Classifications

• • 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
  • A61B17/1613—Component parts
  • A61B17/1626—Control means; Display units
• • 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
  • A61B17/1695—Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
• • 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
  • A61B17/1613—Component parts
  • A61B17/1622—Drill handpieces
  • A61B17/1624—Drive mechanisms therefor
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B2017/00017—Electrical control of surgical instruments
  • A61B2017/00022—Sensing or detecting at the treatment site
  • A61B2017/00075—Motion
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B2017/00017—Electrical control of surgical instruments
  • A61B2017/00022—Sensing or detecting at the treatment site
  • A61B2017/00106—Sensing or detecting at the treatment site ultrasonic
  • A61B2017/0011—Sensing or detecting at the treatment site ultrasonic piezoelectric
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B2017/00017—Electrical control of surgical instruments
  • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
  • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods
  • A61B2017/00017—Electrical control of surgical instruments
  • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
  • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
  • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown

Definitions

• the present disclosure relates to an operating situation detection device for a surgical drill(s), which, when drilling into a bone, detects a breakthrough and/or a tendency to breakthrough as an operating situation and a method which detects operating states/operating situations, in particular, a breakthrough or already a tendency a breakthrough (i.e. the imminent imminence of a drill breakthrough on the side of a bone opposite the drill) of the surgical drill.
• a breakthrough i.e. the imminent imminence of a drill breakthrough on the side of a bone opposite the drill
• Surgical drills have important tasks in everyday operations. They are used, for example, to pre-drill screw holes for attaching metal plates to injured or broken bones in orthopedics. Another application is trepanation and craniotomy (cranial opening) using a safety trephine and craniotome in neurosurgery. A common operation (OP) is the nerve relief of the spine (decompression). Bone growths are removed with the help of the drill and the pressure on the nerve is reduced. Furthermore, surgical drills are used in tumor surgery in both neurospinal and oral and maxillofacial surgery to resect tumorous tissue from healthy bone. Another important application is the pre-drilling of a canal and bearing for the insertion of a cochlear implant next to the auditory canal.
• the object of the present disclosure is therefore to provide a device which prevents drilling too deep when drilling into a bone and protects tissue located behind the bone from penetration or injury by the drill and thus increases patient safety.
• a detection device that is intended and designed to detect a drill breakthrough and/or a tendency to breakthrough when drilling into a bone using a surgical drill
• a breakthrough detection device at least one, in particular uniaxial, piezoelectric acceleration sensor for generating piezoelectric acceleration signals and an evaluation unit for this is provided and configured to identify characteristic signals or signal fluctuations in the signals arriving from the acceleration sensor that are characterized by a breakthrough and/or a breakthrough tendency.
• a detection device is provided and designed to be fixed in or on a surgical drill, preferably in a non-positive manner.
• the detection device includes the piezoelectric acceleration sensor.
• the piezoelectric accelerometer includes a piezoelectric crystal (such as quartz) or ceramic bonded to an inertial seismic mass on one side.
• the piezoelectric crystal reacts to forces caused by the vibrating mass with a charge transfer in the piezoelectric crystal. In this way, the vibration is converted into the piezoelectric acceleration signal.
• the acceleration signal generated in this way is evaluated by the evaluation unit.
• the evaluation unit recognizes the breakthrough or the tendency to breakthrough using the characteristic signals and/or the characteristic signal fluctuations.
• the characteristic signal can be, for example, a maximum amplitude, an instantaneous amplitude, an effective value, an oscillation speed, an oscillation path, or the like.
• the detection device with the evaluation unit is provided and designed to detect a material transfer of the drill or a material transfer tendency of the drill and in particular a drill bit.
• Core of the disclosure is therefore, with the evaluation unit of the detection device breakthrough and / or breakthrough tendency - characteristic signals or signal fluctuations, which of the piezoelectric acceleration sensor of the detection device are generated due to vibrations of the surgical drill to identify.
