DE102007054317A1 - Stereotactic instrument with retrofitted motor control and PC integration in brain atlases - Google Patents
Stereotactic instrument with retrofitted motor control and PC integration in brain atlases Download PDFInfo
- Publication number
- DE102007054317A1 DE102007054317A1 DE102007054317A DE102007054317A DE102007054317A1 DE 102007054317 A1 DE102007054317 A1 DE 102007054317A1 DE 102007054317 A DE102007054317 A DE 102007054317A DE 102007054317 A DE102007054317 A DE 102007054317A DE 102007054317 A1 DE102007054317 A1 DE 102007054317A1
- Authority
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- Germany
- Prior art keywords
- brain
- motor control
- integration
- stereotactic instrument
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B90/16—Bite blocks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
Abstract
Die Erfindung betrifft ein stereotaktisches Instrument mit nachgerüsteter digitaler Motoransteuerung und Integration mit rechnergestützten Hirn-Atlanten zur computergesteuerten, Atlas-basierten, motorisierten Positionierung eines Werkzeugs im Gehirn. Diese kostengünstige Lösung ermöglicht eine komfortable Bedienung der Manipulatoren bei gleichzeitig verbesserter Genauigkeit und Reproduzierbarkeit der Werkzeug-Positionierung durch den Einsatz der Motorsteuerung. Gleichzeitig werden fortgeschrittene Software-Anwendungen wie Integration digitaler Atlanten oder Einbindung in Experiment-Kontrolloberflächen unterstützt und vorangetrieben.The invention relates to a stereotactic instrument with retrofitted digital motor control and integration with computer-aided brain atlases for computer-controlled, atlas-based, motorized positioning of a tool in the brain. This cost-effective solution allows convenient operation of the manipulators while improving accuracy and reproducibility of tool positioning through the use of motor control. At the same time, advanced software applications such as integration of digital atlases or integration into experimental control surfaces are supported and promoted.
Description
Die Erfindung betrifft ein Stereotaktisches Instrument mit nachgerüsteter digitaler Motoransteuerung und Integration mit rechnergestützten Hirn-Atlanten, zur computergesteuerten, Atlas-basierten, motorisierten Positionierung eines Werkzeugs im Gehirn.The The invention relates to a stereotactic instrument with retrofitted digital motor control and integration with computer-aided Brain atlases, for computerized, atlas-based, motorized Positioning a tool in the brain.
Stand der Technik:State of the art:
Unter der Bezeichnung Stereotaktisches Instrument ist eine Vorrichtung bekannt geworden, mit deren Hilfe ein Werkzeug an einer vorgegebenen Stelle innerhalb eines Körpers plaziert wird. Wesentlich dabei ist, dass der Körper rigide mit einem vordefinierten Koordinatensystem verbunden ist. Unter Körper versteht man einen Körper oder Körperteil in anatomischem Sinne, z. B. das Gehirn. Als Werkzeuge werden insbesondere Elektroden, Nadeln oder Kanülen eingesetzt.Under The term stereotactic instrument is a device become known, with the help of a tool at a predetermined location placed within a body. Essential here is that the body is rigid with a predefined coordinate system connected is. Body is a body or body part in anatomical sense, z. For example, the brain. In particular, electrodes, needles or cannulas are used as tools used.
Herkömmliche stereotaktische Instrumente, die in der tierexperimentellen Hirnforschung eingesetzt werden, basieren auf ein kartesisches Koordinatensystem und sind für jede der drei Achsen des x,y,z-Koordinatensystems mit jeweils einem Manipulator ausgerüstet, dessen linearer Vorschub durch manuelle Bedienung eines Handrads erfolgt. Das Werkzeug wird üblicherweise entlang der vertikalen z-Richtung in das Gewebe vorgeschoben.conventional stereotactic instruments used in animal experimental brain research are based on a Cartesian coordinate system and are for each of the three axes of the x, y, z coordinate system each equipped with a manipulator whose linear Feed by manual operation of a handwheel takes place. The tool is usually along the vertical z-direction in advanced the tissue.
