Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
  • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
  • A61F2/02—Prostheses implantable into the body
  • A61F2/30—Joints
  • A61F2/46—Special tools for implanting artificial joints
  • A61F2/4603—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof
  • A61F2/4609—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
  • A61B17/17—Guides or aligning means for drills, mills, pins or wires
  • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
  • A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
  • A61B17/1746—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for the acetabulum
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
  • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
  • A61F2/02—Prostheses implantable into the body
  • A61F2/30—Joints
  • A61F2/46—Special tools for implanting artificial joints
  • A61F2/4657—Measuring instruments used for implanting artificial joints
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
  • A61B2017/568—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor produced with shape and dimensions specific for an individual patient
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
  • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
  • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
  • A61F2/02—Prostheses implantable into the body
  • A61F2/30—Joints
  • A61F2/3094—Designing or manufacturing processes
  • A61F2/30942—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
  • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
  • A61F2/02—Prostheses implantable into the body
  • A61F2/30—Joints
  • A61F2/46—Special tools for implanting artificial joints
  • A61F2/4657—Measuring instruments used for implanting artificial joints
  • A61F2002/4668—Measuring instruments used for implanting artificial joints for measuring angles
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
  • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
  • A61F2/02—Prostheses implantable into the body
  • A61F2/30—Joints
  • A61F2/46—Special tools for implanting artificial joints
  • A61F2002/4687—Mechanical guides for implantation instruments

