WO1999027839A2 - Surgical positioning system - Google Patents
Surgical positioning system Download PDFInfo
- Publication number
- WO1999027839A2 WO1999027839A2 PCT/US1998/025476 US9825476W WO9927839A2 WO 1999027839 A2 WO1999027839 A2 WO 1999027839A2 US 9825476 W US9825476 W US 9825476W WO 9927839 A2 WO9927839 A2 WO 9927839A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- patient
- camera
- scanner
- treatment
- image
- Prior art date
Links
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0492—Positioning of patients; Tiltable beds or the like using markers or indicia for aiding patient positioning
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- 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
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/363—Use of fiducial points
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- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
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- A—HUMAN NECESSITIES
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
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- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
- A61B2090/395—Visible markers with marking agent for marking skin or other tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3966—Radiopaque markers visible in an X-ray image
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- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
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- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/502—Headgear, e.g. helmet, spectacles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
- A61B6/0421—Supports, e.g. tables or beds, for the body or parts of the body with immobilising means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61B90/20—Surgical microscopes characterised by non-optical aspects
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- A61N2005/105—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a laser alignment system
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- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
- A61N5/1069—Target adjustment, e.g. moving the patient support
- A61N5/107—Target adjustment, e.g. moving the patient support in real time, i.e. during treatment
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
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- G—PHYSICS
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- High Energy & Nuclear Physics (AREA)
- Neurosurgery (AREA)
- Optics & Photonics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Radiation-Therapy Devices (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69833881T DE69833881T2 (en) | 1997-12-01 | 1998-12-01 | SURGICAL POSITIONING SYSTEM |
CA002320230A CA2320230A1 (en) | 1997-12-01 | 1998-12-01 | Surgical positioning system |
AU18009/99A AU1800999A (en) | 1997-12-01 | 1998-12-01 | Surgical positioning system |
EP98962860A EP1041918B1 (en) | 1997-12-01 | 1998-12-01 | Surgical positioning system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/980,572 | 1997-12-01 | ||
US08/980,572 US6405072B1 (en) | 1991-01-28 | 1997-12-01 | Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus |
Publications (3)
Publication Number | Publication Date |
---|---|
WO1999027839A2 true WO1999027839A2 (en) | 1999-06-10 |
WO1999027839A3 WO1999027839A3 (en) | 1999-09-10 |
WO1999027839A9 WO1999027839A9 (en) | 1999-10-21 |
Family
ID=25527673
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1998/025476 WO1999027839A2 (en) | 1997-12-01 | 1998-12-01 | Surgical positioning system |
Country Status (7)
Country | Link |
---|---|
US (4) | US6405072B1 (en) |
EP (2) | EP1041918B1 (en) |
AU (1) | AU1800999A (en) |
CA (1) | CA2320230A1 (en) |
DE (1) | DE69833881T2 (en) |
ES (1) | ES2256974T3 (en) |
WO (1) | WO1999027839A2 (en) |
Cited By (130)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001087283A (en) * | 1999-09-27 | 2001-04-03 | Olympus Optical Co Ltd | Calibration method and operative calibration device using the method |
