US20070049962A1 - Nerve surveillance cannulae systems - Google Patents
Nerve surveillance cannulae systems Download PDFInfo
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- US20070049962A1 US20070049962A1 US11/489,020 US48902006A US2007049962A1 US 20070049962 A1 US20070049962 A1 US 20070049962A1 US 48902006 A US48902006 A US 48902006A US 2007049962 A1 US2007049962 A1 US 2007049962A1
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- 229920001971 elastomer Polymers 0.000 description 3
- 239000000806 elastomer Substances 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
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- A61B17/17—Guides or aligning means for drills, mills, pins or wires
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Definitions
- the present invention relates to nerve surveillance systems and to cannulae systems for use in minimally invasive spinal surgery.
- a significant danger of performing intervertebral operations or accessing an intervertebral space during spine surgery is that of inadvertently contacting or damaging the para-spinal nerves, including the exiting nerve roots, traversing nerves and the nerves of the cauda equina.
- the exact location of these para-spinal nerves can not be determined prior to the commencement of surgery.
- intervertebral spaces in the spine have other sensitive nerves disposed at locations which are not entirely predictable prior to insertion of the surgical tool into the intervertebral area. Accordingly, the danger of pinching or damaging spinal nerves when accessing an intervertebral space has proven to be quite limiting to the methods and devices used during minimally invasive spinal surgery.
- an expandable tip cannula system which functions both as an access portal for spinal surgery and as a system for nerve surveillance such that the presence and relative position of para-spinal nerves can be detected as the expandable tip cannula is inserted through the patient's facia and para-spinal musculature.
- the present invention provides a cannulated system which is adapted to assist the surgeon in guiding the path of surgical instruments received into the intervertebral space, while identifying the presence and location of para-spinal nerves as the cannula is advanced to a patient's intervertebral space during minimally invasive surgery.
- the present nerve surveillance expandable tip cannula may also be adapted to selectively electrically induce cauterization of severed blood vessels when the cannula or other surgical instruments sever small blood vessels when they are inserted percutaneously into the patient and are advanced along a path into the patient's intervertebral space.
- An additional advantage of the present cannula system therefore is that, prior to piercing the annulus of an intervertebral disc, vessels on the surface of the disc may be cauterized to assure clear vision inside the disc after surgical entry is made.
- the present expandable tip nerve surveillance cannula preferably comprises a hollow tubular body with a expandable tip portion mounted at its distal end.
- the expandable tip portion comprises a plurality of generally triangular shaped petals which are held together in a radially-inwardly tapering arrangement by breakable seals disposed between adjacent petals. Since the expandable tip portion of the cannula tapers to a narrow blunt end, the cannula can be easily pushed through the patient's facia and spinal musculature using blunt dissection, while minimizing the amount of cutting and tearing of such structures.
- a central electrode can be disposed on a central obturator passing though the cannula and a second electrode can be disposed on a distal end of a second cannula, wherein the second cannula is used to open the petals.
- An obturator shaft which is slidably received within the hollow tubular cannula body provides support for the cannula, giving the cannula sufficient strength such that the cannula can be inserted percutaneously through the patient's facia and para-spinal musculature.
- the obturator has a large solid handle which allows the surgeon to grasp and push the cannula through the resistance of the facia and para-spinal musculature.
- a inner cannula or rod which is slidably received within the cannula is then used to separate the breakable seals, opening the petals radially outwards to a distance sufficient to provide access for surgical instruments passing therethrough.
- an electrode is disposed in each of the petals, and most preferably at or near the distal end of each of the petals.
- a plurality of electrodes are radially disposed about the distal end of the obturator and the electrodes protrude out of a small hole defined by truncated petals, as will be explained.
- the electrodes can be powered at a low level to thereby sense the position of a para-spinal nerve through continuous real time electromyographic monitoring, or alternatively, the electrodes can be powered at a higher level such that they operate to cauterize blood vessels.
- Safety systems ensure that power levels sufficient to cause cauterization are not activated if a nerve is sensed to be near the electrodes at the distal end of the cannula.
- the present invention comprises an elongated nerve surveillance probe having one or more electrodes at its distal tip.
- the nerve surveillance probe is preferably advanced to the patient's intervertebral space through a cannula.
- the present nerve surveillance probe is received into the patient through various cannulae and expandable mesh trocars.
