixing the position of the body 8 in relation to an external object such as is shown in figure 3 with reference to a bone structure 10.
  • the additionally assist ing fixation means 9 are inflation means 11, preferably an in flatable cushion 12, mounted on the position stabilizing body 8. This is however not the only option.
  • Figure 2A shows the position stabilizing body 8 wherein the inflatable cushion 12 is not yet inflated
  • figure 2B shows the position stabilizing body 8 wherein infla tion of the inflatable cushion 12 is completed. Accordingly when arrived at a partly or fully inflated situation as show in figure 2B it is possible to further assist in fixing the position of the position stabilizing body 8 when in use as is depicted in figure 3.
  • a friction coating 13 on the position stabilizing body 8.
  • Such a friction coating can also be applied on the inflatable cushion 12, or in gen eral on the inflation means 11, as depicted with reference 14.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Vascular Medicine (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Surgical Instruments (AREA)

Abstract

A waterjet surgery system comprising a water pump, a fluid line (4) and a nozzle, wherein the fluid line (4) connects the water pump to the nozzle, wherein the nozzle is embodied within a position stabilizing body (8), and a method for shaping such a position stabilizing body (8) comprising the steps of: • imaging hard tissue (16), particularly bones (10), of a patient on which surgery is to be carried out; and • forming a nozzle within a position stabilizing body (8) by rapid prototyping, wherein the position stabilizing body (8) is shaped to match the shape of the bones (10) of the patient at a position which has to be subjected to surgery. The position stabilizing body (8) is shaped to match the shape of an external object (10) on which it is to be applied. The position stabilizing body (8) can be provided with fixation means to assist in fixing the position of the body (8) in relation to an external object (10). The fixation means can comprise inflation means mounted on the position stabilizing body (8). The inflation means can comprise an inflatable cushion. The fixation means can further comprise a friction coating provided on the position stabilizing body (8) and/or on inflation means provided on the position stabilizing body (8).

