A system for navigating a catheter probe through a body cavity includes a sensing coil affixed to a distal end of the probe. magnetic fields are projected into the body cavity to induce voltage signals in the sensing coil that are sufficient to describe the orientation and position of the probe. A set of magnetic coils each generates a substantially uniform field in a single respective dimension. The orientation angles of the sensing coil may be determined from known values of the unidirectional fields and the measured induced voltage signals. Gradient magnetic fields with components in two dimensions are projected into the body cavity to induce another group of voltage signals. The geometrical intersection of constant voltage surfaces developed by certain gradient fields that produce the measured induced voltage signals is a set of lines on which the catheter is located. The point of intersection of such lines yields the positional coordinates.
|
0. 27. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil in a navigational domain within a body, comprising:
first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil, including field generation means for successively generating magnetic field patterns projected into said navigational domain, wherein said field generation means comprises a set of magnetic coils and said magnetic coils are disposed in a planar top of an examination deck upon which a patient is disposed during a surgical procedure;
analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil;
second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and,
analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.
0. 32. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil, including field generation means for successively generating magnetic field patterns projected into said navigational domain, wherein said field generation means comprises a set of magnetic coils disposed in a planar top of an examination deck upon which a patient is disposed during a surgical procedure;
analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil;
second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and
analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.
0. 31. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil in a navigational domain within a body, comprising:
first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil, including field generation means for successively generating magnetic field patterns projected into said navigational domain, wherein said field generation means comprises a set of magnetic coils and said magnetic coils are disposed in a planar top and in rail members edge supported by said planar top for an examination deck upon which a patient is disposed during a surgical procedure;
analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil;
second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and,
analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.
0. 35. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil, including field generation means for successively generating magnetic field patterns projected into said navigational domain, wherein said field generation means comprises a set of magnetic coils disposed in a planar top and in rail members edge supported by said planar top for an examination deck upon which a patient is disposed during a surgical procedure;
analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil;
second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and
analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.
0. 23. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil in a navigational domain within a body, comprising the steps of:
inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil;
determining the orientation of said sensing coil using said induced orientation signal values;
inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil by generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by two principal gradient magnetic components in respective axial dimensions and a relatively smaller magnetic component in a third axial dimension;
generating said fields to provide a plurality of constant signal surfaces for the sensing coil such that an intersection between two such surfaces with components in the same axial dimensions produces a line along which said sensing coil is located;
wherein said two such surfaces are identified from among said plurality of constant signal surfaces by their ability to induce one of said positional signal values; and,
determining the position of said sensing coil using said positional signal values and said determined orientation.
0. 1. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of:
inducing within said sensing coil a set of orientation signal values each representative of an orientation of said sensing coil and independent of a position of said sensing coil;
determining the orientation of said sensing coil using said induced orientation signal values;
inducing within said sensing coil a set of positional signal values each representative of the position of said sensing coil; and
determining the position of said sensing coil using said positional signal values and said determined orientation.
0. 2. The method as recited in
generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by a principal magnetic component in one axial dimension and relatively smaller magnetic components in two other axial dimensions.
0. 3. The method as recited in
generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by two principal gradient magnetic components in respective axial dimensions and a relatively smaller magnetic components in a third axial dimension.
0. 4. The method as recited in
generating said fields to provide a plurality of constant signal surfaces for the sensing coil such that an intersection between two such surfaces with components in the same axial dimensions produces a line along which said sensing coil is located;
wherein said two such surfaces are identified from among said plurality of constant signal surfaces by their ability to induce one of said positional signal values.
0. 5. The method as recited in
weighting each line in accordance with a signal strength of said corresponding constant signal surface; and
determining an intersection of said weighted lines.
0. 6. The method as recited in
0. 7. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
first transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of an orientation of said sensing coil and independent of the position of said sensing coil;
second transmit means for projecting into said navigational domain magnetic energy that is sufficient to induce signal values within said sensing coil representative of the position of said sensing coil; and
analysis means, coupled to said first transmit means and said second transmit means, for determining the position and orientation of said sensing coil from said induced signal values.
0. 8. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
first signal-inducing means for inducing within said sensing coil orientation signals that are representative of the orientation of said sensing coil;
analysis means, coupled to said first signal-inducing means, for determining the orientation of said sensing coil using said induced orientation signals and independent from a position of said sensing coil;
second signal-inducing means for inducing within said sensing coil position signals that are representative of the position of said sensing coil; and
analysis means, coupled to said second signal-inducing means, for determining the position of said sensing coil using said determined orientation and said induced position signals.
0. 9. The system as recited in
field generation means for successively generating magnetic field patterns projected into said navigational domain, each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions.
0. 10. The system as recited in
0. 11. The system as recited in
0. 12. The system as recited in
0. 13. The system as recited in
field generation means for successively generating magnetic field patterns each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
0. 14. The system as recited in
0. 15. A method of determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising the steps of:
defining the location of said sensing coil with a set of independent location parameters; and
sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.
0. 16. The method as recited in
a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; and
a series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
0. 17. The method as recited in
an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; and
a position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil.
0. 18. The method as recited in
initially solving the induced signal expressions of said orientation group; and
next solving the induced signal expressions of said position group.
0. 19. A system for determining the location of a magnetically-sensitive, electrically conductive sensing coil affixed to a distal end of a catheter probe partially inserted into a body cavity within a navigational domain, comprising:
means for defining the location of said sensing coil with a set of independent location parameters; and
field generation means for sequentially generating within said navigational domain a sequence of magnetic fields for inducing within said sensing coil a corresponding sequence of induced signals each defined by an induced signal expression that functionally relates said induced signal to certain ones of said location parameters, such that said set of location parameters is determinable by sequentially solving individual signal expression groups each including certain ones of said induced signal expressions and sufficient to represent a subset of said location parameters.
0. 20. The system as recited in
a series of unidirectional magnetic fields each characterized substantially by a principal magnetic field component in one direction and relatively smaller magnetic components in two other directions; and
a series of gradient magnetic fields each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
0. 21. The system as recited in
an orientation group including induced signal expressions each functionally related to a respective one of said unidirectional magnetic fields and an orientation of said sensing coil, and independent of a position of said sensing coil; and
a position group including induced signal expressions each functionally related to a respective one of said gradient magnetic fields, the orientation of said sensing coil, and the position of said sensing coil.
0. 22. The system as recited in
analysis means for solving the induced signal expressions of said orientation group; and
analysis means for solving the induced signal expressions of said position group.
0. 24. The method as recited in
generating from outside said body a series of magnetic fields each penetrating at least said navigational domain and characterized substantially by a principal magnetic component in one axial dimension and relatively smaller magnetic components in two other axial dimensions.
0. 25. The method as recited in
weighting each line in accordance with a signal strength of said corresponding constant signal surface; and
determining an intersection of said weighted lines.
0. 26. The method as recited in
0. 28. The system as recited in
0. 29. The system as recited in
field generation means for successively generating magnetic field patterns each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
0. 30. The system as recited in
0. 33. The system as recited in
field generation means for successively generating magnetic field patterns each characterized by a first and second gradient field component in respective directions and a relatively smaller third component in another direction.
0. 34. The system as recited in
|
|||||||||||||||||||||||||||||||
A useful reference frame for spatially conceptualizing the interaction between the sensing coil and the magnetic fields is the Cartesian coordinate system defined by mutually perpendicular axes x-y-z. For purposes of illustration, a nonzero vector â is selected to coincide with the axis through the sensing coil of the present invention (hereinafter “coil axis”).
The angles α, β, and γ that the vector â makes with the unit coordinate vectors î, ĵ, and {circumflex over (k)}, respectively, are called the direction angles of â; the trigonometric terms cosα, cosβ, and cosγ represent direction cosine values. Employing vector product notation, the following expressions are developed: â·î=∥â∥cosα; â·ĵ=∥â∥cosβ; and â·{circumflex over (k)}=∥â∥cosγ. Referencing the induced voltage equations set forth above, these angles α, β and γ correspond to the angular displacement of the coil axis with respect to uniform fields generated along the x-axis, y-axis, and z-axis directions, respectively. Thus, the correspondence between direction cosine expressions is as follows:
As noted above, the last navigation point (LNP) refers to the x-y-z positional coordinates of the sensing coil as determined by the immediately previous computation cycle of the algorithm. For the first cycle, the LNP is the center of the viewing field.
In accordance with a preferred embodiment of the present invention for implementing the location algorithm, a magnetic assembly of nine individual coil sets are used to generate the magnetic fields sufficient to develop a corresponding set of nine induced voltage signals that are fully representative of the location of the sensing coil. The nine coil sets correspond to a group of three unidirectional coil sets for generating uniform fields in the x, y, and z-directions; a first delta coil group including a short coil set at 0° and a long coil set at 0°; a second delta coil group including a short coil set at 120° and a long coil set at 120°; and a third delta coil group including a short coil set at 240° and a long coil set at 240°. The angular designations associated with the delta coil groups indicate the angle with respect to the z-axis of the coil dimension that is perpendicular to the direction of elongation of the delta coils. Accordingly, the three delta coil groups are arranged pair-wise in a circular orientation about the y-axis at angles of 0°, 120°, and 240°.