• Such a detection device makes it possible to detect drilling too deep into the bone and in particular the breakthrough and/or the tendency to breakthrough and thus to prevent damage to tissue located behind the bone. This relieves the operating doctor and at the same time increases patient safety, since errors and/or misjudgments are prevented. In addition, operations can be carried out more efficiently since an analysis of X-ray images relating to a drilling depth can be dispensed with.
• the detection device can be designed to output a drilling stop signal when the evaluation unit identifies the signals or signal fluctuations characteristic of the breakthrough and/or tendency to breakthrough.
• the detection device can interrupt a power supply and/or a (drive) air supply to a drive of the surgical drill.
• a drive shaft of the surgical drill can be fixed by a brake.
• the detection device can be designed to output an alarm signal if the evaluation unit identifies the signals or signal fluctuations characteristic of the breakthrough and/or tendency to breakthrough.
• the alarm signal can be an optical signal, for example in the form of an indication on a display, a warning lamp lighting up or the like, an acoustic signal, for example in the form of a warning tone, and/or a haptic signal, for example in the form of a vibration , act.
• the piezoelectric acceleration sensor can detect structure-borne noise signals, which are transmitted to the evaluation unit as analog (acceleration) signals.
• the piezoelectric acceleration sensor can detect vibrations and waves, which propagate in solid bodies with finite speed, and convert them into the analog signal.
• the solid body is in particular the drill or components of the drill and/or the drill.
• the analog signal is then transmitted to the evaluation unit, preferably using a cable or the like.
• an influence of environmental influences, in particular in the form of noises in an operating room, for example beeping from machines, voices, noises caused by movements, through to noise, on the detection result can be reduced.
• the operating doctor can be supported and drilling too deep can be effectively prevented and the doctor can rely on the recognition result, regardless of the environment in which he is located.
• the evaluation unit of the detection device can contain at least one amplifier, in particular with an amplification greater than/equal to ten and/or a filter, in particular an nth-order Butterworth filter or a bandpass filter.
• the analog signal which is output by the piezoelectric acceleration sensor can be amplified by the evaluation unit with an amplifier provided in the evaluation unit and/or filtered by a filter provided in the evaluation unit.
• the amplifier can convert the analog signal into a proportional voltage and amplify it.
• a subsequent High- or low-pass filtering can suppress / filter out interfering signal components.
• the evaluation unit can contain an analog/digital converter which samples the analog signals at a sampling rate of at least 20000 Hz, in particular at a sampling rate of approximately 25600 Hz.
• the analog signal can be "sampled".
• an amplitude of a waveform of the analog signal can be read out at different (defined) points in time. These discrete amplitude values are stored in an array or in a vector. According to the Nyquist-Shannon theorem, the sampling rate/a sampling frequency of the analog signal must be more than twice the highest frequency of the signal to be digitized. Otherwise an aliasing effect can occur. Signal evaluation can be improved by digitizing.
• analog/digital converter and the piezoelectric acceleration sensor can be matched to one another, in particular in terms of the sampling rate.
• the evaluation unit preferably with a microcontroller, can convert the signal or signals by means of a Fourier transformation, in particular a short-time Fourier transformation, into a spectrogram, preferably into a melting spectrogram.
• the evaluation unit can preferably use a microcontroller provided for this purpose to break down the signal, which is preferably in the form of a continuous time signal, into its discrete frequency components.
• Signals whose frequency properties change over time can also be processed in the short-time Fourier transformation.
• a window and its parameters window size and font size fixed. This window slides over the signal.
• the Fourier transformation is calculated for each window and a spectrum is formed.
• Combining the spectra creates a spectrogram.
• a spectrogram is an overlay of a sequence of spectra at a predetermined time interval. The distribution of the frequencies and their intensity over time can thus be read from a spectrogram.
• the signal can be made optically analyzable.
• the evaluation unit can evaluate the spectrogram with a K1-trained network, preferably using a “bounding boxes principle” and identify the bur breakthrough or the bur breakthrough tendency when the spectrogram lights up.
• the evaluation unit can evaluate the spectrogram using a network that is trained using machine learning.
