WO2010017642A1 - Stereotactic drive system - Google Patents
Stereotactic drive system Download PDFInfo
- Publication number
- WO2010017642A1 WO2010017642A1 PCT/CA2009/001138 CA2009001138W WO2010017642A1 WO 2010017642 A1 WO2010017642 A1 WO 2010017642A1 CA 2009001138 W CA2009001138 W CA 2009001138W WO 2010017642 A1 WO2010017642 A1 WO 2010017642A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- knob
- follower
- wire
- drive
- gear
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
- G05G1/10—Details, e.g. of discs, knobs, wheels or handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
Definitions
- the present invention relates generally to control systems More specifically, the present invention relates to a drive system for controlling the longitudinal movement and rotational position of an elongate member
- SRS stereotactic radiosurgery
- SRS is a treatment method by which multiple intersecting beams of radiation are directed at the tumor such that the point of intersection of the beams receives a lethal dose of radiation, while tissue in the path of any single beam remains unharmed SRS is non-invasive and is typically performed as a single outpatient procedure
- confirmation that the tumor has been killed or neutralized is often not possible for several months post-treatment
- high doses of radiation may be required to kill a tumor, such as in the case of multiple or recurring tumors, it is common for the patient to reach the "toxic threshold" prior to killing all of the tumors, where further radiation is inadvisable
- heat also referred to as hyperthermia or thermal therapy
- coagulation necrosis or ablation Malignant tumors, because of their high vascularization and altered DNA, are more susceptible to heat-induced damage than normal tissue
- energy sources such as laser, microwave, radiofrequency, electric, and ultrasound sources
- the heat source may be extracorporeal ( ⁇ e , outside the body), extrastitial ( ⁇ e , outside the tumor), or interstitial ( ⁇ e , inside the tumor)
- Interstitial thermal therapy is a process designed to heat and destroy a tumor from within the tumor.
- ITT Interstitial thermal therapy
- One advantage of this type of therapy is that the energy is applied directly to the tumor rather than passing through surrounding normal tissue
- Another advantage of the type of therapy is that the energy deposition is more likely to be extended throughout the entire tumor
- One exemplary ITT process begins by inserting an optical fiber into the tumor, wherein the tumor has an element at its "inserted" end that redirects laser light from an exterior source in a direction generally at right angles to the length of the fiber
- the energy from the laser thus extends into the tissue surrounding the end or tip and effects heating
- the energy is directed in a beam confined to a relatively shallow angle so that, as the fiber is rotated, the beam also rotates around the axis of the fiber to effect heating of different parts of the tumor at positions around the fiber
- the fiber can thus be moved longitudinally and rotated to effect heating of the tumor over the full volume of the tumor with the intention of heating the tumor to the required temperature without significantly affecting the surrounding tissue
- the fiber used in the ITT process may be controlled and manipulated by a surgeon with little or no guidance apart from the surgeon's knowledge of the anatomy of the patient and the location of the tumor Therefore, it is difficult for the surgeon to effect a controlled heating which heats the entire tumor to a required level while also minimizing damage to the surrounding tissue
- the location of tumors and other lesions to be excised can be determined using a magnetic resonance imaging system Although these imaging systems have been helpful to assist the surgeon in determining a location of the tumor to be excised, use of the imaging systems ended once the location of the tumor was mapped out for the surgeon In particular, previous excision procedures required the removal of the patient from the imaging system prior to commencing treatment However, movement of the patient, together with the partial excision or coagulation of some of the tissue, can significantly change the location of the tumor to be excised As a result, any possibility of providing controlled accuracy in the excision is eliminated [0011] It is also known that magnetic resonance imaging systems can be used by modification of the imaging sequences to determine the temperature of tissue within the image and to determine changes in that temperature over time
- U S Pat No 5,284,144 also assigned to U S Department of Health and Human Services and issued Feb 8, 1994, discloses an apparatus for hyperthermia treatment of cancer in which an external, non-invasive heating system is mounted within the coil of a magnetic resonance imaging system The disclosure is speculative and relates to initial experimentation concerning the viability of MRI measurement of temperature in conjunction with an external heating system The disclosure of the patent has not led to a commercially viable hyperthermic treatment system
- U S Pat Nos 5,368,031 and 5,291 ,890 assigned to General Electric relate to an MRI controlled heating system in which a point source of heat generates a predetermined heat distribution which is then monitored to ensure that the actual heat distribution follows the predicted heat distribution to obtain an overall heating of the area to be heated Again this patented arrangement has not led to a commercially viable hyperthermia surgical system
- U S Pat No 5,823,941 (Shaunnessey), not assigned, and issued Oct 20, 1998, discloses a specially modified endoscope designed to support an optical fiber
- the optical fiber emits light energy and may be moved longitudinally and rotated angularly about its axis to direct the energy
- the device is used for excising tumors, and the energy is arranged to be sufficient to effect vaporization of the tissue to be excised
- the gas formed during the process is removed by suction through the endoscope
- An image of the tumor is obtained by MRI, which is thereafter used to program a path of movement of the fiber to be taken during the operation Again, there is no feedback during the procedure to control the movement of the optical fiber, and the operation is wholly dependent upon the initial analysis This arrangement has not achieved commercial or medical success
- U S Pat No 5,454,807 (Lennox) assigned to Boston Scientific Corporation and issued Oct 3, 1995, discloses a device for use in irradiating a tumor with light energy from an optical fiber A cooling fluid is supplied through a conduit within the fiber to apply surface cooling and to prevent surface damage while allowing increased levels of energy to be applied to deeper tissues
- Focused laser interstitial thermal therapy is the next general refinement of laser-based thermal therapy technologies
- f-LITT enables precise control over the deposition of heat energy, thereby enabling the physician to contain cell damage exclusively to within a tumor mass of virtually any size and shape
- a drive system for an elongate member that is simple to use and that yields accurate and predictable results
- the drive system should preferably be structured for use with any elongate medical device including, but not limited to, laser probes, catheters, endoscopes, and the like
- the drive system should also preferably be manufactured from materials that make the system MRI-compatible
- the present invention solves the foregoing problems by providing a drive system for controlling movement of an elongate member including a base unit having a first rotatable knob and a second rotatable knob, a follower assembly including a follower slidably coupled to a guide rail, a longitudinal movement wire, and a rotational movement wire
- the follower includes a longitudinal movement pulley, a rotational movement pulley, and an alignment element structured to receive an elongate member such that the elongate member is attachable thereto
- the longitudinal movement wire operably couples the first rotatable knob to the longitudinal movement pulley such that rotation of the first knob drives the follower in a longitudinal direction along the guide rail
- the rotational movement wire operably couples the second rotatable knob to the rotational movement pulley such that rotation of the second knob rotates the alignment element and attached elongate member
- FIG 1 is a perspective view of one exemplary drive system in accordance with the present invention that includes a commander unit, a follower assembly, and an elongate member coupled to the follower assembly
- FIG 2A is a perspective view of the commander unit and follower assembly of FIG 1 illustrating rotation of a first knob to cause longitudinal movement of a follower device
- FIG 2B is a perspective view of one exemplary alternative follower assembly in accordance with the present invention.