Definitions

• the present invention relates to a medical instrumentation, in particular for implanting an acetabular cup, comprising a medical alignment with a molded body, which has a patient-individual, facing away from the molding body and deviating from a spherical surface cut bone abutment surface which is formed corresponding to a bone surface of the patient.
• the optimal positioning of the acetabulum of the hip joint endoprosthesis to be implanted is of importance.
• landmarks on the pelvic bone to feel and hereby to determine a reference plane of the pelvis, wovene whose all parts of the hip joint endoprostheses are aligned and implanted.
• landmarks are susceptible to error because the bone under the tissue is not always clearly palpable.
• Another problem with locating landmarks is that they must be easily accessible. This is not the case especially in the case of a surgical intervention in a lateral position.
• the molding has at least one view edge with a height and that the view edge adjacent to the patient-individual bone abutment surface and that a transition between the view edge and the patient-specific bone abutment surface is tangentenunstetig.
• the solution proposed according to the invention avoids that the alignment instrument with the bone abutment surface is not completely applied to the bone surface, for example a region of the acetabulum of the patient.
• the bone abutment area is so large that the entire acetabulum is used as a reference, the doctor no longer has a view into the acetabulum and thus no longer orientation. He then has to rely solely on his manual feeling, whether the molding is sitting correctly, so flat, in the acetabulum. This is particularly difficult to feel for a relatively large contact surface.
• the physician can not only feel but also see the optimal abutment of the shaped body on the acetabulum.
• the abutment of the viewing edge with the patient-specific bone abutment surface makes it possible for the surgeon to clearly identify and, in particular, also to check using styli instruments, for example a touch-hook, to determine whether the shaped body is in contact with the patient-specific bone abutment surface sitting in the predetermined manner in the acetabulum. If this is the case, then the alignment instrument can be used in particular to unambiguously determine the position of the pelvis of the patient by setting reference pins or by referencing by means of a navigation system.
• the shaped body can in particular have two, three, four or even more viewing edges. These may be at least partially parallel or at a defined angle relative to each other. Also possible in particular are self-contained, annular view edges, for example in the form of inner boundary surfaces of apertures in the molding.
• a particularly reliable verification of the exact position of the shaped body in the acetabulum is possible in particular in that the at least one viewing edge has a width or height which corresponds to at least a minimum thickness of the shaped body.
• the at least one viewing edge has a width or height which corresponds at most to three times the minimum thickness of the molded body.
• the at least one viewing edge forms a flat or substantially planar surface area or forms a boundary surface of a recess of the shaped body, which recess at least partially penetrates the recess which engages the bone abutment surface.
• the bone abutment surface can point away from the molding body in the distal direction.
• the recess can then in particular laterally on Shaped body be formed and extend to the patient-specific bone abutment surface.
• the shaped body can also have an edge and optionally also a surface area which is not shaped individually for each patient.
• this area may define a section of a surface of an ellipsoid, in particular a sphere.
• This surface region can be formed, for example, on a carrier, which forms a part of the shaped body, on which the patient-specific bone abutment surface is formed on a projection pointing in the distal direction.
• the at least one recess is designed in the form of an opening and if the at least one viewing edge forms an inner surface of the opening.
• one, two, three, four or more apertures may be provided on the shaped body, which allow the surgeon to see the acetabulum through the shaped body and, in particular, visually inspect the obturator by virtue of the direct view of the apertures bounding the apertures Form body in the desired manner is applied to the acetabulum or not.
• the alignment instrument defines an instrument longitudinal axis and if a longitudinal axis of the aperture extends parallel or substantially parallel to the instrument longitudinal axis. This allows the surgeon optimum optical access to the acetabulum through the molded body.
• the opening can be produced if it is formed in a bore.
• the alignment instrument has two, three, four or more recesses.
• Particularly conceivable are like combinations of planar or substantially planar Ausrichtkanten with recesses, especially in the form of openings.
• the bone abutment surface is at least partially adapted to a contour of the acetabulum of the patient.
• the alignment can be clearly positioned on the acetabulum, since this normally has a shape deviating from a rotational symmetry, which allows the application of a matched to the bone contour patient-specific bone abutment surface only in exactly one defined position.
• the bone abutment surface has a contour corresponding to at least a part of the fossa and / or a part of the incisal acetabular.
• the two structures mentioned, ie the fossa and the acetabular incisura allow optimal patient-specific reference for the alignment of the acetabulum to be implanted on the pelvic bone of the patient.
• alignment pins or fastening pins can then be optionally positioned and fixed on the pelvic bone or else the position of the alignment instrument, in particular of the molding, with the aid of a navigation system, for example using a navigated feeler instrument.
• At least one fastener element receptacle is arranged or formed on the molded body.
• two, three or more fastening element receptacles can be provided. These are designed, in particular, correspondingly to fixing pins, which can optionally serve to fix the shaped body of the pelvic bone or else to establish a referencing device with corresponding marker elements for referencing the pelvis with the aid of a surgical navigation system.
• the shaped body is of shell-shaped and has a constant or substantially constant thickness. That's how he gets himself especially easy to produce, for example by casting or 3D printing. In addition, it is so light and occupies only a small volume in the area of the operation site. In addition, a width or height of the viewing edge is not too large, which could in particular make it difficult to view the transition between the viewing edge and the patient-specific bone abutment surface.