• the spectrogram is preferably evaluated optically.
• the "bounding boxes principle” is used. With the “bounding box principle” at least one rectangle, preferably several rectangles, each provided with a label, is placed over the spectrogram. Each of the rectangles is characterized by the coordinates of the upper left corner and the coordinates of the lower right corner.
• the label can be divided into three classes. The first class is "idle", the second class is "drilling" and the third class is "breakthrough". Another class zero can be used for the background. Only one basic frequency can be seen in the "idle” class.
• a frequency split can be seen in the “Drilling” class.
• the spectrogram In the Breakthrough class, the spectrogram returns to approximately an idle state, with harmonics still present since the drill has not yet fully exited the bone.
• the rectangle labeled "Breakthrough” begins before the drill actually breaks through.
• lighting up in at least one harmonic of the fundamental frequency is used as an indicator of a breakthrough and/or a tendency towards a breakthrough.
• the flash in the spectrogram is caused by an increased occurrence of high amplitudes in the signal.
• the network can be trained using trainer data. Furthermore, the network can be continuously trained and thus the identification of the use of the surgical drill with the detection device according to the invention can be improved.
• optical analysis using the "boundig box principle" is a particularly robust analysis method. Through the network, which is trained on the basis of trainer data and continuously learns during use, a reliable identification of the breakthrough and/or the breakthrough tendency can be achieved.
• the spectrograms are a superposition of many Fourier transforms and provide accurate information about the frequency and magnitude of the amplitudes at breakdown. These characteristics are learned by the child, including the frequency spectrum spread values at breakthrough. This results in values of +/- a change in the fundamental frequency or its harmonics and the speed. Since the basic frequency and the respective speed of the drill are known, changes in the Fourier transformation can be recognized as long as they are within the range defined by the Kl.
• the AI-trained network may be a cloud network fed with data from compatible recognizers.
• the AI-trained network can be a network that is used by a large number of compatible detection devices for the detection/identification of the breakthrough and/or the breakthrough tendency.
• the cloud network offers the advantage that redundancy can be implemented in an economically viable manner, which increases reliability.
• the piezoelectric acceleration sensor can have its highest sensitivity in a measuring frequency range of up to 10000 Hz.
• the task of preventing drilling into the bone that is too deep is solved by a surgical drilling machine in or on which the detection device is designed according to one of the above aspects.
• the detection device which is provided and designed to detect the drill breakthrough and/or the tendency to breakthrough when drilling into the bone with the surgical drill, has at least the at least one, in particular uniaxial, piezoelectric acceleration sensor for generating piezoelectric acceleration signals and the evaluation unit, which is intended to identify the breakthrough and/or breakthrough tendency—characteristic signals or signal fluctuations in or on the surgical drill.
• the piezoelectric acceleration sensor can be coupled to a drive of the surgical drill by direct metallic connection.
• the piezoelectric acceleration sensor can be mechanically connected to the drive of the surgical drill directly or by means of at least one preferably metallic holder.
• the drive can be an electric motor or a turbine, for example.
• a metallic training of the holder is each other material imaginable that conducts structure-borne noise with as little loss and undamped as possible, while meeting the material requirements of a surgical drill.
• the direct connection ensures that the piezoelectric acceleration sensor can already detect small accelerations and/or changes in acceleration. Furthermore, in this way an influence of vibrations brought in from outside the surgical drilling machine, for example due to noise, can be reliably filtered.
• an amplifier and/or a filter of the evaluation unit can be formed on a printed circuit board, which is formed in/on the surgical drill in direct proximity to the piezoelectric acceleration sensor, preferably hermetically sealed.
• a preferably hermetically sealed printed circuit board with components can be formed in/on the surgical drill, it being possible for the components to form the filter and/or the amplifier.
• the circuit board can be formed in close proximity to the piezoelectric acceleration sensor.
• the gain/amplifier power of the amplifier can preferably be at least ten.
• the filter can limit the signals to the desired signal range and can be independent of spurious signals caused, for example, by the drill and its rotation itself.