- FIG 3 is a perspective view of the commander unit and follower assembly of FIG 1 illustrating rotation of a second knob to cause rotational movement of an alignment device on a proximal end of the follower device
- FIG 4 is an enlarged perspective view of the commander unit with a commander cover removed to illustrate the internal components of the commander unit
- FIG 5 is a diagram illustrating a side view of a first tension block assembly within the commander unit
- FIG 6 is an enlarged perspective view of the follower assembly with a portion of the follower device housing removed in order to illustrate the internal components of the follower device
- FIG 7 is a perspective view of the drive system in accordance with the present invention wherein the follower device is shown in a "neutral" starting position
- FIG 8A is a perspective view of the drive system illustrating operation of the commander unit to drive the follower device longitudinally and in a distal direction
- FIG 8B is a diagram of an underside of the follower assembly illustrating movement of the follower device longitudinally and in the distal direction shown in FIG 8A
- FIG 9A is a perspective view of the drive system illustrating operation of commander unit to drive the follower device longitudinally and in a proximal direction
- FIG 9B is a diagram of the underside of the follower assembly illustrating movement of the follower device longitudinally and in the proximal direction shown in FIG 9A
- FIG 10 is a perspective view of the drive system illustrating operation of the commander unit to rotate the alignment device in a clockwise direction as viewed from a proximal end of the follower device
- FIG 11 is a perspective view of the drive system illustrating operation of the commander unit to rotate the alignment device in a counterclockwise direction as viewed from the proximal end of the follower device
- FIG 12A is a diagram illustrating the structure of a first locking device coupled to the commander unit
- FIG 12B is a perspective view of the first locking device illustrating the first knob in an unlocked position
- the present invention involves a drive system for stereotactic positioning of an elongate member
- the elongate member may include, for example, elongate probes, catheters, endoscopes, and the like
- the drive system of the present invention may be used in conjunction with any elongate member requiring precise control in a longitudinal and/or rotational direction
- the drive system in accordance with the present invention may be used to control the precise movement of a laser probe insertable into the skull of a patient for the treatment of tumors
- the drive system may be operated to position a distal end of a probe at precise locations within the tumor through both controlled longitudinal and rotational movement of the probe
- FIG 1 there is shown a perspective view of one exemplary drive system 10 including commander or base unit 12, follower assembly 14, potentiometer assembly 15 having connector 13, and elongate member 16 coupled to follower assembly 14
- commander unit 12 has a first knob 18 structured for causing longitudinal movement of elongate member 16 as indicated by arrow L, and a second knob 20 structured for causing rotational movement of elongate member 16 as indicated by arrow R
- drive system 10 may be utilized to control the precise longitudinal and angular position of elongate member 16 relative to or within a particular location or element, such as generic mass M shown in broken lines proximate to follower assembly 14
- Potentiometer assembly 15 may be operably coupled to follower assembly 14 and configured to provide feedback regarding the longitudinal and angular position of elongate member 16 to a computer system or other processing means through connector 13
- An external display may be operably coupled to the computer system or processing means in order to display longitudinal and rotational movement of elongate member 16 during operation of drive system 10
- a display may alternatively be provided on commander unit 12 instead of (or in addition to) the external display as will be appreciated by those skilled in the art
- the longitudinal movement of elongate member 16 may be displayed as a numerical value (relative to a "zero" reference point) having any suitable unit, such as in millimeters
- the rotational movement of elongate member 16 may be displayed in any suitable manner, such as by a number in a range between about +180 degrees and about -180 degrees surrounding a "zero" reference point
- the longitudinal and rotational movement of elongate member 16 may be displayed in numerous other ways and within numerous
- FIG 2A is a perspective view of commander unit 12 and follower assembly 14 illustrating rotation of first knob 18 and the corresponding longitudinal movement of follower assembly 14
- commander unit 12 includes a commander base 19 and a commander cover 21
- follower assembly 14 includes follower device 22 having a distal end 24 and a proximal end 26
- follower device 22 is encased by follower housing 27 and is operably coupled to guide rail 28 such that follower device 22 may be driven between a distal end 29 and a proximal end 31 of guide rail 28
- Potentiometer assembly 15 is positioned at distal end 29 of guide rail 28, and adjacent to potentiometer assembly 15 is attachment means 17 for attaching follower assembly 14 to any suitable mount or support, such as an adjustable trajectory setting mount
- attachment means 17 includes a "clip" type fastener structured to allow the attachment means to clip to a mount or support, although any suitable attachment means may be used
- follower assembly 14 is illustrated in FIG 2A as including a potentiometer assembly adjacent
- proximal end 26 of follower device 22 includes a rotatable alignment device 30 coupled thereto and structured to receive elongate member 16 Elongate member 16 has been omitted in FIG 2A to provide a clearer view of the operation of commander unit 12 and follower assembly 14
- elongate member 16 may be fixed within rotatable alignment device 30 such that longitudinal movement of follower device 22 and rotational movement of alignment device 30 is translated directly to elongate member 16 in order to control the longitudinal and rotational position of elongate member 16
- rotating first knob 18 in the direction indicated by arrow 32A may result in follower device 22 being driven longitudinally along guide rail 28 in the direction indicated by arrow 32B This longitudinal movement is illustrated by follower device 22' shown in broken lines
- rotating first knob 18 in the direction indicated by arrow 34A may result in follower device 22 being driven longitudinally along guide rail 28 in the direction indicated by arrow 34B
- the user may control the precise longitudinal position of follower device 22 along guide rail 28 based upon the amount that first knob 18 is rotated as well as the direction in which it is rotated
- FIG 3 is a perspective view of commander unit 12 and follower assembly 14 illustrating rotation of second knob 20 and the corresponding rotational movement of alignment device 30 on proximal end 26 of follower device 22
- rotational movement of alignment device 30 may cause elongate member 16 to rotate by a similar amount to control the rotational position and orientation of elongate member 16
- rotating second knob 20 in the direction indicated by arrow 36A may result in alignment device 30 being rotated with respect to follower device 22 in the direction indicated by arrow 36B
- This rotational movement is illustrated by alignment device 30' shown in broken lines
- rotating second knob 20 in the direction indicated by arrow 38A may result in alignment device 30 being rotated with respect to follower device 22 in the direction indicated by arrow 38B
- the user may control the precise rotational position of alignment device 30 with respect to follower device 22 based upon the amount that second knob 20 is rotated as well as the direction in which it is rotated
- FIG 4 is an enlarged perspective view of commander unit 12 with commander cover 21 removed to illustrate the internal components of commander unit 12
- commander unit 12 includes first internal knob 40 having first knob gear 42, second internal knob 44 having second knob gear 46, first drive spool shaft 48 having first spool 50 and second spool 52, second drive spool shaft 54 having first spool 56 and second spool 58, a pair of wire sheaths 60 associated with first drive spool shaft 48, and a pair of wire sheaths 62 associated with second drive spool shaft 54
- First internal knob 40 may be coupled to first knob 18 via bolt 64 inserted through an aperture in first knob 18 and into a threaded recess in an end of first internal knob 40
- second internal knob 44 may be coupled to second knob 20 via bolt 66 inserted through an aperture in second knob 20 and into a threaded recess in an end of second internal knob 44
- second drive spool shaft 54 may include a generally square in cross-section end portion 68 that is structured to be received by and mate with a generally square aperture 70 in second knob gear 46 of second internal knob 44
- the phrase "generally square” is intended to include embodiments that have both “sharp” and “rounded” corners, as illustrated in FIG 4
