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WO2025172840A1 - Ensemble cadre extensible pour direction de mécanisme entraîné par câble - Google Patents

Ensemble cadre extensible pour direction de mécanisme entraîné par câble

Info

Publication number
WO2025172840A1
WO2025172840A1 PCT/IB2025/051427 IB2025051427W WO2025172840A1 WO 2025172840 A1 WO2025172840 A1 WO 2025172840A1 IB 2025051427 W IB2025051427 W IB 2025051427W WO 2025172840 A1 WO2025172840 A1 WO 2025172840A1
Authority
WO
WIPO (PCT)
Prior art keywords
self
expandable frame
expandable
frame assembly
branch tubes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/IB2025/051427
Other languages
English (en)
Inventor
Mohammadmahdi KESHAVARZ
James Jiewen ZHOU
Alykhan SEWANI
Mohammad Ali Tavallaei
Timothy Robinson
Liem Vu
Alan Fortunate
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Magellan Biomedical Inc
Original Assignee
Magellan Biomedical Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Magellan Biomedical Inc filed Critical Magellan Biomedical Inc
Publication of WO2025172840A1 publication Critical patent/WO2025172840A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3478—Endoscopic needles, e.g. for infusion
    • 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
    • A61B18/22—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 the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • A61B18/24—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 the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor with a catheter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • A61B2017/00247—Making holes in the wall of the heart, e.g. laser Myocardial revascularization
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/0034—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
    • A61B2017/22051—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for with an inflatable part, e.g. balloon, for positioning, blocking, or immobilisation
    • A61B2017/22065—Functions of balloons
    • A61B2017/22069—Immobilising; Stabilising