WO2002009588A1 (en) * | 2000-08-01 | 2002-02-07 | Tony Falco | Method and apparatus for lesion localization, definition and verification |
WO2002034153A1 (en) * | 2000-10-23 | 2002-05-02 | Deutsches Krebsforschungszentrum Stiffung D. Öffentl. Rechts | Method and device for navigation during medical interventions or for localising a non-osseous structure |
WO2002007817A3 (en) * | 2000-06-30 | 2002-05-10 | Schwerionenforsch Gmbh | Device for irradiating a tumor tissue |
WO2002052330A2 (en) * | 2000-12-22 | 2002-07-04 | Board Of Trustees Operating Michigan State University | Teleconferencing system and head mounted display involved in the same |
WO2002062248A1 (en) * | 2001-02-06 | 2002-08-15 | Cedara Software Corp. | Computer-assisted surgical positioning method and system |
EP1238685A1 (en) * | 2001-03-05 | 2002-09-11 | BrainLAB AG | Patient positioning system for radiotherapy |
WO2002100485A1 (en) * | 2001-06-08 | 2002-12-19 | Calypso Medical Technologies, Inc. | Guided radiation therapy system |
EP1279376A2 (en) * | 2001-07-27 | 2003-01-29 | G.D.S. Giorgi Dynamic Stereotaxy S.r.l. | Device and procedure for computer-assisted microsurgery |
WO2003011394A1 (en) * | 2001-07-27 | 2003-02-13 | Bhc Engineering, Lp | Method and device for monitoring real-time position of an area targeted by a radiosurgery system |
EP1121957A3 (en) * | 2000-01-31 | 2003-03-19 | St. Louis University | System combining proton beam irradiation and magnetic resonance imaging |
EP1319368A2 (en) * | 2001-12-12 | 2003-06-18 | TecMedic GmbH | Method for determining the orientation and relative position of a medical instrument |
EP1340470A1 (en) * | 2002-03-01 | 2003-09-03 | BrainLAB AG | Operation theatre lighting device with camera system for three-dimensional referencing |
WO2003081474A2 (en) * | 2002-03-16 | 2003-10-02 | Siemens Medical Solutions Health Services Corporaion | Electronic healthcare management form navigation |
EP1371340A1 (en) * | 1999-12-13 | 2003-12-17 | LB Medical GmbH | System for navigation of intruments, bone segments, tissue and organs |
EP1342488A3 (en) * | 2002-03-07 | 2004-02-04 | Siemens Aktiengesellschaft | Method and device for repeated relative repositioning of a patient |
EP1127545A3 (en) * | 2000-02-26 | 2004-05-06 | Philips Intellectual Property & Standards GmbH | Procedure for locating objects in radiotherapy |
WO2004030560A3 (en) * | 2002-10-01 | 2004-06-17 | Vr Magic Gmbh | Multi-camera tracking system |
EP1460938A1 (en) * | 2001-11-05 | 2004-09-29 | Computerized Medical Systems, Inc. | Apparatus and method for registration, guidance, and targeting of external beam radiation therapy |
US6812842B2 (en) | 2001-12-20 | 2004-11-02 | Calypso Medical Technologies, Inc. | System for excitation of a leadless miniature marker |
US6822570B2 (en) | 2001-12-20 | 2004-11-23 | Calypso Medical Technologies, Inc. | System for spatially adjustable excitation of leadless miniature marker |
US6838990B2 (en) | 2001-12-20 | 2005-01-04 | Calypso Medical Technologies, Inc. | System for excitation leadless miniature marker |
WO2005013841A1 (en) * | 2003-08-07 | 2005-02-17 | Xoran Technologies, Inc. | Intra-operative ct scanner |
WO2005030330A1 (en) * | 2003-09-30 | 2005-04-07 | Koninklijke Philips Electronics, N.V. | Target tracking method and apparatus for radiation treatment planning and delivery |
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CA2320230A1 (en) | 1999-06-10 |
AU1800999A (en) | 1999-06-16 |
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US20020188194A1 (en) | 2002-12-12 |
EP1642545A1 (en) | 2006-04-05 |
DE69833881T2 (en) | 2006-12-07 |
WO1999027839A3 (en) | 1999-09-10 |
US6405072B1 (en) | 2002-06-11 |
ES2256974T3 (en) | 2006-07-16 |
WO1999027839A9 (en) | 1999-10-21 |
EP1041918A2 (en) | 2000-10-11 |
US6662036B2 (en) | 2003-12-09 |
DE69833881D1 (en) | 2006-05-11 |
US20020065461A1 (en) | 2002-05-30 |
EP1041918B1 (en) | 2006-03-15 |
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