WO2006131522A1 - Procede et dispositif pour le diagnostic et/ou le traitement de maladies gastro-intestinales fonctionnelles - Google Patents

Procede et dispositif pour le diagnostic et/ou le traitement de maladies gastro-intestinales fonctionnelles Download PDF

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Publication number
WO2006131522A1
WO2006131522A1 PCT/EP2006/062941 EP2006062941W WO2006131522A1 WO 2006131522 A1 WO2006131522 A1 WO 2006131522A1 EP 2006062941 W EP2006062941 W EP 2006062941W WO 2006131522 A1 WO2006131522 A1 WO 2006131522A1
Authority
WO
WIPO (PCT)
Prior art keywords
intestinal wall
stimulation
measured values
sensor
gripper
Prior art date
Application number
PCT/EP2006/062941
Other languages
German (de)
English (en)
Inventor
Norbert Krauss
Rainer Kuth
Johannes Reinschke
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2006131522A1 publication Critical patent/WO2006131522A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes
    • A61B5/073—Intestinal transmitters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/03—Detecting, measuring or recording fluid pressure within the body other than blood pressure, e.g. cerebral pressure; Measuring pressure in body tissues or organs
    • A61B5/036—Detecting, measuring or recording fluid pressure within the body other than blood pressure, e.g. cerebral pressure; Measuring pressure in body tissues or organs by means introduced into body tracts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue
    • A61B5/14539—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue for measuring pH
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/42—Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
    • A61B5/4839—Diagnosis combined with treatment in closed-loop systems or methods combined with drug delivery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36007—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of urogenital or gastrointestinal organs, e.g. for incontinence control