The look-up-table (LUT) consists of a database containing the magnetic field values (Hx Hy Hz) at every x-y-z coordinate location within the navigational domain for five coil sets: the unidirectional coil sets for generating the uniform fields in the x, y, and z-directions; the short coil (SC) set at 0°; and the long coil (LC) set at 0°. The magnetic field value data for the short and long coil sets at 120° and 240° may be obtained from the LUT by rotating the field vectors for the long and short coil sets at 0° by the angle (i.e., ±120°) appropriate for the given coil set. The input data for the LUT consists of the x-y-z coordinates and a designation of which coil set is being used to generate the magnetic fields. In response to this input data, the LUT supplies the magnetic field values Hx Hy Hz at the selected x-y-z coordinates for the designated coil set.
The LUT is present to speed up the operational sequence of the location algorithm. Otherwise, an undesirable computational delay exists if the required magnetic fields from the nine coil sets must be individually calculated during each iteration of the algorithm. By predetermining the magnetic field values and storing them in LUT, the location algorithm need only access the LUT to retrieve the appropriate field value without endeavoring into any complex field analysis. At x-y-z coordinates other than those for which magnetic field values are determined in the LUT, an interpolation procedure is employed to calculate the field value.
The location algorithm of the present invention initially undertakes a procedure to determine the angular orientation of the sensing coil. An assumption is first made that the coil orientation does not appreciably change during the period between cycle computations. Accordingly, the magnetic field values corresponding to the uniform field pattern at the LNP are used as an approximation for the magnetic field values at the current but as yet undetermined location.
The unidirectional coils are activated in succession, each generating a substantially uniform field that projects into the navigational domain and induces a corresponding voltage signal in the sensing coil. The induced voltage signals are measured by an appropriate detection unit coupled to a proximal end of the catheter device where an electrical connection to the sensing coil is established via suitable connection means extending along the body of the catheter device.
The LUT is then accessed three times to acquire the magnetic field values at the LNP for each of the three unidirectional coils. These values and the measured voltage signals are then substituted into the appropriate equations set forth below to solve for the unknown variables φ and θ that define the coil orientation.
As a general principle, the voltage induced within the sensing coil may be resolved into components along each of the axial dimensions as determined by the extent to which the magnetic flux density is developed along these axial dimensions. For example, a general formula for the induced voltage produced by the unidirectional coil which generates a substantially uniform field in the x-direction is as follows:
Vx=HxxK sinφcosθ+HyxK sinφsinθ+HzxK cosφ
where magnetic field intensity H is related to magnetic flux density by B=μH and K=μo
Vy=HxyK sinφcosθ+HyyK sinφsinθ+HzyK cosφ,
and
Vz=HxzK sinφcosθ+HyzK sinφsinθ+HzzK cosφ.
The terms Hxy and Hzy in the equation for Vy and the terms Hxz and Hyz in the equation for Vz are small compared to Hyy and Hzz, respectively. After substituting the measured values for the induced voltage signals, the equations are simultaneously solved to determine the unknown variables φ and θ defining the orientation of the sensing coil.
By way of summary, the procedure for determining the positional coordinates of the sensing coil in accordance with the present invention first involves activating each delta coil in succession and measuring the induced voltage thereby developed in the sensing coil. Next, the LUT is accessed to obtain the magnetic field values at the LNP for each specified delta coil. These magnetic field values and the as-computed values for the orientation angles φ and θ are then substituted into the appropriate induced voltage equations to calculate for each delta coil the expected value of the voltage signal induced in the sensing coil. This expected value of the induced signal corresponds to a specific and unique member of the family of constant signal surfaces of the delta coils.
Based on the difference between the measured and expected values for the induced voltage signals, a gradient is calculated (representative of the rate of change of the induced signal) that permits identification of the specific constant signal surface that is responsible for generating the measured value of the induced signal. This procedure is repeated for each delta coil.
For the activation of each delta coil group (comprised of one long coil set and one short coil set), there is an intersection line defined by the intersection of the two constant signal surfaces (which were identified as developing the measured induced signal) on which the sensing coil is located. The intersection of the three such lines from the three delta coil groups uniquely provides the x-y-z coordinates of the sensing coil. Although two such lines are sufficient to describe the position of the sensing coil, greater accuracy and more reliable performance in determining the catheter position is achieved with three lines.
The following is a more detailed discussion of the procedure summarized above for determining the positional coordinates.
The magnetic field pattern generated by the entire assembly of short coil and long coil sets is characterized by a family of surfaces of constant signal or constant voltage developed by the sensing coil, each having non-zero components in two of the axis directions and a small component in the remaining axis direction. For example, the magnetic field surfaces generated by the short and long coil sets oriented at 0° relative to the x-axis have a small value in the x-direction. The short coil positioned at 0° (i.e., SC(0°)) and long coil positioned at 0° (i.e., LC (0°)) are each independently activated. The induced voltage in the sensing coil is measured for each coil set. The LUT is then accessed to determine the magnetic field values for the SC(0°) and LC(0°) coil set at the LNP.
These magnetic field values (i.e., Hx=small and non-zero Hy Hz components) are used in conjunction with the as-computed orientation angles φ and θ to calculate the values of the induced catheter signals that would be expected from such magnetic field values. The expected and measured induced voltage values are compared, and the difference is used to identify the constant signal surface from each of the SC(0°) and LC(0°) coil sets that would have produced the measured induced signals. The intersection of these identified magnetic constant signal surfaces is a line parallel to the x-axis (thereby resolving the y-z coordinates).
The aforementioned procedure involving the long and short coils oriented at 0° is iteratively repeated for a long and short coil set oriented at 120° (i.e., SC(120°) and LC(120°)) and 240° (i.e., SC(240°) and LC(240°)).
More specifically, the coil sets SC(120°) and LC(120°) are sequentially activated to induce corresponding catheter signals in the sensing coil. In order to utilize the LUT data on the coil sets oriented at 0° for determining the magnetic field components at the LNP generated by the coil sets SC(120°) and LC(120°), a modified LNP is calculated that is equivalent to the original LNP rotationally displaced by 120°. The LUT is then accessed with the modified LNP to determine the magnetic field values generated by the SC(120°) and LC(120°) coil sets at the modified LNP. The field vectors produced by the LUT for both the long coil and short coil are then rotated (−120°) to go from the modified LNP to the actual LNP. Based upon these field values, a pair of induced catheter signals are calculated that correspond to the expected signal values arising from the magnetic field values for the SC(120°) and LC(120°) coil sets. The difference between the measured and expected induced catheter signals is used to identify the magnetic constant signal surface for each of the SC(120°) and LC(120°) coil sets that could produce the measured catheter signal. The intersection of these identified magnetic constant signal surfaces is a line oriented at 120° to the x-axis.
A similar procedure is used involving a modified LNP that is rotationally displaced 240° to simulate the magnetic field patterns for the SC(240°) and LC(240°) coil sets using the SC(0°) and LC(0°) field data. A line oriented at 240° to the x-axis is then identified along which the catheter is located.
Each of the field lines oriented at 0°, 120° and 240° to the x-axis is weighted according to the strength of the measured catheter signals. For example, a weak measurement indicates a relatively imprecise identification of the intersection line, resulting in a weaker weighting. This weighting reflects the accuracy of the estimation used to determine the location of the catheter with the specified coil set. An averaging technique is used to compute a weighted estimate of the intersection of the lines L(0°), L(120°) and L(240°). The intersection is the new value for x-y-z and will replace the x-y-z of the old LNP to become the next LNP. The algorithm iteratively repeats the aforementioned operations using the updated LNP to arrive at the location of the sensing coil after each computation cycle (e.g., every 0.1 s).
The coil configurations shown in the Figures are only illustrative and should not be construed as a limitation of the present invention, as it should be apparent to those skilled in the art that other coil configurations are possible within the scope of the present invention provided such other configurations produce the desired magnetic field patterns. A suitable connection means (not shown) couples the sensing coil 14 to a signal measuring device.
The coils are preferably arranged in a circular orientation about the y-axis such that there is an axis perpendicular to the direction of elongation of the coils at 0°, 120° and 240° relative to the z-axis. The magnetic field generated by the first group of long (50) and short delta coils (52) is shown representatively by the field lines extending from the upper region of the coils. The field lines from this delta coil group form the family of constant signal surfaces shown within the navigational domain 12. Superposition of the constant signal surfaces generated by the long and short coils of a delta coil group produces a fishnet pattern as shown in FIG. 6. The intersection of two such constant signal surfaces generated by a short and long coil pair is a single line represented by the dotted line 70.
A constant signal surface (72 and 74) is identified for each short coil and long coil activation of a delta coil pair by determining the surface that matches the induced signals developed in the sensing coil. This procedure is repeated for the other two delta coil pairs to produce two other lines comparable to line 70. The intersection of these three lines determines the position of the catheter.
The quality of the coils, as measured by the degree of uniformly of the uniform field coils or how close to zero is the field in the non-gradient direction for the delta coils, determines the size of the navigational domain over which the variable separation technique for navigating the catheter will converge and therefore be capable of initially finding the catheter, and hence be of functional utility.
In accordance with another embodiment of the present invention, a second sensing coil is used for stabilization purposes. Inaccurate readings of the catheter probe location may occur from motion artifacts due to breathing action, heart motion, or patient movement. The stabilized location coordinates may be determined by placing a second sensing coil on the sternum of the patient at a known location within the navigational domain. The incremental movement experienced by the second sensing coil due to motion artifacts is detected and subtracted from the measured location value of the probe to arrive at the actual location coordinates of the probe. Further extensions of the present invention are possible to facilitate multi-catheter applications by attaching an additional sensing coil to the distal end of each additional catheter.
Since certain changes may be made in the above apparatus and method without departing from the scope of the invention herein described, it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted in an illustrative and not in a limiting sense.