In der Regel wird zur Ansteuerung der Hirnstrukturen ein Atlas herangezogen. Dieser liefert dreidimensionale Koordinaten für die Hirnstrukturen, die durch ein, üblicherweise kartesisches, Koordinatensystem gegeben sind, das sich an einem oder mehreren anatomischen Merkmalen orientiert. Die Planung der Werkzeugansteuerung erfolgt aufgrund des Atlas, die konkrete Ansteuerung hat jedoch im Koordinatensystem des Stereotaktischen Instruments zu erfolgen. Polare oder zylindrische Koordinatensysteme können gelegentlich zur Anwendung kommen.In As a rule, an atlas is used to control the brain structures. This provides three-dimensional coordinates for the brain structures that by a, usually Cartesian, coordinate system are given, which is based on one or more anatomical features oriented. The planning of the tool control is based on the Atlas, however, has the concrete control in the coordinate system of the stereotactic instrument. Polar or cylindrical Coordinate systems may occasionally be used.
Eine
Standardausführung eines Stereotaktischen Instruments ist
in
Das Stereotaktische Instrument ermöglich die Fixierung des Versuchstieres und die Positionierung des Werkzeugs in alle 3 othogonalen Richtungen, durch manuelle Steuerung der x,y,z-Manipulatoren.The Stereotactic instrument allows the fixation of the Test animal and the positioning of the tool in all 3 othogonal Directions, by manual control of the x, y, z manipulators.
Die Koordinaten werden von einem Nonius abgelesen, dessen Genauigkeit 0.1 mm beträgt. Die Einstellung der Position erfolgt über ein Drehknopf, wodurch die Präzision der Positionierung nicht garantiert werden kann.The Coordinates are read by a vernier whose accuracy 0.1 mm. The position is set via a knob, reducing the precision of positioning can not be guaranteed.
Ein weiterer Nachteil der Stereotaktischen Instrumente dieser Art stellt die Tatsache dar, dass die aktuelle Position von einer Nonius-Skala abgelesen werden muss. Diese Positionsbestimmung wird während eines Experiments häufig durchgeführt. Das Ablesen erfolgt von den drei zueinander orthogonalen Achsen. Dies ist mit erheblichen Aufwand verbunden, wenn man bedenkt, dass solche Versuche unter anderem unter Abzugshauben oder ähnlichen Anordnungen stattfinden können, die ein Ablesen erschweren und Lese- und Übertragungsfehler ermöglichen.One Another disadvantage of stereotactic instruments of this kind the fact that the current position of a vernier scale must be read. This position determination is during an experiment often performed. The reading takes place from the three mutually orthogonal axes. This is with considerable effort, considering that such attempts among other things under fume hoods or similar arrangements that make it difficult to read and read and allow transmission errors.
Aus
der
In
der
Aus
der
Problem:Problem:
Diese Vorrichtungen weisen allesamt nicht unerhebliche Nachteile auf. Insbesondere ist die manuelle Positionierung über Drehknopf unkomfortabel und aufgrund impliziter Limitierung der Feinmotorik hinsichtlich Genauigkeiten und Reproduzierbarkeit eingeschränkt. Ferner ist eine aktive Integration in übliche Experimentieroberflächen, die über das passive Einlesen von Positionierungsdaten und deren Visualisierung in Atlasschnitten hinausgehen, nicht möglich. Die Anwahl einer Zielposition und die anschliessende gezielte Ansteuerung unter automatisierten anwenderunabhängigen Bedingungen ist mit den bisher verfügbaren Anordnungen nicht durchzuführen.These All devices have not insignificant disadvantages. In particular, the manual positioning via rotary knob uncomfortable and due to implicit limitation of fine motor skills regarding Accuracies and reproducibility limited. Further is an active integration into common experimental surfaces, via passive reading of positioning data and their visualization in atlas cuts go, not possible. The selection of a target position and the subsequent targeted control under automated user-independent conditions is not possible with the arrangements available so far.
