CN101815475A - 扩张系统及其使用方法 - Google Patents
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Abstract
本发明提供一种扩张系统及其使用方法。定向顺序和钝性刺激扩张系统(10)以及穿过病人腰肌肌肉(4)到达病人脊柱(2)的相关方法,包括其中形成有至少一条通道的顺序定向扩张器(30、40)或钝性刺激扩张器(100、100’)。优选地,使用刺激探针(20)测定腰肌肌肉内的神经元或神经(9)的位置,从而限定通向病人脊柱的通路的安全区。插入刺激探针穿过腰肌肌肉并朝向病人的脊柱。可插入定向顺序扩张器以扩张刺激探针的任一侧的组织,而不会严重地影响刺激探针的相对侧的可能邻近神经元的组织。该扩张器因具有孔(35、45)而定向,且通过这些孔能插入成位于彼此之上且在探针之上,所述孔从其纵向轴线(31、41)偏离。
Description
相关申请的交叉引用
本申请要求在2007年10月5号提交的名为“相邻或侧向扩张器及其使用方法”的美国临时申请No.60/977,882的权利,在此通过引用将该申请的全部内容合并于此。
背景技术
一般说来,顺序扩张系统能够使外科医生首先切开一个切口然后通过顺序地插入逐渐增大的扩张器而逐渐增大切口的大小。优选地,顺序扩张能够减少对组织的伤害以及相关的损伤,以加快病人的康复。而且,利用扩张来为手术部位准备好手术路径,并且可以和扩张器一起使用刺激器以沿着路径引导扩张器,从而避开病人身体的特定区域,比如神经元或神经。
发明内容
本发明的优选实施例通常涉及微创手术过程和设备,且更特别地涉及用于定向扩张切口的扩张系统及其相关方法,该切口用于开通通向病人脊柱的入口。更具体地,本发明涉及能够穿过病人的腰肌肌肉侧向地到达病人脊柱的腰部区域的扩张系统及其相关方法。根据本发明的一个方面,优选使用刺激探针测定腰肌肌肉的神经元或神经的位置,从而限定通道的安全区。插入刺激探针穿过腰肌肌肉并朝向或进入椎间隙。定向扩张器可用于扩张腰肌肌肉以仅在刺激探针的一侧基本分离组织。也就是说,可插入定向顺序扩张器以例如扩张刺激探针的前侧的腰肌肌肉,同时基本保存刺激探针的后侧的腰肌肌肉完整。具体而言,定向顺序扩张器可用于定向地扩张由刺激探针识别的病人体内的远离神经元或神经的组织,从而使得神经元或神经不被扩张处理或扩张后可能发生的其他手术治疗扰动或损伤。
可替换地,扩张系统及方法可包括具有至少一条形成于外表面的通道的钝性刺激扩张器。该通道接收刺激探针,该刺激探针用于测定腰肌肌肉的神经元或神经的位置从而限定通向病人脊柱的通道的安全区。插入该刺激扩张器穿过腰肌肌肉并朝向或进入椎间隙。然后将刺激探针插入形成于刺激扩张器的外表面的通道内,从而验证有无神经元或神经。
附图说明
结合附图,能够更好地理解前面的发明内容以及下文的本申请优选实施例的详细描述。为了解释本申请的扩张系统及其方法,附图中示出了优选实施例。但是,应该理解的是,本申请并不限于所示的精确布置和手段。在附图中:
图1示出了根据本发明的第一优选实施例的扩张系统的侧视图,这里该扩张系统通常作为定向顺序扩张系统;
图2示出了图1所示的定向顺序扩张系统的远端的放大透视图;
图2A示出了图2所示的定向顺序扩张系统的远端的分解图;
图3示出了沿着图1中的线3-3剖开的、图1所示的定向顺序扩张系统的剖面图;
图4示出了图1所示的定向顺序扩张系统的主视图,包括可与该定向顺序扩张系统一起使用的收缩器的示意图;
图5A示出了与图1示出的定向顺序扩张系统一起使用的第一定向扩张器的侧视图;
图5B示出了图5A所示的第一定向扩张器的主视图;