Definitions

  • Some embodiments relate to minimally invasive interventions, such as those aiding in accurate and stable positions of catheters, guidewires, and elongated flexible devices. Some embodiments relate to various minimally invasive medical procedures, requiring precise device manipulation in narrow and complex pathways. Additionally, some embodiments relate to medical robotics, especially for applications in minimally invasive interventions where accurate and reliable motion control is desired. In such medical applications, the region of interest is only accessible through long and tortuous anatomical structures.
  • CDPM Cable-driven parallel mechanisms
  • the cables are anchored to a rigid frame structure.
  • the cables connect to an end effector from one end and are routed to actuators on the other end.
  • the frame acts as a rigid frame of reference that allows for reliable positioning and tracking of the end effector relative to this frame.
  • An embodiment relates to an expandable frame assembly for cable-driven mechanism steering.
  • the expandable frame assembly includes a plurality of steering cables, a catheter, a self-expanding frame, and a guiding sheath.
  • the plurality of steering cables each extends from a control unit at a proximal end to an end-effector at a distal end.
  • the catheter extends from the control unit to the end-effector.
  • the self-expandable frame is proximate to the distal end of the plurality of steering cables and includes a selfexpandable support having a tubular base through which the catheter extends and a framework portion that surrounds the catheter, and a plurality of curved branch tubes equivalent to the number of steering cables.
  • Each one of the plurality of curved branch tubes is attached to the tubular base of the self-expandable support and each one of the plurality of curved branch tubes serves as an anchor and includes an internal passage for one of the plurality of steering cables to extend through. Further, the guiding sheath selectively advances over the self-expandable frame to contract the self-expandable frame and selectively retracts back from the self-expandable frame to expand the selfexpandable frame.
  • An embodiment relates to an expandable frame assembly for cable-driven mechanism steering.
  • the expandable frame assembly includes a self-expandable frame controlled by a plurality of steering cables that are remotely actuated.
  • the selfexpandable frame includes a self-expandable support having a base through which a lumen extends and a framework portion that surrounds the lumen and includes a plurality of groove slots.
  • the self-expandable frame also includes a plurality of curved branch tubes equivalent to the number of steering cables, each one of the plurality of curved branch tubes attached to the base of the self-expandable support, wherein each one of the plurality of curved branch tubes extends through one of the plurality of groove slots and includes an internal passage for one of the plurality of steering cables to pass through.
  • the expandable frame assembly further includes a guiding sheath that selectively advances over the self-expandable frame to contract the self-expandable frame and that selectively retracts back from the self-expandable frame to expand the self-expandable frame.
  • the self-expandable frame includes a tubular base and a series of connected leaflets which can expand once unconstrained.
  • Multiple flexible branch tubes are connected to the tubular base from the proximal end. These tubes provide a routing channel for the cables of the mechanism.
  • the flexible branch tubes are supported by the expandable frame along their length, ultimately distally providing anchor points for the cable that then exit the tubes and are connected to the end effector.
  • the expandable frame includes grooved slots that further facilitate the sliding of the branch tubes relative to the frame during expansion and contraction of the selfexpandable frame assembly. This permits smooth deployments, reusability, and repositioning of the end-effector.
  • branch tubes are designed with smooth trajectories to minimize friction, ensuring smooth movement of the steering cables inside them.
  • the expandable frame and the branch tubes are made of shape memory materials and can be shape-set to self-expand once the outer constraint (e.g., a guiding sheath) is retracted.
  • the expandable frame can be laser cut from a nickel titanium alloy (Nitinol) tube, and shape-set similar to the methodology used for cutting and shape-setting self-deploying stents.
  • the branch tubes can be adhered, welded, or mechanically secured to the base of the laser cut structure.
  • the expandable frame could be expanded and/or opened by inflating a balloon within it.
  • a mechanical approach could be used including a screw mechanism, levers, and/or other mechanical means to expand the expandable frame.
  • the expandable frame can be expanded using tendon-based actuation or by pulling wires or cables attached to the exterior of the expandable frame.
  • a magnetic field is used to cause expansion, either by attracting magnetic parts of the frame or by inducing a shape change in magnetically responsive materials.
  • One embodiment of the frame and cable routing mechanism also includes a delivery sheath to contract the frame, and an internal tube connected from its distal end to the end effector of the cable driven mechanism and running along the length of the device to allow for passing of various tools or devices to workspace through this inner tube.
  • a control unit is used to facilitate actuation of the steering cables.
  • the control unit creates precise displacements of the the cables which pass through the branch tubes and are connected to the end-effector, enabling accurate steering.
  • the control unit may be passive and manually operated by the user.
