|Publication number||US7643862 B2|
|Application number||US 11/434,035|
|Publication date||5 Jan 2010|
|Filing date||15 May 2006|
|Priority date||15 Sep 2005|
|Also published as||US20070073137|
|Publication number||11434035, 434035, US 7643862 B2, US 7643862B2, US-B2-7643862, US7643862 B2, US7643862B2|
|Original Assignee||Biomet Manufacturing Corporation|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (105), Non-Patent Citations (20), Referenced by (46), Classifications (14), Legal Events (5)|
|External Links: USPTO, USPTO Assignment, Espacenet|
This application is a continuation-in-part of U.S. patent application Ser. No. 11/227,741, filed Sep. 15, 2005 now abandoned, the disclosure of which is hereby incorporated by reference in its entirety.
The present teachings relate generally to surgical navigation and more particularly to a method of using a virtual input device with a surgical navigation procedure.
Surgical navigation systems, also known as computer assisted surgery and image guided surgery, aid surgeons in locating patient anatomical structures, guiding surgical instruments, and implanting medical devices with a high degree of accuracy. Surgical navigation has been compared to a global positioning system that aids vehicle operators to navigate the earth. A surgical navigation system typically includes a computer, a tracking system, and patient anatomical information. The patient anatomical information can be obtained by using an imaging mode such as fluoroscopy, computer tomography (CT) or by simply defining the location of patient anatomy with the surgical navigation system. Surgical navigation systems can be used for a wide variety of surgeries to improve patient outcomes.
To successfully implant a medical device, surgical navigation systems often employ various forms of computing technology, as well as utilize intelligent instruments, digital touch devices, and advanced 3-D visualization software programs. All of these components enable surgeons to perform a wide variety of standard and minimally invasive surgical procedures and techniques. Moreover, these systems allow surgeons to more accurately plan, track and navigate the placement of instruments and implants relative to a patient's body, as well as conduct pre-operative and intra-operative body imaging.
To accomplish the accurate planning, tracking and navigation of surgical instruments, tools and/or medical devices during a surgical navigation procedure, surgeons often utilize “tracking arrays” that are coupled to the surgical components. The tracking arrays allow the surgeon to accurately track the location of these surgical components, as well as the patient's bones during the surgery. By knowing the physical location of the tracking array, the software detection program of the tracking system is able to calculate the position of the tracked component relative to a surgical plan image.
It is known to employ a keypad on the back of a universal calibrator used in a surgical navigation procedure. This “virtual keypad” allows the user to access certain system functions from the sterile field without using the touch screen or mouse, the latter items being located outside of the sterile field. The enabled functions of this known virtual keypad vary depending on application, but are accessed in the same manner. The user touches the desired button on the virtual keypad using the tip of a calibrated probe (or calibrated drill guide). The array of the universal calibrator and the probe array (or drill guide array) must be in view of the camera to enable the virtual keypad function.
The known virtual keypad is limited in the number of tasks that are pre-programmed into the software, as well as requires the incorporation and use of additional instrumentation during the surgical procedure. Thus, it would be desirable to overcome these and other shortcomings of the prior art.
The present teachings provide an apparatus and methods for using a probe, tracking array or other surgical instrument tracked during a surgical navigation procedure as a virtual mouse or its functional equivalent.
In one form thereof, there is provided a method of performing a surgery including a surgical navigation system having a tracking system, computer and monitor placed outside of a sterile field. An input pad and a tracking array attachable to a surgical instrument or bone are placed into the sterile field along with a probe having a probe array. The tracking array and the probe array are acquired by the tracking system and a virtual mouse is activated by positioning the probe relative to the input pad, thereby causing a mouse input to the computer with the virtual mouse.
In another form thereof, there is provided a surgical navigation system. This system includes a computer having a monitor and surgical navigation utilities software, a tracking system coupled to the computer and establishing a measurement field, a tracking array attachable to a surgical instrument or a bone, an input pad associated with the tracking array, and a probe having a probe array. The tracking array and probe array are each recognizable by the tracking system when exposed to the measurement field. The software comprises a program that when executed causes the system to recognize positioning of the probe relative to the input pad as a mouse input.
In certain exemplary embodiments, the input pad is located on the tracking array and comprises one or more pad markers and/or a substantially flat surface configured to cooperate with a probe to cause the mouse input to the computer. According to these exemplary embodiments, the mouse input is generated when a tip of the probe is positioned substantially near one of the pad markers or moved along the substantially flat surface of the input pad.