• the bone abutment surface and / or the shaped body are produced by casting or 3D printing.
• the shaped body can be produced in a simple and cost-effective manner, in particular from a plastic, preferably a sterilizable plastic.
• the shaped body or the bone abutment surface can also be produced from a metal.
• the bone abutment surface of the shaped body defines bone abutment surface contour data which correspond or substantially correspond to non-invasively determined bone contour data of the patient.
• the patient's bone contour data can be data from X-ray or magnetic resonance recordings. These can be determined in particular already in digital form by corresponding X-ray and magnetic resonance apparatuses and then further processed directly to print data or for a CAD-controlled milling machine, for preparing a casting mold or for direct printing of the bone abutment surface or of the molded body with a 3D printer.
• the alignment instrument can be handled particularly easily if it comprises a grip element.
• the grip element is releasably connectable with the molded body is formed.
• the molding can be positioned, for example, with the grip element on the pelvic bone and temporarily fixed there with fasteners, such as bone pins or bone screws.
• the handle element can then optionally be released from the molding.
• the handle element and the molded body can be connected to one another and also detached from one another when the alignment instrument has a coupling device for temporary coupling of the molded body to the handle element.
• the gripping element and the molded body can be interconnected if the coupling device comprises at least a first coupling element and at least one second coupling element, if the at least one first and second coupling elements are formed corresponding to each other and engage in a coupling position and disengage in a release position.
• connection of the grip element to the molded body becomes particularly simple, in particular even if there is no direct view of the surgical site, if the at least one first coupling element is in the form of a coupling receptacle and if the at least one second coupling element is in the form of a coupling protrusion.
• the coupling receptacle can optionally be formed on the handle element or on the molded body.
• the at least one first coupling element comprises a female threaded portion and if the at least one second coupling element comprise a corresponding male threaded portion.
• This embodiment makes it possible in particular to screw the handle element to the molding or unscrew it.
• one of the two coupling elements is arranged or formed on the molded body and the other of the two coupling elements on the grip element.
• the at least one first coupling element on Be arranged or formed molding body and the at least one second coupling element on the handle element.
• the handling of the alignment instrument can be further improved if the grip element comprises an elongated shaft and if a grip region is arranged or formed on a proximal end region of the shaft.
• the grip element can be ergonomically designed.
• the shaft defines a longitudinal axis and if a proximal end face of the shaft is designed in the form of a striking surface for a striking tool.
• the handle element in particular for driving, for example, the shaped body into the acetabulum.
• the striking surface is at least partially planar and defines a plane perpendicular to the longitudinal axis.
• the shaft is formed at least in two parts and comprises a shaft sleeve and an inner shaft guided therein and when the second coupling element is arranged or formed at a distal end of the inner shaft or at a distal end of the shaft sleeve.
• the inner shaft can be mounted rotatably and / or displaceably in the shaft sleeve and coupled to an actuating element, for example a rotary knob. This makes it possible for the surgeon, for example, to hold the grip element on the grip region, which in particular can be non-rotatably connected to the shaft sleeve or formed as part thereof, and then to rotate the inner shaft relative to the shaft sleeve.
• the inner shaft if its distal end with a male thread off is provided, are screwed into a corresponding coupling receptacle with internal thread on the molding. This requires only the rotation, for example, of the inner shaft, but not the grip element or the shaft sleeve as a whole.
• the instrument further comprises a wrapping tool.
• FIG. 1 shows a schematic perspective partial view of the pelvis with an alignment instrument attached to the acetabulum
• Figure 2 is an exploded view of the arrangement of Figure 1;
• Figure 3 is a sectional view taken along line 3-3 in Figure 1;
• FIG. 4 shows a perspective view of the shaped body of the alignment instrument from the proximal end
• FIG. 5 shows a perspective view of the shaped body from FIG. 4 from distal
• Figure 6 is a schematic perspective view similar to Figure 1 with a second embodiment of a shaped body
• FIG. 7 is a schematic exploded view of the arrangement of FIG.
• Figure 8 is a sectional view taken along line 8-8 in Figure 6;
• FIG. 9 shows a schematic perspective view of the shaped body from FIG. 7 from the proximal end;
• FIG. 10 shows a schematic perspective view of the shaped body
• FIG. 11 shows a schematic perspective view similar to FIG. 1 with a further exemplary embodiment of a shaped body
• FIG. 12 shows a schematic exploded view of the arrangement from FIG. 12
• Figure 13 is a sectional view taken along line 13-13 in Figure 11;
• FIG. 14 shows a schematic perspective view of the shaped body
• FIG. 15 shows a schematic perspective view of the shaped body
• Figure 16 a partially broken view of the handle member of the
• FIG. 1 diagrammatically shows a section of a human pelvic bone 10 in which a hip joint endoprosthesis is to be implanted.
• an acetabulum 12 is shown in FIG. 2, which is also designated as a hip joint or pelvic cup and forms the bony portion of the natural hip joint formed in the anatomy by the pelvic bone 10.
• a hip joint endoprosthesis serves a total designated by the reference numeral 14 medical instruments.
• this comprises a medical alignment instrument 16 with a shaped body 18 and a grip element 20.
• the grip element 20 can be used in particular as impactor 22. It comprises an elongated shaft 24, at the proximal end of a handle portion 26 is arranged or formed. An annular flange 30 projecting in the radial direction relative to a longitudinal axis 28 delimits the grip region 26 distally and, in particular, serves to prevent a hand of the surgeon holding the grip element 20 from slipping off in the distal direction.
