Patent Grant
11877721
The present invention generally relates to means and methods for improving the interface between the surgeon and the operating medical assistant or between the surgeon and an endoscope system for laparoscopic surgery. Moreover, this present invention discloses a device useful for controlling an endoscope system for laparoscopic surgery comprising a wearable interface for enhancing the control of an endoscope system during laparoscopic surgery.
In laparoscopic surgery, the surgeon performs the operation through small holes using long instruments and observing the internal anatomy with an endoscope camera. The endoscope is conventionally held by a camera human assistant (i.e. operating medical assistant) since the surgeon must perform the operation using both hands. The surgeon performance is largely dependent on the camera position relative to the instruments and on a stable image shown at the monitor. The main problem is that it is difficult for the operating medical assistant to hold the endoscope steady, keeping the scene upright.
Laparoscopic surgery is becoming increasingly popular with patients because the scars are smaller and their period of recovery is shorter. Laparoscopic surgery requires special training of the surgeon or gynecologist and the theatre nursing staff. The equipment is often expensive and not available in all hospitals.
During laparoscopic surgery it is often required to shift the spatial placement of the endoscope in order to present the surgeon with an optimal view. Conventional laparoscopic surgery makes use of either human assistants that manually shift the instrumentation or, alternatively, robotic automated assistants. Automated assistants utilize interfaces that enable the surgeon to direct the mechanical movement of the assistant, achieving a shift in the camera view.
U.S. Pat. No. 6,714,841 discloses an automated camera endoscope in which the surgeon is fitted with a head mounted light source that transmits the head movements to a sensor, forming an interface that converts the movements to directions for the mechanical movement of the automated assistant. Alternative automated assistants incorporate a voice operated interface, a directional key interface, or other navigational interfaces. The above interfaces share the following drawbacks:
Research has suggested that these systems divert the surgeons focus from the major task at hand. Therefore technologies assisted by magnets and image processing have been developed to simplify interfacing control. However, these improved technologies still fail to address another complicating interface aspect of laparoscopic surgery, in that they do not allow the surgeon to signal to automated assistants, to human assistants or to surgical colleagues which instrument his attention is focused on.
Hence there is still a long felt need for improving the interface between the surgeon, his surgical colleagues or human assistants and an endoscope system, for laparoscopic surgery.
It is one object of the present invention to disclose a device useful for the surgeon and the automated assistant interface, and/or the surgeon and the operating medical assistant interface, during laparoscopic surgery; wherein the device is adapted to control and/or direct the automated endoscope assistant to focus the endoscope on the desired instrument of the surgeon; further wherein the device is adapted to focus the operating medical assistant on the desired instrument of the surgeon.
It is another object of the present invention to disclose the device as defined above, wherein said device additionally comprising:
It is another object of the present invention to disclose the device as defined above, wherein each said instrument is fitted with a wireless transmitter.
It is another object of the present invention to disclose the device as defined above, wherein said wireless transmitter is freestanding.
It is another object of the present invention to disclose the device as defined above, wherein said wireless transmitter is adapted to locate the position of each instrument.
It is another object of the present invention to disclose the device as defined above, wherein said selection of said desired instrument is confirmed by clicking on said at least one key.
It is another object of the present invention to disclose the device as defined above, wherein said selection of said desired instrument is confirmed by depression of said at least one key on said wireless transmitter.
It is another object of the present invention to disclose the device as defined above, wherein said depression of said at least one key is a prolonged depression.
It is another object of the present invention to disclose a method useful for surgeon and the automated assistant interface, and/or said surgeon and the operating medical assistant interface, during laparoscopic surgery. The method comprises step selected inter alia from (a) obtaining a device as defined above; (b) selecting said desired instrument: and (c) displaying said desired instrument on a screen; wherein said device controlling and/or directing said automated endoscope assistant and thereby focusing said endoscope on said desired instrument of said surgeon.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of confirming by the selection of said desired instrument.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of extracting said desired instrument form said screen.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of instructing said automated assistant to focus said endoscope on said desired instrument.
It is another object of the present invention to disclose the method as defined above, wherein said step of selecting said desired instrument additionally comprising the steps of (a) depressing of said at least one key on said wireless transmitter; (b) transmitting a generic code to said receiver; (c) communicating said signal to the computer.
It is another object of the present invention to disclose the method as defined above, wherein said step of selecting said desired instrument additionally comprising the step confirming the selection of said desired instrument by clicking on said at least one key.
It is another object of the present invention to disclose the method as defined above, wherein said step of selecting said desired instrument additionally comprising the step confirming the selection of said desired instrument by a prolonged depression on said at least one key.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of re-selecting said desired instrument until said desired instrument is selected.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of identifying each of said instruments to said computerized system.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of attaching said wireless transmitter to said surgical instrument.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of matching each transmitted code from said depressed wireless transmitter to said surgical instrument.
It is another object of the present invention to disclose the method as defined above, wherein said step of matching each transmitted code additionally comprising the step of storing said matching database on a computer.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of signing said surgical instrument by a temporary onscreen graphic symbol and presenting upon the onscreen depiction of the surgical instrument.
It is another object of the present invention to disclose the method as defined above, additionally comprising the step of continuously displaying said selection graphic symbol.
It is another object of the present invention to disclose the method as defined above, wherein the selection of the surgical instrument is signified by a continuous onscreen graphic symbol presented upon the onscreen depiction of the surgical instrument.
It is another an object of the present invention to disclose the method as defined above, additionally comprising the step of calculating the position of each said instrument.
It is another object of the present invention to provide a device useful for the interface between a surgeon and an automated assistant, comprising:
It is another object of the present invention to provide the device as defined above, wherein at least one of said wearable operators is either wire or wirelessly coupled to said at least one of said instruments.
It is another object of the present invention to provide the device as defined above, wherein said device is adapted to control and to direct said endoscope via said laparoscopy computerized system and said automated assistant on said instrument to which said activated wearable operator is coupled.