Lösung:Solution:
Es ist ein wichtiges Ziel der Erfindung, diese und weitere Nachteile des Standes der Technik zu überwinden.It is an important object of the invention, these and other disadvantages of the prior art overcome.
Die Kernidee der Erfindung ist die Nachrüstung eines Stereotaktischen Instruments mit einer digitalen Motoransteuerung mit dem Ziel einer aktiven, direkt Atlas-basierten, computergesteuerten, motorisierten Positionierung eines Werkzeugs im Gehirn.The The core idea of the invention is the retrofitting of a stereotactic Instruments with a digital motor control with the aim of a active, direct atlas-based, computer-controlled, motorized Positioning a tool in the brain.
Sämtliche Vorteile der vorbeschriebenen Ausführungen im Vergleich zur Standardausführung des Stereotaktischen Instruments sind auch durch die vorliegenden Erfindung gegeben, so dass im folgenden nur die zusätzlichen Vorteile erörtert werden.All Advantages of the above-described embodiments in comparison to the standard version of the stereotactic instrument are also given by the present invention, so that in the following only the additional benefits will be discussed.
Wesentlicher
Vorteile der Erfindung sind eine komfortablere Bedienung der Manipulatoren
bei gleichzeitig verbesserter Genauigkeit und Reproduzierbarkeit
der Werkzeug-Positionierung durch den Einsatz der Motorsteuerung
anstelle der manuellen Bedienung (
Ein weiterer Vorteil ist die Möglichkeit der Nachrüstung eines vorbestehenden Stereotaktischen Instruments, was eine kostengünstige und sinnvolle Erweiterung des Anwendungsspektrums darstellt.One Another advantage is the possibility of retrofitting a pre-existing stereotactic instrument, which is a cost-effective and meaningful extension of the application spectrum.
Eine vorteilhafte Ausführung, sieht eine vereinfachte Alternative vor, bei der die Computeransteuerung durch einen programmierbaren Mikrocontroller mit digitaler Eingabemöglichkeit ersetzt wird.A advantageous embodiment, provides a simplified alternative before, in which the computer control by a programmable Microcontroller with digital input option replaced becomes.
Ein
weiterer Vorteil der Erfindung besteht darin, dass über
die Software-Integration des Hirn-Atlas eine aktive, Atlas-basierte
Positionierung des Werkzeugs unter optimaler Visualisierung möglich
ist (
Die Anwahl einer Zielposition und die anschliessende gezielte Ansteuerung unter automatisierten, anwenderunabhängigen Bedingungen wird aufgrund der Erfindung erstmalig realisierbar.The Selection of a target position and the subsequent targeted control under automated, user-independent conditions becomes realizable for the first time due to the invention.
Eine
praktikable Variante der Erfindung sieht vor, dass gemäß Anspruch
3 eine Integration des Stereotaktischen Instruments in allgemeine
tierexperimentelle Softwareapplikationen ermöglicht wird (
Vorteilhaft kann ein modifiziertes konstruktives Design eines Stereotaktischen Instruments mit bereits integrierter Motoransteuerung darstellen, bei der beispielsweise eine geringere Steigung der Gewindespindel der Manipulatoren zu einer verbesserten Genauigkeit der Positionierung führt.Advantageous can be a modified constructive design of a stereotactic Represent instruments with already integrated motor control, in the example, a lower pitch of the threaded spindle the manipulators for improved accuracy of positioning leads.
Um das Einsatzgebiet der Erfindung zu erhöhen, erstreckt sich diese auch auf Stereotaktische Instrumente, die auf alternative polare oder zylindrische Koordinatensysteme basieren.Around to increase the field of application of the invention extends This also applies to stereotactic instruments that are based on alternative polar or cylindrical coordinate systems are based.