  • the cables can be manipulated using active actuators such as motors to allow for simultaneous manipulation of the cables and ultimately control of the end effector.
  • the two distinct components of the self-expanding frame permit routing the cables and maintaining their accurate position after repeated contraction and expansion.
  • Embodiments permit miniaturization of the frame structure as the frame can be made of super elastic material such as nickel titanium alloy.
  • the tubes are only mechanically fixed to the base of the frame, the tubes can travel relative to the frame while the frame is expanded and contracted repeatedly.
  • the ability of the self-expandable frame to expand and contract as desired makes it versatile for various procedures, providing direct control over the end-effector for high-precision navigation in challenging areas. This versatility has significant implications across a range of applications, as illustrated in the examples provided below.
  • One example application is in minimally invasive cardiovascular and peripheral vascular procedures, where precise steering of catheters and guidewires greatly aids in accurately crossing complex arterial occlusions during angioplasty procedures. This improves procedure success rate and efficiency in peripheral artery disease revascularization and reduces procedural risks and potential complications.
  • Embodiments also have potential uses in other minimally invasive medical procedures.
  • embodiments can be used to position sensors and imaging probes to obtain images within a target area to better aid diagnosis and procedure guidance.
  • the ability to navigate intricate pathways allows for detailed inspections and targeted treatments, such as in colonoscopies or polyp removals.
  • the precision and adaptability provided also make embodiments of the present disclosure invaluable in oncology for localized drug delivery or radiofrequency ablation procedures, where targeting accuracy is essential.
  • embodiments of the present disclosure can be instrumental in performing intricate procedures like kidney stone removal or precise biopsies, benefiting from its ability to maneuver in small, complex areas.
  • embodiments find applications in industrial and exploratory fields.
  • the precision and flexibility provided make a valuable tool for intricate tasks in industrial robotics, such as detailed pipeline inspections and maintenance of complex machinery.
  • embodiments can be utilized for critical operations like spacecraft maintenance and satellite repairs.
  • Embodiments can be used in underwater exploration, improving navigation and research capabilities of remotely operated vehicles.
  • the disclosed frame and cable routing assembly represents a significant advancement in the field of cable driven parallel mechanisms.
  • the combination of an expandable frame with cable routing provides a device that can be miniaturized and can function robustly and reliably.
  • FIG. IB is an isometric view of a steerable catheter system that is cable- driven, including a user control unit, according to an embodiment.
  • FIG. 2A is an isometric view of a self-expandable frame including a selfexpandable support and branch tubes for cable routing, according to an embodiment.
  • FIG. 2B is an orthographic front view showing the self-expandable frame from FIG. 2A, according to an embodiment.
  • FIG. 2C is an orthographic side view of the self-expandable frame from FIG. 2A, according to an embodiment.
  • FIG. 2D is an orthographic side view of the self-expandable frame from FIG. 2C rotated forty-five degrees, according to an embodiment.
  • FIG. 2E is an isometric view of a self-expandable support, according to an embodiment.
  • FIG. 2F is an isometric view of a tube (e.g., Nitinol) from which the profile of the self-expandable support of FIG. 2E can be laser-cut and shape-set, according to an embodiment.
  • a tube e.g., Nitinol
  • FIG. 2G is an isometric view of an individual branch tube for cable routing and, containing steering cables, according to an embodiment.
  • FIG. 3 is an isometric view of an expandable frame assembly for a cable driven mechanism, according to an embodiment.
  • FIG. 4 is an isometric view of an expandable frame assembly for a cable driven mechanism, according to an embodiment.
  • FIG. 5 is an isometric view of an expandable frame assembly for a cable driven mechanism, according to an embodiment.
  • references to “cables” should be understood to broadly refer to any type of strings, wires, or similar manipulable components made of metal, fabrics, polymers, or crystals, for example. At times the term “cable-driven parallel mechanism” and “cable driven mechanism” will be used interchangeably.
  • FIG. 1A illustrates an isometric view of an expandable frame assembly 100.
  • This expandable frame assembly 100 includes a self-expandable frame 101, a plurality of steering cables 113, a guiding sheath 121, and a catheter 122.
  • the expandable frame assembly 100 be understood to include a control unit and end effector 115 in certain embodiments. While only partially depicted, the plurality of steering cables 113 should be understood as each extending from a control unit 130 at a proximal end 105 to an end-effector 115 at a distal end 107. Further, a lumen or catheter 122 can be understood to extend from the control unit 130 to the end effector 115 as well.
  • self-expandable frame 101 is shown proximately located near the distal end 107 of the plurality of steering cables 113 as well as the distal end of the lumen or catheter 122.
  • the self-expandable frame 101 includes a self-expandable support 110 and a plurality of curved branch tubes 112.
  • the self-expandable support 110 has a tubular base 134 through which the catheter 122 extends and a framework portion 136 that surrounds the catheter 122.