It is another object of the present invention to provide the device as defined above, wherein said wearable operator is worn by said surgeon on a predetermined body part.
It is another object of the present invention to provide the device as defined above, wherein said predetermined body part is selected from a group consisting of the hand of said surgeon, at least one of the fingers of said surgeon, the thigh of said surgeon, the neck of said surgeon, at least one of the legs of said surgeon, the knee of said surgeon, the head of said surgeon and any combination thereof.
It is another object of the present invention to provide the device as defined above, wherein the shape of said wearable operator is selected from a group consisting of a ring, a bracelet and any combination thereof.
It is another object of the present invention to provide the device as defined above, wherein said wearable operator is coupled to a predetermined location on said instrument by means of an adaptor.
It is another object of the present invention to provide the device as defined above, wherein said wearable operator is adjustable so as to fit said predetermined location of said different instruments, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the device as defined above, wherein said wearable operator comprises a body having at least two portions at least partially overlapping each other; said two portions are adapted to grasp and hold either said instrument or said predetermined body part there-between, such that a tight-fit coupling between said two portions and said instrument or said predetermined body part is obtained.
It is another object of the present invention to provide the device as defined above, wherein one of said two portions is rotationally movable relative to the other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the device as defined above, wherein said two portions are rotationally movable relative to each other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the device as defined above, wherein said wearable operator comprises (a) at least one flexible and stretchable strip; and, (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip; said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments; (b) said predetermined body part of said surgeon, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the device as defined above, wherein said flexible and stretchable strip is made of material selected from a group consisting of silicone, rubber and any combination thereof.
It is another object of the present invention to provide the device as defined above, wherein said loop-closing means is at least one unidirectional catch through which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the device as defined above, wherein said loop-closing means is at least one peg around which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the device as defined above, wherein said flexible and stretchable strip is characterized by a varied width along its length.
It is another object of the present invention to provide the device as defined above, wherein said flexible and stretchable strip is characterized by different surface roughnesses along its length.
It is another object of the present invention to provide the device as defined above, wherein said wireless transmitter is freestanding.
It is another object of the present invention to provide the device as defined above, wherein each of said at least one instrument is fitted with at least one of said wireless transmitters.
It is another object of the present invention to provide the device as defined above, wherein said wireless transmitter is adapted to locate the position of at least one of said instruments.
It is another object of the present invention to provide the device as defined above, wherein a selection of said at least one instrument is obtained by clicking on said at least one wearable operator.
It is another object of the present invention to provide the device as defined above, wherein the activation of said at least one wearable operator is obtained by depression on the same, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.
It is another object of the present invention to provide the device as defined above, wherein said laparoscopy computerized system directs said endoscope by using image information shown on said video screen without said help of assistants.
It is another object of the present invention to provide the device as defined above, wherein said conventional laparoscopy computerized system comprises at least one surgical instrument spatial location software, adapted to locate the 3D spatial position of said at least one instrument.
It is another object of the present invention to provide the device as defined above, wherein said conventional laparoscopy computerized system comprises at least one automated assistant maneuvering system; said automated assistant maneuvering system is coupled to said endoscope and is adapted to direct said endoscope to said at least one instrument, said instrument selected following the activation of said at least one wearable operator.
It is another object of the present invention to provide the device as defined above, wherein each transmitted signal from said wearable operator and said wireless transmitter is matched to at least one of said instruments.
It is another object of the present invention to provide a surgical system comprising:
It is another object of the present invention to provide the system as defined above, wherein said wearable operator is activated manually or automatically.
It is another object of the present invention to provide the system as defined above, wherein said computerized platform tracks said laparoscopic instrument selected upon activation of said transmitter.
It is another object of the present invention to provide the system as defined above, wherein said wireless transmitter is freestanding.
It is another object of the present invention to provide the system as defined above, wherein said at least one wireless transmitter is attached to said at least one laparoscopic instrument.
It is another object of the present invention to provide the system as defined above, wherein said identifying to said user of said laparoscopic instrument is effected via a visual depiction of said laparoscopic instrument on a display.
It is another object of the present invention to provide the system as defined above, further comprising an automated assistant for controlling an endoscopic camera.
It is another object of the present invention to provide the system as defined above, wherein said computerized platform tracks said laparoscopic instrument using image information received from said endoscopic camera.
It is another object of the present invention to provide the system as defined above, wherein said computerized platform controls said automated assistant.
It is another object of the present invention to provide the system as defined above, wherein said computerized platform visually identifies said laparoscopic instrument to said user upon activation of said transmitter.
It is another object of the present invention to provide the system as defined above, wherein at least one of said wearable operators is either wire or wirelessly coupled to said at least one of said laparoscopic instruments.
It is another object of the present invention to provide the system as defined above, wherein said computerized platform is adapted to track and to identify said laparoscopic instrument to which said wearable operator is coupled.
It is another object of the present invention to provide the system as defined above, wherein said wearable operator is worn by said surgeon on a predetermined body part.
It is another object of the present invention to provide the system as defined above, wherein said predetermined body part is selected from a group consisting of the hand of said surgeon, at least one of the fingers of said surgeon, the thigh of said surgeon, the neck of said surgeon, at least one of the legs of said surgeon, the knee of said surgeon, the head of said surgeon and any combination thereof.
It is another object of the present invention to provide the system as defined above, wherein the shape of said wearable operator is selected from a group consisting of a ring, a bracelet and any combination thereof.
It is another object of the present invention to provide the system as defined above, wherein said wearable operator is coupled to a predetermined location on said instrument by means of an adaptor.
It is another object of the present invention to provide the system as defined above, wherein said wearable operator is adjustable so as to fit said predetermined location of said different instruments, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the system as defined above, wherein said wearable operator comprises a body having at least two portions at least partially overlapping each other; said two portions are adapted to grasp and hold either said instrument or said predetermined body part there-between, such that a tight-fit coupling between said two portions and said instrument or said predetermined body part is obtained.