Beschreibung eines Ausführungsbeispiels:Description of an embodiment:
Im Folgenden wird die Erfindung anhand der Figuren näher erläutert. Dabei zeigen:in the The invention will be explained in more detail below with reference to the figures. Showing:
Die
in
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - US 2003/0120282 A1 [0009] US 2003/0120282 A1 [0009]
- - US 2007/0055289 A1 [0010] US 2007/0055289 A1 [0010]
- - US 2006/0052689 A1 [0011] US 2006/0052689 A1 [0011]
Zitierte Nicht-PatentliteraturCited non-patent literature
- - Rat Brain Atlas, 5th ed., 2004, Paxinos and Watson [0011] - Council Brain Atlas, 5th ed., 2004, Paxinos and Watson [0011]
- - Mouse Brain Atlas, 2nd ed., 2001, Paxinos and Franklin [0011] - Mouse Brain Atlas, 2nd Ed., 2001, Paxinos and Franklin [0011]
- - Rhesus Monkey Brain Atlas, 1999, Paxinos, Huang and Toga [0011] - Rhesus Monkey Brain Atlas, 1999, Paxinos, Huang and Toga [0011]
Claims (6)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007054317A DE102007054317A1 (en) | 2007-10-31 | 2007-10-31 | Stereotactic instrument with retrofitted motor control and PC integration in brain atlases |
PCT/DE2008/001883 WO2009056131A2 (en) | 2007-10-31 | 2008-10-31 | Stereotactic instrument comprising a retrofitted digital motor controller and integration of computer-aided brain atlases |
DE112008003568T DE112008003568A5 (en) | 2007-10-31 | 2008-10-31 | Stereotactic instrument with retrofitted digital motor control and integration with computer-aided brain atlases |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007054317A DE102007054317A1 (en) | 2007-10-31 | 2007-10-31 | Stereotactic instrument with retrofitted motor control and PC integration in brain atlases |
Publications (1)
Publication Number | Publication Date |
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DE102007054317A1 true DE102007054317A1 (en) | 2009-05-07 |
Family
ID=40514477
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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DE102007054317A Withdrawn DE102007054317A1 (en) | 2007-10-31 | 2007-10-31 | Stereotactic instrument with retrofitted motor control and PC integration in brain atlases |
DE112008003568T Withdrawn DE112008003568A5 (en) | 2007-10-31 | 2008-10-31 | Stereotactic instrument with retrofitted digital motor control and integration with computer-aided brain atlases |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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DE112008003568T Withdrawn DE112008003568A5 (en) | 2007-10-31 | 2008-10-31 | Stereotactic instrument with retrofitted digital motor control and integration with computer-aided brain atlases |
Country Status (2)
Country | Link |
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DE (2) | DE102007054317A1 (en) |
WO (1) | WO2009056131A2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014179458A1 (en) | 2013-04-30 | 2014-11-06 | Cedars-Sinai Medical Center | Stabilization apparatuses and methods for medical procedures |
EP3212271A4 (en) * | 2014-10-29 | 2018-08-22 | Cedars-Sinai Medical Center | Apparatuses, systems and methods for controlled delivery of therapeutics and related substances |
FR3124939A1 (en) * | 2021-07-10 | 2023-01-13 | Steeve CHANTREL | STEREOTAXIC DEVICE AND METHOD FOR MAKING A STEREOTAXIC DEVICE |
WO2023085915A1 (en) * | 2021-11-11 | 2023-05-19 | Beltran Ramirez Jesus Raul | Apparatus for performing stereotactic surgery |
Families Citing this family (3)
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US11298041B2 (en) | 2016-08-30 | 2022-04-12 | The Regents Of The University Of California | Methods for biomedical targeting and delivery and devices and systems for practicing the same |
CN106562786A (en) * | 2016-11-07 | 2017-04-19 | 深圳先进技术研究院 | Multi-encephalic region field potential recording electrode and implantation method |
CN111132626B (en) | 2017-07-17 | 2024-01-30 | 沃雅戈治疗公司 | Track array guidance system |