  • a plurality of curved branch tubes 112 can be seen as well. There are generally an equivalent number of curved branch tubes 112 as the number of steering cables 113. Each one of the plurality of curved branch tubes 112 is attached to the tubular base 134 of the self-expandable support 110. As will be discussed below, each one of the plurality of curved branch tubes 112 serves as an anchor and includes an internal passage 138 for one of the plurality of steering cables 113 to extend through.
  • a guiding sheath 121 can be manipulated to selectively advance over the self-expandable frame 101 to contract the self-expandable frame 101. Likewise, the guiding sheath 121 can be manipulated to selectively retract back from the self-expandable frame 101 to expand the selfexpandable frame 101.
  • embodiments of the expandable frame assembly 100 may also include various iterations of a self-expandable support 110, branch tubes 112 for cable routing and support, a plurality of steering cables 113, a catheter 122, and a hypo-tube 114.
  • Self-expandable support can include various opening and features, such as various sizes and shapes of groove slots 111 through which curved branch tubes 112 can extend.
  • the hypo-tube 114 can be seen connecting the steering cables 113 to the end-effector 115.
  • the endeffector 115 can be understood to be the tip of the catheter 122.
  • Guiding sheath 121 can be advanced on top of the expandable frame assembly 100 to collapse it or guiding sheath can be retracted to remove the constraint and permit its expansion.
  • the steering cables 113 originating from a control unit 130 (not completely shown in FIG. 1A), pass through the branch tubes 112 and attach to the end-effector 115 via the hypo-tube 114.
  • the hypo-tube 114 could be any element that joins the steering cables 113 to the end-effector 115.
  • four steering cables 113 and four branch tubes 112 for guiding the steering cables 113 are present. Actuation of these steering cables 113 from the control unit 130 (not shown in this figure) results in the corresponding movement of the end-effector 115.
  • the end-effector 115 is the tip of the catheter 122 which holds further interventional devices 123.
  • FIG. IB provides an isometric view of a steerable catheter system 10 according to an embodiment.
  • This steerable catheter system 10 includes a proximally- located control unit 130, a guiding sheath 121 which envelopes the steering cables 113, an internal catheter 122, interventional devices 123, branch tubes 112, self-expanding support 110, and any other remaining components of an expandable frame assembly 100.
  • the control unit 130 is equipped with a steering input 131 to actuate the steering cables 113, which run through the system and result in the movement of the tip of internal catheter 122.
  • the internal catheter 122 can carry an interventional device 123 in some embodiments.
  • Certain embodiments of expandable frame assembly 100 can be understood to include many or all elements of the steerable catheter system 10 shown. This includes the control unit 130 with steering input 131, guiding sheath 121 and others. Such components should be broadly interpreted to be applicable as part of or in addition to any of the expandable frame assemblies (100, 300, 400, 500, etc) disclosed throughout the figures
  • FIG. 2A represents an isometric view of a self-expandable frame 201.
  • This self-expandable frame 201 includes a self-expandable support 210 featuring strategically placed groove slots 211 and branch tubes 212. Groove slots or apertures of other shapes and sizes are possible and contemplated as well.
  • the self-expandable frame 201 includes four arms that form leaflets in-between them upon expansion.
  • the branch tubes 212 are connected at the base of the self-expandable support 210 and are configured to slide within the groove slots 211 incorporated into the arms of the self-expandable support 210.
  • a connection section 221 between each branch tube 212 and self-expandable support 210 serves as a connection location for spot welds or other type of affixing and/or coupling.
  • FIG. 2B displays a front view of the self-expandable frame 201, detailing the structural relationships and orientations of the self-expandable support 210 and branch tubes 212.
  • the self-expandable support 210 includes four arms with four groove slots 211.
  • the self-expandable support 210 can be understood to include both a tubular base 234 through which a catheter or lumen can extend as well as a framework portion 236 that surrounds the catheter.
  • FIGS. 2C and 2D similarly show side views of the self-expandable frame 201 of FIG. 2B. From these side views, the structural relationships and orientations of the self-expandable support 210 and branch tubes 212 can be more fully understood. The portrayed side views of the two side views are rotated 45° with respect to each other.
  • FIG. 2G shows an isometric view of a single branch tube 212 with a connection section 221 and a steering cable 240 threaded through it.
  • the steering cable 240 is connected at its proximal end 205 to a control unit 130 and at the distal end 207 to the end-effector 115.
  • FIG. 4 shows an isometric view of an expandable frame assembly 400, according to another embodiment.
  • the self-expandable frame 301 includes a selfexpandable support 410 with grooved tips 411, which facilitates the sliding of the branch tubes 412.
  • FIG. 5 presents an isometric view of an expandable frame assembly 500, according to another embodiment.
  • This configuration uses a self-expandable frame 501 that incorporates a self-expandable support 510 with grooved tips 511, specifically designed to allow for the efficient routing and passage of steering cables 513 from branch tubes 512.
  • Each one of the plurality of curved branch tubes is atached to the tubular base of the self-expandable support and each one of the plurality of curved branch tubes serves as an anchor and includes an internal passage for one of the plurality of steering cables to extend through. Further, the guiding sheath selectively advances over the self-expandable frame to contract the self-expandable frame and selectively retracts back from the self-expandable frame to expand the self-expandable frame.