图6A示出了用于与图1所示的定向顺序扩张系统一起使用的第二定向扩张器的侧视图;
图6B示出了图6A所示的第二定向扩张器的主视图;
图7示出了根据本发明的第二优选实施例的扩张系统的侧视图,在此该扩张系统通常作为钝性刺激扩张系统。
图8示出了图7所示的钝性刺激扩张系统的俯视图;
图9示出了图7所示的钝性刺激扩张系统的近端的放大俯视透视图;
图10示出了图7所示的钝性刺激扩张系统的远端的放大仰视透视图;
图11示出了根据本发明的第三优选实施例的扩张系统的俯视图,其也由钝性刺激扩张系统构成;以及
图12示出了图11所示的钝性刺激扩张系统的近端的放大俯视透视图。
具体实施方式
下文描述所使用的某些术语仅为了方便且并不起限制作用。词语“左”、“右”、“上”和“下”在参考的附图中表示方向。词语“向内”和“向外”分别表示朝向和远离定向顺序和钝性刺激扩张系统以及其指定部分的几何中心的方向。词语“前”、“后”、“在上的”、“在下的”和相关词和/或短语表示所参考的人体的优选位置和方位,且并不旨在对其进行限定。术语包括上述词语、其派生词以及具有类似含义的词语。
现在将参考附图对本发明的某些示例性实施例进行描述。总体而言,这些实施例涉及到达病人脊柱的扩张系统,且优选地涉及侧向地到达病人脊柱的腰部区域的扩张系统。
如本领域普通技术人员通常所理解的,将关于到达脊柱以进行手术治疗来描述所述扩张系统,但是所述扩张系统不但用于矫形外科,还用于其他手术治疗,在所述其他手术治疗中,外科医生希望通过割开皮肤并穿过体壁来到达内腔,从而保持切口舒展开,使得能够插入手术器械。例如,所述扩张系统可用于在前或在后到达脊柱,到达脊柱的胸部或颈部区域,或到达身体的几乎任何其他部分。
参考图4,一般来说,在侧向地接近病人的脊柱2的过程中,优选地分离位于脊柱2的任意一侧的腰肌肌肉4,从而到达脊柱2,并且,特别地到达椎间隙6或到达位于病人脊柱内的一个或多个椎体8。理想的是,在此过程中避开位于腰肌肌肉4内的腰丛的神经元或神经9。通常认为腰肌肌肉4的前三分之一是用于肌肉分离的安全区。
优选地利用刺激探针20来测定腰肌肌肉4的神经元或神经9的位置。这样,优选地定位并识别腰肌肌肉4的最后面的无神经区。然后可插入刺激探针20,经由最后面的无神经组织区穿过腰肌肌肉4或穿过没有神经元或神经9的几乎任何其他区域并朝向脊柱2,或进入椎间隙6从而开始对腰肌肌肉4进行安全的组织分离。根据本发明的第一优选实施例的定向扩张器30、40可用于扩张肌肉分离。特别地,定向扩张器30、40可主要用于分离在刺激探针20的一侧(示为颅侧)的组织,优选地是刺激探针20的前侧(例如,刺激探针20最初识别并标记的安全区)。也就是说,通过利用定向顺序扩张器30、40,能移动刺激探针20一侧的组织同时基本限制刺激探针20的相对侧的组织的移动。比较地,同心扩张器径向地分离肌肉,并且因此扩张刺激探针两侧的组织。这又可能会触碰位于安全区之外的神经元或神经9。
参考图1-图6B,本发明的扩张系统的第一优选实施例由定向顺序扩张系统10构成。定向顺序扩张系统10优选地包括刺激探针20、第一定向扩张器30以及第二定向扩张器40。定向顺序扩张系统10可包括或多或少的扩张器,比如,例如一个、三个、四个等等。刺激探针20可为现在或此后因传输电脉冲而已知的任意探针。刺激探针20优选地包括探针末端20a和纵向探针轴线21。第一定向扩张器30优选地包括第一纵向轴线31、外表面32、近端33、远端34和从近端33延伸到远端34的第一孔35。第一定向扩张器30优选地还包括位于远端34处的第一纵向轴线31延伸穿过的第一末端30a。第一孔35具有从第一孔35的近端延伸到远端的第一孔轴线36。