- FIG. 1 is a side perspective view of a first nerve surveillance probe of the present invention.
- FIG. 2 is a sectional side elevation view of the first nerve surveillance probe positioned adjacent the spinal nerve with the first probe received within a first cannula which is itself received with an expandable mesh.
- FIG. 3 shows the probe of FIG. 2 , but with the mesh expanded and a second cannula received thereover, (after the distal ends of the first cannula and expandable mesh have been advanced past the nerve).
- FIG. 4 is a sectional side elevation corresponding to FIG. 3 , but with the first probe and first cannula removed.
- FIG. 5 is an end view corresponding to FIG. 4 .
- FIG. 6 is a side perspective view of a second nerve surveillance probe of the present invention.
- FIG. 7 is a sectional side elevation view of a second nerve surveillance probe received within the second cannula.
- FIG. 8 is an end view corresponding to FIG. 7 .
- FIGS. 9A, 9B and 9 C sequentially show a schematic view of an expandable mesh system as moved from a contracted position ( FIG. 9A ) to and expanded position ( FIG. 9B ), and with an outer cannula received thereover ( FIG. 9C ).
- FIG. 10 is an end view of the nerve surveillance probe of FIG. 6 pushing a nerve out of the way of an advancing cannula.
- FIG. 11 is an illustration of an expandable tip nerve surveillance probe of the present invention.
- FIG. 12 is a perspective distal view of the system of FIG. 11 .
- FIG. 13 is a view of the distal tip of the system of FIG. 12 , with the petals in a closed position.
- FIG. 14 is a view corresponding to FIG. 13 , but with the petals in an open position.
- FIG. 15 is a sectional view of the system of FIG. 11 , with an obturator received therein and the petals in a closed position.
- FIG. 16 is a schematic illustration of the electrodes at the distal tip of the present invention, the electrodes being used to sense the position of a para-spinal nerve.
- FIG. 17 is a sectional view of the system of FIG. 11 with a inner cannula received therein and the petals in an open position.
- FIG. 18 is a side view of an alternate embodiment of the distal tip region of the present invention having truncated petals.
- FIG. 19 is an end view corresponding to FIG. 18 .
- FIG. 20 is a top plan view of a peel back expandable tip cannula.
- FIG. 21 is a side elevation view of the peel back cannula FIG. 20 .
- FIG. 22 is a side sectional view of the peel back cannula of FIG. 20 in a sealed position.
- FIG. 23 is a sectional side elevation view of the peel back cannula of FIG. 20 in an open position.
- FIG. 24 is a top plan view corresponding to FIG. 23 .
- FIG. 25 is a side elevation view of a curved petal nerve surveillance probe.
- FIG. 26 is a side elevation view corresponding to FIG. 25 , but with the petals in an open position.
- FIG. 27 is a view corresponding to FIG. 26 , but with an expandable elastomer shown wrapped around the distal end of the curved petals.
- FIG. 28 is a sectional elevation view of the distal end of an alternate nerve surveillance cannula.
- FIG. 29 is a perspective view an alternative nerve surveillance probe.
- FIG. 30 shows the surveillance probe of FIG. 29 with the petals opened by an inner cannula.
- FIG. 31 corresponds to FIG. 30 , but with the internal obturator removed.
- FIG. 32 corresponds to FIG. 30 , but with the internal obturator advanced distally.
- FIG. 33 corresponds to FIG. 31 , but with the internal cannula advanced distally.
- the present invention encompasses both nerve surveillance probes which are received through cannulae, and various expandable tip cannulae comprising nerve surveillance probes at their distal ends.
- an electromyography nerve surveillance probe 10 having a blunt end 11 is provided.
- Electrode 13 is disposed at the distal end of probe 10 and is charged by electrical contacts 15 .
- the minimal threshold depolarization value elicited by the electrode will result in corresponding electromyography activity, such that the presence of nerve 20 can be sensed by standard electromyographic techniques, thus indicating the presence of the nerve.
- the presence of nerve 20 will be sensed by appropriate needles or patches attached to the appropriate muscle as electrode 13 stimulates, and thereby depolarizes electrode 13 .
- the present nerve surveillance probe 10 can be advanced percutaneously through the patient's back in a posterolateral approach towards the patient's intervertebral space using the arrangement in which a first cannula 30 surrounds probe 10 as the probe is advanced. As probe 10 is advanced, it will then become positioned proximal nerve 20 . When this occurs, the presence of nerve 20 relative to probe 10 will be determined by the signal generated by electrode 13 as set forth above.