In other exemplary embodiments, the tip of the probe can be moved away from the pad marker or the substantially flat surface to cause a second mouse input to the computer. In yet other exemplary embodiments, the probe array can be occluded from exposure to the measurement field to cause the second mouse input. According to these exemplary embodiments, the first mouse input could be interpreted by the computer as representing a single click of a conventional mouse that identifies a function on the computer monitor with a conventional mouse pointer. Moreover, the second mouse input could be interpreted by the computer as representing a double click of the conventional mouse wherein the function identified by the first mouse input is selected or activated. In other exemplary embodiments, the first and/or second mouse inputs may also be interpreted as other known mouse inputs, such as scrolling a menu or manipulating an object on the computer monitor.
The above-mentioned aspects of the present teachings and the manner of obtaining them will become more apparent and the teachings will be better understood by reference to the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:
Corresponding reference characters indicate corresponding parts throughout the several views.
The embodiments of the present teachings described below are not intended to be exhaustive or to limit the teachings to the precise forms disclosed in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of the present teachings.
In addition, as illustrated here, physician 21 may use probe 31, having markers 32, as a virtual mouse in combination with an input pad or touch pad 33 and a locating array 34. The pad 33 and locating array 34 may be supported by a stand or table 35 or other suitable structure for support within reach of the surgeon 21. A display image or user interface screen 38 displayed on display 27 includes a plurality of icons for selection by the physician 21 through use of the virtual mouse. The virtual mouse is typically located within the sterile field.
The operating room also includes instrument cart 45 having tray 44 for holding a variety of surgical instruments and arrays 46. Instrument cart 45 and C-arm 26 are typically draped in sterile covers 48 a, 48 b to eliminate contamination risks within the sterile field.
The surgery is performed within the sterile field, adhering to the principles of asepsis by all scrubbed persons in the operating room. Patient 22 and physician 21 are prepared for the sterile field through appropriate scrubbing and clothing. The sterile field will typically extend from operating table 24 upward in the operating room. Typically both computer display image 38 and fluoroscope display image 28 are located outside of the sterile field.
A representation of the patient's anatomy can be acquired with an imaging system, a virtual image, a morphed image, or a combination of imaging techniques. The imaging system can be any system capable of producing images that represent the patient's anatomy such as a fluoroscope producing x-ray two-dimensional images, computer tomography (CT) producing a three-dimensional image, magnetic resonance imaging (MRI) producing a three-dimensional image, ultrasound imaging producing a two-dimensional image, and the like. A virtual image of the patient's anatomy can be created by defining anatomical points with surgical navigation system 10 or by applying a statistical anatomical model. A morphed image of the patient's anatomy can be created by combining an image of the patient's anatomy with a data set, such as a virtual image of the patient's anatomy. Some imaging systems, such as C-arm fluoroscope 26, can require calibration. The C-arm can be calibrated with a calibration grid that enables determination of fluoroscope projection parameters for different orientations of the C-arm to reduce distortion. A registration phantom can also be used with a C-arm to coordinate images with the surgical navigation application program and improve scaling through the registration of the C-arm with the surgical navigation system. A more detailed description of a C-arm based navigation system is provided in James B. Stiehl et al., Navigation and Robotics in Total Joint and Spine Surgery, Chapter 3: C-Arm-Based Navigation, Springer-Verlag (2004).
Computer 112 can be any computer capable of properly operating surgical navigation devices and software, such as a computer similar to a commercially available personal computer that comprises a processor 126, working memory 128, core surgical navigation utilities 130, an application program 132, stored images 134, and application data 136. Processor 126 is a processor of sufficient power for computer 112 to perform desired functions, such as one or more microprocessors. Working memory 128 is memory sufficient for computer 112 to perform desired functions such as solid-state memory, random-access memory, and the like. Core surgical navigation utilities 130 are the basic operating programs, and include image registration, image acquisition, location algorithms, orientation algorithms, virtual keypad, diagnostics, and the like. Application program 132 can be any program configured for a specific surgical navigation purpose, such as orthopedic application programs for unicondylar knee (“uni-knee”), total knee, hip, spine, trauma, intramedullary (“IM”) nail/rod, and external fixator. Stored images 134 are those recorded during image acquisition using any of the imaging systems previously discussed. Application data 136 is data that is generated or used by application program 132, such as implant geometries, instrument geometries, surgical defaults, patient landmarks, and the like. Application data 136 can be pre-loaded in the software or input by the user during a surgical navigation procedure.