- square aperture 70 may have approximately similar dimensions as end portion 68 such that a substantially tight connection is formed between second knob gear 46 and end portion 68
- first drive spool shaft 48 includes a generally square in cross-section end portion 72 that is structured to be received by and mate with a generally square aperture (not shown) in first knob gear 42 of first internal knob 40
- the square aperture may have approximately similar dimensions as end potion 72 such that a substantially tight connection is formed between first knob gear 42 and end portion 72
- first and second drive spool shafts 48 and 54 have been described as including generally square end portions 72 and 68, respectively, that are configured to mate with generally square apertures, those skilled in the art will appreciate that the drive spool shafts may alternatively include end portions having numerous other cross-sectional shapes including, for example, triangles, rectangles, hexagons, and the like Thus, any shape combination that will allow rotational movement to be transferred from a knob gear to a drive spool shaft is contemplated and within the intended scope of the present invention
- first drive spool shaft 48 may be contained within commander unit
- first spool shaft top carrier 74, second spool shaft top carrier 78, and drive shaft retainer 76 function together with commander base 19 to form bushings for containing first and second drive spool shafts 48 and 54 and allowing rotation of the shafts
- first and second spool shaft top carriers 74 and 78, along with drive shaft retainer 76 may be fastened to commander base 19
- first spool shaft top carrier 74, second spool shaft top carrier 78, and drive shaft retainer 76 are fastened to commander base 19 with screws 80, although any suitable fastening means may be used as will be appreciated by those skilled
- drive system 10 further includes longitudinal movement wire 82 operably attached to first drive spool shaft 48 and rotational movement wire 84 operably attached to second drive spool shaft 54
- a first end 86 of longitudinal movement wire 82 extends out of one of the wire sheaths 60 associated with first drive spool shaft 48 and wraps around first spool 50
- a second end 88 of longitudinal movement wire 82 extends out of the other one of the wire sheaths 60 and wraps around second spool 52
- a first end 92 of rotational movement wire 84 extends out of one of the wire sheaths 62 associated with second drive spool shaft 54 and wraps around first spool 56
- a second end 94 of rotational movement wire 84 extends out of the other one of the wire sheaths 62 and wraps around second spool 58
- drive system 10 also includes first and second locking devices 85 and 87
- first locking device 85 is structured to engage first knob gear 42 in order to lock first knob 18, while second locking device 87 is structured to engage second knob gear 46 in order to lock second knob 20
- first and second locking devices 85 and 87 serve as "safety" devices that minimize the possibility that the longitudinal and rotational positions of elongate member 16 may be unintentionally altered
- an axial force must be applied to first knob 18 against the force of a first spring 89 disposed between first knob 18 and commander base 19 in order to disengage first locking device 85 and allow first knob 18 to be rotated, and thus allow the user to manipulate the longitudinal position of elongate member 16
- an axial force must also be applied to second knob 20 against the force of a second spring 91 disposed between second knob 20 and commander base 19 in order to disengage second locking
- first tension block assembly 90 generally includes sheath connector block 97, sheath connector block holder 98, post member 99 structured to be inserted into an aperture through sheath connector block 97, and spring 100
- Sheath connector block holder 98 includes a pair of flanges 101 structured to be received by
- the sheath connector block may be designed such that rather than traveling in a direction that substantially coincides with the direction of movement of longitudinal movement wire 82, the sheath connector block instead travels in a direction that is substantially perpendicular to the direction of movement of longitudinal movement wire 82
- the post and spring operably coupled to the sheath connector block allow the block to travel in a direction substantially perpendicular to the direction of travel of longitudinal movement wire 82 in order to minimize the tension placed on longitudinal movement wire 82 as the wire travels into and out of the commander unit 12
- FIG 6 is an enlarged perspective view of follower assembly 14 with a portion of follower housing 27 removed in order to illustrate the internal components of follower device 22
- follower device 22 includes rail follower member 104, longitudinal movement pulley 105, rotational movement pulley 106, first idler pulley 107, second idler pulley 108, and tubular member 109 for receiving elongate member 16
- rail follower member 104 is structured to be received by and ride within guide rail 28 as follower device 22 is being moved longitudinally along the rail
- Longitudinal movement pulley 105 may be positioned adjacent the pair of wire sheaths 60 containing longitudinal movement wire 82 Longitudinal movement wire 82 extends out of a first one of the wire sheaths 60, wraps around longitudinal movement pulley 105, and once again enters a second one of the wire sheaths 60 where it returns to commander unit 12
- Rotational movement pulley 106 is coupled to or formed integral with tubular member 109 and alignment device 30
- First idler pulley 107 may be positioned adjacent a first one of the wire sheaths 62
- second idler pulley 108 may be positioned adjacent a second one of the wire sheaths 62
- Rotational movement wire 84 extends out of the first one of the wire sheaths 62 and wraps around first idler pulley 107 prior to reaching and wrapping around rotational movement pulley 106
- Rotational movement wire 84 then extends to and wraps around second idler pulley 108 prior to once again entering the second one of the wire sheaths 62 where it returns to commander unit 12
- FIG 7 is a perspective view of drive system 10 with follower device 22 of follower assembly 14 shown in a "neutral" starting position
- This neutral starting position of follower device 22, which is about midway between distal end 29 and proximal end 31 of guide rail 28, is defined merely for purposes of example and not limitation
- operation of drive system 10 will be hereinafter described with reference to the neutral starting position illustrated in FIG 7
- the starting position may be defined as some other location along guide rail 28 without departing from the intended scope of the present invention
- FIG 8A is a perspective view of drive system 10 illustrating operation of commander unit 12 to drive follower device 22 longitudinally toward distal end 29 of guide rail 28
- rotating first knob 18 in the direction indicated by arrow 34A drives follower device 22 longitudinally in the direction indicated by arrow 34B from the neutral starting position illustrated in FIG 7 to a new position adjacent distal end 29 of guide rail 28
- the effect of driving follower device 22 longitudinally in the direction indicated by arrow 34B is to drive elongate member 16 into mass M (or further into mass M if elongate member 16 was already positioned within the mass)
- first drive spool shaft 48 is also rotated in a similar direction due to the connection between end portion 72 of first drive spool shaft 48 and first knob gear 42 of first internal knob 40 as previously discussed in reference to FIG 4
- first end 86 of longitudinal movement wire 82 is further wound around first spool 50 of first drive spool shaft 48, while second end 88 of longitudinal movement wire 82 is further unwound from second spool 52
- first end 86 and second end 88 of longitudinal movement wire 82 are being correspondingly wound onto and unwound from first and second spools 50 and 52, respectively
- longitudinal movement pulley 105 rotates in the direction indicated by arrow 112 in FIG 8A as will be appreciated by those skilled in the art
- the rotation of longitudinal movement pulley 105 in the direction indicated by arrow 112 causes follower device 22 to be driven longitudinally to the distal position shown in FIG 8A [
- the underside 114 of follower assembly 14 illustrates a gear track portion 120 of guide rail 28 having a plurality of teeth 122 structured to mate with a corresponding plurality of teeth 124 on follower gear 116
- gear track portion 120 of guide rail 28 having a plurality of teeth 122 structured to mate with a corresponding plurality of teeth 124 on follower gear 116
- FIG 9A is a perspective view of drive system 10 illustrating operation of commander unit 12 to drive follower device 22 longitudinally toward proximal end 31 of guide rail 28
- rotating first knob 18 in the direction indicated by arrow 32A drives follower device 22 longitudinally in the direction indicated by arrow 32B from the neutral starting position illustrated in FIG 7 (or from, for example, the position illustrated in FIG 8A) to a new position adjacent proximal end 31 of guide rail 28
- the effect of driving follower device 22 longitudinally in the direction indicated by arrow 32B may be to withdraw elongate member 16 from mass M