Definitions

  • the invention relates to a device for diagnosing and / or treating functional gastrointestinal diseases, which is swallowable by a patient and passes through the gastrointestinal tract, has an induced or permanent magnetic dipole moment and is movable by an external magnetic field or gradient field in the body of the patient wherein the device comprises a clip or gripper for fixing the device at a desired location in the body.
  • WO 2004/014225 A2 describes a system and a method for observation and stimulation of gastrointestinal motility.
  • one or more capsules are administered to the patient so that the capsules can be used for gastrointestinal administration.
  • nal tract happen.
  • Each capsule may contain a current-carrying coil that generates a magnetic dipole moment, alternatively, the capsule may contain a ferromagnet or an iron rod.
  • An external sensing device is used to wirelessly detect the position and orientation of the swallowed capsules within the gastrointestinal tract.
  • From DE 103 36 734 Al shows a capsule that if a patient Navi magnetically in the interior of the body is gierbar just ⁇ and having a tissue anchor, which allows the anchoring of the capsule in the tissue wall in order in this way a position for a from outside to highlight leading surgical procedure.
  • a driving device accelerates the tissue anchor. Since the surgical procedure is to be performed from the outside and with this procedure also the capsule is to be removed, there is no indication how the tissue anchor can be loosened otherwise from the tissue. Any thera ⁇ Commissionic effects should not be achieved with the device proposed here.
  • magnetically navigable capsules are known inside the body which can be used for therapeutic treatment.
  • the therapeutic agents are surface anlagerbar or to the tissue ⁇ carrying in the affected tissue ⁇ bar.
  • active agents pharmaceuticals or radioactive lamps are proposed. Further therapeutic agents are not named, in particular the localization of the tissue to be treated is not described.
  • the patent application US 2004/01176664 A1 describes a capsule which can be inserted inside the body and which has extendable, extensible, movable arms in the form of trunks.
  • the capsule should be able to be moved via the peristalsis or with the help of these cuspids.
  • the trunk are hollow, have an elliptical cross-section and are finely segmented. They consist of a material which deforms with appropriate electrical current supply and moves back to the starting position when the current supply is switched off. About the segmented control all Be ⁇ movement directions should be executable.
  • the arms have a tube through which, for example, liquids can be transported. These arms mimic or further wear medical instruments, sensors, clamps, blades, tissue, catheters, sampling devices, sensors, electrodes, etc.
  • the invention is therefore an object of the invention to provide a Vorrich ⁇ tion, the simple with very simple means allows improved diagnosis and stimulation of the gastrointestinal tract of a patient.
  • the clip or gripper in such a way that it likewise has electrodes as means for stimulating the intestinal wall.
  • the clip or gripper makes it possible to fix the device at a desired location of the intestinal wall, so that it is not moved by the peristalsis in the direction of the intestinal exit.
  • the inventive device thus allows the obser ⁇ processing and treatment of a specific site of the intestinal wall.
  • it is proposed to integrate the two electric ⁇ in the clip or gripper and electrical connections see to supply to the device. Through this stimulation via the electrodes can be specifically targeted to the intestinal wall to trigger a particular physiological response.
  • an electric current can be delivered, which causes the desired irritation of the intestinal wall.
  • the clip or gripper has to grip in the tissue ⁇ at least two jaws or half pliers, which are electrically isolated from each other and represent the electrodes.
  • the electrical insulation can be done by appropriate coatings. It is expedient to contact the two jaws also in the closed state, ie without being in engagement with the tissue, to prevent, whereas in the rest of the jaw region is preferably provided on the cheek outer sides a good electrical contact with the tissue. In this way egg ne double function can quite easily the clip or gripper accomplished ⁇ to. Another advantage is that the contact of the electrodes with the tissue via the engagement of the clip or gripper inevitably comes to conditions. Additionally and in addition to the electrodes on the clip or gripper itself, it is also possible for electrodes to be attached to the periphery of the device.
  • a further means for intestinal wall stimulation lation is used.
  • This means is a medicament reservoir with a controllable outlet valve and / or an injection needle, wherein the reservoir ⁇ is filled with a pharmaceutical, which is selectively discharged inside the body by the outlet valve is actuated ⁇ taken.
  • a pharmaceutical which is selectively discharged inside the body by the outlet valve is actuated ⁇ taken.
  • the device When the device has a permanent magnetic dipole moment, such as by a permanent magnet disposed in the device, it can be moved to any desired position in the field by externally generated magnetic fields or gradient fields
  • the clip or gripper of the device wirelessly activatable, for example by a radio signal.
  • the abovementioned means for stimulating the intestinal wall can also be activated in a wireless manner.
  • the device of the invention comprises at least one sensor can be received via the measuring values which are relevant in gastrointestinal disorders and we function of these measured values ⁇ at least one of the aforementioned means for stimulating the intestinal wall is activated.
  • the device of the invention comprises at least one sensor can be received via the measuring values which are relevant in gastrointestinal disorders and we function of these measured values ⁇ at least one of the aforementioned means for stimulating the intestinal wall is activated.
  • the measured values can be stored in a memory and / or read out wirelessly.
  • the data can be made available for further evaluations. For example, diagnostic data with previous diagnosis Comparable sedates and trends, or it can be directly responded to the response of the therapeutic stimulation of the intestinal wall.
  • the means for intestinal wall stimulation can be activated as a function of the measured values which have been detected by at least one sensor.
  • This activa ⁇ tion can be performed by a device disposed in the controller further, however, it is also possible that the measured values transferred to an external processing apparatus ⁇ the.
  • the measured values the control signals are obtained by the processing then is transferred to the device which advises of the external cookedsge ⁇ .