Output device 116 can be any device capable of creating an output useful for surgery, such as a visual output and an auditory output. The visual output device can be any device capable of creating a visual output useful for surgery, such as a two-dimensional image, a three-dimensional image, a holographic image, and the like. The visual output device can be a monitor for producing two and three-dimensional images, a projector for producing two and three-dimensional images, and indicator lights. The auditory output can be any device capable of creating an auditory output used for surgery, such as a speaker that can be used to provide a voice or tone output.
Removable storage device 118 can be any device having a removable storage media that would allow downloading data, such as application data 136 and patient anatomical data 124. The removable storage device can be a read-write compact disc (CD) drive, a read-write digital video disc (DVD) drive, a flash solid-state memory port, a removable hard drive, a floppy disc drive, and the like.
Tracking system 120 can be any system that can determine the three-dimensional location of devices carrying or incorporating markers that serve as tracking indicia. An active tracking system has a collection of infrared light emitting diode (ILEDs) illuminators that surround the position sensor lenses to flood a measurement field of view with infrared light. A passive system incorporates retro-reflective markers that reflect infrared light back to the position sensor, and the system triangulates the real-time position (x, y, and z location) and orientation (rotation around x, y, and z axes) of an array 122 and reports the result to the computer system with an accuracy of about 0.35 mm Root Mean Squared (RMS). An example of a passive tracking system is a Polaris® Passive System and an example of a marker is the NDI Passive Spheres™, both available from Northern Digital Inc. Ontario, Canada. A hybrid tracking system can detect active and active wireless markers in addition to passive markers. Active marker based instruments enable automatic tool identification, program control of visible LEDs, and input via tool buttons. An example of a hybrid tracking system is the Polaris® Hybrid System, available from Northern Digital Inc. A marker can be a passive IR reflector, an active IR emitter, an electromagnetic marker, and an optical marker used with an optical camera.
As is generally known within the art, implants and instruments may also be tracked by electromagnetic tracking systems. These systems locate and track devices and produce a real-time, three-dimensional video display of the surgical procedure. This is accomplished by using electromagnetic field transmitters that generate a local magnetic field around the patient's anatomy. In turn, the localization system includes magnetic sensors that identify the position of tracked instruments as they move relative to the patient's anatomy. By not requiring a line of sight with the transmitter, electromagnetic systems are also adapted for in vivo use, and are also integrable, for instance, with ultrasound and CT imaging processes for performing interventional procedures by incorporating miniaturized tracking sensors into surgical instruments. By processing transmitted signals generated by the tracking sensors, the system is able to determine the position of the surgical instruments in space, as well as superimpose their relative positions onto pre-operatively captured CT images of the patient.
Arrays 122 can be probe arrays, instrument arrays, reference arrays, calibrator arrays, and the like. Arrays 122 can have any number of markers, but typically have three or more markers to define real-time position (x, y, and z location) and orientation (rotation around x, y, and z axes). An array comprises a body and markers. The body comprises an area for spatial separation of the markers. In some embodiments, there are at least two arms and some embodiments can have three arms, four arms, or more. The arms are typically arranged asymmetrically to facilitate specific array and marker identification by the tracking system. In other embodiments, such as a calibrator array, the body provides sufficient area for spatial separation of markers without the need for arms. Arrays can be disposable or non-disposable. Disposable arrays are typically manufactured from plastic and include installed markers. Non-disposable arrays are manufactured from a material that can be sterilized, such as aluminum, stainless steel, and the like. The markers are removable, so they can be removed before sterilization.
Planning and collecting patient anatomical data 124 is a process by which a clinician inputs into the surgical navigation system actual or approximate anatomical data. Anatomical data can be obtained through techniques such as anatomic painting, bone morphing, CT data input, and other inputs, such as ultrasound and fluoroscope and other imaging systems.
Pre-operative planning 410 is performed by generating an image 424, such as a CT scan that is imported into the computer. With image 424 of the patient's anatomy, the surgeon can then determine implant sizes 426, such as screw lengths, define and plan patient landmarks 428, such as long leg mechanical axis, and plan surgical procedures 430, such as bone resections and the like. Pre-operative planning 410 can reduce the length of intra-operative planning thus reducing overall operating room time.