It is another object of the present invention to provide the system as defined above, wherein one of said two portions is rotationally movable relative to the other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the system as defined above, wherein said two portions are rotationally movable relative to each other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the system as defined above, wherein said wearable operator comprises (a) at least one flexible and stretchable strip; and, (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip; said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments; (b) said predetermined body part of said surgeon, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the system as defined above, wherein said flexible and stretchable strip is made of material selected from a group consisting of silicone, rubber and any combination thereof.
It is another object of the present invention to provide the system as defined above, wherein said loop-closing means is at least one unidirectional catch through which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the system as defined above, wherein said loop-closing means is at least one peg around which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the system as defined above, wherein said flexible and stretchable strip is characterized by a varied width along its length.
It is another object of the present invention to provide the system as defined above, wherein said flexible and stretchable strip is characterized by different surface roughnesses along its length.
It is another object of the present invention to provide the system as defined above, wherein said wireless transmitter is freestanding.
It is another object of the present invention to provide the system as defined above, wherein each of said at least one laparoscopic instruments is fitted with at least one of said wireless transmitters.
It is another object of the present invention to provide the system as defined above, wherein said wireless transmitter is adapted to locate the position of at least one of said laparoscopic instruments.
It is another object of the present invention to provide the system as defined above, wherein selection of said at least one laparoscopic instrument is confirmed by activating said at least one wearable operator
It is another object of the present invention to provide the system as defined above, wherein the activation of said at least one wearable operator is obtained by depression on the same, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.
It is another object of the present invention to provide the system as defined above, wherein said computerized platform directs an endoscope to said laparoscopic instrument by using image information shown on a video screen without said help of assistants.
It is another object of the present invention to provide the system as defined above, wherein each transmitted signal from said wearable operator and said wireless transmitter is matched to at least one of said instruments.
It is another object of the present invention to provide a method useful for the interface between a surgeon and an automated assistant; said method comprising the step of:
It is another object of the present invention to provide the method as defined above, additionally comprising the step of manually or automatically activating said wearable operator.
It is another object of the present invention to provide the method as defined above, wherein said wireless transmitter is freestanding.
It is another object of the present invention to provide the method as defined above, additionally comprising the step of attaching said at least one wireless transmitter to said at least one desired laparoscopic instrument.
It is another object of the present invention to provide the method as defined above, additionally comprising the step of identifying to said user of said desired laparoscopic instrument; further wherein said step is effected via a visual depiction of said laparoscopic instrument on a display.
It is another object of the present invention to provide the method as defined above, wherein said laparoscopy computerized system tracks said laparoscopic instrument using image information received from said endoscopic camera.
It is another object of the present invention to provide the method as defined above, wherein said laparoscopy computerized system controls said automated assistant.
It is another object of the present invention to provide the method as defined above, wherein said laparoscopy computerized system visually identifies said laparoscopic instrument to said user upon activation of said transmitter.
It is another object of the present invention to provide the method as defined above, additionally comprising step of confirming the selection of said desired instrument.
It is another object of the present invention to provide the method as defined above, wherein said step of selecting said desired laparoscopic instrument additionally comprises the steps of (a) activating wearable operator; (b) transmitting a generic code to said receiver; (c) communicating said signal to a computer, thereby operating said automated assistant.
It is another object of the present invention to provide the method as defined above, wherein said step of selecting said desired laparoscopic instrument additionally comprises the step of confirming the selection of said desired laparoscopic instrument by clicking on said wearable operator.
It is another object of the present invention to provide the method as defined above, wherein said step of selecting said desired laparoscopic instrument additionally comprises the step confirming the selection of said laparoscopic desired instrument by a prolonged depression on said wearable operator.
It is another object of the present invention to provide the method as defined above, additionally comprising the step of identifying each of said desired laparoscopic instrument to said computerized system.
It is another object of the present invention to provide the method as defined above, additionally comprising the step of attaching said wearable operator to said laparoscopic instrument.
It is another object of the present invention to provide the method as defined above, additionally comprising the step of matching each transmitted code from said wearable operator and said wireless transmitter to at least one of said laparoscopic instruments.
It is another object of the present invention to provide the method as defined above, additionally comprising step of either wire or wirelessly coupling at least one of said wearable operators to said at least one of said instruments.
It is another object of the present invention to provide the method as defined above, additionally comprising step of controlling and directing said endoscope via said laparoscopy computerized system and said automated assistant on said desired laparoscopic instrument to which said activated wearable operator is coupled.
It is another object of the present invention to provide the method as defined above, additionally comprising step of wearing said wearable operator by said surgeon on a predetermined body part.
It is another object of the present invention to provide the method as defined above, additionally comprising step of selecting said predetermined body part from a group consisting of the hand of said surgeon, at least one of the fingers of said surgeon, the thigh of said surgeon, the neck of said surgeon, at least one of the legs of said surgeon, the knee of said surgeon, the head of said surgeon and any combination thereof.
It is another object of the present invention to provide the method as defined above, additionally comprising step of selecting the shape of said wearable operator from a group consisting of a ring, a bracelet and any combination thereof.
It is another object of the present invention to provide the method as defined above, additionally comprising step of coupling said wearable operator to a predetermined location on said instrument by means of an adaptor.
It is another object of the present invention to provide the method as defined above, additionally comprising step of adjusting said wearable operator so as to fit said predetermined location of said different instruments, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the method as defined above, additionally comprising step of providing said wearable operator with a body having at least two portions at least partially overlapping each other; said two portions are adapted to grasp and hold either said instrument or said predetermined body part there-between, such that a tight-fit coupling between said two portions and said instrument or said predetermined body part is obtained.
It is another object of the present invention to provide the method as defined above, wherein one of said two portions is rotationally movable relative to the other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the method as defined above, additionally comprising step of coupling wherein said two portions are rotationally movable relative to each other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the method as defined above, wherein said wearable operator comprises (a) at least one flexible and stretchable strip; and, (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip; said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments; (b) said predetermined body part of said surgeon, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the method as defined above, additionally comprising step of providing said flexible and stretchable strip to be made of material selected from a group consisting of silicone, rubber and any combination thereof.