• the evaluation unit can be designed completely or partially in a base unit (control unit) provided externally to the surgical drill.
• the filter and/or the amplifier can be formed in/on the surgical drill/a handpiece of the surgical drill.
• Additional components such as an analog-to-digital converter and one or more microcontrollers, can be formed outside of the surgical drill's handpiece in the base unit.
• the handpiece and the base unit can be connected to each other with a cable and/or a hose.
• the base unit can supply electrical energy to components formed in the handpiece via the cable.
• the handpiece of the surgical drill can be designed to be particularly compact, which makes handling easier for the practitioner.
• the filter and/or the amplifier are formed in/on the handpiece, it can be ensured that the raw signals of the piezoelectric acceleration sensor are transmitted to the base unit in a suitable form (amplified, filtered).
• the signals can then be sampled by the analog/digital converter and then converted into the spectrogram by a microcontroller, preferably by means of short-time Fourier transformation.
• These spectrograms are then transmitted to the AI-trained network, preferably by a communication unit configured in the base unit.
• the AI-trained network can be cloud-based.
• the spectrogram can be evaluated in the base unit, preferably by means of additional microcontrollers with storage and data processing functions.
• a modular design can also be implemented in this way, so that a number of handpieces can be configured with one base unit. This reduces costs and expands a scope of treatment with a different handpiece adapted to the treatment.
• multiple piezoelectric acceleration sensors may be formed on the handpiece of the surgical drill.
• the plurality of piezoelectric acceleration sensors may be spaced apart from each other in the surgical drill handpiece.
• the method described makes it possible to detect malfunctions in the surgical drill at an early stage. For example, bearing damage in the bearing of the drill of the surgical drill can be detected. Furthermore, an out-of-round running of the drill, for example due to incorrect clamping of the drill in the surgical drill, can be detected. If a malfunction is detected, the surgical drill can be stopped and/or an acoustic or haptic alarm signal can be emitted.
• the predetermined operating states can be, for example, a normal state and a fault state or a material transition.
• the acceleration signal can be evaluated in the evaluation unit with the following steps:
• - filtering the acceleration signal with a filter, preferably an nth-order Butterworth filter or a bandpass filter;
• the present disclosure relates to the use of an in particular uniaxial, piezoelectric acceleration sensor which is or will be arranged on or in a bone drilling machine for detecting predetermined operating states.
• FIG. 1 is an illustration of a surgical drill having a first handpiece and a base unit
• FIG. 4 is an illustration of a sleeve for a first handpiece
• Fig. 5 is an illustration of a piezoelectric acceleration sensor.
• FIG. 6 shows a graph of detected vibration and a spectrogram.
• FIG. 1 shows a surgical drill 2 with a first handpiece 4 in a first embodiment and a base unit 6.
• the first handpiece 4 is connected to the base unit 6 by a cable 8.
• FIG. 1 shows a surgical drill 2 with a first handpiece 4 in a first embodiment and a base unit 6.
• the first handpiece 4 is connected to the base unit 6 by a cable 8.
• FIG. 1 shows a surgical drill 2 with a first handpiece 4 in a first embodiment and a base unit 6.
• the first handpiece 4 is connected to the base unit 6 by a cable 8.
• FIG. 2 shows a second handpiece 10 in a second embodiment.
• FIG. 3 shows a section of the second handpiece 10 in an enlarged view.
• the second handpiece is explained in more detail below with reference to FIGS. 2 and 3.
• the second handpiece 10 is connected to the base unit 6 with the cable 8 .
• the second handpiece 10 includes a grip section 12 in the form of a pistol grip, which is provided and designed to be gripped by a practitioner, for example a doctor, so that the second handpiece 10 can be guided safely.
• Operating knobs 14 are formed on a front side of the handle portion 12 . With the control knobs 14, for example Direction of rotation and a rotational speed of the surgical drill are operated.
• An electric drive 16 is formed on an end of the grip section 12 facing away from the cable 8 .