- first drive spool shaft 48 causes first drive spool shaft 48 to be rotated in a similar direction
- second end 88 of longitudinal movement wire 82 is further wound around second spool 52 of first drive spool shaft 48, while first end 86 of longitudinal movement wire 82 is further unwound from first spool 50
- first end 86 and second end 88 of longitudinal movement wire 82 are being correspondingly unwound from and wound onto first and second spools 50 and 52, respectively
- longitudinal movement pulley 105 rotates in the direction indicated by arrow 126 in FIG 9A as will be appreciated by those skilled in the art
- the rotation of longitudinal movement pulley 105 in the direction indicated by arrow 126 causes follower device 22 to be driven longitudinally to the proximal position shown in FIG 9A
- FIG 9B is a diagram illustrating underside 1 14 of guide rail portion 28 of follower assembly 14 after follower device 22 has been driven to proximal end 31 of guide rail 28
- connecting means 118 couples the movement of longitudinal movement pulley 105 to follower gear 116
- rotating pulley 105 in the direction indicated by arrow 126 causes a corresponding rotation of follower gear 116 in a similar direction
- teeth 124 on follower gear 1 16 engage teeth 122 on gear track 120 in order to drive follower gear 116, and thus follower device 22, longitudinally along gear track 120 to the proximal position illustrated in FIG 9B
- FIG 10 is a perspective view of drive system 10 illustrating operation of commander unit 12 to rotate alignment device 30 in a clockwise direction as viewed from proximal end 26 of follower device 22
- rotating second knob 20 in the direction indicated by arrow 36A rotates alignment device 30 in the direction indicated by arrow 36B from the neutral starting position illustrated in FIG 7
- the effect of rotating alignment device 30 in the direction indicated by arrow 36B is to rotate the attached elongate member 16 relative to mass M, which is stationary
- alignment device 30 has been rotated in a clockwise direction by approximately 90 degrees
- alignment device 30 may be rotated by any amount between about zero and 360 degrees
- second knob 20 is rotated in the direction indicated by arrow 36A
- second drive spool shaft 54 is also rotated in a similar direction due to the connection between end portion 68 of second drive spool shaft 54 and second knob gear 46 of second internal knob 44 as previously discussed in reference to FIG 4
- second knob 20 is rotated in the direction indicated by arrow 36A
- second drive spool shaft 54 is also
- FIG 1 1 is a perspective view of drive system 10 illustrating operation of commander unit 12 to rotate alignment device 30 in a counterclockwise direction as viewed from proximal end 26 of follower device 22
- rotating second knob 20 in the direction indicated by arrow 38A rotates alignment device 30 in the direction indicated by arrow 38B from the position shown in FIG 10 back to the starting position shown in FIG 7
- alignment device 30 is illustrated as being rotated counterclockwise by approximately 90 degrees, one skilled in the art will appreciate that second knob 20 may be manipulated such that alignment device 30 is rotated by a different amount without departing from the intended scope of the present invention
- rotating second knob 20 in the direction indicated by arrow 38A causes second drive spool shaft 54 to be rotated in a similar direction
- second end 94 of rotational movement wire 84 is further wound around second spool 58 of second drive spool shaft 54, while first end 92 of rotational movement wire 84 is further unwound from first spool 56
- first end 92 and second end 94 of rotational movement wire 84 are being correspondingly unwound from and wound onto first and second spools 56 and 58, respectively
- rotational movement pulley 106 rotates in the direction indicated by arrow 38B in FIG 1 1 as will be appreciated by those skilled in the art
- Alignment device 30 is also rotated in the direction indicated by arrow 38B due to its attachment to rotational movement pulley 106
- FIG 12A is a diagram illustrating first locking device 85 introduced above in reference to FIG 4 and structured to operate with first knob 18
- commander unit 12 also includes second locking device 87 structured to operate with second knob 20, both first and second locking devices 85 and 87 operate substantially the same
- first locking device 85 is illustrated and described in detail, the discussion applies equally to second locking device 87 as well
- first locking device 85 includes bottom surface 142 structured to engage an inner surface of commander base 19 and a top surface 144 having a curved portion 146 with a plurality of locking teeth 148
- Locking device 85 may be coupled to commander base 19 by any suitable means, such as with fasteners inserted through apertures 149
- locking device 85 may be formed integral with commander base 19 or coupled to commander base 19 with an adhesive
- Locking teeth 148 are structured to engage a plurality of knob gear teeth 150 on first knob gear 42 when first knob 18 is in a "locked” position
- first knob 18 is normally biased in the locked position by first spring 89, and must be moved against the spring force of first spring 89 to an "unlocked" position as illustrated in FIG 12B prior to adjusting the longitudinal position of elongate member 16 in the manner previously described
- FIG 12B is a perspective view of first knob 18 and first locking device 85 illustrating first knob 18 in the unlocked position
- First knob 18 may be moved from the locked position shown in FIG 12A to the unlocked position shown in FIG 12B by applying an axial force A to first knob 18, thereby disengaging knob gear teeth 150 on first knob gear 42 from locking teeth 148 on first locking device 85
- knob gear teeth 150 are disengaged from locking teeth 148
- the user may freely rotate first knob 18 in the directions indicated by arrows 32A and 34A as long as the axial force A is maintained
- the user may simply discontinue applying the axial force A, and first spring member 89 will force knob gear teeth 150 back into engagement with locking teeth 148, thereby preventing further rotation of first
- first drive spool shaft 48 may include first shaft flange 152 adjacent first spool 50 and second shaft flange 154 adjacent second spool 52
- second end 88 of longitudinal movement wire 82 may extend along second shaft flange 154 and be fastened to an end portion 156 thereof with fastening means 158
- first end 86 of longitudinal movement wire 82 may extend along fist shaft flange152 and be fastened to and end portion 160 thereof with fastening means 162
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Surgical Instruments (AREA)
- Mechanical Control Devices (AREA)
- Manipulator (AREA)
- Laser Surgery Devices (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2009281674A AU2009281674A1 (en) | 2008-08-14 | 2009-08-14 | Stereotactic drive system |
EP09806277.1A EP2324405B1 (en) | 2008-08-14 | 2009-08-14 | Stereotactic drive system |
CA2732853A CA2732853A1 (en) | 2008-08-14 | 2009-08-14 | Stereotactic drive system |
BRPI0916947A BRPI0916947A2 (en) | 2008-08-14 | 2009-08-14 | stereostatic drive system |
JP2011522361A JP5490797B2 (en) | 2008-08-14 | 2009-08-14 | Stereotaxic drive system |
EP17173565.7A EP3239802B1 (en) | 2008-08-14 | 2009-08-14 | Stereotactic drive system |
CN200980131609.XA CN102132225B (en) | 2008-08-14 | 2009-08-14 | Stereotactic drive system |
IL210877A IL210877A0 (en) | 2008-08-14 | 2011-01-25 | Stereotactic drive system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US8896908P | 2008-08-14 | 2008-08-14 | |
US61/088,969 | 2008-08-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010017642A1 true WO2010017642A1 (en) | 2010-02-18 |
Family
ID=41668618
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CA2009/001138 WO2010017642A1 (en) | 2008-08-14 | 2009-08-14 | Stereotactic drive system |
Country Status (9)
Country | Link |
---|---|
US (2) | US8728092B2 (en) |
EP (2) | EP3239802B1 (en) |
JP (2) | JP5490797B2 (en) |
CN (1) | CN102132225B (en) |
AU (1) | AU2009281674A1 (en) |
BR (1) | BRPI0916947A2 (en) |
CA (1) | CA2732853A1 (en) |
IL (1) | IL210877A0 (en) |
WO (1) | WO2010017642A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2866723A4 (en) * | 2012-06-27 | 2016-12-14 | Monteris Medical Corp | Image-guided therapy of a tissue |
WO2018237045A1 (en) * | 2017-06-21 | 2018-12-27 | Boston Scientific Limited | Surgical guidance systems and devices. |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8256430B2 (en) | 2001-06-15 | 2012-09-04 | Monteris Medical, Inc. | Hyperthermia treatment and probe therefor |
US10244928B2 (en) | 2007-09-05 | 2019-04-02 | Cogentix Medical, Inc. | Compact endoscope tip and method for constructing same |
US9820719B2 (en) | 2008-06-19 | 2017-11-21 | Cogentix Medical, Inc. | Method and system for intrabody imaging |
US8728092B2 (en) | 2008-08-14 | 2014-05-20 | Monteris Medical Corporation | Stereotactic drive system |
US8747418B2 (en) * | 2008-08-15 | 2014-06-10 | Monteris Medical Corporation | Trajectory guide |
CN103345055B (en) * | 2013-06-18 | 2015-03-04 | 深圳市亚泰光电技术有限公司 | Power input mechanism of endoscope and endoscope |
US10675113B2 (en) | 2014-03-18 | 2020-06-09 | Monteris Medical Corporation | Automated therapy of a three-dimensional tissue region |