- an expandable mesh 32 is received over first cannula 30 such that expansion of this mesh from the contracted position shown in FIG. 2 to the expanded position shown in FIG. 3 will gently move nerve 20 out of the way.
- a second cannula 34 can thereafter be received over expanded mesh 32 , thereby providing a large passageway 40 for intervertebral access when probe 10 , first cannula 30 , and expanded mesh 32 are removed as shown in FIGS. 4 and 5 .
- the large passageway 40 into the intervertebral area provided by cannula 34 protects sensitive nerve 20 while providing access for surgical instruments therethrough, including such surgical instruments as intervertebral inserts, bone decorticators, cameras, articulating forceps, intervertebral inserts and intervertebral positioning systems.
- Nerve surveillance probe 9 has a plurality of electrodes 12 , 14 , 16 and 18 disposed at radial locations adjacent to blunt distal end 8 , as is seen in FIGS. 6, 7 and 8 .
- Radially-disposed electrodes 12 , 14 , 16 , and 18 perform a variety of useful functions, as follows.
- electrodes 12 , 14 , 16 , and 18 are disposed at radial locations around the tip of probe 10 , the electrodes which are closest to nerve 20 , (in this case electrode 14 , and to a lesser degree electrodes 12 and 16 ), will operate to depolarize the nerve such that the presence of nerve 20 can be detected by standard electromyographic techniques. As such, a signal will be generated telling the operating surgeon that nerve 20 is proximal to electrode 14 . As can be appreciated, should nerve 20 instead be positioned in another orientation, the signal from electrodes 12 , 14 , 16 and 18 would instead indicate the presence of the nerve at a different location.
- probe 9 can be operated as a tool for inspecting the interior passageway of cannula 34 to determine if nerve 20 had become inadvertently trapped therein as cannulae 34 is advanced over expanded mesh 32 .
- the electrodes 12 , 14 , 16 , and 18 are disposed at radial locations around the distal end of the probe, it is possible to determine the exact location of nerve 20 .
- each of electrodes 12 , 14 , 16 , and 18 will be activated in a repeating sequence with a sufficient delay time therebetween to detect an electromyographic response.
- radially disposed electrodes 12 , 14 , 16 , and 18 can be used for electrocoagulation of blood vessels, for example, blood vessels on the patient's annulus when accessing the patient's intervertebral region.
- blood vessels for example, blood vessels on the patient's annulus when accessing the patient's intervertebral region.
- a plurality of electrodes are disposed at the distal end of probe 9 , it is possible to pass current between various electrodes, thus cauterizing adjacent blood vessels.
- radially disposed electrodes 12 , 14 , 16 , and 18 can be used to assist in avoiding, (or alternatively in moving), nerve 20 as follows.
- nerve 20 will be determined to be adjacent to electrode 14 using the above set forth method.
- Probe 10 can then be gently moved in a radial direction away from electrode 14 , as is shown by arrow D, such that nerve 20 can then be gently pushed out of the way, providing safe access to the patient's intervertebral space.
- the movement of probe 10 in a direction opposite direction D will push the nerve out of the way such that a cannula can then be advanced past nerve 20 without damaging the nerve.
- the expansion of mesh 32 is controlled as follows. As is shown in FIG. 9A , expandable mesh 32 is in a contracted position and is mounted on the end of a cannula 35 . A distal end of mesh 32 is positioned against the patient's annulus 40 or any other suitably hard bone structure. Pushing rod or cannula 35 in direction D 2 will compress mesh 34 , causing it to expand radially and shorten. This movement will displace nerve 20 (shown here in cross section). Following this, cannula 37 can be slid over expanded mesh 32 is seen in FIG. 9B .
- cannula 37 can be advanced past nerve 20 , gently pushing nerve 20 still further out of the way, as shown in FIG. 9C .
- rod or cannula 35 and attached mesh 32 can be removed, leaving a large cannulated passageway to the annulus or intervertebral space.
- present nerve surveillance probes can be used without the expandable mesh system of FIGS. 9A, 9B and 9 C.
- present method and apparatus of minimally invasive nerve surveillance can be used in any arthroscopic procedure.
- the present nerve surveillance probes are able to detect the presence of any other efferent skeletal motor nerve in addition to the spinal nerve and can thus be used in various surgical procedures.