第一孔轴线36优选地偏离或定位成距离第一纵向轴线31第一偏离距离A。第一定向扩张器30还优选地包括形成于其外表面32的第一通道38。第一通道38优选地沿着第一孔35的整个长度与第一孔35连通。在使用时,第一孔35和第一通道38以组装的构造能去除地接收刺激探针20(例如,当刺激探针20能滑动地接收在第一定向扩张器30的第一孔35内时),从而使得外科医生能刺激第一定向扩张器30。刺激探针20的探针轴线21优选地以组装的构造与第一定向扩张器30的第一孔轴线36同轴。
类似地,第二定向扩张器40优选地包括第二纵向轴线41、外表面42、近端43、远端44和从近端43延伸到远端44的第二孔45。第二孔45优选地具有从近端43延伸到远端44的第二孔轴线46。第二定向扩张器40还优选地包括位于远端44处的第二纵向轴线41延伸穿过的第二末端40a。第二孔45的第二孔轴线46偏离或定位成距离第二纵向轴线41第二偏离距离B。优选地涂敷第一和第二定向扩张器30、40的外表面32、42以防止在使用过程中漏电,这对本领域的普通技术人员而言是显而易见的。第二定向扩张器40还优选地包括形成于其外表面42且与第二孔45连通的第二通道48。在使用时,第二孔45和第二通道48以组装的构造将第一定向扩张器30接收在其中(例如,当第一定向扩张器30能滑动地接收在第二定向扩张器40的第二孔45内时)。当具有组装的构造时,第一定向扩张器30的第一纵向轴线31优选地与第二定向扩张器40的第二孔轴线46同轴。
因为第一和第二孔35、45的第一和第二孔轴线36、46分别从第一和第二定向扩张器30、40的第一和第二纵向轴线31、41偏离,所以将第一定向扩张器30插入至刺激探针20之上然后将第二定向扩张器40插入至第一定向扩张器30之上使得每个顺序扩张器“定向地”扩张开口,该开口优选在病人体内远离任何神经元、神经9或刺激探针20的相对侧的其他组织结构形成,这在下文中会更加详细地描述。
而且,第一和第二通道38、48的结合使得第一和第二定向扩张器30、40能够更加紧密地嵌套在一起,从而基本上消除当使用多个具有逐渐增加的内孔尺寸的同心扩张器时出现的“饼切”效应(“cookiecutter”effect)。
第一定向扩张器30优选地包括位于其外表面32上的多个第一深度指示器37(如在图5A和图5B最好地示出的那样)。多个第一深度指示器37大致垂直于第一纵向轴线31在第一定向扩张器30的外表面32上延伸。多个第一深度指示器37为外科医生指示在第一定向扩张器30的远端34处形成的第一末端30a和相应的深度指示器37之间的不同距离,使得在使用时外科医生能够确定第一定向控制器30已插入到病人体内的程度。类似地,如在图6A和图6B中最好地示出的那样,第二定向扩张器40优选地包括位于其外表面42上的多个第二深度指示器47。多个第二深度指示器47大致垂直于第二纵向轴线41在第二定向扩张器40的外表面42上延伸。多个第二深度指示器47为外科医生指示在第二定向扩张器40的远端44处形成的第二末端40a和相应的深度指示器47之间的不同距离,使得在使用时外科医生能够确定第二定向扩张器40已插入到病人体内的程度。在第一优选实施例中,多个第一和第二深度指示器37、47以10毫米(10mm)的增量与第一和第二末端30a、40a隔开80毫米(80mm)到150毫米(150mm)的距离。然而,多个多个第一和第二深度指示器37、47并不限于这些尺寸,可与第一和第二末端30a、40a隔开医生喜欢的且能够表示第一和第二定向扩张器30、40插入到病人体内的深度的几乎任何距离或间隔。