US9486170B2 (en) | 2014-03-18 | 2016-11-08 | Monteris Medical Corporation | Image-guided therapy of a tissue |
US9504484B2 (en) | 2014-03-18 | 2016-11-29 | Monteris Medical Corporation | Image-guided therapy of a tissue |
US10327830B2 (en) | 2015-04-01 | 2019-06-25 | Monteris Medical Corporation | Cryotherapy, thermal therapy, temperature modulation therapy, and probe apparatus therefor |
WO2017011535A1 (en) * | 2015-07-16 | 2017-01-19 | Cogentix Medical, Inc. | Endoscope sheath assembly including an integrated elevator mechanism |
US10751123B2 (en) | 2015-10-30 | 2020-08-25 | Washington University | Thermoablation probe |
JP6811676B2 (en) * | 2017-05-01 | 2021-01-13 | 株式会社メディカロイド | Drive member, drive mechanism, and manufacturing method of drive mechanism |
US10842517B2 (en) * | 2018-03-23 | 2020-11-24 | Ethicon Llc | Surgical instrument with compressible electrical connector |
CN112585702A (en) | 2018-08-21 | 2021-03-30 | 三菱综合材料株式会社 | Electronic component and method for manufacturing electronic component |
US11744655B2 (en) | 2018-12-04 | 2023-09-05 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
US11602402B2 (en) | 2018-12-04 | 2023-03-14 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
CN114305679A (en) * | 2021-12-28 | 2022-04-12 | 杭州佳量医疗科技有限公司 | Auxiliary movement device, driving system and control method |
CN114305698A (en) * | 2021-12-28 | 2022-04-12 | 杭州佳量医疗科技有限公司 | Silk thread auxiliary movement device, driving system and control method |
DE102022125703A1 (en) * | 2022-10-05 | 2024-04-11 | Otto-von-Guericke-Universität Magdeburg, Körperschaft des öffentlichen Rechts | COUPLING STATION AND REMOTE MANIPULATION SYSTEM |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20020177843A1 (en) * | 2001-04-19 | 2002-11-28 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
US7235089B1 (en) * | 1994-12-07 | 2007-06-26 | Boston Scientific Corporation | Surgical apparatus and method |
EP1829764A2 (en) * | 2006-03-03 | 2007-09-05 | Nissan Motor Company Limited | Steering |
US20080077159A1 (en) * | 1996-05-20 | 2008-03-27 | Intuitive Surgical Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
EP1985330A1 (en) * | 2007-04-23 | 2008-10-29 | CathRx Ltd | Catheter control |
Family Cites Families (246)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3139990A (en) * | 1961-12-11 | 1964-07-07 | Central Res Lab Inc | Rugged-duty master-slave manipulator |
US4111209A (en) | 1977-04-18 | 1978-09-05 | Datascope Corporation | Topical hypothermia apparatus and method for treating the human body and the like |
US5370675A (en) | 1992-08-12 | 1994-12-06 | Vidamed, Inc. | Medical probe device and method |
IL75998A0 (en) | 1984-08-07 | 1985-12-31 | Medical Laser Research & Dev C | Laser system for providing target tissue specific energy deposition |
US4609174A (en) | 1984-11-05 | 1986-09-02 | Koma Nakatani | Foldable easel |
US4671254A (en) | 1985-03-01 | 1987-06-09 | Memorial Hospital For Cancer And Allied Diseases | Non-surgical method for suppression of tumor growth |
FI861209A (en) | 1985-03-22 | 1986-09-23 | Massachusetts Inst Technology | CATHETER FOR LASER UTFOERBAR BLODKAERLSKIRURGI. |
US4733929A (en) | 1986-02-05 | 1988-03-29 | Brown David C | Diffuser fiber incident energy concentrator and method of using same |
FR2597744A1 (en) | 1986-04-29 | 1987-10-30 | Boussignac Georges | CARDIO-VASCULAR CATHETER FOR LASER SHOOTING |
SE8701719D0 (en) | 1987-04-27 | 1987-04-27 | Elekta Instr Ab | SET TO MARK AN OPERATING SYSTEM AND DEVICE FOR EXECUTING THE SET |
US5207681A (en) | 1987-10-26 | 1993-05-04 | Neurodynamics, Inc. | Drill guide apparatus for perpendicular perforation of the cranium |
DE3804491A1 (en) | 1987-12-02 | 1989-06-15 | Olympus Optical Co | Device for brain surgery |
US4914608A (en) | 1988-08-19 | 1990-04-03 | The United States Of America As Represented By The Department Of Health And Human Services | In-vivo method for determining and imaging temperature of an object/subject from diffusion coefficients obtained by nuclear magnetic resonance |
JPH03501809A (en) | 1988-08-23 | 1991-04-25 | ラディオテフニチェスキ インスティテュト イメニ アカデミカ アー.エル.ミンツァ アカデミイ ナウク エスエスエスエル | Light guide device for phototherapy |
IT1227365B (en) | 1988-11-18 | 1991-04-08 | Istituto Neurologico Carlo Bes | PROCEDURE AND EQUIPMENT PARTICULARLY FOR THE GUIDE OF NEUROSURGICAL OPERATIONS |
US5207669A (en) | 1989-05-26 | 1993-05-04 | C. R. Bard, Inc. | Optical fiber diffusion tip for uniform illumination |
ES2085885T3 (en) | 1989-11-08 | 1996-06-16 | George S Allen | MECHANICAL ARM FOR INTERACTIVE SURGERY SYSTEM DIRECTED BY IMAGES. |
US5284144A (en) | 1989-11-22 | 1994-02-08 | The United States Of America As Represented By The Secretary Of The Dept. Of Health & Human Services | Apparatus for hyperthermia treatment of cancer |
DE3941705C2 (en) | 1989-12-18 | 1994-10-13 | Gsf Forschungszentrum Umwelt | Device for the isotropic irradiation of cavities of spherical shape |
US5102410A (en) | 1990-02-26 | 1992-04-07 | Dressel Thomas D | Soft tissue cutting aspiration device and method |
US5269777A (en) | 1990-11-01 | 1993-12-14 | Pdt Systems, Inc. | Diffusion tip for optical fibers |
US6167295A (en) | 1991-01-28 | 2000-12-26 | Radionics, Inc. | Optical and computer graphic stereotactic localizer |
US5662111A (en) | 1991-01-28 | 1997-09-02 | Cosman; Eric R. | Process of stereotactic optical navigation |
US6006126A (en) | 1991-01-28 | 1999-12-21 | Cosman; Eric R. | System and method for stereotactic registration of image scan data |
US5201742A (en) | 1991-04-16 | 1993-04-13 | Hasson Harrith M | Support jig for a surgical instrument |
US5242438A (en) | 1991-04-22 | 1993-09-07 | Trimedyne, Inc. | Method and apparatus for treating a body site with laterally directed laser radiation |
US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5279309A (en) | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US5370649A (en) | 1991-08-16 | 1994-12-06 | Myriadlase, Inc. | Laterally reflecting tip for laser transmitting fiber |
US5291890A (en) | 1991-08-29 | 1994-03-08 | General Electric Company | Magnetic resonance surgery using heat waves produced with focussed ultrasound |
US5330485A (en) | 1991-11-01 | 1994-07-19 | Clayman David A | Cerebral instrument guide frame and procedures utilizing it |
US5196005A (en) | 1991-11-26 | 1993-03-23 | Pdt Systems, Inc. | Continuous gradient cylindrical diffusion tip for optical fibers and method for making |
US5374266A (en) | 1991-11-27 | 1994-12-20 | Kabushiki Kaisha Morita Seisakusho | Medical laser treatment device |
JPH05157684A (en) | 1991-12-02 | 1993-06-25 | Seikagaku Kogyo Co Ltd | Absorptionmeter |
US5246436A (en) | 1991-12-18 | 1993-09-21 | Alcon Surgical, Inc. | Midinfrared laser tissue ablater |
AU3727993A (en) | 1992-02-21 | 1993-09-13 | Diasonics Inc. | Ultrasound intracavity system for imaging therapy planning and treatment of focal disease |
US5263956A (en) | 1992-03-04 | 1993-11-23 | Neuro Navigational Corporation | Ball joint for neurosurgery |
US5247935A (en) | 1992-03-19 | 1993-09-28 | General Electric Company | Magnetic resonance guided focussed ultrasound surgery |
DE4237286A1 (en) | 1992-04-06 | 1994-05-05 | Laser Medizin Zentrum Ggmbh Be | Method and device for increasing the efficiency of an optical work shaft for photo-thermotherapy |
US5281215A (en) | 1992-04-16 | 1994-01-25 | Implemed, Inc. | Cryogenic catheter |
US5281213A (en) | 1992-04-16 | 1994-01-25 | Implemed, Inc. | Catheter for ice mapping and ablation |
DE4221364A1 (en) | 1992-06-29 | 1994-01-05 | Raimund Dr Kaufmann | Body tissue heating probe |
US5292320A (en) | 1992-07-06 | 1994-03-08 | Ceramoptec, Inc. | Radial medical laser delivery device |
US5620479A (en) | 1992-11-13 | 1997-04-15 | The Regents Of The University Of California | Method and apparatus for thermal therapy of tumors |
EP0610991A3 (en) | 1993-02-08 | 1995-04-19 | Xintec Corp | Device for laser assisted transurethral resection of the prostate(TURP). |
US5366456A (en) | 1993-02-08 | 1994-11-22 | Xintec Corporation | Angle firing fiber optic laser scalpel and method of use |
US5354294A (en) | 1993-05-26 | 1994-10-11 | Xintec Corporation | Combination reflectance fiber optic laser beam angle delivery |
JP3860227B2 (en) | 1993-03-10 | 2006-12-20 | 株式会社東芝 | Ultrasonic therapy device used under MRI guide |
US5433717A (en) * | 1993-03-23 | 1995-07-18 | The Regents Of The University Of California | Magnetic resonance imaging assisted cryosurgery |
US5307812A (en) | 1993-03-26 | 1994-05-03 | General Electric Company | Heat surgery system monitored by real-time magnetic resonance profiling |
US5344419A (en) | 1993-04-23 | 1994-09-06 | Wayne State University | Apparatus and method for making a diffusing tip in a balloon catheter system |
DE69432834T2 (en) | 1993-04-26 | 2004-05-13 | St. Louis University | Display of the location of a surgical probe |
US5454807A (en) | 1993-05-14 | 1995-10-03 | Boston Scientific Corporation | Medical treatment of deeply seated tissue using optical radiation |
US5343543A (en) | 1993-05-27 | 1994-08-30 | Heraeus Surgical, Inc. | Side-firing laser fiber with directional indicator and methods of use in determining the orientation of radiation to be emitted from the side-firing laser fiber |
US5387220A (en) | 1993-06-15 | 1995-02-07 | Pisharodi; Maohaven | Stereotactic frame and localization method |
US5320617A (en) | 1993-06-25 | 1994-06-14 | Leach Gary E | Method of laser-assisted prostatectomy and apparatus for carrying out the method |