- the present nerve surveillance probes are also adapted to sense the presence of afferent sensory nerves in response to signals received in the spinal cord or cerebral cortex.
- the present invention provides an expandable tip nerve surveillance cannula system 110 comprising an endoscopic hollow cannula shaft 112 having an expandable tip 113 comprised of a plurality of petals 114 , (the details of petals 114 are better shown in FIGS. 12, 13 , and 14 ).
- System 110 further comprises an obturator 120 which is slidably received within cannula shaft 112 .
- obturator 120 is a rigid structure which provides internal support to cannula shaft 112 such that cannula shaft 112 can be received percutaneously.
- Shaft 112 can have a cross section which is circular, oval, racetrack-shaped or any other design.
- expandable tip 113 is comprised of a plurality of petals 114 , held together by breakable seals 115 .
- Breakable seals 115 can be formed by an elastomeric material with predictable failure segments between the petals, which fracture with radial expansion of the petals.
- each of petals 114 has an electrode 116 disposed therein as shown. Electrodes 116 serve the following important functions.
- electrodes 116 can be used for electromyography, and in particular to sense the presence and relative position of para-spinal nerves as cannula shaft 112 is advanced.
- electrodes 116 a, 116 b, 116 c, 116 d, 116 e and 116 f are disposed radially about cannula shaft 112 , with one electrode disposed in each of petals 114 , as has been described.
- Electrodes 116 a, 116 b, 116 c, 116 d, 116 e and 116 f assist in sensing the presence and location of para-spinal nerve 160 as follows.
- the electrodes closest to nerve 160 will operate to depolarize nerve 160 such that the presence of nerve 160 can be detected by electromyography.
- shaft 112 can be moved in direction D, thereby avoiding nerve 160 as shaft 112 is inserted.
- shaft 112 can be moved in the opposite direction to D, such that cannula shaft 112 gently moves nerve 112 out of the way.
- shaft 112 can be safely advanced toward the patient's intervertebral space. Should each one of electrodes 116 a, 116 b, 116 c, 116 d, 116 e and 116 f depolarize the nerve, this would indicate that the nerve is directly in front of the advancing cannula shaft 112 . Accordingly, the cannula shaft could be moved such that contact with the nerve is avoided.
- electrodes 116 a, 116 b, 116 c, 116 d, 116 e and 116 f when none of electrodes 116 a, 116 b, 116 c, 116 d, 116 e and 116 f indicate the presence of a nerve, electrodes 116 a, 116 b, 116 c, 116 d, 116 e and 116 f can be powered to a higher level such that cauterization of minor blood vessels can be achieved by passing increased electric current between each of the various adjacent electrodes, thus cauterizing adjacent blood vessels.
- the present invention comprises a safety system such that cauterization power levels for electrodes 116 are not activated when any of electrodes 116 sense the presence of a para-spinal nerve thereby.
- each of electrodes 116 a, 116 b, 116 c, 116 d, 116 e and 116 f are operated in sequence, affording a sufficient latency period therebetween for the detection of an electromyographic signal.
- button 121 can be used to activate the nerve sensing functions and button 123 can be used to activate the blood vessel cauterization functions. Buttons 121 and 123 are conveniently located on the near handle 122 such that they may be activated while the surgeon grips obturator handle 122 .
- obturator 120 is removed from cannula shaft 112 .
- inner cannula 130 is then inserted into cannula shaft 112 .
- Inner cannula 130 is dimensioned to be of a size that, when fully inserted into shaft 112 , inner cannula 130 breaks apart seals 115 , forcing petals 114 to be displaced radially outwards to a distance of at least the internal diameter of shaft 112 as shown.
- Inner cannula 130 can alternately comprise a solid rod or obturator which is dimensioned to be received within shaft 112 to open petals 114 .
- a notch 118 is found between adjacent petals 114 where petals 114 are mounted to the distal end 113 of cannula shaft 112 .
- Notches 118 operate to facilitate breakage of seals 115 by providing a stress relief region at the base of breakable seals 115 .
- distal tip 113 comprises truncated petals 114 a which, when sealed together by way of breakable seals 115 , meet at their distal end to define a small opening 117 at distal tip 113 of cannula shaft 112 .
- an obturator 120 a is slidably received within cannula shaft 112 .
- Obturator 120 a has a narrow distal end 113 a which protrudes through opening 117 .