另外,第一和第二定向扩张器30、40优选地包括分别位于其近端32、42处的第一和第二把手39、49,从而能够更好地使医生在使用时抓握扩张器30、40。在手术期间,在插入、去除、扭转或以其他方式操作第一和第二定向扩张器30、40的过程中,医生可以利用第一和第二把手39、49。
如在图1中最好地示出的那样,第一定向扩张器30优选地具有第一长度L1,第二定向扩张器40具有第二长度L2。第一长度L1优选地大于所述第二长度L2从而方便操纵和插入。类似地,刺激探针20优选地具有探针长度L3,使得探针长度L3大于第一长度L1和第二长度L2。第一定向扩张器30的较大的第一长度L1允许第一定向扩张器30的近端33以组装的和操作的构造从病人体内进一步延伸出来,使得医生甚至在第二扩张器40插入到病人体内之后,也可以抓住第一把手39并去除或以其他方式操作第一定向扩张器30。在第一优选实施例中,第一长度为220毫米(220mm),而第二长度为200毫米(200mm),但并不仅限于此,且可以为允许以近端33、43从病人体内延伸出来的状态插入病人体内的几乎任何长度。另外,第一定向扩张器30优选地具有第一直径D1,而第二定向扩张器40具有第二直径D2,第二直径D2优选地大于第一直径D1。在第一优选实施例中,第一直径D1大约为7.7毫米(7.7mm),而第二直径D2大约为17.5毫米(17.5mm)。然而,第一和第二直径D1、D2并不仅限于此,可以具有医生为了扩张距刺激探针20各种距离的组织而期望的几乎任何直径。进而,第一和第二定向扩张器30、40并不仅限于具有圆形截面,其可以具有允许以医生喜欢的方式进行定向扩张的几乎任何截面并且适合于不同的形状。例如,第一和第二定向扩张器30、40可具有椭圆形或长方形截面的形状,该椭圆形或长方形截面的形状比具有圆形截面的扩张器更能促进扩张和手术工作通道进一步远离探测到的神经9。
现在描述使用刺激探针20以及第一和第二定向扩张器30、40以到达病人的脊柱2的方法。虽然可以在病人身体的其他部分使用相似或相同的方法,但是特别需要该技术以经由侧向途径到达脊柱2的腰部区域。
使用刺激探针20和触发肌电图机(EMG)50,医生优选地在所关注的组织(例如,腰肌肌肉4)上测定出安全区,即,基本上没有任何神经元或神经9的区域。例如,在腰肌肌肉4上,通常认为腰肌肌肉4的前三分之一是安全区。
一旦确立了安全区,优选地通过术中透视确定组织布置。医生插入刺激探针20穿过腰肌肌肉4并朝向病人的脊柱2。如果手术正在椎间隙6上进行,则刺激探针20的远端可插入到希望的椎间隙6的环带内。优选地,刺激探针20将经由安全区的最后部插入。
医生能够使第一定向扩张器30插入或滑动至刺激探针20之上,使得第一纵向轴线31定位于刺激探针20的一侧,优选地远离感测到的神经元或神经9,并穿过腰肌肌肉4且进入邻近病人脊柱2的位置。如果需要,然后医生插入第二定向扩张器40,以进一步扩张邻近第一定向扩张器30的外表面32并且更为远离感测到的神经元或神经9的组织。医生可以根据需要重复此过程。最后,如果需要,可将收缩器60插入至第二定向扩张器40之上,从而随后收缩组织并且允许去除第一和第二定向扩张器30、40以及刺激探针20。可替换地,可插入工作套管(未示出)至第二扩张器40之上,使得可穿过工作套管执行在脊柱2上实施的治疗。
另外,如果需要,可以在插入第二定向扩张器40之前,从第一孔35去除刺激探针20并且旋转扩张器/探针组合。此后,使用触发EMG刺激50,医生能验证神经根9位于第一定向扩张器30的期望侧,优选地与第一通道38相对。优选在插入第二定向扩张器40之前,再将刺激探针20插入第一孔35内。