  • the device according to the invention can have a sensor for acquiring measured values which are relevant for gastrointestinal diseases.
  • the sensor may be formed as a pressure sensor.
  • This pressure sensor allows the measurement of the pressure in Gastrointestinal intestinal tract and the time profile of the pressure.
  • This pressure values and the pressure curve allowing the physician Di ⁇ agnosen to provide and determine the setpoints for the stimulation stimulate the intestinal wall.
  • these setpoints can also be determined automatically by an internal or external processing and control unit.
  • the device should further comprise one or more pH sensors which measure the pH of the intestinal secretion and thus provide diagnostic data.
  • a sensor for measuring the electrolyte concentration can be provided.
  • the invention relates to a method for the diagnosis and / or treatment of functional gastrointestinal diseases, comprising the following steps:
  • the inventive method has the advantage that an inadvertent displacement or unwanted movement of the device is prevented by the peristalsis, since the device is fixable in the gastrointestinal tract and a direct electrical stimulation of the intestinal wall, on the clip or gripper is enabled.
  • electrical impulses are delivered via the electrodes.
  • the electrical stimulation is already successful for many applications ⁇ cases.
  • still measured values can be detected by a sensor arranged in the device prior to stimulation.
  • the pressure in the gastrointestinal tract and, if appropriate, its time course are measured.
  • the electrolyte concentration and / or the pH of the intestinal secretion can be measured.
  • measured values can be stored in a memory, but preferably the recorded measured values are simultaneously transmitted to an external receiving device.
  • the method according to the invention has the advantage that it is non-invasive, does not cause radiation exposure and is fast due to magnetic navigation. Because of the local therapy, possible side effects are reduced to a minimum.
  • FIG. 1 shows a device according to the invention in a ge ⁇ cut view.
  • Fig. 2 shows a section of the device according to the invention concerning the gripper
  • Fig. 3 the introduced into the body of a patient device.
  • the device 1 shown in Fig. 1 is formed kapseiförmig and comprises a shell 2, is located in which a Perma ⁇ nentmagnet. 3
  • the arrows indicate the magnetization ⁇ direction of the permanent magnet 3.
  • a gripper can 4 of the device 1 is extended be to fix the device at this point.
  • the fixation prevents the device 1 from being moved by the peristalsis of the intestine.
  • electrodes 7 are formed, which are electrically connected to the device 1 and driven cause an electrical Sti ⁇ mulation of the tissue with which the gripper 4 is engaged.
  • a pressure sensor 5 integrated in the device 1 By means of a pressure sensor 5 integrated in the device 1, the pressure acting at this point can be measured in the gastrointestinal tract.
  • a data transmission device 6 is provided in the device 1, the measurement data, such as the data of the pressure sensor 5, can be transmitted to an external device, at the same time the data transmission device 6 can receive data from the external device, the
  • control signals may include. These may be signals for extending or retracting the gripper 4, as well as a measured value can be requested from the pressure sensor 5. The entire communication of the device 1 with the external device takes place via the data transmission device 6.
  • a sensor 8 for measuring the pH value is present, with a further sensor, the electrolyte concentration can be measured.
  • additional sensors for the detection of drugs or endogenous messengers may be present.
  • the device 1 comprises further electrodes 7 which are mounted on the outside of the device 1 in the circumferential direction and in the longitudinal direction spaced from each other.
  • This Kgs ⁇ NEN be used in support when the electrodes 7 rest against a tissue wall.
  • An electric current can be applied, which then exerts a stimulus on the intestinal wall.
  • a medicament reservoir 12 is located in the device 1, which is filled with one or more medicaments.
  • the medicaments may be powdery, capsular or liquid, for example, and may be opened a non-illustrated flap of the reservoir 12 are administered controlled.
  • the capsular Vorrich ⁇ device 1 further comprises an injection needle 11, which is received in a cavity 9 and connected to a supply of medicaments, not shown. By extending the injection needle 11 from the cavity 9, the drug can be applied to the tissue of the intestinal wall.
  • an optical dome 13 a camera located behind the fourteenth
  • FIG. 2 shows a detail of the device 1 shown in FIG. 1.
  • the gripper 4 has been moved out of the device 1.
  • the gripper 4 consists essentially of the two jaws 17a and 17b and a shaft 18. The jaws 17a, 17b and the connection to the
  • Device 1 producing shaft 18 are electrically conductive, wherein the surface of the shaft 18 itself may be isolated.
  • the shank 18 is divided into two parts, in that it can supply the upper jaws 17a and the lower jaws 17b separately from each other via an insulating layer 16.
  • the jaws 17a, 17b have a further insulation 16, which prevents electrical contact of the upper jaw 17a and the un ⁇ direct baking 17b in the space provided for the tissue engaging tip.
  • On the outside of the jaws 17a, 17b these have a region of the respective electrodes 7, via which a stimulation of the tissue region can be carried out.
  • Fig. 3 shows the device 1 after insertion into the body of a patient.
  • the patient 10 ingests the device 1, which is then rapidly brought into the examination or treatment area by magnetic navigation.
  • the patient lies in a coil system, which is needed to produce the external magnetic fields, beispiels-, in the schematically illustrated tube 15. It is typically not administered a muscle relaxant, because the na ⁇ ral peristaltic movement to be examined.
  • the device 1 is placed in the desired location in the gastrointestinal tract, nal tract is reached, it is fixed with the gripper 4 and the engaged electrodes 7 can be electrically controlled for stimulation. Before or during the stimulation, the time course of the pressure is measured. If the intestinal wall stimulates the changed by the Stimu ⁇ lation pressure curve is represented on an external display device.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Gastroenterology & Hepatology (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • Hematology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endocrinology (AREA)
  • Physiology (AREA)
  • Chemical & Material Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Medicinal Chemistry (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)