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US20030120282A1 (en) | 2001-12-24 | 2003-06-26 | Scouten Charles W. | Stereotaxic manipulator with retrofitted linear scales and digital display device |
US20060052689A1 (en) | 2004-08-14 | 2006-03-09 | Scouten Charles W | Digital stereotaxic manipulator with interfaces for use with computerized brain atlases |
US20070055289A1 (en) | 2003-08-06 | 2007-03-08 | Scouten Charles W | Digital stereotaxic manipulator with controlled angular displacement and fine-drive mechanism |
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DE10015513A1 (en) * | 2000-03-30 | 2001-10-04 | Siemens Ag | Medical equipment has adjuster for needle enabling needle to pivot around defined rotation point,with adjuster having link arm in form of parallel drive |
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US7313430B2 (en) * | 2003-08-28 | 2007-12-25 | Medtronic Navigation, Inc. | Method and apparatus for performing stereotactic surgery |
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US20090030339A1 (en) * | 2006-01-26 | 2009-01-29 | Cheng Wai Sam C | Apparatus and method for motorised placement of needle |
DE202007000748U1 (en) * | 2007-01-12 | 2007-04-12 | Ibg Technology Hansestadt Lueb | Micromanipulator with stereotactic side e.g. for micro manipulations in the medial arena, has stereo tactical side with which pneumatic linear feed unit along side is movable |
-
2007
- 2007-10-31 DE DE102007054317A patent/DE102007054317A1/en not_active Withdrawn
-
2008
- 2008-10-31 DE DE112008003568T patent/DE112008003568A5/en not_active Withdrawn
- 2008-10-31 WO PCT/DE2008/001883 patent/WO2009056131A2/en active Application Filing
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US20030120282A1 (en) | 2001-12-24 | 2003-06-26 | Scouten Charles W. | Stereotaxic manipulator with retrofitted linear scales and digital display device |
US20070055289A1 (en) | 2003-08-06 | 2007-03-08 | Scouten Charles W | Digital stereotaxic manipulator with controlled angular displacement and fine-drive mechanism |
US20060052689A1 (en) | 2004-08-14 | 2006-03-09 | Scouten Charles W | Digital stereotaxic manipulator with interfaces for use with computerized brain atlases |
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Title |
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Mouse Brain Atlas, 2nd ed., 2001, Paxinos and Franklin |
Rat Brain Atlas, 5th ed., 2004, Paxinos and Watson |
Rhesus Monkey Brain Atlas, 1999, Paxinos, Huang and Toga |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014179458A1 (en) | 2013-04-30 | 2014-11-06 | Cedars-Sinai Medical Center | Stabilization apparatuses and methods for medical procedures |
EP2991560A4 (en) * | 2013-04-30 | 2016-09-28 | Cedars Sinai Medical Center | Stabilization apparatuses and methods for medical procedures |
US10512506B2 (en) | 2013-04-30 | 2019-12-24 | Cedars-Sinai Medical Center | Stabilization apparatuses and methods for medical procedures |
US11877896B2 (en) | 2013-04-30 | 2024-01-23 | Cedars-Sinai Medical Center | Stabilization apparatuses and methods for medical procedures |
EP3212271A4 (en) * | 2014-10-29 | 2018-08-22 | Cedars-Sinai Medical Center | Apparatuses, systems and methods for controlled delivery of therapeutics and related substances |
US11253645B2 (en) | 2014-10-29 | 2022-02-22 | Cedars-Sinai Medical Center | Apparatuses, systems and methods for controlled delivery of therapeutics and related substances |
FR3124939A1 (en) * | 2021-07-10 | 2023-01-13 | Steeve CHANTREL | STEREOTAXIC DEVICE AND METHOD FOR MAKING A STEREOTAXIC DEVICE |
WO2023285285A1 (en) * | 2021-07-10 | 2023-01-19 | Chantrel Steeve | Stereotactic device and method for manufacturing such a stereotactic device |
WO2023085915A1 (en) * | 2021-11-11 | 2023-05-19 | Beltran Ramirez Jesus Raul | Apparatus for performing stereotactic surgery |
Also Published As
Publication number | Publication date |
---|---|
WO2009056131A2 (en) | 2009-05-07 |
DE112008003568A5 (en) | 2010-09-30 |
WO2009056131A3 (en) | 2009-07-02 |
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