Haase, Wayne C., Martinelli, Michael A.
| Patent | Priority | Assignee | Title |
| 10039527, | May 20 2009 | BK MEDICAL HOLDING COMPANY, INC | Ultrasound systems incorporating spatial position sensors and associated methods |
| 10070801, | Jul 10 2008 | Covidien LP | Integrated multi-functional endoscopic tool |
| 10096126, | Jun 03 2008 | Covidien LP | Feature-based registration method |
| 10154798, | Apr 08 2009 | Covidien LP | Locatable catheter |
| 10285623, | Jun 06 2008 | Covidien LP | Hybrid registration method |
| 10321803, | May 01 2005 | Covidien LP | System and method for image-based alignment of an endoscope |
| 10383509, | Sep 15 2003 | Covidien LP | System of accessories for use with bronchoscopes |
| 10390686, | Sep 27 2007 | Covidien LP | Bronchoscope adapter and method |
| 10418705, | Oct 28 2016 | Covidien LP | Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same |
| 10426555, | Jun 03 2015 | Covidien LP | Medical instrument with sensor for use in a system and method for electromagnetic navigation |
| 10446931, | Oct 28 2016 | Covidien LP | Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same |
| 10478092, | Jun 06 2008 | Covidien LP | Hybrid registration method |
| 10478254, | May 16 2016 | Covidien LP | System and method to access lung tissue |
| 10517505, | Oct 28 2016 | Covidien LP | Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system |
| 10582834, | Jun 15 2010 | RIOJA LLC; Covidien LP | Locatable expandable working channel and method |
| 10615500, | Oct 28 2016 | Covidien LP | System and method for designing electromagnetic navigation antenna assemblies |
| 10638952, | Oct 28 2016 | Covidien LP | Methods, systems, and computer-readable media for calibrating an electromagnetic navigation system |
| 10674936, | Jun 06 2008 | Covidien LP | Hybrid registration method |
| 10722311, | Oct 28 2016 | Covidien LP | System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map |
| 10743748, | Apr 17 2002 | Covidien LP | Endoscope structures and techniques for navigating to a target in branched structure |
| 10751126, | Oct 28 2016 | Covidien LP | System and method for generating a map for electromagnetic navigation |
| 10792106, | Oct 28 2016 | Covidien LP | System for calibrating an electromagnetic navigation system |
| 10912487, | Jul 10 2008 | Covidien LP | Integrated multi-function endoscopic tool |
| 10952593, | Jun 10 2014 | Covidien LP | Bronchoscope adapter |
| 10980400, | Sep 27 2007 | Covidien LP | Bronchoscope adapter and method |
| 11074702, | Jun 03 2008 | Covidien LP | Feature-based registration method |
| 11160617, | May 16 2016 | Covidien LP | System and method to access lung tissue |
| 11219489, | Oct 31 2017 | Covidien LP | Devices and systems for providing sensors in parallel with medical tools |
| 11234611, | Jul 10 2008 | Covidien LP | Integrated multi-functional endoscopic tool |
| 11241164, | Jul 10 2008 | Covidien LP | Integrated multi-functional endoscopic tool |
| 11284943, | Nov 06 2007 | Medtronic Navigation, Inc. | System and method for navigated drill guide |
| 11672604, | Oct 28 2016 | Covidien LP | System and method for generating a map for electromagnetic navigation |
| 11730342, | Aug 29 2017 | Joimax GmbH | Detection system and method for automatic detection of surgical instruments |
| 11759264, | Oct 28 2016 | Covidien LP | System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map |
| 11783498, | Jun 03 2008 | Covidien LP | Feature-based registration method |
| 11786314, | Oct 28 2016 | Covidien LP | System for calibrating an electromagnetic navigation system |
| 11786317, | May 16 2016 | Covidien LP | System and method to access lung tissue |
| 7953471, | May 03 2004 | Medtronic Navigation, Inc. | Method and apparatus for implantation between two vertebral bodies |
| 7998062, | Mar 29 2004 | Covidien LP | Endoscope structures and techniques for navigating to a target in branched structure |
| 8452068, | Jun 06 2008 | Covidien LP | Hybrid registration method |
| 8467589, | Jun 06 2008 | Covidien LP | Hybrid registration method |
| 8473032, | Jun 03 2008 | Covidien LP | Feature-based registration method |
| 8556815, | May 20 2009 | BK MEDICAL HOLDING COMPANY, INC | Freehand ultrasound imaging systems and methods for guiding fine elongate instruments |
| 8611984, | Apr 08 2009 | Covidien LP | Locatable catheter |
| 8663088, | Sep 15 2003 | Covidien LP | System of accessories for use with bronchoscopes |
| 8696548, | Apr 17 2002 | Covidien LP | Endoscope structures and techniques for navigating to a target in branched structure |
| 8696685, | Apr 17 2002 | Covidien LP | Endoscope structures and techniques for navigating to a target in branched structure |
| 8764725, | Feb 09 2004 | Covidien LP | Directional anchoring mechanism, method and applications thereof |
| 8768437, | Aug 20 1998 | Sofamor Danek Holdings, Inc. | Fluoroscopic image guided surgery system with intraoperative registration |
| 8905920, | Sep 27 2007 | Covidien LP | Bronchoscope adapter and method |
| 8932207, | Jul 10 2008 | Covidien LP | Integrated multi-functional endoscopic tool |
| 9055881, | May 01 2005 | Covidien LP | System and method for image-based alignment of an endoscope |
| 9089261, | Sep 15 2003 | Covidien LP | System of accessories for use with bronchoscopes |
| 9113813, | Apr 08 2009 | Covidien LP | Locatable catheter |
| 9117258, | Jun 03 2008 | Covidien LP | Feature-based registration method |
| 9265589, | Nov 06 2007 | Medtronic Navigation, Inc. | System and method for navigated drill guide |
| 9271803, | Jun 06 2008 | Covidien LP | Hybrid registration method |
| 9295449, | Jan 23 2012 | BK MEDICAL HOLDING COMPANY, INC | Landmarks for ultrasound imaging |
| 9486162, | Jan 08 2010 | BK MEDICAL HOLDING COMPANY, INC | Spatial needle guidance system and associated methods |
| 9575140, | Apr 03 2008 | Covidien LP | Magnetic interference detection system and method |
| 9642514, | Apr 17 2002 | Covidien LP | Endoscope structures and techniques for navigating to a target in a branched structure |
| 9659374, | Jun 03 2008 | Covidien LP | Feature-based registration method |
| 9668639, | Sep 27 2007 | Covidien LP | Bronchoscope adapter and method |
| 9737235, | Mar 09 2009 | Medtronic Navigation, Inc. | System and method for image-guided navigation |
| 9775539, | Feb 08 2013 | Cochlear Limited | Medical device implantation imaging |
| 9895135, | May 20 2009 | BK MEDICAL HOLDING COMPANY, INC | Freehand ultrasound imaging systems and methods providing position quality feedback |
| 9950194, | Sep 09 2014 | Mevion Medical Systems, Inc.; MEVION MEDICAL SYSTEMS, INC | Patient positioning system |
| 9986895, | Sep 27 2007 | Covidien LP | Bronchoscope adapter and method |
| RE43750, | Jun 14 1995 | Medtronic Navigation, Inc. | Method for navigating a catheter probe |
| Patent | Priority | Assignee | Title |
| 1576781, | |||
| 1735726, | |||
| 2407845, | |||
| 2650588, | |||
| 2697433, | |||
| 3016899, | |||
| 3017887, | |||
| 3061936, | |||
| 3073310, | |||
| 3294083, | |||
| 3367326, | |||
| 3439256, | |||
| 3577160, | |||
| 3674014, | |||
| 3702935, | |||
| 3704707, | |||
| 3868565, | |||
| 3941127, | Oct 03 1974 | Apparatus and method for stereotaxic lateral extradural disc puncture | |
| 4037592, | May 04 1976 | Guide pin locating tool and method | |
| 4052620, | Nov 28 1975 | Picker Corporation | Method and apparatus for improved radiation detection in radiation scanning systems |
| 4054881, | Apr 26 1976 | KAISER AEROSPACE & ELECTRONICS CORPORATION, A CORP OF NV | Remote object position locater |
| 4117337, | Nov 03 1977 | General Electric Company | Patient positioning indication arrangement for a computed tomography system |
| 4173228, | May 16 1977 | Applied Medical Devices | Catheter locating device |
| 4202349, | Apr 24 1978 | Radiopaque vessel markers | |
| 4262306, | Apr 27 1977 | Method and apparatus for monitoring of positions of patients and/or radiation units | |
| 4287809, | Aug 20 1979 | Honeywell Inc. | Helmet-mounted sighting system |
| 4314251, | Jul 30 1979 | KAISER AEROSPACE & ELECTRONICS CORPORATION, A CORP OF NV | Remote object position and orientation locater |
| 4317078, | Oct 15 1979 | Ohio State University Research Foundation, The | Remote position and orientation detection employing magnetic flux linkage |
| 4328813, | Oct 20 1980 | Medtronic, Inc. | Brain lead anchoring system |
| 4339953, | Aug 29 1980 | Aisin Seiki Company, Ltd.; AISIN SEIKI COMPANY, LIMITED, | Position sensor |
| 4358856, | Oct 31 1980 | General Electric Company | Multiaxial x-ray apparatus |
| 4368536, | Dec 17 1979 | Siemens Aktiengesellschaft | Diagnostic radiology apparatus for producing layer images |