• the electrical drive is formed on an upper side of the second handpiece 10, above the grip section 12.
• a drill chuck 18 which is designed to receive a drill 20 .
• the drill chuck 18 protrudes beyond the handle section 12 and the control knobs 14 .
• the drive 16 and the drill chuck 18 are preferably connected directly or by means of a gearbox (not shown).
• a piezoelectric acceleration sensor 22 is directly connected to the drive 16 .
• the piezoelectric acceleration sensor 22 is directly metallically coupled to the drive 16 .
• the piezoelectric acceleration sensor 22 contacts the drive 16 directly.
• the piezoelectric acceleration sensor 22 is connected to the drive 16 by means of a metallic connecting element.
• the piezoelectric acceleration sensor 22 forwards detected acceleration signals to a filter and an amplifier.
• the filter and the amplifier are formed in a hermetically sealed circuit board 24 .
• the piezoelectric acceleration sensor 22 and the encapsulated printed circuit board 24 are accommodated in the handpiece 10 of the surgical drill 2 in the immediate vicinity of one another.
• the piezoelectric acceleration sensor 22 and the encapsulated circuit board 24 are connected with a sensor cable 26 .
• the piezoelectric acceleration sensor 22 and the encapsulated printed circuit board 24 are completely accommodated in the grip section 12 of the handpiece 10 in the exemplary embodiment shown here.
• FIG. 4 shows an alternative embodiment, in particular for a first handpiece 4, of a first embodiment.
• FIG. 4 shows a holding sleeve 28 which is provided and designed to be attached to a first handpiece 4 and a drill 20 in a longitudinal direction of the holding sleeve 28, in particular to be recorded centrally and, if necessary, to be guided.
• the retaining sleeve 28 includes a knurled retaining portion 30 and a mounting portion 32.
• the mounting portion 32 is provided and configured to receive the piezoelectric acceleration sensor 22 (not shown in this embodiment).
• the piezoelectric acceleration sensor 22 can be fixed on the fastening section 32 of the holding sleeve 28 in particular by means of a fixing compound or an adhesive or a locking mechanism or similar fixing means.
• the piezoelectric acceleration sensor 22 can be fixed to the holding sleeve 28 in a materially bonded or non-positive manner.
• the main focus here is on a direct connection between the piezoelectric acceleration sensor 22 and the holding sleeve 28.
• the piezoelectric acceleration sensor 22 is fixed on or on the holding sleeve 28 in such a way that vibrations of the holding sleeve 28 are transmitted to the piezoelectric acceleration sensor 22 as directly and without damping as possible .
• the piezoelectric acceleration sensor 22 in the first embodiment is formed outside of the first handpiece 4 .
• the piezoelectric acceleration sensor 22 and the encapsulated printed circuit board 24 are preferably formed in a closed identification element (not shown).
• the embodiment shown in FIG. 4 is also conceivable, for example, as a retrofit solution.
• the piezoelectric acceleration sensor 22 includes a seismic mass 34 and a piezoelectric crystal/piezoceramic 36.
• the piezoelectric acceleration sensor 22 is provided and designed to convert a mechanical vibration acceleration a, which acts on the piezoelectric acceleration sensor 22, into a voltage measurement signal U.
• a vibration acts on the piezoelectric acceleration sensor 22 and presses the inertial seismic mass 34 onto the piezoelectric crystal 36.
• Piezoelectric elements such as the piezoelectric crystal 36 react to acting forces with a charge displacement q in the crystal. On in this way, the vibration acceleration acting on the piezoelectric acceleration sensor 22 is transformed into an electric charge. This electrical charge is proportional to an acting force.
• the seismic mass 34 and the piezoelectric crystal 36 form a spring-mass system with low-pass behavior and a linear frequency range.
• the functioning of the detection device of the surgical drilling machine 2 is explained below.
• the piezoelectric acceleration sensor 22 detects the vibrations in the drive 16 and transmits a analog voltage signal with the sensor cable 26 to the filter and amplifier located on the encapsulated circuit board 24.