It is another object of the present invention to provide the method as defined above, wherein said loop-closing means is at least one unidirectional catch through which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the method as defined above, wherein said loop-closing means is at least one peg around which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the method as defined above, wherein said flexible and stretchable strip is characterized by a varied width along its length.
It is another object of the present invention to provide the method as defined above, wherein said flexible and stretchable strip is characterized by different surface roughnesses along its length.
It is another object of the present invention to provide the method as defined above, wherein said wireless transmitter is freestanding.
It is another object of the present invention to provide the method as defined above, wherein each of said at least one instrument is fitted with at least one of said wireless transmitters.
It is another object of the present invention to provide the method as defined above, wherein said wireless transmitter is adapted to locate the position of at least one of said instruments.
It is another object of the present invention to provide the method as defined above, additionally comprising step of selecting said at least one instrument by activating said at least one wearable operator.
It is another object of the present invention to provide the method as defined above, additionally comprising step of activating said at least one wearable operator by depression on the same, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.
It is another object of the present invention to provide a method useful for the interface between a surgeon and an automated assistant; said method comprising the step of:
It is another object of the present invention to provide the method as defined above, additionally comprising step of manually or automatically activating said wearable operator.
It is another object of the present invention to provide the method as defined above, additionally comprising step of tracking said laparoscopic instrument selected upon activation of said transmitter by means of said computerized platform.
It is another object of the present invention to provide the method as defined above, wherein said wireless transmitter is freestanding.
It is another object of the present invention to provide the method as defined above, additionally comprising step of attaching said at least one wireless transmitter to said at least one laparoscopic instrument. It is another object of the present invention to provide the method as defined above, additionally comprising step of identifying to said user of said laparoscopic instrument via a visual depiction of said laparoscopic instrument on a display.
It is another object of the present invention to provide the method as defined above, additionally comprising step of providing an automated assistant for controlling an endoscopic camera.
It is another object of the present invention to provide the method as defined above, wherein said computerized platform tracks said laparoscopic instrument using image information received from said endoscopic camera.
It is another object of the present invention to provide the method as defined above, additionally comprising step of controlling said automated assistant by means of said computerized platform.
It is another object of the present invention to provide the method as defined above, wherein said computerized platform visually identifies said laparoscopic instrument to said user upon activation of said transmitter.
It is another object of the present invention to provide the method as defined above, wherein at least one of said wearable operators is either wire or wirelessly coupled to said at least one of said laparoscopic instruments.
It is another object of the present invention to provide the method as defined above, wherein said computerized platform is adapted to track and to identify said laparoscopic instrument to which said wearable operator is coupled.
It is another object of the present invention to provide the method as defined above, additionally comprising step of wearing said wearable operator by said surgeon on a predetermined body part.
It is another object of the present invention to provide the method as defined above, wherein said predetermined body part is selected from a group consisting of the hand of said surgeon, at least one of the fingers of said surgeon, the thigh of said surgeon, the neck of said surgeon, at least one of the legs of said surgeon, the knee of said surgeon, the head of said surgeon and any combination thereof.
It is another object of the present invention to provide the method as defined above, wherein the shape of said wearable operator is selected from a group consisting of a ring, a bracelet and any combination thereof.
It is another object of the present invention to provide the method as defined above, additionally comprising step of coupling said wearable operator to a predetermined location on said instrument by means of an adaptor.
It is another object of the present invention to provide the method as defined above, wherein said wearable operator is adjustable so as to fit said predetermined location of said different instruments, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the method as defined above, additionally comprising step of providing said wearable operator with a body having at least two portions at least partially overlapping each other; said two portions are adapted to grasp and hold either said instrument or said predetermined body part there-between, such that a tight-fit coupling between said two portions and said instrument or said predetermined body part is obtained.
It is another object of the present invention to provide the method as defined above, wherein one of said two portions is rotationally movable relative to the other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the method as defined above, wherein said two portions are rotationally movable relative to each other, such that when said wearable operator is coupled to said instrument, fine-tuned movement of said two body portions is obtainable so as to provide said tight-fit coupling between said two portions and said instrument or said predetermined body part.
It is another object of the present invention to provide the method as defined above, wherein said wearable operator comprises (a) at least one flexible and stretchable strip; and, (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip; said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments; (b) said predetermined body part of said surgeon, each of which is characterized by a different size and shape.
It is another object of the present invention to provide the method as defined above, wherein said flexible and stretchable strip is made of material selected from a group consisting of silicone, rubber and any combination thereof.
It is another object of the present invention to provide the method as defined above, wherein said loop-closing means is at least one unidirectional catch through which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the method as defined above, wherein said loop-closing means is at least one peg around which said flexible and stretchable strip is passed so as to provide a loop.
It is another object of the present invention to provide the method as defined above, wherein said flexible and stretchable strip is characterized by a varied width along its length.
It is another object of the present invention to provide the method as defined above, wherein said flexible and stretchable strip is characterized by different surface roughnesses along its length.
It is another object of the present invention to provide the method as defined above, additionally comprising step of fitting each of said at least one laparoscopic instruments with at least one of said wireless transmitters.
It is another object of the present invention to provide the method as defined above, wherein said wireless transmitter is adapted to locate the position of at least one of said laparoscopic instruments.
It is another object of the present invention to provide the method as defined above, additionally comprising step of confirming a selection of said at least one laparoscopic instrument by clicking on said at least one wearable operator
It is another object of the present invention to provide the method as defined above, additionally comprising step of activating said at least one wearable operator by depression on the same, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.
It is another object of the present invention to provide the method as defined above, additionally comprising step of directing an endoscope to said laparoscopic instrument by using image information shown on a video screen by means of said computerized platform configured without said help of assistants.