• the shaft 24 comprises an elongated shaft sleeve 32 which is provided with a longitudinal bore extending coaxially to the longitudinal axis 28.
• an elongated inner shaft 34 is rotatably mounted and / or displaceable.
• a proximal end of the inner shaft 34 is rotatably coupled to an actuator 36 in the form of a knob 38.
• a proximal end face 40 of the knob 38 forms an at least partially flat face 42 which defines a plane 44 that is perpendicular to the longitudinal axis 28.
• a distal end 46 of the inner shaft 34 projects beyond a distal end 48 of the shaft sleeve 32 in the distal direction. Starting from the end 46, a short external thread section 50 is formed on the inner shaft 34.
• the molded body 18 is substantially cup-shaped and has a nearly constant wall thickness. On its underside 52 pointing in the distal direction, the shaped body 18 has a patient-specific bone abutment surface 54. This corresponds to the acetabulum 12 or at least to the specific for each patient Fossa 56th and / or Incisura Acetabuli 58.
• the bone abutment surface 54 deviates from a spherical surface cutout.
• the bone abutment surface 54 on the shaped body 18 and / or the shaped body 18 are preferably produced by casting or 3D printing.
• a casting mold is formed on the basis of non-invasively determined bone contour data of the patient.
• the bone contour data may be from x-ray and / or magnetic resonance images of the patient's acetabular 42.
• directly digitized X-ray images can be processed further to print data for a 3D printer, with which the bone contact surface 54 can then be printed on a support or as part of the molded body 18 together with it.
• a bone abutment surface 54 may then be formed which defines bone abutment surface contour data corresponding to the patient's non-invasively determined bone contour data.
• a plurality of viewing edges 60, 62 and 64 in the form of recesses 112 or flats as surface areas with a viewing height, which adjoin the patient-individual bone abutment surface 54.
• a transition between the viewing edges 60, 62 and 64 and the bone abutment surface 54 is tangent-like.
• the viewing edges 60, 62 and 64 are each flat or substantially planar. The viewing edges 60 and 64 are nearly parallel to each other.
• a pin 68 is formed pointing in the proximal direction. It is provided with a blind hole 70, which is provided with an internally threaded portion 72.
• the female threaded portion 72 is formed corresponding to the male threaded portion 50.
• the blind hole 70 forms a coupling receptacle 74, which is formed corresponding to a coupling projection 76 formed by the end 46.
• the coupling receptacle 74 and the coupling projection 76 form first and second coupling elements 78 and 80 of a generally designated by the reference numeral 82 coupling means for temporarily coupling the molded body 18 with the handle member 20 in a coupling position as shown schematically for example in Figures 1 and 3.
• a rim portion 84 is formed, which engages over an edge 86 of the acetabulum 12 opposite the incisor acetabulum.
• fastening body 88 which is formed substantially cuboid.
• two fastener receptacles 90 are formed in the form of openings 92, which are produced as bores 94.
• fastener receiving longitudinal axes 96 extend parallel to the longitudinal axis 28.
• fixing pins can be introduced into the pelvic bone 10 by the fastening element receptacles 90, in order to fix the alignment instrument 16 on the acetabulum 12 and / or to fix referencing devices with marker elements to the position of the molding 18 on the pelvic bone 10 and thus its position in the To determine space with the help of a navigation system.
• the provision of the viewing edges 60, 62 and 64 enables an operator to check the positionally correct arrangement of the shaped body 18 in the acetabulum 12 as seen or with the aid of a push-button. Only when the shaped body 18 rests with the bone abutment surface 54 flat against the bone surface 98 on the pelvic bone 10, the position and orientation of the shaped body 18 corresponds to the particular non-invasively determined bone contour data. With the help of Ausrichtinstruments 16 can now be prepared using other instruments and tools, the acetabulum 12 as a pan bearing for the socket of the hip joint endoprosthesis to be implanted.
• the shaped body 18 ' is cup-shaped and has on its underside 52' on a bone abutment surface 54 ', which corresponds to a negative image of the fossa 56. Furthermore, recesses 112 'or flattenings in the form of flat view edges 60' and 62 'are provided on the shaped body 18', which are oriented substantially perpendicular to one another and respectively define planes that run essentially parallel to the longitudinal axis 28.
• the shaped body 18' On an upper side 66 'of the shaped body 18' is also a pin 68 'from which is provided with a blind hole 70' having an internally threaded portion 72 '.
• the shaped body 18 ' can be coupled in an analogous manner as the shaped body 18 with the handle member 20 in the manner described above.
• the viewing edges 60 'and 62' enable an operator to perform a visual examination or a test in conjunction with a feeler instrument, for example a feeler, to determine whether the molding 18 'is accurately positioned in the acetabulum 12.
• FIGS. 11 to 15 A third exemplary embodiment of a shaped body of the instrument 14, designated overall by reference numeral 18 ", is shown schematically in FIGS. 11 to 15.
• the structure of the shaped body 18" corresponds to FIG Essentially the structure of the shaped body 18, so that the molded body 18 "identical reference numerals have been used as in the molded body 18th
• the shaped body 18 "differs from the shaped body 18 'in that it has a total of four recesses 112" in the form of apertures 100 arranged substantially uniformly around the journal 68.
• the apertures 100 define aperture longitudinal axes 102 that are substantially parallel to the longitudinal axis 28.
• the openings 100 are formed in the form of holes 104. Inner surfaces 106 of the bores 104 form viewing edges 108, which allow a direct view of the acetabulum 12.
• the openings 100 can be used by an operator, in particular as a viewing window, in order to check the optimum positioning of the shaped body 18 "on the acetabulum 12 on sight.
• further perforations 110 may be provided on the molded body 18 ", which may be formed outside the patient-specific bone abutment surface 54 in the form of bores.
• the moldings 18, 18 'and 18 can all be made of a plastic or a metal by casting or 3D printing.