  • the first example may be modified by the self-expandable frame including elastic material that conforms to anatomy when deployed.
  • the first through second examples may be modified by the self-expandable support and the plurality of curved branch tubes are made of one or more of: shape memory metals and nickel titanium alloy.
  • the first through fourth examples may be modified by the self-expandable frame having a variable expansion size and conforms to different surrounding environments.
  • the first through sixth examples may be modified by the self-expandable support including groove slots to facilitate consistent contact and sliding interaction with the plurality of curved branch tubes.
  • an expandable frame assembly for cable-driven mechanism steering includes a self-expandable frame controlled by a plurality of steering cables that are remotely actuated.
  • the self-expandable frame includes a self-expandable support having a base through which a lumen extends and a framework portion that surrounds the lumen and includes a plurality of groove slots.
  • the eleventh through sixteenth examples may be modified by the self-expandable support being formed from a tube.
  • the eleventh through seventeenth examples may be modified by each of the plurality of curved branch tubes being connected at its base to the self-expandable support and is configured to extend over the self-expandable support.
  • the eleventh through nineteenth examples may be modified by the expandable frame assembly miniaturized to accommodate smaller channels and narrow passages.
  • the eleventh through twentieth examples may be modified by the expandable frame assembly miniaturized for BTK (below-the-knee) endovascular interventions.
  • the eleventh through twenty- second examples may be modified by the self-expandable support formed by laser cutting, waterjet abrasion, photoetching, or EDM.
  • the eleventh through twentyfourth examples may be modified by each of the plurality of curved branch tubes connected at its base to the self-expandable support using weld spots, adhesive bonding, soldering, mechanical fastening, brazing, or shrink fitting.
  • the eleventh through twenty-fifth examples may be modified by the plurality of steering cables routed through the plurality of curved branch tubes and connected to the end-effector tip.
  • the eleventh through twentyseventh examples may be modified by the actuation of steering cables facilitating directional control of the end-effector.
  • the eleventh through twentyeighth examples may be modified by the self-expandable frame maintains rigidity during steering of the end-effector.
  • the eleventh through thirty-eighth examples may be modified by the self-expandable frame being expanded by inflating a balloon.
  • the eleventh through forty-second examples may be modified by the self-expandable frame expanded using hydraulic or pneumatic pressure.
  • the eleventh through forty-third examples may be modified by the self-expandable frame expanded by using an electromechanical actuation such as motors or electromechanical system.
  • the eleventh through forty-fourth examples may be modified by the self-expandable frame expanded using a magnetic field either by attracting magnetic parts or by inducing a shape change in magnetically responsive materials.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un ensemble cadre extensible pour direction de mécanisme entraîné par câble qui comprend une pluralité de câbles de direction, un cathéter, un cadre auto-extensible et une gaine de guidage. La pluralité de câbles de direction s'étend chacun d'une unité de commande au niveau d'une extrémité proximale à un effecteur terminal au niveau d'une extrémité distale. Le cadre auto-exttensible est à proximité de l'extrémité distale de la pluralité de câbles de direction et comprend : un support auto-extensible ayant une base tubulaire à travers laquelle s'étend le cathéter et une portion de cadre qui entoure le cathéter ; et une pluralité de tubes de ramification incurvés équivalents au nombre de câbles de direction, chacun de la pluralité de tubes de ramification incurvés étant fixé à la base tubulaire du support auto-extensible, chacun de la pluralité de tubes de ramification incurvés servant d'ancrage et comprenant un passage interne à travers lequel l'un de la pluralité de câbles de direction peut s'étendre.
PCT/IB2025/051427 2024-02-12 2025-02-12 Ensemble cadre extensible pour direction de mécanisme entraîné par câble Pending WO2025172840A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202463552559P 2024-02-12 2024-02-12
US63/552,559 2024-02-12

Publications (1)

Publication Number Publication Date
WO2025172840A1 true WO2025172840A1 (fr) 2025-08-21

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Country Link
WO (1) WO2025172840A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019005428A1 (fr) * 2017-06-30 2019-01-03 Weisz Giora Navigation multidimensionnelle dans une chambre corporelle
WO2019213215A1 (fr) * 2018-05-01 2019-11-07 RIEKE, James P. Système et procédé de guidage, de suivi et de navigation de dispositifs pour des procédures d'intervention
WO2024151731A1 (fr) * 2023-01-10 2024-07-18 Magellan Biomedical Inc. Cadre extensible à visée latérale et dispositif pour diriger des dispositifs d'intervention

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019005428A1 (fr) * 2017-06-30 2019-01-03 Weisz Giora Navigation multidimensionnelle dans une chambre corporelle
WO2019213215A1 (fr) * 2018-05-01 2019-11-07 RIEKE, James P. Système et procédé de guidage, de suivi et de navigation de dispositifs pour des procédures d'intervention
WO2024151731A1 (fr) * 2023-01-10 2024-07-18 Magellan Biomedical Inc. Cadre extensible à visée latérale et dispositif pour diriger des dispositifs d'intervention

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