US5368031A (en) | 1993-08-29 | 1994-11-29 | General Electric Company | Magnetic resonance surgery using heat waves produced with a laser fiber |
JP3167844B2 (en) | 1993-10-08 | 2001-05-21 | テルモ株式会社 | Solid-state laser device |
US5454794A (en) | 1993-10-15 | 1995-10-03 | Pdt Systems, Inc. | Steerable light diffusing catheter |
US5752962A (en) | 1993-11-15 | 1998-05-19 | D'urso; Paul S. | Surgical procedures |
JP2591032Y2 (en) | 1993-12-20 | 1999-02-24 | 株式会社モリテックス | Optical fiber laser light guide diffuser probe |
US5534000A (en) | 1994-03-17 | 1996-07-09 | Endeavor Surgical Products, Inc. | Laser fiber apparatus having a contact tip and adjacent diffuser element and surgical methods for using same |
JP2869020B2 (en) | 1994-03-23 | 1999-03-10 | 康男 橋本 | Cancer treatment device |
US5492122A (en) | 1994-04-15 | 1996-02-20 | Northrop Grumman Corporation | Magnetic resonance guided hyperthermia |
US5454897A (en) | 1994-05-02 | 1995-10-03 | Cincinnati Milacron Inc. | Presser member for fiber laying machine |
US5733277A (en) | 1994-06-22 | 1998-03-31 | Pallarito; Allan L. | Optical fibre and laser for removal of arterial or vascular obstructions |
US5672172A (en) | 1994-06-23 | 1997-09-30 | Vros Corporation | Surgical instrument with ultrasound pulse generator |
US5509917A (en) | 1994-06-28 | 1996-04-23 | Ceramoptec Industries, Inc. | Lensed caps for radial medical laser delivery devices |
US5537499A (en) | 1994-08-18 | 1996-07-16 | Laser Peripherals, Inc. | Side-firing laser optical fiber probe and method of making same |
US6558375B1 (en) | 2000-07-14 | 2003-05-06 | Cardiofocus, Inc. | Cardiac ablation instrument |
US5632767A (en) | 1994-09-09 | 1997-05-27 | Rare Earth Medical, Inc. | Loop diffusers for diffusion of optical radiation |
US5891157A (en) | 1994-09-30 | 1999-04-06 | Ohio Medical Instrument Company, Inc. | Apparatus for surgical stereotactic procedures |
US5695501A (en) | 1994-09-30 | 1997-12-09 | Ohio Medical Instrument Company, Inc. | Apparatus for neurosurgical stereotactic procedures |
US5868760A (en) * | 1994-12-07 | 1999-02-09 | Mcguckin, Jr.; James F. | Method and apparatus for endolumenally resectioning tissue |
DE4443964C1 (en) | 1994-12-09 | 1996-04-04 | Schwarzmaier Hans Joachim Dr | Laser appts. for irradiation of human body tissue |
US5772657A (en) | 1995-04-24 | 1998-06-30 | Coherent, Inc. | Side firing fiber optic laser probe |
US5571099A (en) | 1995-05-09 | 1996-11-05 | Pioneer Optics Company | Side firing probe |
JPH0938220A (en) | 1995-07-28 | 1997-02-10 | Yasuo Hashimoto | Cancer treatment device |
US5824005A (en) | 1995-08-22 | 1998-10-20 | Board Of Regents, The University Of Texas System | Maneuverable electrophysiology catheter for percutaneous or intraoperative ablation of cardiac arrhythmias |
US5638819A (en) | 1995-08-29 | 1997-06-17 | Manwaring; Kim H. | Method and apparatus for guiding an instrument to a target |
US5947958A (en) | 1995-09-14 | 1999-09-07 | Conceptus, Inc. | Radiation-transmitting sheath and methods for its use |
US5823941A (en) | 1995-10-23 | 1998-10-20 | Shaunnessey; Jerome | Apparatus for directing the movement of an endoscopic surgical laser especially for use in vaporizing brain tumors |
GB9521784D0 (en) | 1995-10-24 | 1996-01-03 | Rosslyn Medical Ltd | Diagnostic apparatus |
US5749549A (en) | 1995-12-29 | 1998-05-12 | Javad Positioning, Llc | Satellite positioning system antenna supporting tripod |
US6206873B1 (en) | 1996-02-13 | 2001-03-27 | El. En. S.P.A. | Device and method for eliminating adipose layers by means of laser energy |
US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
DE19702898A1 (en) | 1996-04-04 | 1998-07-23 | Somatex Medizintechnische Inst | Laser application catheter |
US5978541A (en) | 1996-04-16 | 1999-11-02 | Miravant Systems, Inc. | Custom cylindrical diffusion tips |
US6022309A (en) | 1996-04-24 | 2000-02-08 | The Regents Of The University Of California | Opto-acoustic thrombolysis |
US5807383A (en) | 1996-05-13 | 1998-09-15 | United States Surgical Corporation | Lasing device |
US5959246A (en) | 1996-06-20 | 1999-09-28 | Arlington Industries, Inc. | Electric box extender and supplemental part |
US5792110A (en) | 1996-06-26 | 1998-08-11 | Cunningham; Miles G. | Systems and methods for delivering therapeutic agents to selected sites in a subject |
US5785704A (en) | 1996-07-29 | 1998-07-28 | Mrc Systems Gmbh | Method for performing stereotactic laser surgery |
US6102885A (en) | 1996-08-08 | 2000-08-15 | Bass; Lawrence S. | Device for suction-assisted lipectomy and method of using same |
US5719975A (en) | 1996-09-03 | 1998-02-17 | Hughes Electronics | Optically reconfigurable conductive line element |
US6004315A (en) | 1996-09-16 | 1999-12-21 | Focal, Inc. | Optical fiber diffuser and method of making |
US6293282B1 (en) | 1996-11-05 | 2001-09-25 | Jerome Lemelson | System and method for treating select tissue in living being |
US6058323A (en) | 1996-11-05 | 2000-05-02 | Lemelson; Jerome | System and method for treating select tissue in a living being |
US5872879A (en) | 1996-11-25 | 1999-02-16 | Boston Scientific Corporation | Rotatable connecting optical fibers |
JP3638191B2 (en) | 1997-01-31 | 2005-04-13 | 信司 國分 | Medical laser handpiece |
US6267769B1 (en) | 1997-05-15 | 2001-07-31 | Regents Of The Universitiy Of Minnesota | Trajectory guide method and apparatus for use in magnetic resonance and computerized tomographic scanners |
US5993463A (en) | 1997-05-15 | 1999-11-30 | Regents Of The University Of Minnesota | Remote actuation of trajectory guide |
US6752812B1 (en) | 1997-05-15 | 2004-06-22 | Regent Of The University Of Minnesota | Remote actuation of trajectory guide |
WO1998052465A1 (en) | 1997-05-23 | 1998-11-26 | Transurgical, Inc. | Mri-guided therapeutic unit and methods |
US6413253B1 (en) | 1997-08-16 | 2002-07-02 | Cooltouch Corporation | Subsurface heating of material |
DE69832568T2 (en) | 1997-09-03 | 2006-07-27 | Narishige Co., Ltd. | Hydraulically controlled micromanipulator |
US6086532A (en) | 1997-09-26 | 2000-07-11 | Ep Technologies, Inc. | Systems for recording use of structures deployed in association with heart tissue |
US6106516A (en) | 1997-10-30 | 2000-08-22 | Sonique Surgical Systems, Inc. | Laser-assisted liposuction method and apparatus |
US6843793B2 (en) * | 1998-02-24 | 2005-01-18 | Endovia Medical, Inc. | Surgical instrument |
US6949106B2 (en) | 1998-02-24 | 2005-09-27 | Endovia Medical, Inc. | Surgical instrument |
US20020087148A1 (en) | 1998-02-24 | 2002-07-04 | Brock David L. | Flexible instrument |
JP4031568B2 (en) | 1998-03-12 | 2008-01-09 | テルモ株式会社 | Laser beam scanning mirror driving device and laser beam irradiation device |
US6213998B1 (en) | 1998-04-02 | 2001-04-10 | Vanderbilt University | Laser surgical cutting probe and system |
US6206885B1 (en) | 1998-04-14 | 2001-03-27 | Fathali Ghahremani | Catheter guide and drill guide apparatus and method for perpendicular insertion into a cranium orifice |
US7033367B2 (en) | 1998-04-14 | 2006-04-25 | Neurodynamics, Inc. | Slotted catheter guide for perpendicular insertion into a cranium orifice |
DE19816917A1 (en) | 1998-04-16 | 1999-10-28 | Siemens Ag | Process for spatially resolved temperature monitoring, suspension of ferromagnetic microparticles and use of this suspension |
US6529765B1 (en) | 1998-04-21 | 2003-03-04 | Neutar L.L.C. | Instrumented and actuated guidance fixture for sterotactic surgery |
ITPD980096A1 (en) | 1998-04-23 | 1999-10-23 | Manfrotto Lino & C Spa | TRIPOD PERFECTED, PARTICULARLY FOR PHOTOGRAPHIC USES |
JP3754562B2 (en) | 1998-06-12 | 2006-03-15 | テルモ株式会社 | Energy irradiation device |
US6246200B1 (en) * | 1998-08-04 | 2001-06-12 | Intuitive Surgical, Inc. | Manipulator positioning linkage for robotic surgery |
JP2000126316A (en) | 1998-08-19 | 2000-05-09 | Tokai Univ | Heating device for tissue in vivo using strong light |
US6117143A (en) | 1998-09-11 | 2000-09-12 | Hybex Surgical Specialties, Inc. | Apparatus for frameless stereotactic surgery |
US6425867B1 (en) | 1998-09-18 | 2002-07-30 | University Of Washington | Noise-free real time ultrasonic imaging of a treatment site undergoing high intensity focused ultrasound therapy |
US6195577B1 (en) | 1998-10-08 | 2001-02-27 | Regents Of The University Of Minnesota | Method and apparatus for positioning a device in a body |
US6298259B1 (en) | 1998-10-16 | 2001-10-02 | Univ Minnesota | Combined magnetic resonance imaging and magnetic stereotaxis surgical apparatus and processes |
US6286795B1 (en) | 1998-10-20 | 2001-09-11 | Autocue, Inc. | Dual-stage quick release leg and tripod |
US6246896B1 (en) | 1998-11-24 | 2001-06-12 | General Electric Company | MRI guided ablation system |
DE59909174D1 (en) | 1999-01-22 | 2004-05-19 | Leica Geosystems Ag | Lockable tripod |
US6332891B1 (en) | 1999-02-16 | 2001-12-25 | Stryker Corporation | System and method for performing image guided surgery |
US6491699B1 (en) | 1999-04-20 | 2002-12-10 | Surgical Navigation Technologies, Inc. | Instrument guidance method and system for image guided surgery |
CA2306303A1 (en) | 1999-04-23 | 2000-10-23 | Lutz T. Kynast | Microdrive for probes |
AU4708100A (en) | 1999-05-10 | 2000-11-21 | Brock Rogers Surgical Inc. | Surgical instrument |
US6398778B1 (en) | 1999-06-18 | 2002-06-04 | Photonics Research Ontario | Optical fiber diffuser |
US6132437A (en) | 1999-07-14 | 2000-10-17 | Omurtag; Ahmet | Method and stereotactic apparatus for locating intracranial targets guiding surgical instruments |