It is another object of the present invention to provide a wearable operator, comprising:
It is another object of the present invention to provide the wearable operator as defined above, wherein said wearable operator is worn by a user on a predetermined body part, such that activation of said wearable operator results in activation of an external instrument.
It is another object of the present invention to provide the wearable operator as defined above, wherein said predetermined body part is selected from a group consisting of: the hand of said surgeon, at least one of the fingers of said user, the thigh of said user, the neck of said user, at least one of the legs of said user, the knee of said user, the head of said user and any combination thereof.
It is another object of the present invention to provide the wearable operator as defined above, wherein said wearable operator is coupled to a predetermined location on an instrument by means of an adaptor, such that activation of said wearable operator results in activation of said instrument.
It is another object of the present invention to provide the wearable operator as defined above, wherein said coupling between said at least one of said wearable operators and said instrument is either wire or wirelessly coupling.
It is still an object of the present invention to provide the wearable operator as defined above, wherein said wearable operator comprises (a) at least one flexible and stretchable strip; and, (b) loop-closing means adapted to close a loop with said at least one flexible and stretchable strip; said at least one flexible and stretchable strip and said loop-closing means are provided so as to fit said wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments; (b) said predetermined body part of said user, each of which is characterized by a different size and shape.
It is lastly an object of the present invention to provide the wearable operator as defined above, wherein the shape of said wearable operator is selected from a group consisting of a ring, a bracelet and any combination thereof.
In order to understand the invention and to see how it may be implemented in practice, and by way of non-limiting example only, with reference to the accompanying drawing, in which
The following description is provided, alongside all chapters of the present invention, so as to enable any person skilled in the art to make use of the invention and sets forth the best modes contemplated by the inventor of carrying out this invention. Various modifications, however, will remain apparent to those skilled in the art, since the generic principles of the present invention have been defined specifically to provide means and methods for improving the interface between the surgeon and an endoscope system for laparoscopic surgery.
The present invention can be also utilized to improve the interface between the surgeon and the operating medical assistant and/or the surgeon colleagues. Moreover, the present invention can be also utilized to control and/or direct an automated endoscope assistant to focus the endoscope to the desired instrument of the surgeon. In some embodiments, it comprises a wearable user interface operator (referred to also as the ‘wearable operator’). Furthermore, the device is adapted to focus the operating medical assistant on the desired instrument of the surgeon.
The term “conventional laparoscopy computerized system” refers herein to system or/software conventionally used in the market such as Lapman, Endo assist or AESOP.
The term “tight-fit” refers herein to a fit between two parts, such that said two parts are considered as coupled together.
The device of the present invention is adapted to control and/or direct the automated endoscope assistant to focus the endoscope on the instrument desired by the surgeon. In preferred embodiments, it comprises a wearable user interface to enable to operator to activate and select tools.
The present invention can be also utilized to improve the interface between the surgeon and the operating medical assistant and/or the surgeon's colleagues. Moreover, the present invention can be also utilized to control and/or direct an automated endoscope assistant to focus the endoscope on the desired instrument of the surgeon via output from the wearable operator, said output controlled by the surgeon. Furthermore, the device is adapted to direct the operating medical assistant to focus on the desired instrument of the surgeon.
In general, the present invention, an enhanced interface laparoscopy device comprises:
The device of the present invention has many technological advantages, among them:
Additional features and advantages of the invention will become apparent from the following drawings and description.
In preferred embodiment of the invention a single wireless emission code is utilized and choice is achieved by a visible graphic representation upon the conventional viewing screen.
In another preferred embodiment each instrument is fitted with a unique code wireless transmitter, and selection is achieved by depressing its button.
According to another preferred embodiment, each instrument is fitted with a unique code wireless transmitter, and selection is achieved by depressing a control on the wearable operator.
The present invention discloses also a device joined with conventional camera assisted laparoscopic surgery systems comprising at least one wireless transmitter that can but need not be attached to the maneuvering control end of surgical instruments.
Selection of an instrument can be either via a control on a wireless transmitter, or via a wearable operator, or by a combination thereof. If control is via at least one button on at least one wireless transmitter, upon depression of a button on a transmitter either a generic or a unique code is transmitted to a receiving device connected to a computer that presents (e.g. displays) the selected surgical tool on a connected video screen. Confirmation of the selection by the depression of at least one button on the wireless transmitter transmits a code to the receiver connected to the computer that instructs the automated surgical assistant to move the endoscope achieving a view on the screen that is focused on the selected instrument area.
If control is via a wearable controller, upon activation (e.g., depression) of a control on the wearable operator, either a generic or a unique code is transmitted to a receiving device connected to a computer that presents (e.g. displays) the selected surgical tool on a connected video screen.
After confirmation of the selection by the depression of at least one button in the wearable operator's wireless transmitter, a code is transmitted to the receiver connected to the computer that instructs the automated surgical assistant to move the endoscope, achieving a view on the screen that is focused on the selected instrument area.
It would thus be desirable to achieve a device that allows the surgeon to identify to the laparoscopic computing system as well as to surgical colleagues to which surgical instrument attention is to be directed. By identifying the surgical instrument by the laparoscopic computing system the endoscope directs the view to the selected focus of attention.
Therefore, in accordance with one embodiment of the present invention an enhanced interface laparoscopy device is provided. The device comprises:
In a further embodiment of the enhanced interface laparoscopy device the wireless transmitter or transmitters are either freestanding or attached to the maneuvering end of the surgical instruments and emit the same single code that upon the depression of at least one key on them emits a signal to the receiver that communicates with the connected computer that displays a graphic symbol upon a random choice of one of the onscreen surgical instruments depicted or extracted by the computer on the screen. If needed the surgeon repeats the depression of at least one key resulting in a shift in the displayed graphic designator from one onscreen depiction of surgical instrument to another until the desired instrument is reached and thereby selected. Subsequently the computer directs the automated assistant to focus the endoscope on the desired instrument area.