| 4396885, | Jun 06 1979 | Thomson-CSF | Device applicable to direction finding for measuring the relative orientation of two bodies |
| 4403321, | Jun 14 1980 | U S PHILIPS CORPORATION | Switching network |
| 4418422, | Feb 22 1978 | Howmedica International, Inc. | Aiming device for setting nails in bones |
| 4422041, | Jul 30 1981 | UNITED STATES of AMERICA, AS REPRESENTED BY THE SECRETARY OF THE ARMY | Magnet position sensing system |
| 4431005, | May 07 1981 | MBO LABORATORIES, INC , A CORP OF MA | Method of and apparatus for determining very accurately the position of a device inside biological tissue |
| 4485815, | Aug 30 1982 | Device and method for fluoroscope-monitored percutaneous puncture treatment | |
| 4543959, | Jun 04 1981 | Instrumentarium Oy | Diagnosis apparatus and the determination of tissue structure and quality |
| 4548208, | Jun 27 1984 | Medtronic, Inc. | Automatic adjusting induction coil treatment device |
| 4572198, | Jun 18 1984 | Varian, Inc | Catheter for use with NMR imaging systems |
| 4584577, | Oct 20 1982 | BROOKES & GA5TEHOUSE LIMITED | Angular position sensor |
| 4613866, | May 13 1983 | CHITTENDEN BANK | Three dimensional digitizer with electromagnetic coupling |
| 4618978, | Oct 21 1983 | Sherwood Services AG | Means for localizing target coordinates in a body relative to a guidance system reference frame in any arbitrary plane as viewed by a tomographic image through the body |
| 4621628, | Sep 09 1983 | Ortopedia GmbH | Apparatus for locating transverse holes of intramedullary implantates |
| 4625718, | Jun 08 1984 | HOWMEDICA INTERNATIONAL S DE R L | Aiming apparatus |
| 4642786, | May 25 1984 | POSITION ORIENTATION SYSTEM, LTD | Method and apparatus for position and orientation measurement using a magnetic field and retransmission |
| 4645343, | Nov 11 1981 | U S PHILIPS CORPORATION A CORP OF DE | Atomic resonance line source lamps and spectrophotometers for use with such lamps |
| 4649504, | May 22 1984 | CAE Electronics, Ltd. | Optical position and orientation measurement techniques |
| 4651732, | Mar 17 1983 | IMAGING ACCESSORIES, INC | Three-dimensional light guidance system for invasive procedures |
| 4653509, | Jul 03 1985 | The United States of America as represented by the Secretary of the Air | Guided trephine samples for skeletal bone studies |
| 4673352, | Jan 10 1985 | Device for measuring relative jaw positions and movements | |
| 4706665, | Dec 17 1984 | Frame for stereotactic surgery | |
| 4719419, | Jul 15 1985 | HARRIS GRAPHICS CORPORATION, MELBOURNE, FL , A CORP OF DE | Apparatus for detecting a rotary position of a shaft |
| 4722056, | Feb 18 1986 | Trustees of Dartmouth College | Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope |
| 4722336, | Jan 25 1985 | Placement guide | |
| 4727565, | Nov 14 1983 | TURON AB A CORPORATION OF SWEDEN | Method of localization |
| 4737794, | Dec 09 1985 | CHITTENDEN BANK | Method and apparatus for determining remote object orientation and position |
| 4737921, | Jun 03 1985 | PICKER INTERNATIONAL, INC | Three dimensional medical image display system |
| 4750487, | Nov 24 1986 | Stereotactic frame | |
| 4771787, | Dec 12 1985 | RICHARD WOLF GMBH, KNITTLINGEN, GERMANY | Ultrasonic scanner and shock wave generator |
| 4791934, | Aug 07 1986 | Brainlab AG | Computer tomography assisted stereotactic surgery system and method |
| 4793355, | Apr 17 1987 | Biomagnetic Technologies, Inc. | Apparatus for process for making biomagnetic measurements |
| 4797907, | Aug 07 1987 | OEC MEDICAL SYSTEMS, INC | Battery enhanced power generation for mobile X-ray machine |
| 4803976, | Oct 03 1985 | Synthes | Sighting instrument |
| 4821206, | Nov 27 1984 | Photo Acoustic Technology, Inc. | Ultrasonic apparatus for positioning a robot hand |
| 4821731, | Apr 25 1986 | SURGICAL NAVIGATION TECHNOLOGIES, INC | Acoustic image system and method |
| 4836778, | May 26 1987 | Vexcel Corporation | Mandibular motion monitoring system |
| 4845771, | Jun 29 1987 | Picker International, Inc.; PICKER INTERNATIONAL, INC | Exposure monitoring in radiation imaging |
| 4849692, | Oct 09 1986 | BAE SYSTEMS PLC | Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields |
| 4862893, | Dec 08 1987 | SURGICAL NAVIGATION TECHNOLOGIES, INC | Ultrasonic transducer |
| 4889526, | Aug 27 1984 | RAUSCHER, ELIZABETH A & VAN BISE, WILLIAM L , CO-OWNERS | Non-invasive method and apparatus for modulating brain signals through an external magnetic or electric field to reduce pain |
| 4905698, | Sep 13 1988 | SMITHS MEDICAL MD, INC | Method and apparatus for catheter location determination |
| 4923459, | Sep 14 1987 | Kabushiki Kaisha Toshiba | Stereotactics apparatus |
| 4931056, | Sep 04 1987 | Neurodynamics, Inc. | Catheter guide apparatus for perpendicular insertion into a cranium orifice |
| 4945305, | Oct 09 1986 | BAE SYSTEMS PLC | Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields |
| 4945914, | Nov 10 1987 | MARKER, LLC | Method and apparatus for providing related images over time of a portion of the anatomy using at least four fiducial implants |
| 4951653, | Mar 02 1988 | LABORATORY EQUIPMENT, CORP , A CORP OF INDIANA | Ultrasound brain lesioning system |
| 4977655, | Apr 25 1986 | SURGICAL NAVIGATION TECHNOLOGIES, INC | Method of making a transducer |
| 4989608, | Jul 02 1987 | RATNER, ADAM V | Device construction and method facilitating magnetic resonance imaging of foreign objects in a body |
| 4991579, | Nov 10 1987 | MARKER, LLC | Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants |
| 5002058, | Apr 25 1986 | SURGICAL NAVIGATION TECHNOLOGIES, INC | Ultrasonic transducer |
| 5005592, | Oct 27 1989 | Becton Dickinson and Company | Method and apparatus for tracking catheters |
| 5013317, | Feb 07 1990 | Smith & Nephew Richards Inc. | Medical drill assembly transparent to X-rays and targeting drill bit |
| 5016639, | Jul 18 1988 | Method and apparatus for imaging the anatomy | |
| 5027818, | Dec 03 1987 | UNIVERSITY OF FLORIDA RESEARCH FOUNDATION, INCORPORATED A NOT FOR PROFIT CORP OF FLORIDA | Dosimetric technique for stereotactic radiosurgery same |
| 5030196, | Apr 23 1980 | Inoue-Japax Research Incorporated | Magnetic treatment device |
| 5030222, | May 09 1990 | CCG, INC , A CORP OF NEBRASKA | Radiolucent orthopedic chuck |
| 5031203, | Feb 09 1990 | TRECHA INTELLECTUAL PROPERTIES, INC | Coaxial laser targeting device for use with x-ray equipment and surgical drill equipment during surgical procedures |
| 5042486, | Sep 29 1989 | Siemens Aktiengesellschaft | Catheter locatable with non-ionizing field and method for locating same |
| 5050608, | Jul 12 1988 | MIZUHO IKAKOGYO CO , LTD | System for indicating a position to be operated in a patient's body |
| 5054492, | Dec 17 1990 | Boston Scientific Scimed, Inc | Ultrasonic imaging catheter having rotational image correlation |
| 5057095, | Nov 16 1989 | Surgical implement detector utilizing a resonant marker | |
| 5059789, | Oct 22 1990 | International Business Machines Corp. | Optical position and orientation sensor |
| 5079699, | Nov 27 1987 | Picker International, Inc. | Quick three-dimensional display |
| 5086401, | May 11 1990 | INTERNATIONAL BUSINESS MACHINES CORPORATION, A CORP OF NY | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
| 5094241, | Nov 10 1987 | MARKER, LLC | Apparatus for imaging the anatomy |
| 5097839, | Jul 18 1988 | Apparatus for imaging the anatomy | |
| 5099845, | May 24 1989 | Micronix Pty Ltd. | Medical instrument location means |
| 5105829, | Nov 16 1989 | Surgical implement detector utilizing capacitive coupling | |
| 5107839, | May 04 1990 | HOUDEK, PAVEL V , | Computer controlled stereotaxic radiotherapy system and method |
| 5107843, | Apr 06 1990 | GENDEX-DEL MEDICAL IMAGING CORP | Method and apparatus for thin needle biopsy in connection with mammography |
| 5107862, | Nov 16 1989 | Surgical implement detector utilizing a powered marker | |
| 5109194, | Dec 01 1989 | Sextant Avionique | Electromagnetic position and orientation detector for a pilot's helmet |
| 5119817, | Nov 10 1987 | MARKER, LLC | Apparatus for imaging the anatomy |
| 5142930, | Nov 08 1989 | MARKER, LLC | Interactive image-guided surgical system |
| 5152288, | Sep 23 1988 | Siemens Aktiengesellschaft | Apparatus and method for measuring weak, location-dependent and time-dependent magnetic fields |
| 5160337, | Sep 24 1990 | INTEGRA BURLINGTON MA, INC | Curved-shaped floor stand for use with a linear accelerator in radiosurgery |
| 5161536, | Mar 22 1991 | ECHO CATH, INC ; ECHO CATH, LTD | Ultrasonic position indicating apparatus and methods |