Abstract

L'invention concerne un dispositif (1) pour le diagnostic et/ou le traitement de maladies gastro-intestinales fonctionnelles, ce dispositif étant ingéré par le patient et passant dans le tractus gastro-intestinal. Le dispositif comporte un moment dipolaire (3) magnétique induit ou permanent, il est mobile dans le corps du patient au moyen d'un champ magnétique externe ou d'un champ de gradient externe, il comporte un clip ou une griffe (4) pour fixer le dispositif à un endroit souhaité dans le tractus gastro-intestinal, ce clip ou cette griffe (4) comportant des électrodes (7) pour stimuler la paroi intestinale.
PCT/EP2006/062941 2005-06-10 2006-06-06 Procede et dispositif pour le diagnostic et/ou le traitement de maladies gastro-intestinales fonctionnelles WO2006131522A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005026891.9 2005-06-10
DE102005026891 2005-06-10

Publications (1)

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WO2006131522A1 true WO2006131522A1 (fr) 2006-12-14

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007069696A1 (fr) 2005-12-16 2007-06-21 Olympus Corporation Dispositif à introduire dans le corps d'un sujet, et procédé d'injection de substance médicamenteuse liquide
WO2008088949A1 (fr) * 2007-01-11 2008-07-24 Ellipse Technologies, Inc. Systèmes et procédés de détection pour des dispositifs de restriction gastrique
US11116658B2 (en) 2015-06-28 2021-09-14 Oberon Sciences Ilan Ltd. Devices for gastrointestinal stimulation and uses thereof
US11179341B2 (en) 2017-05-17 2021-11-23 Massachusetts Institute Of Technology Self-righting articles
US11202903B2 (en) 2018-05-17 2021-12-21 Massachusetts Institute Of Technology Systems for electrical stimulation
US11541015B2 (en) 2017-05-17 2023-01-03 Massachusetts Institute Of Technology Self-righting systems, methods, and related components
US11541216B2 (en) 2019-11-21 2023-01-03 Massachusetts Institute Of Technology Methods for manufacturing tissue interfacing components
US11771829B2 (en) 2019-02-01 2023-10-03 Massachusetts Institute Of Technology Systems and methods for liquid injection

Citations (9)

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Publication number Priority date Publication date Assignee Title
DE10026615A1 (de) 2000-05-19 2001-12-13 Systemonic Ag Verfahren und Anordnung zum Empfang von CDMA-Signalen
WO2004014225A2 (fr) 2002-08-08 2004-02-19 University Of Lausanne Systeme et procede de surveillance et de stimulation de la mobilite gastro-intestinale
US20040050394A1 (en) * 2002-09-12 2004-03-18 Sungho Jin Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles
WO2004037071A2 (fr) * 2002-10-25 2004-05-06 Raphael Schumert Stimulateur gastro-instestinal
US20040162501A1 (en) * 2001-06-26 2004-08-19 Imran Mir A. Capsule and method for treating or diagnosing conditions or diseases of the intestinal tract
US20040176664A1 (en) 2002-10-29 2004-09-09 Iddan Gavriel J. In-vivo extendable element device and system, and method of use
DE10336734A1 (de) 2003-08-11 2005-03-10 Siemens Ag Gewebeanker für Endoroboter
US20050267414A1 (en) 2004-06-01 2005-12-01 Klaus Abraham-Fuchs Device and method for releasing a therapeutic agent brought into the interior of a patient's body
US20050273139A1 (en) 2004-06-01 2005-12-08 Norbert Krauss Device for clamping tissue