Description

Method for shaping a position stabilizing body and waterjet surgery system
The invention relates to a waterjet surgery system comprising a water pump, a fluid line and a nozzle, wherein the fluid line connects the water pump to the nozzle.
EP 1589 884 teaches an example of such a waterjet surgery system.
In waterjet surgery of hard tissue, particularly bone, a relatively high water pressure is required to drill or bore into the tissue. This poses a challenge on the position ing of the nozzle because of the thrust force that results from the waterjet being expelled from the nozzle, which may undesirably move the nozzle from its intended position. It is however a requirement in waterjet surgery to keep the nozzle stationary so as not to compromise the patient's safety and to maintain a high level of accuracy during execution of the waterjet surgery.
WO2019/056248 discloses a device and method to print or use a patient-specific waterjet cut guide, wherein image data of a bone of a patient is received, a model of the bone is rendered and a cut guide model is generated using the model of the bone. The method may include printing a waterjet cut guide, using a three-dimensional (3D) printer, based on the cut guide model. The patient-specific waterjet cut guide uses a waterjet cutting device, the waterjet cutting device includ ing a nozzle insertable into a cut guide slot of the patient- specific waterjet cut guide. The patient-specific waterjet cut guide may according to WO2019/056248 be made in accordance with the techniques described in US 9,060,786, which is in its entirety incorporated in WO2019/056248.
US 9,060,786 teaches a patient-specific femoral posi tioning jig and/or tibial positioning jig provided with align ment members in the form of screws to fix the position of the jig on patient-specific positions on the femur or tibia, re spectively. The jig is made patient-specific based on x-rays of the patient, which are less costly and more readily attain able than more complex three dimensional imaging, such as CT scans and MRIs. Based thereon the jig is positioned at said predetermined positions of the region of interest and by set ting the alignment members.
The invention is aimed at providing a more reliable solution for the above pictured problem. According to the in vention the solution is promoted by applying one or more of the appended claims.
In a waterjet surgery system comprising a water pump, a fluid line and a nozzle, wherein the fluid line connects the water pump to the nozzle, and wherein the nozzle is embodied within a position stabilizing body, the invention provides that an outer contour of the position stabilizing body is shaped to match the shape of an external object on which it is to be applied during surgery, and that the nozzle is embodied at a fixed position within the position stabilizing body, wherein the nozzle exit is provided at a side of the position stabilizing body which is intended to face the external object on which it is to be applied during surgery. This avoids the use of screws or pins to fix the position stabilizing body with reference to the external object on which it is to be ap plied during surgery.
There are different embodiments for the position sta bilizing body of the invention, which each can be applied in dependently from the other, or in combination.
In one embodiment the fixation means comprise infla tion means mounted on the position stabilizing body.
Suitably the inflation means are embodied as an in flatable cushion.
In still another embodiment the fixation means com prise a friction coating provided on the position stabilizing body. The friction coating can also be provided on the infla tion means, notably on the cushion. With such a friction coat ing it is possible to either increase or to lower the fric tion, depending on the circumstances.
The invention is also embodied in a method for shap ing a position stabilizing body for use in a waterjet surgery system according to the invention, wherein the position stabi lizing body is made by rapid prototyping based on a model that is created using data of a patient, comprising the step of im aging hard tissue, particularly bones, of the patient on which surgery is to be carried out. With the term 'rapid prototyp ing' as used herein, reference is made for instance to addi tive manufacturing.
According to the invention the method comprises the steps of:
- shaping an outer contour of the position stabiliz ing body to match the shape of the bones of the patient at a position which has to be subjected to surgery; and
- providing a nozzle at a fixed position within the position stabilizing body, and providing that a waterjet stream exits the nozzle at a side of the position stabilizing body facing the bone of the patient on which surgery is to be carried out.
The invention will hereinafter be further elucidated with reference to the drawing of an exemplary embodiment of a waterjet surgery system according to the invention that is not limiting as to the appended claims.
In the drawing:
-figure 1 shows a waterjet surgery system wherein the position stabilizing body with the nozzle according to the in vention can be applied;
-figures 2A/2B show one embodiment of the position stabilizing body which can be used in the waterjet surgery system of the invention;
-figure 3 shows an example of using the position sta bilizing body with the nozzle of the invention;
-figure 4 pictures the method for shaping a position stabilizing body with a nozzle according to the invention; and
-figure 5 shows an example of using the position sta bilizing body manufactured according to the method depicted in figure 4.
Whenever in the figures the same reference numerals are applied, these numerals refer to the same parts.
Making first reference to figure 1 a waterjet surgery system 1 is shown which comprises a source of water 2, a cyl inder piston pump 3, and a fluid line 4 with a jet nozzle 5 which can be directed to an object which is to be cut or drilled. It is remarked that whenever in this application wa ter is mentioned, it is not intended to refer to pure water, but to water which is suitable for medical applications and which accordingly comprises a saline solution derived from a storage 2.
The cylinder piston pump 3 with a piston 6 and a spring 7 that loads the piston 6 is only shown as an example of a possible embodiment of a pump. Other arrangements are al so feasible.
The invention comes into play where it concerns the implementation of the nozzle 5 within a position stabilizing body 8. It may be best understood with reference to figure 5 that according to the invention in particular an outer contour of the position stabilizing body 8 is shaped to match the shape of an external object 10 on which it is to be applied during surgery. The nozzle 5 is embodied at a fixed position within the position stabilizing body 8, wherein the nozzle ex it is at a side 8' of the position stabilizing body 8 facing the external object 10 on which it is to be applied during surgery. See also figure 4D.
In figure 4 a method is depicted for manufacturing and shaping the position stabilizing body 8 for use in a waterjet surgery system 1 as shown in figure 1. In this method first hard tissue 16 representing a bone structure 10 of a pa tient 15 is being imaged, as is shown in figure 4A and 4B. Thereafter the position stabilizing body 8 with a nozzle is formed by rapid prototyping as depicted in figure 4C, wherein the position stabilizing body 8 is shaped to match the shape of the bones 10 of the patient 15 at a position which has to be subjected to surgery. The eventual position stabilizing body 8 to be used is shown in figure 4D and in figure 5 same is shown in actual use. Figure 4D further images a waterjet stream 17, indicating the position of the nozzle (not shown) at the underside 8' of the position stabilizing body 8.
Figures 2A and 2B show for clarity in a schematic way the position stabilizing body 8, which features the nozzle (not shown), usually located at the underside 8' of the body 8. The position stabilizing body 8, in this example a disc, can be provided with additional fixation means 9 to assist in fixing the position of the body 8 in relation to an external object such as is shown in figure 3 with reference to a bone structure 10. In the shown embodiment the additionally assist ing fixation means 9 are inflation means 11, preferably an in flatable cushion 12, mounted on the position stabilizing body 8. This is however not the only option.
Figure 2A shows the position stabilizing body 8 wherein the inflatable cushion 12 is not yet inflated, whereas figure 2B shows the position stabilizing body 8 wherein infla tion of the inflatable cushion 12 is completed. Accordingly when arrived at a partly or fully inflated situation as show in figure 2B it is possible to further assist in fixing the position of the position stabilizing body 8 when in use as is depicted in figure 3.
It is further possible to apply a friction coating 13 on the position stabilizing body 8. Such a friction coating can also be applied on the inflatable cushion 12, or in gen eral on the inflation means 11, as depicted with reference 14.
Although the invention has been discussed in the foregoing with reference to an exemplary embodiment of the po sition stabilizing body and an exemplary method for manufac turing such a position stabilizing body, the invention is not restricted to these particular embodiments which can be varied in many ways without departing from the invention. The body used exemplary embodiments shall therefore not be used to con strue the appended claims strictly in accordance therewith. On the contrary the embodiments are merely intended to explain the wording of the appended claims without intent to limit the claims to these exemplary embodiments. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using these exem plary embodiments.