Navigation set-up 412 includes the tasks of system set-up and placement 432, implant selection 434, instrument set-up 436, and patient preparation 438. System set-up and placement 432 includes loading software, tracking set-up, and sterile preparation 440. Software can be loaded from a pre-installed application residing in memory, a single use software disk, or from a remote location using connectivity such as the internet. A single use software disk contains an application that will be used for a specific patient and procedure that can be configured to time-out and become inoperative after a period of time to reduce the risk that the single use software will be used for someone other than the intended patient. The single use software disk can store information that is specific to a patient and procedure that can be reviewed at a later time. Tracking set-up involves connecting all cords and placement of the computer, camera, and imaging device in the operating room. Sterile preparation involves placing sterile plastic on selected parts of the surgical navigation system and imaging equipment just before the equipment is moved into a sterile environment, so the equipment can be used in the sterile field without contaminating the sterile field.
Navigation set-up 412 is completed with implant selection 434, instrument set-up 436, and patient preparation 438. Implant selection 434 involves inputting into the system information such as implant type, implant size, patient size, and the like 442. Instrument set-up 436 involves attaching an instrument array to each instrument intended to be used and then calibrating each instrument 444. Instrument arrays should be placed on instruments, so the instrument array can be acquired by the tracking system during the procedure. Patient preparation 438 is similar to instrument set-up because an array is typically rigidly attached to the patient's anatomy 446. Reference arrays do not require calibration but should be positioned so the reference array can be acquired by the tracking system during the procedure.
As mentioned above, anatomic data collection 414 involves a clinician inputting into the surgical navigation system actual or approximate anatomical data 448. Anatomical data can be obtained through techniques such as anatomic painting 450, bone morphing 452, CT data input 454, and other inputs, such as ultrasound and fluoroscope and other imaging systems. The navigation system can construct a bone model with the input data. The model can be a three-dimensional model or two-dimensional pictures that are coordinated in a three-dimensional space. Anatomical painting 450 allows a surgeon to collect multiple points in different areas of the exposed anatomy. The navigation system can use the set of points to construct an approximate three-dimensional model of the bone. The navigation system can use a CT scan done pre-operatively to construct an actual model of the bone. Fluoroscopy uses two-dimensional images of the actual bone that are coordinated in a three-dimensional space. The coordination allows the navigation system to accurately display the location of an instrument that is being tracked in two separate views. Image coordination is accomplished through a registration phantom that is placed on the image intensifier of the C-arm during the acquisition of images. The registration phantom is a tracked device that contains imbedded radio-opaque spheres. The spheres have varying diameters and reside on two separate planes. When an image is taken, the fluoroscope transfers the image to the navigation system. Included in each image are the imbedded spheres. Based on previous calibration, the navigation system is able to coordinate related anterior and posterior views and coordinate related medial and lateral views. The navigation system can also compensate for scaling differences in the images.
Patient registration 416 establishes points that are used by the navigation system to define all relevant planes and axes 456. Patient registration 416 can be performed by using a probe array to acquire points, placing a software marker on a stored image, or automatically by software identifying anatomical structures on an image or cloud of points. Once registration is complete, the surgeon can identify the position of tracked instruments relative to tracked bones during the surgery. The navigation system enables a surgeon to interactively reposition tracked instruments to match planned positions and trajectories and assists the surgeon in navigating the patient's anatomy.
During the procedure, step-by-step instructions for performing the surgery in the application program are provided by a navigation process. Navigation 418 is the process a surgeon uses in conjunction with a tracked instrument or other tracked array to precisely prepare the patient's anatomy for an implant and to place the implant 458. Navigation 418 can be performed hands-on 460 or hands-free 462. However navigation 418 is performed, there is usually some form of feedback provided to the clinician such as audio feedback or visual feedback or a combination of feedback forms. Positive feedback can be provided in instances such as when a desired point is reached, and negative feedback can be provided in instances such as when a surgeon has moved outside a predetermined parameter. Hands-free 462 navigation involves manipulating the software through gesture control, tool recognition, virtual keypad and the like. Hands-free 462 is done to avoid leaving the sterile field, so it may not be necessary to assign a clinician to operate the computer outside the sterile field.