| 5178164, | Nov 10 1987 | MARKER, LLC | Method for implanting a fiducial implant into a patient |
| 5178621, | Dec 10 1991 | ZIMMER TECHNOLOGY, INC | Two-piece radio-transparent proximal targeting device for a locking intramedullary nail |
| 5186174, | May 21 1987 | PROF DR SCHLONDORFF, GEORGE | Process and device for the reproducible optical representation of a surgical operation |
| 5187475, | Jun 10 1991 | Honeywell Inc. | Apparatus for determining the position of an object |
| 5188126, | Nov 16 1989 | Surgical implement detector utilizing capacitive coupling | |
| 5190059, | Nov 16 1989 | Surgical implement detector utilizing a powered marker | |
| 5197476, | Mar 16 1989 | BANK OF MONTREAL | Locating target in human body |
| 5197965, | Jul 29 1992 | INTEGRA LIFESCIENCES CORPORATION | Skull clamp pin assembly |
| 5198768, | Sep 27 1989 | GENERAL ELECTRIC MEDICAL SYSTEMS ISRAEL LTD , AN ISRAEL CORPORATION AFFILIATED WITH GENERAL ELECTRIC COMPANY | Quadrature surface coil array |
| 5198877, | Oct 15 1990 | BANK OF MONTREAL | Method and apparatus for three-dimensional non-contact shape sensing |
| 5211164, | Nov 10 1987 | MARKER, LLC | Method of locating a target on a portion of anatomy |
| 5211165, | Sep 03 1991 | General Electric Company | Tracking system to follow the position and orientation of a device with radiofrequency field gradients |
| 5211176, | Nov 30 1990 | Fuji Photo Optical Co., Ltd. | Ultrasound examination system |
| 5212720, | Jan 29 1992 | Research Foundation-State University of N.Y. | Dual radiation targeting system |
| 5214615, | Feb 26 1990 | ACOUSTIC POSITIONING RESEARCH INC | Three-dimensional displacement of a body with computer interface |
| 5219351, | Oct 24 1990 | GENERAL ELECTRIC CGR S A | Mammograph provided with an improved needle carrier |
| 5222499, | Nov 15 1989 | MARKER, LLC | Method and apparatus for imaging the anatomy |
| 5228442, | Feb 15 1991 | Boston Scientific Scimed, Inc | Method for mapping, ablation, and stimulation using an endocardial catheter |
| 5233990, | Jan 13 1992 | Method and apparatus for diagnostic imaging in radiation therapy | |
| 5237996, | Feb 11 1992 | Cardiac Pathways Corporation | Endocardial electrical mapping catheter |
| 5249581, | Jul 15 1991 | BANK OF MONTREAL | Precision bone alignment |
| 5251127, | Feb 01 1988 | XENON RESEARCH, INC | Computer-aided surgery apparatus |
| 5251635, | Sep 03 1991 | General Electric Company | Stereoscopic X-ray fluoroscopy system using radiofrequency fields |
| 5253647, | Apr 13 1990 | Olympus Optical Co., Ltd. | Insertion position and orientation state pickup for endoscope |
| 5255680, | Sep 03 1991 | General Electric Company | Automatic gantry positioning for imaging systems |
| 5257636, | Apr 02 1991 | Steven J., White; Deborah O., White; WHITE, DEBORAH O , 145 ALPINE DRIVE, ROCHESTER, NY 14618 A CITIZEN OF USA | Apparatus for determining position of an endothracheal tube |
| 5265610, | Sep 03 1991 | General Electric Company | Multi-planar X-ray fluoroscopy system using radiofrequency fields |
| 5265611, | Sep 23 1988 | Siemens Aktiengellschaft | Apparatus for measuring weak, location-dependent and time-dependent magnetic field |
| 5269759, | Jul 28 1992 | Cordis Corporation | Magnetic guidewire coupling for vascular dilatation apparatus |
| 5271400, | Apr 01 1992 | General Electric Company | Tracking system to monitor the position and orientation of a device using magnetic resonance detection of a sample contained within the device |
| 5273025, | Apr 13 1990 | Olympus Optical Co., Ltd. | Apparatus for detecting insertion condition of endoscope |
| 5274551, | Nov 29 1991 | General Electric Company | Method and apparatus for real-time navigation assist in interventional radiological procedures |
| 5279309, | Jun 13 1991 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
| 5291199, | Jan 06 1977 | Northrop Grumman Corporation | Threat signal detection system |
| 5295483, | May 11 1990 | BANK OF MONTREAL | Locating target in human body |
| 5297549, | Sep 23 1992 | ST JUDE MEDICAL, DAIG DIVISION, INC ; ST JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC | Endocardial mapping system |
| 5299254, | Nov 24 1989 | Technomed Medical Systems | Method and apparatus for determining the position of a target relative to a reference of known co-ordinates and without a priori knowledge of the position of a source of radiation |
| 5299288, | May 11 1990 | International Business Machines Corporation; Regents of the University of California | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
| 5305091, | Dec 07 1992 | Kodak Graphic Communications Canada Company | Optical coordinate measuring system for large objects |
| 5305203, | Feb 01 1988 | XENON RESEARCH, INC | Computer-aided surgery apparatus |
| 5309913, | Nov 30 1992 | The Cleveland Clinic Foundation; CLEVELAND CLINIC FOUNDATION, THE | Frameless stereotaxy system |
| 5315630, | Mar 11 1992 | DEUTSCHES KREBSFORSCHUNGSZENTRUM | Positioning device in medical apparatus |
| 5316024, | Jul 23 1992 | Abbott Laboratories | Tube placement verifier system |
| 5318025, | Apr 01 1992 | General Electric Company | Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection |
| 5320111, | Feb 07 1992 | LIVINGSTON PRODUCTS, INC | Light beam locator and guide for a biopsy needle |
| 5325728, | Jun 22 1993 | Medtronic, Inc. | Electromagnetic flow meter |
| 5325873, | Jul 23 1992 | Abbott Laboratories; White's Electronics, Inc. | Tube placement verifier system |
| 5329944, | Nov 16 1989 | Surgical implement detector utilizing an acoustic marker | |
| 5333168, | Jan 29 1993 | GE Medical Systems Global Technology Company, LLC | Time-based attenuation compensation |
| 5353795, | Dec 10 1992 | General Electric Company | Tracking system to monitor the position of a device using multiplexed magnetic resonance detection |
| 5353800, | Dec 11 1992 | University of Florida Research Foundation, Incorporated | Implantable pressure sensor lead |
| 5353807, | Dec 07 1992 | STEREOTAXIS, INC | Magnetically guidable intubation device |
| 5368030, | Sep 09 1992 | IZI Medical Products, LLC | Non-invasive multi-modality radiographic surface markers |
| 5375596, | Sep 29 1972 | NEO MEDICAL INC | Method and apparatus for determining the position of catheters, tubes, placement guidewires and implantable ports within biological tissue |
| 5377678, | Sep 03 1991 | General Electric Company | Tracking system to follow the position and orientation of a device with radiofrequency fields |
| 5383454, | Oct 19 1990 | St. Louis University | System for indicating the position of a surgical probe within a head on an image of the head |
| 5385146, | Jan 08 1993 | NEW CHESTER INSURANCE COMPANY LIMITED | Orthogonal sensing for use in clinical electrophysiology |
| 5385148, | Jul 30 1993 | Regents of the University of California, The | Cardiac imaging and ablation catheter |
| 5386828, | Dec 23 1991 | SMITHS MEDICAL MD, INC | Guide wire apparatus with location sensing member |
| 5389101, | Apr 21 1992 | SOFAMOR DANEK HOLDINGS, INC | Apparatus and method for photogrammetric surgical localization |
| 5391199, | Jul 20 1993 | Biosense, Inc | Apparatus and method for treating cardiac arrhythmias |
| 5394457, | Oct 08 1992 | Leibinger GmbH | Device for marking body sites for medical examinations |
| 5397329, | Nov 10 1987 | MARKER, LLC | Fiducial implant and system of such implants |
| 5399146, | Dec 13 1993 | Isocentric lithotripter | |
| 5400384, | Jan 29 1993 | GE Medical Systems Global Technology Company, LLC | Time-based attenuation compensation |
| 5402801, | Nov 02 1993 | International Business Machines Corporation | System and method for augmentation of surgery |
| 5408409, | Sep 18 1991 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
| 5417210, | May 27 1992 | INTERNATIONAL BUSINESS MACHINES CORPORATION A CORP OF NEW YORK | System and method for augmentation of endoscopic surgery |
| 5419325, | Jun 23 1994 | General Electric Company | Magnetic resonance (MR) angiography using a faraday catheter |
| 5423334, | Feb 01 1993 | C R BARD, INC | Implantable medical device characterization system |
| 5425367, | Sep 04 1991 | CORPAK MEDSYSTEMS, INC | Catheter depth, position and orientation location system |
| 5425382, | Sep 14 1993 | University of Washington | Apparatus and method for locating a medical tube in the body of a patient |
| 5426683, | Mar 14 1994 | GE Medical Systems Global Technology Company, LLC | One piece C-arm for X-ray diagnostic equipment |
| 5426687, | Jul 07 1992 | INNOVATIVE CARE LTD | Laser targeting device for use with image intensifiers in surgery |