与本领域技术人员通常已知的同心顺序扩张器相比,通过使用第一和第二定向扩张器30、40,使得定向顺序扩张系统10优选地确保入口远离腰肌肌肉4的神经元或神经9,从而避开可能例如位于刺激探针20的后侧的任何神经元或神经9。而且,在分离组织的时候,通过将组织分离的量最小化,定向顺序扩张系统10还减少了组织损伤的量。
可替换地,如在图7-图10中所示,可使用具有本申请的扩张系统的第二优选实施例的单步钝性刺激扩张器100。钝性刺激扩张器100包括外表面102、近端104、远端106和从近端104延伸到远端106的孔108。近端104包括用于附接刺激夹或线的区域110。远端106包括用于传递电刺激的暴露的优选是尖的末端112。优选地,涂敷刺激扩张器100的位于近端104和远端106之间的外表面102以防止漏电。刺激扩张器100还优选地包括形成于其外表面102的通道114,用于接收刺激探针120。刺激探针120可以是现在或此后因传输电脉冲而已知的任何探针。
刺激扩张器100使医生能够同时刺激并扩张腰肌肌肉4。在将刺激扩张器100的末端112放置入椎间隙中后,可沿着扩张器100的外表面102穿过通道114插入刺激探针120,从而刺激扩张的组织的周围。
可替换地,如在图11和图12中所示,由本申请的第三优选实施例构成的刺激扩张器100′可包括形成于其外表面102的多条通道114。例如,如所示出的那样,刺激扩张器100’可包括在扩张器100’的外表面102上径向间隔的四条通道114a-d。这样,一旦扩张器100’处于适当的位置,医生就能刺激前部、后部、头部、和下部以验证神经根的位置。本领域普通技术人员可以理解,刺激扩张器100’可以包括任意数量的通道114,例如两条、三条、五条或更多。
现在描述使用钝性刺激扩张系统的方法以到达脊柱2,尤其以提供经由侧向途径穿过脊柱2的腰部区域的腰肌肌肉4的入口。本领域普通技术人员可以理解,该方法也可利用另选的途径用于身体的其他部分。
在使用时,医生通过例如扭转动作将钝性刺激扩张器100、100’优选侧向地插入到腰肌肌肉4中。医生优选使用触发EMG50传输电脉冲进入钝性刺激扩张器100、100’,从而通过定位神经根9来定位病人腰肌肌肉4中的安全区。一旦确定任何神经根9的位置在钝性刺激扩张器100、100’的后面,医生就能侧向地插入钝性刺激扩张器100、100’穿过腰肌肌肉4并朝向病人的脊柱2,优选地进入椎间隙6的环带。医生将刺激探针20插入或滑入形成于钝性刺激扩张器100、100’的外表面102的通道114内。如果需要,医生在刺激探针120位于通道114内的状态下旋转钝性刺激扩张器100,同时使用EMG50验证神经根9的位置。可替换地,关于四条通道的钝性刺激扩张器100’,不需要旋转钝性刺激扩张器100。相反,刺激探针120可以独立地插入每条通道114a-d内以验证神经根9的位置。然后,如果需要,医生可将收缩器插入至刺激扩张器100、100’之上。
虽然前面的描述和附图代表本发明的优选实施例,但是可以理解的是,在不背离在所附的权利要求中所限定的本发明的精神和范围的情况下,可以对其进行各种增加、修改和替换。特别地,本领域技术人员明白,在不背离其精神或实质特点的情况下,本发明可表示为其他具体形式、结构、布置、比例,并且可以具有其他元件、材料和部件。本领域技术人员可以理解,本发明在使用时可以在结构、布置、比例、材料、和部件上有许多修改,并且可以其他方式用于发明实践中,这在不背离本发明的原则的情况下尤其适合特定的环境和操作要求。而且,本文所描述的特征可单独使用或者结合其他特征一起使用。因此,本文公开的实施例在所有方面都被认为是示例性的而不是限制性的,本发明的保护范围由所附的权利要求示出而且不限于前面的描述。