- Electrodes 119 a, 119 b, 119 c, 119 d, 119 e and 119 f are disposed radially about the narrow distal end 113 a of obturator 120 a, functioning similar to the probe design shown in FIG. 6 .
- a peel back cannula having an expandable tip is provided.
- cannula 150 is provided.
- Cannula 150 has a tapered narrow distal end 152 and a tear away line 153 which is formed in the preferred polymeric material of cannula 150 . Tear away line 153 will split under tension as will be explained.
- Cannula 150 may also comprise electrodes 153 which perform a similar function to the electrodes 116 described herein. Electrodes 153 can be disposed axially along the length of cannula 150 , or radially around the distal end of cannula 150 , or some combination thereof.
- An advantage of being disposed axially along the cannula is that electrodes 153 will be able to sense the position of a nerve relative to the cannula in an axial dimension.
- an advantage of being disposed radially around the cannula is that the electrodes will be able to sense the position of a nerve relative to the cannula in a radial dimension. It is to be understood that all embodiments of the present invention comprise the concept of nerve surveillance electrodes disposed both radially around and axially along the nerve surveillance cannula or obturator, and that the radial electrode placement shown in the design of FIGS. 7, 8 and 11 to 19 , and the axial electrode placement shown in the design of FIGS. 20 to 23 is not limiting.
- cannula 150 is advanced such that its tapered end 152 is adjacent nerve 160 as is seen in FIG. 22 .
- a obturator 155 is positioned within cannula 150 .
- Obturator 155 provides structural support for the cannula as it is being inserted or as it is moving a nerve.
- Obturator 155 is thereafter removable such that cannula 150 operates as an open passageway as will be explained.
- a narrow inner cannula 157 may also be provided.
- Cannula 157 is received around obturator 155 and within cannula 150 .
- inner cannula 157 is advanced to the position shown in FIGS. 23 and 24 .
- inner cannula 157 pushes against the tapered end of 152 of cannula 150 causing cannula 150 to split open along tear away line 153 .
- inner cannula 157 can be used to provide a cannulated passageway when obturator 157 has been withdrawn therefrom.
- inner cannula 157 can be replaced by a suitably dimensioned obturator for opening cannula 150 along tear away line 153 .
- Tear away line 153 may be formed by scribing the polymeric material forming cannula 150 . Tear away line 153 preferably runs some distance along opposite sides of the open 152 of cannula 150 . Alternatively, tear away line 153 can be disposed along the top and bottom of cannula 150 as shown.
- FIG. 25 is a side view of a curved petal design of the present invention in a closed position with cannula 220 having outwardly curved petals 212 at distal end 215 .
- a nerve 230 is disposed adjacent the ends of closed petals 212 as shown.
- Petals 212 are then opened, (using methods described herein), as shown in FIG. 26 .
- the opening of petals 212 causes nerve 230 to be generally displaced upward away from an operative site which may preferably comprise a patient's intervertebral disk 240 .
- an elastomer 250 can be wrapped around the petals 212 such that nerves are not pinched in gaps 213 between the adjacent petals either when the petals are first opened or when the petals are closed during the removal of the cannula from the patient. It is to be appreciated that elastomer 250 could also be wrapped around the ends of any of the straight petal designs shown in FIGS. 11 to 19 .
- the operative site or target site may comprise a patient's intervertebral disk 240 when the present invention is used in minimally invasive spinal surgery. It is to be understood, however, that the present expandable tip cannula can be used in all manner of minimally invasive surgery and is especially useful for approaching any target site having sensitive nerves adjacent thereto since the present invention is specifically adapted to gently push the nerve out of the way as the petals are opened, thereby providing a cannulated access portal for the insertion and removal of various surgical devices through cannula 220 .
- FIG. 28 shows an alternate design of the distal end 302 of a nerve surveillance cannula 300 .
- Cannula 300 has a plurality of expanding petals 314 , with each petal 314 comprising an electrode 316 adapted for nerve surveillance or blood vessel cauterization as described above.
- an obturator 310 protrudes through an opening between petals 314 , as shown.
- obturator 310 may preferably be tapered to a narrow distal end 302 , which assists in easing cannula 300 through the patient's facia and para-spinal musculature and into the patient's intervertebral space.
- distal end 302 of obturator 310 can be shaped to latch against the ends of petals 314 , as shown, thereby assisting in holding together petals 314 as cannula 300 is advanced.