Data storage 420 can be performed electronically 464 or on paper 466, so information used and developed during the process of surgical navigation can be stored. The stored information can be used for a wide variety of purposes such as monitoring patient recovery and potentially for future patient revisions. The stored data can also be used by institutions performing clinical studies.
Post-operative review and follow-up 422 is typically the final stage in a surgical procedure. As it relates to navigation, the surgeon now has detailed information that he can share with the patient or other clinicians 468.
Activation of the virtual mouse is represented in the block diagram of
While physician 21 is preparing for or performing a surgery, the physician may select from a variety of icons shown in the computer display image 38 of the display 27 by using the virtual mouse functionality. Because the optical locator 23 senses the location of the probe 31 through use of the spheres 32, the location of the tip of the surgical probe 31 may also be determined. For instance, in
For purposes of this specification the terms “probe” and “probe array” should be construed broadly to include any known surgical devices capable of being used as a pointing instrument for activating or manipulating the exemplary virtual mouse devices of the present teachings. Examples of such devices include spatulas, hook probes and similar instruments. Whatever pointing device is used with the pad, it should have a tip and an array that allows it to be tracked by the navigation system.
The pad 33 can include a variety of indicia or “pad markers” to help the surgeon 21 navigate through the various icons on the computer display 38. For instance, the pad 33 can include a boundary or outline 600 which corresponds to a boundary or outline 600 of the computer display image 38. The boundary or outline 600 may be a visual indicator which is formed by paint, tape, or some other means of visual indication. The boundary 600 may also include a physical boundary such as a groove depression, or raised line such that the physician 21 may find the boundaries by touch when the probe crosses the physical features. In addition, the pad 33 also includes a help indicia 602, formed by either visual or physical indicators, such that the physician may select a help feature when desired. Furthermore, the pad may include indicia of a user interface screen.
While it is possible to include other indicia on the pad 33, typically only indicia corresponding to an icon on the computer display image which does not change from one image to another are displayed. It is within the scope of the teachings, however, to use a pad 33 which does not have any indicia including the boundary 600 or the help indicia 602. For instance, since the location of the probe 31 (determined by the markers 32) relative to the array 34, provides the required location data to the computer 12 to enable selection of the icons on the image 38.
Referring now to
As described with respect to
In a further embodiment, as illustrated in
Having described a specific example employing the virtual mouse of the present teachings, a more generalized block diagram representing the virtual mouse functionality can be appreciated. As shown in
Block 1208 represents mouse functionality that is further broken down in blocks 1210, 1212 and 1214 into “predetermined pad space,” “z-axis” and “gesture,” respectively. As described above with reference to
The system may also recognize and assign functionality to movement of the tip of the probe away from the surface of the pad, i.e., along the z-axis, as shown at block 1212. For example, a quick movement of the tip of the probe away from the pad a few centimeters and then returning the tip to substantially the same spot on the pad may be interpreted as equivalent to a single click of a conventional mouse. Similarly, two of these short “taps” may be interpreted as a double click. One of skill in the art would readily recognize many other functions or mouse inputs that could be assigned to various movements of the probe in the z-axis.
As described above with reference to
These teachings also provide “object manipulation” capabilities (block 1216). For example, the tip of the probe may be moved across the flat surface of the pad, which causes corresponding movement of the pointer or arrow on the monitor, as described elsewhere. The arrow is moved until it is positioned over an image of human anatomy, such as a knee, for example. The probe may then be lifted from the flat surface of the pad, which is recognized by the computer as a mouse input triggering “object manipulation” mode. Once in this object manipulation mode, the computer translates three dimensional movement of the probe to corresponding three dimensional movement of the image on the monitor. While the exact correspondence between the three-dimensional movement of the probe and movement of the image is a design variable, it is preferable that the correspondence be intuitive. For example, rotating the probe along its long axis would rotate the image of the knee about the axis of the bone.
In further exemplary embodiments, the touch pad or input pad portion of the virtual mouse device is located on the outer surface of a tracking array structure, such as an instrument array or a bone reference array. For instance,
The geometric relationship between each of pad markers 1350 and surgical probe 1310 is known and stored in the navigation system's computer. Because of this known relationship, the computer is able to determine when surgical probe 1310 touches or is substantially near one of the pad markers and is able to translate this into a user input (e.g., a mouse input) to the computer that is coupled to the tracking system. For example, when the tip of tracked probe 1310 is positioned substantially near or brought into close proximity to one of the pad markers 1350, the computer's navigation software recognizes that the tip is near the marker and treats it as a mouse input to the computer. Each of the pad markers is assigned a specific functionality by the computer's software such that when the tip of the surgical probe is positioned near a given pad marker, the specific function assigned to that pad marker is performed. For instance, if one of the pad markers has been assigned the functionality of advancing the surgical protocol screen forward one page, when the tip of the probe is positioned substantially near this pad marker, the screen automatically advances forward one page.