Claims (15)
1.一种用于远离病人身体的神经扩张的定向顺序扩张系统,所述定向顺序扩张系统包括:
具有探针轴线的刺激探针;
第一定向扩张器,其包括第一纵向轴线、从近端延伸到远端的第一孔、和与所述第一孔连通的第一通道,所述第一孔具有第一孔轴线,所述第一纵向轴线从所述第一孔轴线偏离;以及
第二定向扩张器,其包括第二纵向轴线、从所述第二定向扩张器的近端延伸到远端的第二孔、和与所述第二孔连通的第二通道,所述第二孔具有第二孔轴线,所述第二纵向轴线从所述第二孔轴线偏离;所述刺激探针能够能去除地接收在所述第一孔中,所述第一定向扩张器能够能去除地接收在所述第二孔中。
2.根据权利要求1所述的定向顺序扩张系统,其中所述探针轴线以组装的构造与所述第一孔轴线同轴。
3.根据权利要求1所述的定向顺序扩张系统,其中所述第一纵向轴线以组装的构造与所述第二孔轴线同轴。
4.根据权利要求1所述的定向顺序扩张系统,还包括:
第一末端,其位于所述第一定向扩张器的所述远端,所述第一纵向轴线通过所述第一末端;和
第二末端,其位于所述第二定向扩张器的所述远端,所述第二纵向轴线通过所述第二末端。
5.根据权利要求4所述的定向顺序扩张系统,还包括:
位于所述第一定向扩张器的第一外表面上的多个第一深度指示器,所述多个第一深度指示器通常垂直于所述第一纵向轴线分别在所述第一外表面上延伸,所述多个第一深度指示器分别限定所述第一末端和所述多个第一深度指示器之间的多个第一距离;以及
位于所述第二定向扩张器的第二外表面上的多个第二深度指示器,所述多个第二深度指示器通常垂直于所述第二纵向轴线分别在所述第二外表面上延伸,所述多个第二深度指示器分别限定所述第二末端和所述多个第二深度指示器之间的多个距离。
6.根据权利要求1所述的定向顺序扩张系统,其中所述第一扩张器和所述第二扩张器包括分别位于其近端处的第一和第二把手。
7.根据权利要求1所述的定向顺序扩张系统,其中所述第一定向扩张器具有第一长度,所述第二定向扩张器具有第二长度,所述第一长度大于所述第二长度。
8.根据权利要求7所述的定向顺序扩张系统,其中所述刺激探针具有探针长度,所述探针长度大于所述第一长度和所述第二长度。
9.根据权利要求1所述的定向顺序扩张系统,其中所述第一定向扩张器具有第一直径,所述第二定向扩张器具有第二直径,所述第二直径大于所述第一直径。
10.一种使用定向顺序扩张系统形成穿过腰肌肌肉到达病人脊柱的入口的方法,所述定向扩张系统具有刺激探针、第一定向扩张器和第二定向扩张器以避开神经,所述第一定向扩张器和所述第二定向扩张器分别具有第一孔和第二孔,所述第一孔和所述第二孔分别具有从第一纵向轴线和第二纵向轴线偏离的第一孔轴线和第二孔轴线,所述方法包括以下步骤:
(a)将所述刺激探针侧向地插入腰肌肌肉内;
(b)经由肌电图机将电脉冲传递到所述刺激探针中,从而定位位于腰肌肌肉内的安全区;
(c)将所述刺激探针穿过腰肌肌肉侧向地插入,从而使得探针末端邻近病人的脊柱;
(d)通过所述刺激探针与所述第一孔的滑动接合的引导,将所述第一定向扩张器插入穿过腰肌肌肉并朝向病人的脊柱,所述第一孔轴线定位成比所述第一纵向轴线更接近神经;以及
(e)通过所述第一定向扩张器与所述第二孔的滑动接合的引导,将所述第二定向扩张器插入穿过腰肌肌肉并朝向病人的脊柱,将所述第二孔轴线定位成比所述第二纵向轴线更接近神经。
11.根据权利要求10所述的方法,还包括步骤:
(f)将收缩器插入至所述第二定向扩张器之上。
12.根据权利要求10所述的方法,还包括步骤:
(f)在步骤(c)之前通过术中透视确定所述安全区的位置。