In a further embodiment the selection of the instrument requires confirmation by varying the form of click on at least one key, such as a prolonged depression. Only upon confirmation is the computer authorized to instruct the automated assistant to focus the endoscope on the desired instrument area.
In another embodiment of the invention each relevant surgical instrument is fitted at its maneuvering control end with a wireless transmitter with at least one key that transmits a unique code. In the initial stage of the procedure the surgeon identifies each of the instruments to the computerized system by depressing at least one key on each of the wireless transmitters fitted to the surgical instruments and matching their characteristics with a prepared database, thereby forming within the computerized system a unique signature for each of the transmitters. Thereon, upon depression of at least one key on the wireless transmitter attached to each surgical instrument, the receiver receives the unique code communicates it to the computer that identifies it with the preprogrammed signature and instructs the automated assistant to move the endoscope so as to achieve the desired focus.
In another embodiment of the invention each relevant surgical instruments is fitted at its maneuvering control end with a wireless transmitter with at least one key that transmits a unique code. While performing the surgery procedure, whenever the surgeon inserts, a surgical instrument at the first time, he signals by depressing at least one key on each of the wireless transmitters fitted to the surgical instruments.
Then the computer software identifies the instrument, while it is being inserted, analyzes the characteristics of the surgical instrument and keeps it in a database, thereby forming within the computerized system a unique signature for each of the transmitters. Thereon, upon depression of at least one key on the wireless transmitter attached to each surgical instrument, the receiver receives the unique code, communicates it to the computer that identifies it with the signature stored at the insertion step and instructs the automated assistant to move the endoscope so as to achieve the desired focus.
In a further embodiment the selection is signified on the connected screen by displaying a graphic symbol upon the onscreen depiction of the surgical instrument.
In a further embodiment the selection is confirmed by an additional mode of depression of at least one key on the wireless transmitter, such as a prolonged depression of the key, authorizing the computer to instruct the automated assistant to change view provided by the endoscope. The device of the present invention has many technological advantages, among them:
Simplifying the communication interface between surgeon and mechanical assistants.
Reference is made now to
Reference is made now to
Reference is made now to
Reference is made now to
In another embodiment of this invention, when a prolonged depression of the buttons on transmitter 12b and 12c confirms the selection, the computer software analyze the characteristics of the surgical instrument and stores it in a database, thereby forming within the computerized system, a database, used for matching between each transmitting code and a surgical instrument.
From now on, when the surgeon presses again on this button, the receiver that receives the transmitted code, communicates it to the computer software that identifies the code as a “known” code and matching it, to the known parameters that were stored earlier in database of the surgical tools, and extracts the surgical tool tip. When the position tool tip is known, then the tracking software instructs the automated assistant to move the endoscope so as to achieve the desired focus.
Reference is made now to
In order to realize a position and range system, many well known technologies may be used. For example if the switches emit wireless signals then an array of antennas may be used to compare the power of the signal received at each antenna in order to determine the angle of the switch and it's approximate range to the camera holder mechanism. If the switch emits ultra sound wave then US microphones can be used to triangulate the position of the switch. The same is for light emitting switch.
Therefore, in accordance with a preferred embodiment of the present invention, an enhanced interface laparoscopy device is provided. The device comprises:
According to one embodiment, the wearable user interface is attached to the operating tool.
According to another embodiment, the interface is linked/attached to a predetermined body part of the surgeon. Said body part is selected from a group consisting of: the hand of the surgeon, at least one of the fingers of the surgeon, the thigh of the surgeon, the neck of the surgeon, at least one of the legs of the surgeon, the knee of the surgeon, the head of the surgeon and any combination thereof.
In a preferred embodiment of the enhanced interface laparoscopy device, the wireless transmitter or transmitters are either freestanding or are attached to the maneuvering end of the surgical instruments.
They emit the same single code so that, upon the activation (e.g., depression) of the wearable operator, they emit a signal to the receiver. The receiver communicates with a connected computer that displays a graphic symbol upon one of one of the surgical instruments depicted on the screen by the computer. On initial activation, the graphical symbol can be displayed on a randomly-chosen surgical instrument, or it can be displayed on a predefined surgical instrument.
If needed, the surgeon repeats the activation (e.g., depression) of the wearable operator resulting in a shift in the displayed graphic designator from one onscreen depiction of a surgical instrument to another until the desired instrument is reached and thereby selected. Subsequently the computer directs the automated assistant to focus the endoscope on the desired instrument area.
In a further preferred embodiment the selection of the instrument requires confirmation by varying the form of activating said wearable operator, such as a prolonged depression, double clicking or voice activation. Only upon confirmation is the computer authorized to instruct the automated assistant to focus the endoscope on the desired instrument area.
In another preferred embodiment of the invention each relevant surgical instrument is fitted at its maneuvering control end with a wireless transmitter that transmits a unique code.
In the initial stage of the procedure, the surgeon identifies each of the instruments to the computerized system by activating the wearable operator (e.g., depressing at least one key on the same) on each of the wireless transmitters fitted to the surgical instruments and matching their characteristics with a prepared database, thereby forming within the computerized system a unique signature for each of the transmitters. Thereon, upon depression of the wearable operator attached to each surgical instrument/or on the surgeon's hand, the receiver receives the unique code, and communicates it to the computer. The computer identifies it with the preprogrammed signature and instructs the automated assistant to move the endoscope so as to achieve the desired focus.
It should be pointed out that the wearable operator can be coupled to a predetermined body part selected from a group consisting of: the hand of said surgeon, at least one of the fingers of the surgeon, the thigh of the surgeon, the neck of the surgeon, at least one of the legs of the surgeon, the knee of the surgeon, the head of the surgeon and any combination thereof.
In another preferred embodiment of the invention, each relevant surgical instrument is fitted at its maneuvering control end with a wireless transmitter (as part of the wearable operator) that transmits a unique code. While performing the surgical procedure, whenever the surgeon inserts a surgical instrument for the first time, he signals by activating the wearable operator so as to uniquely identify the surgical instrument.