Claims

1. A waterjet surgery system (1) comprising a water pump (3), a fluid line (4) and a nozzle (5), wherein the fluid line (4) connects the water pump (3) to the nozzle (5), where in the nozzle (5) is embodied within a position stabilizing body (8), characterized in that an outer contour of the posi tion stabilizing body (8) is shaped to match the shape of an external object (10) on which it is to be applied during sur gery, and that the nozzle is embodied at a fixed position within the position stabilizing body (8), wherein the nozzle exit is at a side (8') of the position stabilizing body (8) facing the external object (10) on which it is to be applied during surgery.
2. Waterjet surgery system according to claim 1, characterized in that the position stabilizing body (8) is provided with fixation means (9) to assist in fixing the posi tion of the body (8) in relation to the external object (10).
3. Waterjet surgery system according to any one of claims 1 - 2, characterized in that the fixation means (9) comprise inflation means (11) mounted on the position stabi lizing body (8).
4. Waterjet surgery system according to claim 3, characterized in that the inflation means (11) comprise an in flatable cushion (12).
5. Waterjet surgery system according to any one of claims 1 - 4, characterized in that the fixation means (9) comprise a friction coating (13) provided on the position sta bilizing body (8) and/or on inflation means (11) provided on the position stabilizing body (8).
6. Method for shaping a position stabilizing body (8) for use in a waterjet surgery system (1) according to any one of claims 1 - 5, wherein the position stabilizing body (8) is made by rapid prototyping based on a model that is created us ing data of a patient (15), comprising the step of imaging hard tissue (16), particularly bones (10), of the patient (15) on which surgery is to be carried out, characterized by the steps of:
- shaping an outer contour of the position stabiliz- ing body (8) to match the shape of the bones (10) of the pa tient (15) at a position which has to be subjected to surgery; and
- providing a nozzle at a fixed position within the position stabilizing body (8), and providing that a waterjet stream (17) exits the nozzle at a side (8') of the position stabilizing body (8) facing the bone of the patient (15) on which surgery is to be carried out.
PCT/NL2020/050635 2019-11-14 2020-10-15 Method for shaping a position stabilizing body and waterjet surgery system WO2021096352A1 (en)

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NL2024233A NL2024233B1 (en) 2019-11-14 2019-11-14 Method for shaping a position stabilizing body and waterjet surgery system

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5135482A (en) * 1985-12-31 1992-08-04 Arnold Neracher Hydrodynamic device for the elimination of an organic deposit obstructing a vessel of a human body
NL1016653C2 (en) * 2000-11-20 2002-05-22 Hendrik Glastra Surgical method for removing obstructions in blood vessel, comprises fixing distal end of catheter in relation to vessel wall prior to carrying out removal work
EP1589884A2 (en) 2003-01-31 2005-11-02 Hydrocision Inc. Nozzle assemblies for liquid jet surgical instruments and surgical instruments employing the nozzle assemblies
WO2010148125A1 (en) * 2009-06-18 2010-12-23 The Foundry, Llc Microfracture device and method
WO2013130895A1 (en) * 2012-02-29 2013-09-06 Aquabeam, Llc Automated image-guided tissue resection and treatment
US9060786B2 (en) 2013-08-15 2015-06-23 Biomet Manufacturing, Llc X-ray based cut block positioning jig
WO2018231983A1 (en) * 2017-06-13 2018-12-20 Board Of Regents Of The University Of Nebraska Surgical devices and methods
WO2019056248A1 (en) 2017-09-21 2019-03-28 Zimmer, Inc. Waterjet cutting system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5135482A (en) * 1985-12-31 1992-08-04 Arnold Neracher Hydrodynamic device for the elimination of an organic deposit obstructing a vessel of a human body
NL1016653C2 (en) * 2000-11-20 2002-05-22 Hendrik Glastra Surgical method for removing obstructions in blood vessel, comprises fixing distal end of catheter in relation to vessel wall prior to carrying out removal work
EP1589884A2 (en) 2003-01-31 2005-11-02 Hydrocision Inc. Nozzle assemblies for liquid jet surgical instruments and surgical instruments employing the nozzle assemblies
WO2010148125A1 (en) * 2009-06-18 2010-12-23 The Foundry, Llc Microfracture device and method
WO2013130895A1 (en) * 2012-02-29 2013-09-06 Aquabeam, Llc Automated image-guided tissue resection and treatment
US9060786B2 (en) 2013-08-15 2015-06-23 Biomet Manufacturing, Llc X-ray based cut block positioning jig
WO2018231983A1 (en) * 2017-06-13 2018-12-20 Board Of Regents Of The University Of Nebraska Surgical devices and methods
WO2019056248A1 (en) 2017-09-21 2019-03-28 Zimmer, Inc. Waterjet cutting system

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