- obturator 310 further comprises a centrally disposed electrode 320 .
- Electrode 320 being axially displaced from electrodes 316 is adapted to sense the position of a nerve in the axial direction as probe 300 approaches the nerve.
- an internal cannula 315 can be advanced distally to open petals 314 with obturator 310 being advanced slightly to first un-latch the distal ends of petals 314 and then withdrawn from cannula 300 , providing a cannulated access to the patient's intervertebral space.
- FIG. 29 through 33 show an alternative nerve surveillance cannula and probe system 400 , comprising a cannula 402 having a plurality of radially outwardly extending petals 404 .
- An internal obturator 500 is received within cannula 402 .
- Obturator 500 has a electrode 502 disposed at its distal end as shown in FIG. 30 .
- Electrode 502 can also be seen at distal end of cannula 402 in FIG. 29 .
- Electrode 502 operates to stimulate and thereby, depolarize a nerve as cannula 402 is advanced towards the patient's intervertebral space.
- FIG. 29 shows cannula 402 with petals 404 closed around electrode 502 as the cannula is advanced.
- FIG. 30 shows an inner cannula 550 which is advanced through cannula 402 to open petals 404 as shown.
- Inner cannula 550 preferably comprises an electrode 510 which is disposed around the distal end of the cannula, as shown.
- electrode 502 is turned offhand obturator 500 is removed from inner cannula 550 as is shown in FIG. 31 .
- Electrode 510 remains turned on such that it is adapted to detect whether a nerve is positioned close to entering within cannula 550 , or whether a surgical instrument advanced through cannula 550 would contact a nerve proximal electrode 510 .
- obturator 500 can thereafter be advanced through cannula 550 to bluntly divide and dilate the annulus of a disc.
- electrode 502 is turned off as the anulus is divided and dilated.
- Annular electrode 510 may preferably be turned on during this procedure to sense the presence of nerves adjacent the distal end of cannula 550 .
- obturator 500 can be withdrawn from cannula 550 with cannula 550 advanced distally into the hole cut into the annulus.
- a safe cannulated access way into the annulus or other region of the patient's body is provided.
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Abstract
Description
- The present application is a division of commonly owned and co-pending U.S. patent application Ser. No. 10/431,619, filed on May 7, 2003, which is a divisional application of commonly owned and co-pending U.S. patent application Ser. No. 09/325,998, filed on Jun. 4, 1999 and issued as U.S. Pat. No. 6,564,078, the complete disclosure of which is hereby incorporated by reference in its entirety for all purposes. Additionally, the present application claims benefit under 35 U.S.C. §119(e) from U.S. Provisional Patent Applications Serial No. 60/113,651 filed Dec. 23, 1998; U.S. Provisional Patent Application Serial No. 60/120,663 filed Feb. 12, 1999; and U.S. Provisional Patent Application Serial No. 60/123,268 filed Mar. 8, 1999; the complete disclosures of which are hereby incorporated herein by reference in their entirety for all purposes.
- The present invention relates to nerve surveillance systems and to cannulae systems for use in minimally invasive spinal surgery.
- A significant danger of performing intervertebral operations or accessing an intervertebral space during spine surgery is that of inadvertently contacting or damaging the para-spinal nerves, including the exiting nerve roots, traversing nerves and the nerves of the cauda equina. The exact location of these para-spinal nerves can not be determined prior to the commencement of surgery. Moreover, intervertebral spaces in the spine have other sensitive nerves disposed at locations which are not entirely predictable prior to insertion of the surgical tool into the intervertebral area. Accordingly, the danger of pinching or damaging spinal nerves when accessing an intervertebral space has proven to be quite limiting to the methods and devices used during minimally invasive spinal surgery. In addition, as cannulae are received through the patient's back, such as when performing minimally invasive spinal surgery, minor blood vessels are ruptured, thereby blocking the surgeon's vision inside the intervertebral region after the cannula has been inserted. nerves as the probe is advanced during minimally-invasive surgery, thus providing a device for guiding the path of other surgical instruments to be inserted into this intervertebral space. In a preferred aspect of the present invention, an expandable tip cannula system is provided which functions both as an access portal for spinal surgery and as a system for nerve surveillance such that the presence and relative position of para-spinal nerves can be detected as the expandable tip cannula is inserted through the patient's facia and para-spinal musculature. An advantage of determining the position of a para-spinal nerve with respect to the distal tip of the cannula in particular is that the para-spinal nerve can be avoided or gently moved out of the surgeon's way while inserting the cannula. Accordingly, in a preferred aspect, the present invention provides a cannulated system which is adapted to assist the surgeon in guiding the path of surgical instruments received into the intervertebral space, while identifying the presence and location of para-spinal nerves as the cannula is advanced to a patient's intervertebral space during minimally invasive surgery.