| 5427097, | Dec 10 1992 | PACIFIC REPUBLIC CAPITAL CORP | Apparatus for and method of carrying out stereotaxic radiosurgery and radiotherapy |
| 5429132, | Aug 24 1990 | Imperial College of Science Technology and Medicine | Probe system |
| 5433198, | Mar 11 1993 | CATHEFFECTS, INC | Apparatus and method for cardiac ablation |
| 5437277, | Nov 18 1991 | General Electric Company | Inductively coupled RF tracking system for use in invasive imaging of a living body |
| 5443066, | Jan 29 1993 | General Electric Company | Invasive system employing a radiofrequency tracking system |
| 5443489, | Jul 20 1993 | Biosense, Inc. | Apparatus and method for ablation |
| 5444756, | Feb 09 1994 | Minnesota Mining and Manufacturing Company | X-ray machine, solid state radiation detector and method for reading radiation detection information |
| 5445144, | Dec 16 1993 | Purdue Research Foundation | Apparatus and method for acoustically guiding, positioning, and monitoring a tube within a body |
| 5445150, | Nov 18 1991 | General Electric Company | Invasive system employing a radiofrequency tracking system |
| 5445166, | Nov 02 1993 | International Business Machines Corporation | System for advising a surgeon |
| 5446548, | Oct 08 1993 | National Research Council of Canada; Siemens Medical Systems, Inc | Patient positioning and monitoring system |
| 5447154, | Jul 31 1992 | UNIVERSITE JOSEPH FOURIER | Method for determining the position of an organ |
| 5448610, | Feb 09 1993 | Hitachi Medical Corporation | Digital X-ray photography device |
| 5453686, | Apr 08 1993 | CHITTENDEN BANK | Pulsed-DC position and orientation measurement system |
| 5456718, | Nov 17 1992 | Apparatus for detecting surgical objects within the human body | |
| 5458718, | Mar 19 1993 | VIP Industries Limited | Heat sealing method for making a luggage case |
| 5464446, | Oct 12 1993 | Medtronic, Inc | Brain lead anchoring system |
| 5478341, | Dec 23 1991 | ZIMMER TECHNOLOGY, INC | Ratchet lock for an intramedullary nail locking bolt |
| 5478343, | Jun 13 1991 | STRYKER TRAUMA GMBH, CORPORATION OF REPUBLIC OF GERMANY | Targeting device for bone nails |
| 5480422, | Jul 20 1993 | Biosense, Inc. | Apparatus for treating cardiac arrhythmias |
| 5483961, | Mar 19 1993 | COMPASS INTERNATIONAL, INC | Magnetic field digitizer for stereotactic surgery |
| 5485849, | Jan 31 1994 | EP Technologies, Inc. | System and methods for matching electrical characteristics and propagation velocities in cardiac tissue |
| 5487391, | Jan 28 1994 | EP Technologies, Inc. | Systems and methods for deriving and displaying the propagation velocities of electrical events in the heart |
| 5487729, | Oct 08 1993 | Cordis Corporation | Magnetic guidewire coupling for catheter exchange |
| 5487757, | Jul 20 1993 | Medtronic CardioRhythm | Multicurve deflectable catheter |
| 5490196, | Mar 18 1994 | RAPISCAN SYSTEMS OY | Multi energy system for x-ray imaging applications |
| 5494034, | May 27 1987 | Georg, Schlondorff | Process and device for the reproducible optical representation of a surgical operation |
| 5503416, | Mar 10 1994 | GE Medical Systems Global Technology Company, LLC | Undercarriage for X-ray diagnostic equipment |
| 5513637, | Sep 29 1992 | NEO MEDICAL INC | Method and apparatus for determining the position of catheters, tubes, placement guidewires and implantable ports within biological tissue |
| 5515160, | Mar 12 1992 | Aesculap AG | Method and apparatus for representing a work area in a three-dimensional structure |
| 5517990, | Nov 30 1992 | CLEVELAND CLINIC FOUNDATION, THE | Stereotaxy wand and tool guide |
| 5531227, | Jan 28 1994 | SCHNEIDER MEDICAL TECHNOLOGIES, INC | Imaging device and method |
| 5531520, | Sep 01 1994 | ENGILITY CORPORATION | System and method of registration of three-dimensional data sets including anatomical body data |
| 5542938, | Jul 28 1992 | Cordis Corporation | Magnetic guidewire coupling for catheter exchange |
| 5543951, | Mar 15 1994 | CCS Technology, Inc | Method for receive-side clock supply for video signals digitally transmitted with ATM in fiber/coaxial subscriber line networks |
| 5546940, | Jan 28 1994 | EP Technologies, Inc. | System and method for matching electrical characteristics and propagation velocities in cardiac tissue to locate potential ablation sites |
| 5546949, | Apr 26 1994 | Method and apparatus of logicalizing and determining orientation of an insertion end of a probe within a biotic structure | |
| 5546951, | Jul 20 1993 | Biosense, Inc. | Method and apparatus for studying cardiac arrhythmias |
| 5551429, | Feb 12 1993 | MARKER, LLC | Method for relating the data of an image space to physical space |
| 5558091, | Oct 06 1993 | Biosense, Inc | Magnetic determination of position and orientation |
| 5568809, | Jul 20 1993 | Biosense, Inc. | Apparatus and method for intrabody mapping |
| 5572999, | May 27 1992 | International Business Machines Corporation | Robotic system for positioning a surgical instrument relative to a patient's body |
| 5573533, | Apr 10 1992 | Medtronic CardioRhythm | Method and system for radiofrequency ablation of cardiac tissue |
| 5575794, | Feb 12 1973 | MARKER, LLC | Tool for implanting a fiducial marker |
| 5583909, | Dec 20 1994 | GE Medical Systems Global Technology Company, LLC | C-arm mounting structure for mobile X-ray imaging system |
| 5588430, | Feb 14 1995 | UNIVERSITY OF FLORIDA RESEARCH FOUNDATION, INC | Repeat fixation for frameless stereotactic procedure |
| 5592939, | Jun 14 1995 | SURGICAL NAVIGATION TECHNOLOGIES, INC | Method and system for navigating a catheter probe |
| 5595193, | Jan 27 1994 | MARKER, LLC | Tool for implanting a fiducial marker |
| 5596228, | Mar 10 1994 | GE Medical Systems Global Technology Company, LLC | Apparatus for cooling charge coupled device imaging systems |
| 5600330, | Jul 12 1994 | Ascension Technology Corporation; ROPER ASCENSION ACQUISITION, INC | Device for measuring position and orientation using non-dipole magnet IC fields |
| 5603318, | Apr 21 1992 | SOFAMOR DANEK HOLDINGS, INC | Apparatus and method for photogrammetric surgical localization |
| 5617462, | Aug 07 1995 | GE Medical Systems Global Technology Company, LLC | Automatic X-ray exposure control system and method of use |
| 5617857, | Jun 06 1995 | IMAGE GUIDED TECHNOLOGIES, INC | Imaging system having interactive medical instruments and methods |
| 5619261, | Jul 25 1994 | GE Medical Systems Global Technology Company, LLC | Pixel artifact/blemish filter for use in CCD video camera |
| 5622169, | Sep 14 1993 | Washington, University of | Apparatus and method for locating a medical tube in the body of a patient |
| 5622170, | Oct 19 1990 | IMAGE GUIDED TECHNOLOGIES, INC | Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body |
| 5627873, | Aug 04 1995 | GE Medical Systems Global Technology Company, LLC | Mini C-arm assembly for mobile X-ray imaging system |
| 5628315, | Sep 15 1994 | Brainlab AG | Device for detecting the position of radiation target points |
| 5630431, | Jun 13 1991 | International Business Machines Corporation | System and method for augmentation of surgery |
| 5636644, | Mar 17 1995 | Applied Medical Resources Corporation | Method and apparatus for endoconduit targeting |
| 5638819, | Aug 29 1995 | Method and apparatus for guiding an instrument to a target | |
| 5640170, | Jun 05 1995 | CHITTENDEN BANK | Position and orientation measuring system having anti-distortion source configuration |
| 5642395, | Aug 07 1995 | GE Medical Systems Global Technology Company, LLC | Imaging chain with miniaturized C-arm assembly for mobile X-ray imaging system |
| 5643268, | Sep 27 1994 | Brainlab AG | Fixation pin for fixing a reference system to bony structures |
| 5645065, | Sep 04 1991 | CORPAK MEDSYSTEMS, INC | Catheter depth, position and orientation location system |
| 5647361, | Dec 18 1992 | Fonar Corporation | Magnetic resonance imaging method and apparatus for guiding invasive therapy |
| 5662111, | Jan 28 1991 | INTEGRA RADIONICS, INC | Process of stereotactic optical navigation |
| 5664001, | Mar 24 1995 | J MORITA MANUFACTURING CORPORATION; Hamamatsu Photonics Kabushiki Kaisha | Medical X-ray imaging apparatus |
| 5674296, | Nov 14 1994 | MEDTRONIC SOFAMOR DANEK, INC | Human spinal disc prosthesis |
| 5676673, | Sep 13 1995 | GE Medical Systems Global Technology Company, LLC | Position tracking and imaging system with error detection for use in medical applications |
| 5681260, | Sep 22 1989 | Olympus Optical Co., Ltd. | Guiding apparatus for guiding an insertable body within an inspected object |