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10026615A1 (de) 2000-05-19 2001-12-13 Systemonic Ag Verfahren und Anordnung zum Empfang von CDMA-Signalen
US20040162501A1 (en) * 2001-06-26 2004-08-19 Imran Mir A. Capsule and method for treating or diagnosing conditions or diseases of the intestinal tract
WO2004014225A2 (fr) 2002-08-08 2004-02-19 University Of Lausanne Systeme et procede de surveillance et de stimulation de la mobilite gastro-intestinale
US20040050394A1 (en) * 2002-09-12 2004-03-18 Sungho Jin Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles
WO2004037071A2 (fr) * 2002-10-25 2004-05-06 Raphael Schumert Stimulateur gastro-instestinal
US20040176664A1 (en) 2002-10-29 2004-09-09 Iddan Gavriel J. In-vivo extendable element device and system, and method of use
DE10336734A1 (de) 2003-08-11 2005-03-10 Siemens Ag Gewebeanker für Endoroboter
US20050267414A1 (en) 2004-06-01 2005-12-01 Klaus Abraham-Fuchs Device and method for releasing a therapeutic agent brought into the interior of a patient's body
US20050273139A1 (en) 2004-06-01 2005-12-08 Norbert Krauss Device for clamping tissue
DE102004026617A1 (de) 2004-06-01 2005-12-29 Siemens Ag Vorrichtung zum Verklemmen von Gewebe

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007069696A1 (fr) 2005-12-16 2007-06-21 Olympus Corporation Dispositif à introduire dans le corps d'un sujet, et procédé d'injection de substance médicamenteuse liquide
EP1980290A1 (fr) * 2005-12-16 2008-10-15 Olympus Corporation Dispositif à introduire dans le corps d'un sujet, et procédé d'injection de substance médicamenteuse liquide
EP1980290A4 (fr) * 2005-12-16 2009-12-09 Olympus Corp Dispositif à introduire dans le corps d'un sujet, et procédé d'injection de substance médicamenteuse liquide
US8579883B2 (en) 2005-12-16 2013-11-12 Olympus Corporation Body-insertable apparatus and medical agent discharge method
WO2008088949A1 (fr) * 2007-01-11 2008-07-24 Ellipse Technologies, Inc. Systèmes et procédés de détection pour des dispositifs de restriction gastrique
US11116658B2 (en) 2015-06-28 2021-09-14 Oberon Sciences Ilan Ltd. Devices for gastrointestinal stimulation and uses thereof
US11207272B2 (en) 2017-05-17 2021-12-28 Massachusetts Institute Of Technology Tissue anchoring articles
US11179341B2 (en) 2017-05-17 2021-11-23 Massachusetts Institute Of Technology Self-righting articles
US11311489B2 (en) 2017-05-17 2022-04-26 Massachusetts Institute Of Technology Components with high API loading
US11369574B2 (en) 2017-05-17 2022-06-28 Massachusetts Institute Of Technology Self-righting systems and related components and methods
US11541015B2 (en) 2017-05-17 2023-01-03 Massachusetts Institute Of Technology Self-righting systems, methods, and related components
US11541016B2 (en) 2017-05-17 2023-01-03 Massachusetts Institute Of Technology Self-righting systems, methods, and related components
US11607390B2 (en) 2017-05-17 2023-03-21 Massachusetts Institute Of Technology Self-righting systems and related components and methods
US11712421B2 (en) 2017-05-17 2023-08-01 Massachusetts Institute Of Technology Self-actuating articles
US11202903B2 (en) 2018-05-17 2021-12-21 Massachusetts Institute Of Technology Systems for electrical stimulation
US11771829B2 (en) 2019-02-01 2023-10-03 Massachusetts Institute Of Technology Systems and methods for liquid injection
US11541216B2 (en) 2019-11-21 2023-01-03 Massachusetts Institute Of Technology Methods for manufacturing tissue interfacing components

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