JP2001046394A (en) | 1999-08-12 | 2001-02-20 | Terumo Corp | Laser irradiation device |
DE60027365T2 (en) | 1999-08-13 | 2007-01-11 | Terumo K.K. | Thermotherapy device |
US6716215B1 (en) | 1999-10-29 | 2004-04-06 | Image-Guided Neurologics | Cranial drill with sterile barrier |
CA2299483A1 (en) | 2000-01-06 | 2001-07-06 | Dan Reinstein | Head support |
US6551274B2 (en) | 2000-02-29 | 2003-04-22 | Biosense Webster, Inc. | Cryoablation catheter with an expandable cooling chamber |
JP3613551B2 (en) * | 2000-03-31 | 2005-01-26 | 株式会社東芝 | Medical manipulator |
US7366561B2 (en) | 2000-04-07 | 2008-04-29 | Medtronic, Inc. | Robotic trajectory guide |
US7660621B2 (en) | 2000-04-07 | 2010-02-09 | Medtronic, Inc. | Medical device introducer |
US6413263B1 (en) | 2000-04-24 | 2002-07-02 | Axon Instruments, Inc. | Stereotactic probe holder and method of use |
US6418337B1 (en) | 2000-06-15 | 2002-07-09 | Autolitt Inc. | MRI guided hyperthermia surgery |
US6902569B2 (en) | 2000-08-17 | 2005-06-07 | Image-Guided Neurologics, Inc. | Trajectory guide with instrument immobilizer |
WO2002024095A1 (en) | 2000-09-24 | 2002-03-28 | Medtronic, Inc. | Surgical reference frame fixation device with cannulated post and method of use |
US6355028B2 (en) | 2000-10-11 | 2002-03-12 | Popcab,Llc | Stable port device for port off-pump beating heart coronary artery bypass surgery system |
US6464691B1 (en) | 2000-10-11 | 2002-10-15 | Popcab, Llc | Port device for port off-pump beating heart coronary artery bypass surgery system |
US6464690B1 (en) | 2000-10-11 | 2002-10-15 | Popcab, Llc | Port off-pump beating heart coronary artery bypass heart stabilization system |
US6582420B2 (en) | 2000-10-11 | 2003-06-24 | Popcab, Llc | Intercostal lockable directable port device |
US6579281B2 (en) | 2000-10-11 | 2003-06-17 | Popcab, Llc | Instrument stabilizer for through-a-port surgery |
US6589174B1 (en) | 2000-10-20 | 2003-07-08 | Sunnybrook & Women's College Health Sciences Centre | Technique and apparatus for ultrasound therapy |
US6986764B2 (en) | 2000-12-15 | 2006-01-17 | Laserscope | Method and system for photoselective vaporization of the prostate, and other tissue |
US6743221B1 (en) | 2001-03-13 | 2004-06-01 | James L. Hobart | Laser system and method for treatment of biological tissues |
US6701181B2 (en) | 2001-05-31 | 2004-03-02 | Infraredx, Inc. | Multi-path optical catheter |
US20030060813A1 (en) | 2001-09-22 | 2003-03-27 | Loeb Marvin P. | Devices and methods for safely shrinking tissues surrounding a duct, hollow organ or body cavity |
US20030171741A1 (en) | 2001-11-14 | 2003-09-11 | Latis, Inc. | Catheters for clot removal |
IL162483A (en) | 2001-12-14 | 2010-11-30 | Monteris Medical Inc | Hyperthermia treatment apparatus and probe therefor |
US7479139B2 (en) | 2002-01-04 | 2009-01-20 | Galil Medical Ltd. | Apparatus and method for protecting tissues during cryoablation |
US6741883B2 (en) | 2002-02-28 | 2004-05-25 | Houston Stereotactic Concepts, Inc. | Audible feedback from positional guidance systems |
US7124985B2 (en) | 2002-04-19 | 2006-10-24 | Crain Enterprises, Inc. | Geomatic pole support with telescoping legs and locks |
FR2839440B1 (en) | 2002-05-13 | 2005-03-25 | Perception Raisonnement Action | POSITIONING SYSTEM ON A PATIENT OF AN OBSERVATION AND / OR INTERVENTION DEVICE |
US6845193B2 (en) | 2002-05-21 | 2005-01-18 | Trimedyne, Inc. | Laser channeling devices |
US7636596B2 (en) | 2002-12-20 | 2009-12-22 | Medtronic, Inc. | Organ access device and method |
US6905627B2 (en) | 2003-01-10 | 2005-06-14 | Academia Sinica | Etching method for fabricating high quality optical fiber probe |
US7559935B2 (en) | 2003-02-20 | 2009-07-14 | Medtronic, Inc. | Target depth locators for trajectory guide for introducing an instrument |
US7896889B2 (en) | 2003-02-20 | 2011-03-01 | Medtronic, Inc. | Trajectory guide with angled or patterned lumens or height adjustment |
US7615051B2 (en) | 2003-02-21 | 2009-11-10 | Synthes Usa, Llc | Craniofacial fracture reduction assembly |
WO2004096018A2 (en) | 2003-04-28 | 2004-11-11 | Vanderbilt University | Apparatus and methods of optimal placement of deep brain stimulator |
CN2620289Y (en) | 2003-05-30 | 2004-06-09 | 上海医疗器械股份有限公司医用光学仪器厂 | Self-locking hand-operated staight-line displacement and rotating device |
US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US7727227B2 (en) | 2003-09-18 | 2010-06-01 | Boston Scientific Scimed, Inc. | Medical retrieval devices with laser and retrieval assembly |
US7695480B2 (en) | 2003-09-25 | 2010-04-13 | Medtronic, Inc. | Ball and socket trajectory guide |
US7651506B2 (en) | 2003-10-02 | 2010-01-26 | University Of Florida Research Foundation, Inc. | Frameless stereotactic guidance of medical procedures |
US7270656B2 (en) | 2003-11-07 | 2007-09-18 | Visualase, Inc. | Cooled laser fiber for improved thermal therapy |
WO2005046451A2 (en) | 2003-11-10 | 2005-05-26 | The Cleveland Clinic Foundation | Apparatus and methods for use in mounting a surgical trajectory guide |
US20060009749A1 (en) | 2004-02-19 | 2006-01-12 | Weckwerth Mark V | Efficient diffuse light source assembly and method |
CN2748071Y (en) | 2004-09-21 | 2005-12-28 | 东莞东城威仪塑胶电子制品厂 | Rolling type back massager |
US20060089626A1 (en) | 2004-10-22 | 2006-04-27 | Vlegele James W | Surgical device guide for use with an imaging system |
JP4287354B2 (en) * | 2004-10-25 | 2009-07-01 | 株式会社日立製作所 | Surgical instruments |
US7497863B2 (en) | 2004-12-04 | 2009-03-03 | Medtronic, Inc. | Instrument guiding stage apparatus and method for using same |
US7846154B2 (en) | 2004-12-06 | 2010-12-07 | Galil Medical Ltd. | Gas-heated gas-cooled cryoprobe utilizing electrical heating and a single gas source |
US20060175484A1 (en) | 2004-12-23 | 2006-08-10 | Wood Robert A Iii | Systems and methods for adjusting a stand |
JP2008528197A (en) | 2005-01-28 | 2008-07-31 | マサチユセツツ・ジエネラル・ホスピタル | Guide and insertion system |
US8801701B2 (en) | 2005-03-09 | 2014-08-12 | Sunnybrook Health Sciences Centre | Method and apparatus for obtaining quantitative temperature measurements in prostate and other tissue undergoing thermal therapy treatment |
US7771418B2 (en) | 2005-03-09 | 2010-08-10 | Sunnybrook Health Sciences Centre | Treatment of diseased tissue using controlled ultrasonic heating |
US7463801B2 (en) | 2005-06-17 | 2008-12-09 | Medical Cv, Inc. | Side-firing laser |
US20070043342A1 (en) | 2005-08-16 | 2007-02-22 | Galil Medical Ltd. | Cryoprobe with reduced adhesion to frozen tissue, and cryosurgical methods utilizing same |
US20070270717A1 (en) | 2005-09-30 | 2007-11-22 | Cornova, Inc. | Multi-faceted optical reflector |
US20070100346A1 (en) | 2005-10-27 | 2007-05-03 | Wyss Joseph G | Support for locating instrument guides |
WO2007056458A2 (en) | 2005-11-07 | 2007-05-18 | Vanderbilt University | Adjustable universal surgical platform |
US8414597B2 (en) | 2005-11-07 | 2013-04-09 | Vanderbilt University | Apparatus for supporting an adjustable surgical platform |
GB0524028D0 (en) | 2005-11-25 | 2006-01-04 | Brooks Stephen M | Adjustable levelling stand |
US20070149977A1 (en) | 2005-11-28 | 2007-06-28 | Zimmer Technology, Inc. | Surgical component positioner |
AU2006320611A1 (en) | 2005-11-29 | 2007-06-07 | Surgi-Vision, Inc. | MRI-guided localization and/or lead placement systems, related methods, devices and computer program products |
WO2007065013A2 (en) | 2005-12-02 | 2007-06-07 | The Johns Hopkins University | Multi imager compatible robot for image-guided interventions, automated brachytherapy seed delivery apparatus and methods and systems related thereto |
US20080195085A1 (en) | 2006-03-07 | 2008-08-14 | Loeb Marvin P | Economical, two component, thermal energy delivery and surface cooling apparatus and its method of use |
AU2007201204B2 (en) | 2006-03-23 | 2012-07-12 | Ethicon Endo-Surgery, Inc. | Articulating endoscopic accessory channel |
US8236010B2 (en) * | 2006-03-23 | 2012-08-07 | Ethicon Endo-Surgery, Inc. | Surgical fastener and cutter with mimicking end effector |
US20080002927A1 (en) | 2006-06-12 | 2008-01-03 | Prescient Medical, Inc. | Miniature fiber optic spectroscopy probes |
WO2008014261A2 (en) | 2006-07-24 | 2008-01-31 | Vanderbilt University | Adjustable surgical platform and surgical instrument using same |
US8150497B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for navigating a planned procedure within a body |
US8150498B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for identification of anatomical landmarks |
US8160676B2 (en) | 2006-09-08 | 2012-04-17 | Medtronic, Inc. | Method for planning a surgical procedure |
EP1914576B1 (en) | 2006-10-17 | 2019-01-16 | Dornier MedTech Laser GmbH | Laser applicator with an optical lightguide, the optical lightguide comprising a photorefractive section having a volume hologram. |
AU2007322982A1 (en) | 2006-10-23 | 2008-05-29 | Hirdesh Sahni | An image guided whole body stereotactic needle placement device with falling arc |
DE602006011921D1 (en) * | 2006-12-04 | 2010-03-11 | Ethicon Endo Surgery Inc | Handle suitable for transmitting a torque between a knob and a corresponding output shaft connectable with cables, tubes, or the like |
AU2007329388A1 (en) * | 2006-12-05 | 2008-06-12 | Care Fusion 2200, Inc | Instrument positioning/holding devices |
US8285097B2 (en) | 2006-12-07 | 2012-10-09 | Ams Research Corporation | Annular side fire optical device for laterally redirecting electromagnetic radiation |