| 5682886, | Dec 26 1995 | C A S T , L L C | Computer-assisted surgical system |
| 5690108, | Nov 28 1994 | OHIO STATE UNIVERSITY, THE | Interventional medicine apparatus |
| 5694945, | Jul 20 1993 | Biosense, Inc. | Apparatus and method for intrabody mapping |
| 5695500, | Nov 02 1993 | International Business Machines Corporation | System for manipulating movement of a surgical instrument with computer controlled brake |
| 5695501, | Sep 30 1994 | SCHAERER MEDICAL USA, INC | Apparatus for neurosurgical stereotactic procedures |
| 5697377, | Nov 22 1995 | Medtronic, Inc | Catheter mapping system and method |
| 5702406, | Sep 15 1994 | Brainlab AG | Device for noninvasive stereotactic immobilization in reproducible position |
| 5711299, | Jan 26 1996 | GN RESOUND A S | Surgical guidance method and system for approaching a target within a body |
| 5713946, | Jul 20 1993 | Biosense, Inc. | Apparatus and method for intrabody mapping |
| 5715822, | Sep 28 1995 | General Electric Company | Magnetic resonance devices suitable for both tracking and imaging |
| 5715836, | Feb 16 1993 | Brainlab AG | Method and apparatus for planning and monitoring a surgical operation |
| 5718241, | Jun 07 1995 | Biosense, Inc | Apparatus and method for treating cardiac arrhythmias with no discrete target |
| 5727552, | Jan 11 1996 | Medtronic, Inc. | Catheter and electrical lead location system |
| 5727553, | Mar 25 1996 | Catheter with integral electromagnetic location identification device | |
| 5729129, | Jun 07 1995 | Biosense, Inc | Magnetic location system with feedback adjustment of magnetic field generator |
| 5730129, | Apr 03 1995 | General Electric Company | Imaging of interventional devices in a non-stationary subject |
| 5730130, | Feb 12 1993 | MARKER, LLC | Localization cap for fiducial markers |
| 5732703, | Nov 30 1992 | The Cleveland Clinic Foundation; CLEVELAND CLINIC FOUNDATION, THE | Stereotaxy wand and tool guide |
| 5735278, | Mar 15 1996 | IMRIS, INC | Surgical procedure with magnetic resonance imaging |
| 5738096, | Jul 20 1993 | Biosense, Inc | Cardiac electromechanics |
| 5741214, | Dec 20 1993 | Terumo Kabushiki Kaisha | Accessory pathway detecting/cauterizing apparatus |
| 5742394, | Jun 14 1996 | Ascension Technology Corporation; ROPER ASCENSION ACQUISITION, INC | Optical 6D measurement system with two fan shaped beams rotating around one axis |
| 5744953, | Aug 29 1996 | Ascension Technology Corporation; ROPER ASCENSION ACQUISITION, INC | Magnetic motion tracker with transmitter placed on tracked object |
| 5748767, | Aug 10 1988 | XENON RESEARCH, INC | Computer-aided surgery apparatus |
| 5749362, | May 27 1992 | International Business Machines Corporation | Method of creating an image of an anatomical feature where the feature is within a patient's body |
| 5749835, | Sep 06 1994 | SMITHS MEDICAL MD, INC | Method and apparatus for location of a catheter tip |
| 5752513, | Jun 07 1995 | Biosense, Inc | Method and apparatus for determining position of object |
| 5755725, | Sep 07 1993 | SARIF BIOMEDICAL LLC | Computer-assisted microsurgery methods and equipment |
| 5758667, | Jan 26 1995 | Siemens Elema AB | Device for locating a port on a medical implant |
| 5762064, | Jan 23 1995 | Northrop Grumman Systems Corporation | Medical magnetic positioning system and method for determining the position of a magnetic probe |
| 5767669, | Jun 14 1996 | Ascension Technology Corporation; ROPER ASCENSION ACQUISITION, INC | Magnetic field position and orientation measurement system with dynamic eddy current rejection |
| 5769789, | Feb 12 1993 | MARKER, LLC | Automatic technique for localizing externally attached fiducial markers in volume images of the head |
| 5769861, | Sep 28 1995 | Brainlab AG | Method and devices for localizing an instrument |
| 5772594, | Oct 16 1996 | SOFAMOR DANEK HOLDINGS, INC | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
| 5775322, | Jun 27 1996 | LUCENT MEDICAL SYSTEMS, INC | Tracheal tube and methods related thereto |
| 5776064, | Nov 30 1992 | The Cleveland Clinic Foundation | Frameless stereotaxy system for indicating the position and axis of a surgical probe |
| 5782765, | Apr 25 1996 | DROGO IP LLC | Medical positioning system |
| 5787886, | Mar 19 1993 | COMPASS INTERNATIONAL, INC | Magnetic field digitizer for stereotatic surgery |
| 5792055, | Mar 18 1994 | Schneider (USA) Inc. | Guidewire antenna |
| 5795294, | May 21 1994 | Carl-Zeiss-Stiftung | Procedure for the correlation of different coordinate systems in computer-supported, stereotactic surgery |
| 5797849, | Mar 28 1995 | Sonometrics Corporation | Method for carrying out a medical procedure using a three-dimensional tracking and imaging system |
| 5799055, | May 15 1996 | Northwestern University | Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy |
| 5799099, | Feb 12 1993 | MARKER, LLC | Automatic technique for localizing externally attached fiducial markers in volume images of the head |
| 5800352, | Sep 13 1995 | GE Medical Systems Global Technology Company, LLC | Registration system for use with position tracking and imaging system for use in medical applications |
| 5800535, | Feb 09 1994 | The University of Iowa Research Foundation | Wireless prosthetic electrode for the brain |
| 5802719, | Mar 14 1994 | GE Medical Systems Global Technology Company, LLC | One piece C-arm for X-ray diagnostic equipment |
| 5803089, | Sep 15 1994 | GE Medical Systems Global Technology Company, LLC | Position tracking and imaging system for use in medical applications |
| 5807252, | Feb 23 1995 | AESCULAP AG & CO KG | Method and apparatus for determining the position of a body part |
| 5810728, | Apr 03 1993 | U.S. Philips Corporation | MR imaging method and apparatus for guiding a catheter |
| 5810735, | Feb 27 1995 | Medtronic, Inc. | External patient reference sensors |
| 5823192, | Jul 31 1996 | University of Pittsburgh of the Commonwealth System of Higher Education | Apparatus for automatically positioning a patient for treatment/diagnoses |
| 5823958, | Nov 26 1990 | ARTMA MEDICAL TECHNOLOGIES AG | System and method for displaying a structural data image in real-time correlation with moveable body |
| 5828725, | Jul 03 1996 | Eliav Medical Imaging Systems LTD | Processing images for removal of artifacts |
| 5829444, | Sep 15 1994 | GE Medical Systems Global Technology Company, LLC | Position tracking and imaging system for use in medical applications |
| 5831260, | Sep 10 1996 | Ascension Technology Corporation; ROPER ASCENSION ACQUISITION, INC | Hybrid motion tracker |
| 5833608, | Oct 06 1993 | Biosense, Inc. | Magnetic determination of position and orientation |
| 5834759, | May 22 1997 | Philips Electronics Ltd | Tracking device having emitter groups with different emitting directions |
| 5836954, | Apr 21 1992 | SOFAMOR DANEK HOLDINGS, INC | Apparatus and method for photogrammetric surgical localization |
| 5840024, | Oct 18 1993 | Olympus Optical Co., Ltd. | Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope |
| 5840025, | Jul 20 1993 | Biosense, Inc. | Apparatus and method for treating cardiac arrhythmias |
| 5843076, | Jun 12 1996 | CORDIS WEBSTER, INC | Catheter with an electromagnetic guidance sensor |
| 5848967, | Jan 28 1991 | Sherwood Services AG | Optically coupled frameless stereotactic system and method |
| 5851183, | Oct 19 1990 | St. Louis University | System for indicating the position of a surgical probe within a head on an image of the head |
| 5865846, | Nov 14 1994 | Human spinal disc prosthesis | |
| 5868674, | Nov 24 1995 | U S PHILIPS CORPORATION | MRI-system and catheter for interventional procedures |
| 5868675, | Oct 05 1989 | Medtronic, Inc | Interactive system for local intervention inside a nonhumogeneous structure |
| 5871445, | Apr 26 1993 | ST LOUIS UNIVERSITY | System for indicating the position of a surgical probe within a head on an image of the head |
| 5871455, | Apr 30 1996 | Nikon Corporation | Ophthalmic apparatus |
| 5871487, | Jun 24 1994 | NEUROTECH USA, INC | Microdrive for use in stereotactic surgery |
| 5873822, | Sep 13 1995 | GE Medical Systems Global Technology Company, LLC | Automatic registration system for use with position tracking and imaging system for use in medical applications |
| 5884410, | Dec 21 1995 | Carl Zeiss Industrielle Messtechnik GmbH | Sensing system for coordinate measuring equipment |
| 5891034, | Oct 19 1990 | ST LOUIS UNIVERSITY | System for indicating the position of a surgical probe within a head on an image of the head |
| 5891157, | Sep 30 1994 | SCHAERER MEDICAL USA, INC | Apparatus for surgical stereotactic procedures |