Activation of virtual mouse 1300 is represented in the block diagram of
While physician 21 is preparing for or performing a surgery, the physician may select from a variety of icons displayed on a computer monitor by using the virtual mouse functionality. To accomplish this, system 10 is programmed to recognize a unique and/or select function for each of the pad markers on the tracking array. Because the optical locator is able to track the position of the probe's tip as it moves relative to the pad markers on the tracking array, the system is able to determine when the tip is positioned about or substantially near one of the pad markers. For instance, in
To select icons 1550, 1650, surgeon 21 must generate a second mouse input to the computer system. According to one exemplary embodiment, the surgeon can cause the second mouse input to the computer system by occluding or blocking the markers 1515, 1615 of the surgical probes 1510, 1610. The process of occluding a marker is discussed in detail above as well as specifically illustrated in
In other exemplary embodiments, the second mouse input can be generated to the computer system by moving the tip of probes 1510, 1610 away from pad markers 1530, 1630, i.e., along the z-axis. For instance, a quick movement of the tip of probes 1510, 1610 away from pad markers 1530, 1630 a few centimeters and then returning the tip to substantially the same spot on the pad may be interpreted as equivalent to a single click of a conventional mouse. Similarly, two of these short “taps” may be interpreted as a double click. One of skill in the art would readily recognize many other functions or mouse inputs that could be assigned to various movements of the probe in the z-axis.
In addition to pad markers, the input pad may also comprise a substantially flat surface configured to cooperate with the tip of the surgical probe to cause the second mouse input to the computer. For instance,
As explained in detail above, while the surgeon is preparing for or performing a surgery, a variety of icons displayed on the monitor may be identified and/or selected by using the virtual mouse functionality. More particularly, because cameras 1855 of optical locator 1856 sense the location of the probe through use of its trackable spheres, the location of the tip of the surgical probe may also be determined. For instance, in
When the physician 21 has reached a point in the procedure where an icon on the computer display 1815 requires selection in order to perform a desired function, the physician 21 moves the probe 1810 across the surface 1825 of the input pad 1830 on tracking array 1850 to correspondingly cause the arrow 1820 on the display 1815 to move. When the physician 21 positions the arrow 1820 over the desired icon, a mouse input is sent to the computer such that the icon is highlighted or identified as being chosen for selection by the surgeon. At this point in the procedure, the surgeon must select the icon to move to the next page of the surgical protocol. To select the icon, the physician 21, either occludes the markers 1835 of the probe 1810 or moves the tip of the probe 1810 away from the surface 1825 of the input pad 1830. Both of these procedures are discussed in great detail above and do not require further discussion here.
The virtual mouse input methods of the present teachings can also be embodied on a computer readable storage medium. According to these embodiments, the computer readable storage medium stores instructions that, when executed by a computer, cause the surgical navigation system to perform a virtual mouse input process. The computer readable storage medium can be any medium suitable for storing instruction that can be executed by a computer such as a compact disc (CD), digital video disc (DVD), flash solid-state memory, hard drive disc, floppy disc, and the like.
While an exemplary embodiment incorporating the principles of the present invention has been disclosed hereinabove, the present invention is not limited to the disclosed embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of the invention using its general principles. For instance, instead of providing a pad, the present invention may include a stand marked appropriately and including an array 34. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims.
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|U.S. Classification||600/407, 600/414, 600/426|
|Cooperative Classification||A61B2017/00207, A61B2034/108, A61B90/36, A61B34/20, A61B2034/2068, A61B34/74, A61B2034/2055, A61B2034/105|
|European Classification||A61B19/52, A61B19/52H12|
|10 Dec 2007||AS||Assignment|
Owner name: BANK OF AMERICA, N.A., AS ADMINISTRATIVE AGENT FOR
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|11 Jun 2009||AS||Assignment|
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|2 Jul 2013||FPAY||Fee payment|
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