Landscapes

• Health & Medical Sciences (AREA)
• Life Sciences & Earth Sciences (AREA)
• Orthopedic Medicine & Surgery (AREA)
• Surgery (AREA)
• Engineering & Computer Science (AREA)
• Animal Behavior & Ethology (AREA)
• Public Health (AREA)
• Biomedical Technology (AREA)
• Heart & Thoracic Surgery (AREA)
• Transplantation (AREA)
• Veterinary Medicine (AREA)
• General Health & Medical Sciences (AREA)
• Oral & Maxillofacial Surgery (AREA)
• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Medical Informatics (AREA)
• Physical Education & Sports Medicine (AREA)
• Molecular Biology (AREA)
• Cardiology (AREA)
• Vascular Medicine (AREA)
• Dentistry (AREA)
• Robotics (AREA)
• Biophysics (AREA)
• Prostheses (AREA)
• Surgical Instruments (AREA)

Priority Applications (3)

Applications Claiming Priority (2)

Related Child Applications (1)

Publications (1)

Family

ID=51894037

Family Applications (1)

Country Status (5)

Families Citing this family (9)

Citations (3)

Family Cites Families (7)

• 2013
  • 2013-11-13 DE DE201310112496 patent/DE102013112496A1/de not_active Withdrawn
• 2014
  • 2014-11-11 JP JP2016529982A patent/JP6574177B2/ja active Active
  • 2014-11-11 WO PCT/EP2014/074252 patent/WO2015071251A1/de not_active Ceased
  • 2014-11-11 EP EP14796497.7A patent/EP3073937B1/de active Active
• 2016
  • 2016-05-09 US US15/149,295 patent/US20160250040A1/en not_active Abandoned

Patent Citations (3)

Also Published As

Similar Documents

Legal Events