| 5904691, | Sep 30 1996 | Picker International, Inc.; The Cleveland Clinic Foundation | Trackable guide block |
| 5907395, | Jun 06 1997 | Image Guided Technologies, Inc. | Optical fiber probe for position measurement |
| 5913820, | Aug 14 1992 | British Telecommunications public limited company | Position location system |
| 5920395, | Apr 22 1993 | IMAGE GUIDED TECHNOLOGIES, INC | System for locating relative positions of objects in three dimensional space |
| 5921992, | Apr 11 1997 | INTEGRA RADIONICS, INC | Method and system for frameless tool calibration |
| 5923727, | Sep 30 1997 | Siemens Medical Solutions USA, Inc | Method and apparatus for calibrating an intra-operative X-ray system |
| 5928248, | Feb 25 1997 | Biosense, Inc | Guided deployment of stents |
| 5938603, | Dec 01 1997 | CORDIS WEBSTER, INC | Steerable catheter with electromagnetic sensor |
| 5938694, | Nov 10 1993 | Medtronic CardioRhythm | Electrode array catheter |
| 5947981, | Jan 31 1995 | INTEGRA BURLINGTON MA, INC | Head and neck localizer |
| 5950629, | Nov 02 1993 | International Business Machines Corporation | System for assisting a surgeon during surgery |
| 5951475, | Sep 25 1997 | Integrated Surgical Systems | Methods and apparatus for registering CT-scan data to multiple fluoroscopic images |
| 5954647, | Feb 14 1995 | UNIVERSITY OF FLORIDA RESEARCH FOUNDATION, INC | Marker system and related stereotactic procedure |
| 5964796, | Sep 24 1993 | Boston Scientific Scimed, Inc | Catheter assembly, catheter and multi-port introducer for use therewith |
| 5967980, | Sep 15 1994 | GE Medical Systems Global Technology Company, LLC | Position tracking and imaging system for use in medical applications |
| 5968047, | Apr 05 1996 | Solana Surgical, LLC | Fixation devices |
| 5971997, | Feb 03 1995 | INTEGRA RADIONICS, INC | Intraoperative recalibration apparatus for stereotactic navigators |
| 5976156, | Jun 13 1991 | International Business Machines Corporation | Stereotaxic apparatus and method for moving an end effector |
| 5980535, | Sep 30 1996 | CLEVELAND CLINIC FOUNDATION, THE; PICKER INTERNATIONAL, INC | Apparatus for anatomical tracking |
| 5983126, | Nov 22 1995 | Medtronic, Inc. | Catheter location system and method |
| 5987349, | Oct 19 1990 | Image Guided Technologies, Inc. | Method for determining the position and orientation of two moveable objects in three-dimensional space |
| 5987960, | Sep 26 1997 | MAKO SURGICAL CORP | Tool calibrator |
| 5999837, | Sep 26 1997 | MAKO SURGICAL CORP | Localizing and orienting probe for view devices |
| 5999840, | Sep 01 1994 | TASC, INC ; BRIGHAM & WOMEN S HOSPITAL, INC , THE | System and method of registration of three-dimensional data sets |
| 6001130, | Nov 14 1994 | MEDTRONIC SOFAMOR DANEK, INC | Human spinal disc prosthesis with hinges |
| 6006126, | Jan 28 1991 | INTEGRA RADIONICS, INC | System and method for stereotactic registration of image scan data |
| 6016439, | Oct 15 1996 | Biosense, Inc | Method and apparatus for synthetic viewpoint imaging |
| 6019725, | Mar 28 1995 | Sonometrics Corporation | Three-dimensional tracking and imaging system |
| 6024695, | Nov 02 1993 | International Business Machines Corporation | System and method for augmentation of surgery |
| 6050724, | Jan 31 1997 | U. S. Philips Corporation | Method of and device for position detection in X-ray imaging |
| 6059718, | Oct 18 1993 | Olympus Optical Co., Ltd. | Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope |
| 6063022, | Jan 03 1997 | Biosense, Inc. | Conformal catheter |
| 6073043, | Dec 22 1997 | CorMedica | Measuring position and orientation using magnetic fields |
| 6104944, | Nov 17 1997 | SURGICAL NAVIGATION TECHNOLOGIES, INC | System and method for navigating a multiple electrode catheter |
| 6118845, | Jun 29 1998 | Medtronic Navigation, Inc | System and methods for the reduction and elimination of image artifacts in the calibration of X-ray imagers |
| 6122538, | Jan 16 1997 | Siemens Medical Solutions USA, Inc | Motion--Monitoring method and system for medical devices |
| 6131396, | Sep 27 1996 | Siemens Healthcare GmbH | Heat radiation shield, and dewar employing same |
| 6139183, | Oct 17 1997 | Siemens Healthcare GmbH | X-ray exposure system for 3D imaging |
| 6149592, | Nov 26 1997 | Picker International, Inc.; PICKER INTERNATIONAL, INC | Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data |
| 6156067, | Nov 14 1994 | MEDTRONIC SOFAMOR DANEK, INC | Human spinal disc prosthesis |
| 6175756, | Sep 15 1994 | GE Medical Systems Global Technology Company, LLC | Position tracking and imaging system for use in medical applications |
| 6223067, | Apr 11 1997 | Brainlab AG | Referencing device including mouthpiece |
| 6273896, | Apr 21 1998 | Neutar, LLC | Removable frames for stereotactic localization |
| 6298262, | Apr 21 1998 | NEUTAR L L C | Instrument guidance for stereotactic surgery |
| 6332089, | Aug 26 1996 | Biosense, Inc. | Medical procedures and apparatus using intrabody probes |
| 6341231, | Sep 15 1994 | GE Medical Systems Global Technology Company, LLC | Position tracking and imaging system for use in medical applications |
| 6351659, | Sep 12 1996 | Brainlab AG | Neuro-navigation system |
| 6434415, | Oct 19 1990 | St. Louis University; Surgical Navigation Technologies, Inc. | System for use in displaying images of a body part |
| 6445943, | Sep 15 1994 | GE Medical Systems Global Technology Company, LLC | Position tracking and imaging system for use in medical applications |
| 6498944, | Feb 01 1996 | Biosense, Inc. | Intrabody measurement |
| 6701179, | Oct 28 1999 | SURGICAL NAVIGATION TECHNOLOGIES, INC | Coil structures and methods for generating magnetic fields |
| CA964149, | |||
| DE10085137, | |||
| DE3042343, | |||
| DE3831278, | |||
| DE4233978, | |||
| EP319844, | |||
| EP350996, | |||
| EP419729, | |||
| EP581704, | |||
| EP651968, | |||
| EP655138, | |||
| EP894473, | |||
| FR2417970, | |||
| JP2765738, | |||
| RE35025, | Jan 07 1991 | OEC MEDICAL SYSTEMS, INC | Battery enhanced power generation for mobile X-ray machine |
| RE35816, | Mar 30 1995 | BANK OF MONTREAL | Method and apparatus for three-dimensional non-contact shape sensing |
| WO9641119, | |||
| WO30437, | |||
| WO8809151, | |||
| WO8905123, | |||
| WO9103982, | |||
| WO9104711, | |||
| WO9107726, | |||
| WO9203090, | |||
| WO9206645, | |||
| WO9404938, | |||
| WO9423647, | |||
| WO9424933, | |||
| WO9611624, | |||
| WO9808554, | |||
| WO9838908, | |||
| WO9960939, |
| Executed on | Assignor | Assignee | Conveyance | Frame | Reel | Doc |
| Oct 29 1996 | WINCHESTER DEVELOPMENT ASSOCIATES, MICHAEL MARTINELLI, AND ENTERPRISE MEDICAL TECHNOLOGY AND DEHON, INC | Medtronic, Inc | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 029225 | /0663 | |
| Jun 25 1998 | Medtronic, Inc | Winchester Development Associates | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 029225 | /0774 | |
| Jun 25 1998 | Medtronic, Inc | MARTINELLI, MICHAEL A | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 029225 | /0774 | |
| Jan 24 2000 | Medtronic Navigation, Inc. | (assignment on the face of the patent) | / | |||
| Sep 21 2001 | HAASE, WAYNE C | MARTINELLI, MICHAEL A | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 029225 | /0806 | |
| Jul 31 2003 | MARTINELLI, MICHAEL A | SURGICAL NAVIGATION TECHNOLOGIES, INC | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 015766 | /0865 | |
| Jul 31 2003 | Winchester Development Associates | SURGICAL NAVIGATION TECHNOLOGIES, INC | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 015766 | /0865 | |
| Dec 20 2004 | SURGICAL NAVIGATION TECHNOLOGIES, INC | Medtronic Navigation, Inc | CHANGE OF NAME SEE DOCUMENT FOR DETAILS | 029229 | /0069 | |
| Dec 22 2004 | ENTERPRISE MEDICAL TECHNOLOGY AND DEHON, INC | SURGICAL NAVIGATION TECHNOLOGIES, INC | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 015766 | /0865 |
| Date | Maintenance Fee Events |
| Date | Maintenance Schedule |
| Jul 14 2012 | 4 years fee payment window open |
| Jan 14 2013 | 6 months grace period start (w surcharge) |
| Jul 14 2013 | patent expiry (for year 4) |
| Jul 14 2015 | 2 years to revive unintentionally abandoned end. (for year 4) |
| Jul 14 2016 | 8 years fee payment window open |
| Jan 14 2017 | 6 months grace period start (w surcharge) |
| Jul 14 2017 | patent expiry (for year 8) |
| Jul 14 2019 | 2 years to revive unintentionally abandoned end. (for year 8) |
| Jul 14 2020 | 12 years fee payment window open |
| Jan 14 2021 | 6 months grace period start (w surcharge) |
| Jul 14 2021 | patent expiry (for year 12) |
| Jul 14 2023 | 2 years to revive unintentionally abandoned end. (for year 12) |