According to one embodiment of the present invention, the wearable operator comprises an activating button, such that the activation of the same can be achieved by manually pressing the same.
According to another embodiment of the present invention, the wearable operator is activated manually or automatically.
According to one embodiment of the present invention, the activation of the wearable operator is achieved by means of depression on the same, voice activating the same, prolonged depression on the same, double clicking on the same and any combination thereof.
When the instrument is being inserted for the first time, the computer software identifies the instrument, analyzes the characteristics of the surgical instrument and keeps the characteristics in a database, thereby forming within the computerized system a unique signature for each of the instruments. Thereafter, upon activation of the wireless transmitter attached to each surgical instrument, the receiver receives the unique code, communicates it to the computer that identifies it with the signature stored at the insertion step and instructs the automated assistant to move the endoscope so as to achieve the desired focus.
In a further preferred embodiment, the selection is signified on the screen connected to the computer by displaying a graphic symbol upon the onscreen depiction of the surgical instrument.
In a further preferred embodiment the selection is confirmed by an additional mode of depression on the wireless transmitter, such as a prolonged depression of the wearable operator, authorizing the computer to instruct the automated assistant to change the view provided by the endoscope.
The device of the present invention has many technological advantages, among them:
Reference is made now to
Once the same is activated (e.g., depressed), it wirelessly transmits a single code wave 14 through aerial 13 to connected receiver 11 that produces a signal processed by computer 15, thereby assigning a particular code to one of two or more surgical instruments 17b and 17c within the patient 40 as the focus of the surgeon's attention.
Reference is now made to
According to this embodiment, the wearable operator is configured as a ring (
According to this embodiment, the wearable operator comprises a pressing key 100 (also referred to as pressing button 101d). Once the surgeon wishes to re-orient the endoscope so as to focus on the desired instrument (linked to said wearable operator), the surgeon presses the same.
According to another embodiment or the present invention, the wearable actuator may be attached to the maneuvering end of surgical instruments 17b and 17c.
It is appreciated that each surgical instrument has particular dimensions. Therefore, since there isn't a ‘universal’ shape of surgical instruments, each surgical instrument should be provided with a dedicated wearable operator. Thus, according to one embodiment of the present invention, a dedicated wearable operator is provided for each instrument.
According to another embodiment of the present invention, a universal adaptor to be attached to any surgical instrument is provided (see further detail with respect to
Once the wearable operator is operated, a conventional automated endoscope 21 is maneuvered by means of conventional automated arm 19 according to conventional computational spatial placement software contained in computer 15
Reference is made now to
Each of the wireless transmitters 12b and 12c is attached, respectively, to the maneuvering means at the end of surgical instruments 17b and 17c, within the patient 40. Once the wearable operator is activated (e.g., depressed), each transmits a unique code wave 14b and 14c through aerial 13 to connected receiver 11 that produces a signal processed by computer 15, thereby assigning a particular one of two or more surgical instruments 17b and 17c as the focus of the surgeon's attention. Accordingly, a conventional automated endoscope 21 is maneuvered by means of conventional automated arm 19 according to conventional computational spatial placement software contained in computer 15.
Reference is made now to
In this embodiment, on activation of the wearable operator 101 (e.g., by a light depression of the button on the wearable operator), wireless transmitter 12a emits a generic code that is received by receiver aerial 13 and communicated through connected receiver 11 to computer 15. Computer 15 shifts the graphically displayed symbol of choice 35b on video screen 30 from instrument to instrument until the required instrument is reached.
In this example, the wearable operator 101 is shaped as a ring and is worn on the surgeon's finger.
A prolonged depression of the wearable operator 101 confirms the selection, thereby signaling computer 15 to instruct the automated mechanical assistant to move the endoscope and achieve a camera view of the instrument area on screen 30.
Reference is made now to
When the wearable operators 101a and 101b (and the wireless transmitters 12b and 12c, respectively) are being pressed, the same emit a signal which eventually results in the display on screen 30 of graphic symbol 35b on respective video representation 37b or, alternatively, of graphic symbol 35c on video representation 37c.
Confirmation of the selection may be achieved by prolonged depression of a button located on the wearable operator. Thus, a prolonged depression of the button on the wearable operator confirms the selection, thereby signaling computer 15 to instruct the automated mechanical assistant (not represented in
In another embodiment of this invention, when a prolonged depression of the buttons on the wearable operator confirms the selection, the computer software analyzes the characteristics of the surgical instrument and stores it in a database, thereby forming, within the computerized system, a database used for matching between each transmitting code and its associated surgical instrument.
From now on, when the surgeon presses again on this button, the receiver that receives the transmitted code communicates it to the computer software that identifies the code as a “known” code, matches it to the known parameters that were stored earlier in the database of surgical tools, and extracts the position of the tip of the surgical tool. When the position of the tool tip is known, the tracking software instructs the automated assistant to move the endoscope so as to achieve the desired focus.
In another embodiment of this invention, when the wearable operator is activated and an instrument is selected, the computer software analyzes the characteristics of the surgical instrument and stores it in a database, thereby forming, within the computerized system, a database used for matching between each transmitting code and a surgical instrument.
From now on, when the surgeon activates the wearable activator, the receiver that receives the transmitted code communicates it to the computer software that identifies the code as a “known” code and matches it to the known parameters that were stored earlier in database of the surgical tools, and extracts the position of the tip of the surgical tool. When the position of the tool tip is known, the tracking software instructs the automated assistant to move the endoscope so as to achieve the desired focus.
Reference is now made to
As mentioned above, the wearable actuator may be attached to the maneuvering end of surgical instruments 17b and 17c. However, since each surgical instrument has particular dimensions, there is no ‘universal’ actuator that will fit every instrument. Thus, one should provide each of surgical instruments with a dedicated operator.
The present invention provides a universal adaptor 100 to be attached to the surgical instrument so as to overcome this disadvantage. The surgeon is able to couple the wearable operator 101 to the adaptor.