US7736371B2 (en) | 2007-01-26 | 2010-06-15 | Stryker Leibinger Gmbh & Co. Kg | Trajectory guide |
US20080243142A1 (en) | 2007-02-20 | 2008-10-02 | Gildenberg Philip L | Videotactic and audiotactic assisted surgical methods and procedures |
US8150494B2 (en) | 2007-03-29 | 2012-04-03 | Medtronic Navigation, Inc. | Apparatus for registering a physical space to image space |
US7803164B2 (en) | 2007-04-10 | 2010-09-28 | Medtronic, Inc. | Method for guiding instruments having different sizes |
US8010177B2 (en) | 2007-04-24 | 2011-08-30 | Medtronic, Inc. | Intraoperative image registration |
US8301226B2 (en) | 2007-04-24 | 2012-10-30 | Medtronic, Inc. | Method and apparatus for performing a navigated procedure |
US20090012509A1 (en) | 2007-04-24 | 2009-01-08 | Medtronic, Inc. | Navigated Soft Tissue Penetrating Laser System |
US8715240B2 (en) | 2007-05-18 | 2014-05-06 | The Mclean Hospital Corporation | Apparatus and method for convection enhanced therapeutic delivery |
US8175677B2 (en) | 2007-06-07 | 2012-05-08 | MRI Interventions, Inc. | MRI-guided medical interventional systems and methods |
AU2008274854B2 (en) | 2007-07-09 | 2013-09-26 | Orthosoft Ulc | Universal positioning device for orthopedic surgery and method of use thereof |
US9403029B2 (en) | 2007-07-18 | 2016-08-02 | Visualase, Inc. | Systems and methods for thermal therapy |
US8858542B2 (en) | 2007-08-03 | 2014-10-14 | Ams Research Corporation | Side-firing fiber delivery device with active cooling cap |
US8267938B2 (en) | 2007-11-01 | 2012-09-18 | Murphy Stephen B | Method and apparatus for determining acetabular component positioning |
WO2009067205A1 (en) | 2007-11-21 | 2009-05-28 | Surgi-Vision, Inc. | Methods, systems and computer program products for positioning a guidance apparatus relative to a patient |
ES2689302T3 (en) | 2008-02-13 | 2018-11-13 | Andreas Rose | Light supply device that provides a radial pattern of light emission |
US8608044B2 (en) * | 2008-02-15 | 2013-12-17 | Ethicon Endo-Surgery, Inc. | Feedback and lockout mechanism for surgical instrument |
US9693826B2 (en) | 2008-02-28 | 2017-07-04 | Biolitec Unternehmensbeteiligungs Ii Ag | Endoluminal laser ablation device and method for treating veins |
CN105148416B (en) | 2008-04-09 | 2019-01-29 | 朱利安·伊特兹科维特兹 | Medical system including percutaneous electrode |
US20090287199A1 (en) | 2008-05-19 | 2009-11-19 | Brian Hanley | Side-firing laser fiber with protective tip and related methods |
US20090326525A1 (en) | 2008-06-26 | 2009-12-31 | Jessica Hixon | Laser fiber capillary apparatus and method |
US8728092B2 (en) | 2008-08-14 | 2014-05-20 | Monteris Medical Corporation | Stereotactic drive system |
WO2010025575A1 (en) | 2008-09-03 | 2010-03-11 | Ao Technology Ag | A device for manipulating a bone or bone fragment or a surgical instrument, tool or implant and a method for positioning such a device |
US8165658B2 (en) | 2008-09-26 | 2012-04-24 | Medtronic, Inc. | Method and apparatus for positioning a guide relative to a base |
US8992538B2 (en) | 2008-09-30 | 2015-03-31 | DePuy Synthes Products, Inc. | Customized patient-specific acetabular orthopaedic surgical instrument and method of use and fabrication |
EP2379341A4 (en) | 2008-11-04 | 2017-12-06 | The University Of Queensland | Surface structure modification |
US8298245B2 (en) | 2009-08-17 | 2012-10-30 | Chang Gung University | Three-dimensional positioning device for minimally invasive surgery |
WO2011025786A1 (en) * | 2009-08-24 | 2011-03-03 | Board Of Regents | Automated needle insertion mechanism |
WO2011063075A1 (en) | 2009-11-18 | 2011-05-26 | Boston Scientific Scimed, Inc. | Methods and apparatus related to a side-fire assembly that has an optical grating |
BR112012013750A2 (en) | 2009-12-10 | 2016-03-15 | Alcon Res Ltd | optical surgical probe, and method for manufacturing a multipoint optical surgical probe |
US20110301450A1 (en) | 2010-04-30 | 2011-12-08 | Yik-Kiong Hue | Magnetic resonance imaging mediated radiofrequency ablation |
US20120053573A1 (en) | 2010-08-31 | 2012-03-01 | Elekta Limited | Surgical Apparatus |
JP6009737B2 (en) | 2011-04-26 | 2016-10-19 | オリンパス株式会社 | Guide sheath and guide sheath system |
CA2842474C (en) | 2011-08-09 | 2019-09-03 | Alcon Research Ltd. | Multi-spot laser surgical probe using faceted optical elements |
US9247997B2 (en) | 2011-09-30 | 2016-02-02 | Ethicon Endo-Surgery, Inc. | Patient-referenced surgical support frame |
US9200388B1 (en) * | 2012-04-20 | 2015-12-01 | Fort Wayne Metals Research Products Corporation | Bi-tapered spool for wire braiding machines |
WO2013158974A1 (en) * | 2012-04-20 | 2013-10-24 | Vanderbilt University | Dexterous wrists for surgical intervention |
WO2014030110A1 (en) * | 2012-08-21 | 2014-02-27 | Chinmay Deodhar | Wristed surgical instrument capable of multiple functions, without requiring extra inputs |
-
2009
- 2009-08-13 US US12/540,558 patent/US8728092B2/en not_active Ceased
- 2009-08-14 JP JP2011522361A patent/JP5490797B2/en not_active Expired - Fee Related
- 2009-08-14 WO PCT/CA2009/001138 patent/WO2010017642A1/en active Application Filing
- 2009-08-14 AU AU2009281674A patent/AU2009281674A1/en not_active Abandoned
- 2009-08-14 EP EP17173565.7A patent/EP3239802B1/en active Active
- 2009-08-14 BR BRPI0916947A patent/BRPI0916947A2/en not_active IP Right Cessation
- 2009-08-14 CN CN200980131609.XA patent/CN102132225B/en active Active
- 2009-08-14 EP EP09806277.1A patent/EP2324405B1/en active Active
- 2009-08-14 CA CA2732853A patent/CA2732853A1/en not_active Abandoned
-
2011
- 2011-01-25 IL IL210877A patent/IL210877A0/en unknown
-
2013
- 2013-11-18 JP JP2013237844A patent/JP2014054563A/en not_active Withdrawn
-
2016
- 2016-05-11 US US15/151,995 patent/USRE47469E1/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7235089B1 (en) * | 1994-12-07 | 2007-06-26 | Boston Scientific Corporation | Surgical apparatus and method |
US20080077159A1 (en) * | 1996-05-20 | 2008-03-27 | Intuitive Surgical Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US20020177843A1 (en) * | 2001-04-19 | 2002-11-28 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
EP1829764A2 (en) * | 2006-03-03 | 2007-09-05 | Nissan Motor Company Limited | Steering |
EP1985330A1 (en) * | 2007-04-23 | 2008-10-29 | CathRx Ltd | Catheter control |
Non-Patent Citations (1)
Title |
---|
See also references of EP2324405A4 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2866723A4 (en) * | 2012-06-27 | 2016-12-14 | Monteris Medical Corp | Image-guided therapy of a tissue |
US10548678B2 (en) | 2012-06-27 | 2020-02-04 | Monteris Medical Corporation | Method and device for effecting thermal therapy of a tissue |
WO2018237045A1 (en) * | 2017-06-21 | 2018-12-27 | Boston Scientific Limited | Surgical guidance systems and devices. |
US10842514B2 (en) | 2017-06-21 | 2020-11-24 | Boston Scientific Limited | Surgical guidance systems, devices, and methods |
Also Published As
Publication number | Publication date |
---|---|
CA2732853A1 (en) | 2010-02-18 |
USRE47469E1 (en) | 2019-07-02 |
AU2009281674A1 (en) | 2010-02-18 |
EP2324405B1 (en) | 2017-05-31 |
CN102132225B (en) | 2014-07-16 |
CN102132225A (en) | 2011-07-20 |
EP2324405A4 (en) | 2013-11-20 |
US8728092B2 (en) | 2014-05-20 |
EP2324405A1 (en) | 2011-05-25 |
EP3239802A1 (en) | 2017-11-01 |
EP3239802B1 (en) | 2019-10-09 |
IL210877A0 (en) | 2011-04-28 |
BRPI0916947A2 (en) | 2015-11-24 |
JP5490797B2 (en) | 2014-05-14 |
JP2011530355A (en) | 2011-12-22 |
JP2014054563A (en) | 2014-03-27 |
US20100042112A1 (en) | 2010-02-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
USRE47469E1 (en) | Stereotactic drive system | |
JP4142586B2 (en) | Thermotherapy and probe therefor | |
US9211157B2 (en) | Probe driver | |
CA2690040C (en) | Apparatus for mri guided hyperthermia surgery | |
AU2005258739B2 (en) | Methods for localized intra-body treatment of tissue | |
CN111770714A (en) | Composite device and method for guiding an endoscopic device | |
US20080154252A1 (en) | Hyperthermia Treatment and Probe Therefor | |
US20080167639A1 (en) | Methods for localized intra-body treatment of tissue | |
US20100241058A1 (en) | Oct guided tissue ablation | |
JP5933901B2 (en) | Head fixation system | |
Tyc et al. | LASER SURGERY/CANCER TREATMENT: Real-time interactivity enhances interstitial brain tumor therapy May 1, 2010 Laser interstitial thermal therapy (LITT) is a minimally invasive, low cost, and effective approach to neurosurgery. |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200980131609.X Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09806277 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009281674 Country of ref document: AU |
|
WWE | Wipo information: entry into national phase |
Ref document number: 778/DELNP/2011 Country of ref document: IN |
|
ENP | Entry into the national phase |
Ref document number: 2732853 Country of ref document: CA |
|
ENP | Entry into the national phase |
Ref document number: 2011522361 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2009281674 Country of ref document: AU Date of ref document: 20090814 Kind code of ref document: A |
|
REEP | Request for entry into the european phase |
Ref document number: 2009806277 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009806277 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: PI0916947 Country of ref document: BR Kind code of ref document: A2 Effective date: 20110208 |