• the analog voltage signal is filtered by the filter in order to filter out interfering signal parts. This is done, for example, with high-pass or low-pass filtering.
• the signal is preferably amplified by at least a factor of ten.
• the signal (38 in FIG. 6) pretreated in this way is transmitted to the base unit 6 via the cable 8 which connects the handpiece 10 to the base unit 6 .
• the signal 38 pretreated by the filter and amplifier of the encapsulated circuit board 24 is in a WAV form.
• the signal 38 maps the acceleration detected by the piezoelectric acceleration sensor over time t, here in seconds.
• the signal is sampled in the base unit 6 by an analog/digital converter formed in the base unit 6 and then broken down into frequency components using a microcontroller. The breakdown into the frequency components is carried out by carrying out a short-time Fourier transformation over a defined time window.
• a final signal obtained in the form of a spectrogram 40 represents the time t, here in seconds, on the abscissa to Frequency f, here in Hertz, on the ordinate with amplitude as brightness.
• Spectrogram 40 is shown in reverse video for clarity in this disclosure.
• the spectrogram 40 is then evaluated via the microcontroller contained in the base unit 6 or via a network trained with AI. The evaluation is based on the "bounding box principle". In other words, the spectrogram 40 is evaluated graphically.
• the K1-trained network places differently labeled rectangles over the spectrogram 40. The K1-trained network positions the rectangles, for example based on the brightness in the spectrogram 40. “Idle L”, “Drilling B” and “Breakthrough D” are used as labels. The rectangles can also overlap here.
• the breakthrough and/or the breakthrough tendency is detected by the K1-trained network on the basis of a flashing A in the spectrogram 40.
• the flashing A is shown in inverted color in the present disclosure for better illustration.
• the fundamental frequency GF of the handpiece 10 can also be clearly seen in the spectrogram 40 .
• the flashing A in the spectrogram 40 stands for an increased occurrence of high amplitudes in the signal.
• the K1-trained network is trained to recognize such optical changes in the spectrogram 40.
• the AI-trained network can, for example, issue an engine stop command or an alarm when a breakthrough is detected.
• the alarm can be an acoustic alarm in the form of a warning tone or an optical alarm in the form of a flashing light or the like or a haptic alarm in the form of a vibration of the handpiece 4, 10.
• the piezoelectric acceleration sensor 22 detects vibrational accelerations of the drive 16 of the surgical drill 2. These vibrational accelerations are preprocessed by a filter and an amplifier in or on the handpiece 4, 10, and then sampled by an analog-to-digital converter in the base unit 6. Below the signals are converted into the spectrogram 40 by the microcontroller. The spectrogram 40 is then analyzed/evaluated by a K1-trained network and a breakthrough or a tendency to break through is detected on the basis of optical changes in the spectrogram 40 .

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• Health & Medical Sciences (AREA)
• Surgery (AREA)
• Life Sciences & Earth Sciences (AREA)
• Biomedical Technology (AREA)
• Medical Informatics (AREA)
• Orthopedic Medicine & Surgery (AREA)
• Oral & Maxillofacial Surgery (AREA)
• Engineering & Computer Science (AREA)
• Dentistry (AREA)
• Heart & Thoracic Surgery (AREA)
• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Molecular Biology (AREA)
• Animal Behavior & Ethology (AREA)
• General Health & Medical Sciences (AREA)
• Public Health (AREA)
• Veterinary Medicine (AREA)
• Neurosurgery (AREA)
• Force Measurement Appropriate To Specific Purposes (AREA)
• Surgical Instruments (AREA)

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• 2022
  • 2022-03-01 DE DE102022104782.2A patent/DE102022104782A1/de active Pending
• 2023
  • 2023-02-28 JP JP2024551644A patent/JP2025506908A/ja active Pending
  • 2023-02-28 EP EP23708470.2A patent/EP4346645A1/de active Pending
  • 2023-02-28 WO PCT/EP2023/055040 patent/WO2023165990A1/de not_active Ceased

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