Reference is now made to
Reference is now made to
Reference is now made to
As mentioned above, according to one embodiment of the present invention, the wearable operator 101 comprises an activating button 101d (see
In order to realize a position and range system, many well-known technologies may be used. For example, if the switches emit wireless signals then an array of antennas may be used to compare the power of the signal received at each antenna in order to determine the angle of the switch and the approximate range (distance and angle) between it and the camera holder mechanism. If the switch emits ultrasound (US), then US microphones can be used to triangulate the position of the switch. The same can be done for light emitting switches.
Reference is now made to
Reference is now made to
According to these embodiments, the wearable operator 1300 comprises a unidirectional coupling (e.g., ratchet 1310).
Once the wearable operator 1300 is secured to the surgical tool, the wearable operator 1300 is adjusted to the size and dimensions of the surgical tool by means of a unidirectional catch (e.g., ratchet 1310).
According to another embodiment, the wearable operator 1300 comprises a body having at least two portions 1320 and 1321 (see
According to another embodiment (
According to another embodiment (
In reference to
According to another embodiment, the movement of either portion 1320 or portion 1321 relative to the other is obtained by providing one portion, e.g., portion 1321 with cog-like teeth 1311 and the body of the wearable operator with cog-like teeth 1312 matching with cog-like teeth 1311 (see
According to another embodiment of the present invention, the wearable operator is a ring to be worn on the physician's hand.
Reference is now made to
According to another embodiment, the wearable operator 1400 is adjustable by means of flexible and stretchable silicone and/or rubber strip 1410 and a loop-closing means. The loop-closing means is adapted to close a loop with the flexible and stretchable strip. Together, the flexible and stretchable strip and the loop-closing means are provided so as to fit the wearable operator to at least one selected from a group consisting of (a) said predetermined location of said different instruments; (b) said predetermined body part of said surgeon, each of which is characterized by a different size and shape.
As will be disclosed hereinafter, the loop-closing means 1420 can be e.g., a unidirectional catch, a rack, a peg or any other mechanism known in the art.
According to another embodiment, the silicone and/or rubber strip 1410 is passed through a unidirectional catch (e.g., ratchet 1420), such that, when the physician wears the wearable operator 1400, he adjusts the same by pulling the silicone and/or rubber strip 1410 through the ratchet 1420.
According to another embodiment, the silicone and/or rubber strip 1410 is rotated around rack or peg 1420 such that, when the physician wears the wearable operator 1400, he adjusts the same by pulling the silicone and/or rubber strip 1410 around the peg 1420.
According to this embodiment, the silicone and/or rubber strip 1410 is characterized by a varied width along its length. More specifically, at least a portion of the silicone and/or rubber strip 1410 is characterized by a greater width, such that when the same is twisted/rotated around peg 1420 and reaches the wider portion, the same is fixedly secured to the wearable operator 1400.
According to another embodiment, the silicone and/or rubber strip 1410 is characterized by different surface roughnesses along its length. More specifically, at least a portion of the silicone and/or rubber strip 1410 is characterized by e.g., an abrasive or rough surface such that when the same is twisted/rotated around peg 1420 and reaches the rougher portion, the same is fixedly secured to the wearable operator 1400.
Reference is now made to
It is appreciated that certain features of the invention which are, for clarity, described in the context of separate embodiments, can also be provided in combination in a single embodiment. Conversely, various features of the invention which are, for brevity, described in the context of a single embodiment, can also be provided separately or in any suitable sub-combination.
Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims. All publications, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention.
All patents and applications referred to herein, including for purposes of priority, are incorporated herein by reference.
This application is a Continuation of application Ser. No. 15/346,739, filed on Nov. 9, 2016, which is a Continuation of application Ser. No. 13/736,118, filed Jan. 8, 2013, which is a Continuation of PCT International Application No. PCT/IL2012/000312, filed on Aug. 21, 2012, claiming priority from U.S. Provisional Application No. 61/525,785, and is a Continuation-in-Part of U.S. application Ser. No. 11/874,534, filed Oct. 18, 2007 (U.S. Pat. No. 9,295,379, issued Mar. 29, 2016), which is a Continuation of PCT International Application No. PCT/IL2006/000478, filed Apr. 20, 2006, claiming priority from U.S. Provisional Application No. 60/716,951, filed Sep. 15, 2005, U.S. Provisional Application No. 60/716,953, filed Sep. 15, 2005, U.S. Provisional Application No. 60/705,199, filed Apr. 8, 2005, and U.S. Provisional Application No. 60/672,010, filed Apr. 18, 2005. All of these applications are hereby incorporated by reference in their entirety.
| Number | Name | Date | Kind |
|---|---|---|---|
| 5836869 | Kudo | Nov 1998 | A |
| 20020128552 | Nowlin | Sep 2002 | A1 |
| 20020156345 | Eppler | Oct 2002 | A1 |
| 20030013949 | Moll | Jan 2003 | A1 |
| 20100234857 | Itkowitz | Sep 2010 | A1 |
| Number | Date | Country | |
|---|---|---|---|
| 20210038313 A1 | Feb 2021 | US |
| Number | Date | Country | |
|---|---|---|---|
| 61525785 | Aug 2011 | US | |
| 60716951 | Sep 2005 | US | |
| 60716953 | Sep 2005 | US | |
| 60705199 | Aug 2005 | US | |
| 60672010 | Apr 2005 | US |
| Number | Date | Country | |
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| Parent | 15346739 | Nov 2016 | US |
| Child | 16836874 | US | |
| Parent | 13736118 | Jan 2013 | US |
| Child | 15346739 | US | |
| Parent | PCT/IL2012/000312 | Aug 2012 | US |
| Child | 13736118 | US | |
| Parent | PCT/IL2006/000478 | Apr 2006 | US |
| Child | 11874534 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 11874534 | Oct 2007 | US |
| Child | 13736118 | US |