13.一种使用钝性刺激扩张系统形成穿过腰肌肌肉到达病人脊柱的入口的方法,所述钝性刺激扩张系统包括刺激探针、肌电图机以及具有第一刺激通道和第二刺激通道的刺激扩张器,以避开神经,所述方法包括以下步骤:
(a)将所述刺激扩张器侧向地插入腰肌肌肉内;
(b)经由肌电图机将电脉冲传递到所述刺激扩张器中,从而定位位于病人的腰肌肌肉内的安全区;
(c)将所述刺激扩张器侧向地插入穿过腰肌肌肉并朝向病人的脊柱;
(d)将所述刺激探针插入所述刺激通道内。
14.根据权利要求13所述的方法,还包括步骤(e)旋转所述刺激扩张器和所述刺激探针,同时使用所述肌电图机验证神经的位置。
15.根据权利要求13所述的方法,还包括步骤:
(e)从所述通道去除所述刺激探针;以及
(f)将所述刺激探针再插入所述第二刺激通道内。
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Cited By (4)
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CN106236187A (zh) * | 2016-08-31 | 2016-12-21 | 蒋毅 | 椎间孔的工作管道及修复装置 |
CN109982625A (zh) * | 2016-11-29 | 2019-07-05 | 奥林巴斯株式会社 | 内窥镜系统 |
CN110547795A (zh) * | 2018-05-30 | 2019-12-10 | 张霞玲 | 一种脊柱外科手术用脊椎探针 |
CN112656510A (zh) * | 2020-12-21 | 2021-04-16 | 山东大学齐鲁医院 | 一种基于肌电信号的脊柱手术机器人穿刺预警方法及系统 |
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JP5250632B2 (ja) | 2013-07-31 |
KR20100080529A (ko) | 2010-07-08 |
US20190167245A1 (en) | 2019-06-06 |
JP2010540196A (ja) | 2010-12-24 |
EP2205171B1 (en) | 2016-03-23 |
CN101815475B (zh) | 2012-11-28 |
CO6270292A2 (es) | 2011-04-20 |
BRPI0818608A2 (pt) | 2015-04-22 |
EP2205171A1 (en) | 2010-07-14 |
US20170340317A1 (en) | 2017-11-30 |
WO2009046414A1 (en) | 2009-04-09 |
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US10925594B2 (en) | 2021-02-23 |
US10194895B2 (en) | 2019-02-05 |
US20180242963A1 (en) | 2018-08-30 |
US9387009B2 (en) | 2016-07-12 |
CA2701504A1 (en) | 2009-04-09 |
US11737743B2 (en) | 2023-08-29 |
AU2008308426A1 (en) | 2009-04-09 |
US20160310123A1 (en) | 2016-10-27 |
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