- Optionally, the present nerve surveillance expandable tip cannula may also be adapted to selectively electrically induce cauterization of severed blood vessels when the cannula or other surgical instruments sever small blood vessels when they are inserted percutaneously into the patient and are advanced along a path into the patient's intervertebral space. An additional advantage of the present cannula system therefore is that, prior to piercing the annulus of an intervertebral disc, vessels on the surface of the disc may be cauterized to assure clear vision inside the disc after surgical entry is made.
- In one embodiment, the present expandable tip nerve surveillance cannula preferably comprises a hollow tubular body with a expandable tip portion mounted at its distal end. In a preferred aspect of the invention, the expandable tip portion comprises a plurality of generally triangular shaped petals which are held together in a radially-inwardly tapering arrangement by breakable seals disposed between adjacent petals. Since the expandable tip portion of the cannula tapers to a narrow blunt end, the cannula can be easily pushed through the patient's facia and spinal musculature using blunt dissection, while minimizing the amount of cutting and tearing of such structures.
- Alternatively, a central electrode can be disposed on a central obturator passing though the cannula and a second electrode can be disposed on a distal end of a second cannula, wherein the second cannula is used to open the petals.
- An obturator shaft which is slidably received within the hollow tubular cannula body provides support for the cannula, giving the cannula sufficient strength such that the cannula can be inserted percutaneously through the patient's facia and para-spinal musculature. Preferably, the obturator has a large solid handle which allows the surgeon to grasp and push the cannula through the resistance of the facia and para-spinal musculature.
- After the cannula has been inserted and is resting on the patient's annulus, a inner cannula or rod which is slidably received within the cannula is then used to separate the breakable seals, opening the petals radially outwards to a distance sufficient to provide access for surgical instruments passing therethrough.
- In some preferred aspects, an electrode is disposed in each of the petals, and most preferably at or near the distal end of each of the petals. In other aspects of the invention, a plurality of electrodes are radially disposed about the distal end of the obturator and the electrodes protrude out of a small hole defined by truncated petals, as will be explained.
- In various aspects of the present invention, the electrodes can be powered at a low level to thereby sense the position of a para-spinal nerve through continuous real time electromyographic monitoring, or alternatively, the electrodes can be powered at a higher level such that they operate to cauterize blood vessels. Safety systems ensure that power levels sufficient to cause cauterization are not activated if a nerve is sensed to be near the electrodes at the distal end of the cannula.
- In alternate embodiments, the present invention comprises an elongated nerve surveillance probe having one or more electrodes at its distal tip. In such aspects, the nerve surveillance probe is preferably advanced to the patient's intervertebral space through a cannula. In other alternate embodiments, the present nerve surveillance probe is received into the patient through various cannulae and expandable mesh trocars.
-
FIG. 1 is a side perspective view of a first nerve surveillance probe of the present invention. -
FIG. 2 is a sectional side elevation view of the first nerve surveillance probe positioned adjacent the spinal nerve with the first probe received within a first cannula which is itself received with an expandable mesh. -
FIG. 3 shows the probe ofFIG. 2 , but with the mesh expanded and a second cannula received thereover, (after the distal ends of the first cannula and expandable mesh have been advanced past the nerve). -
FIG. 4 is a sectional side elevation corresponding toFIG. 3 , but with the first probe and first cannula removed. -
FIG. 5 is an end view corresponding toFIG. 4 . -
FIG. 6 is a side perspective view of a second nerve surveillance probe of the present invention. -
FIG. 7 is a sectional side elevation view of a second nerve surveillance probe received within the second cannula. -
FIG. 8 is an end view corresponding toFIG. 7 . -
FIGS. 9A, 9B and 9C sequentially show a schematic view of an expandable mesh system as moved from a contracted position (FIG. 9A ) to and expanded position (FIG. 9B ), and with an outer cannula received thereover (FIG. 9C ). -
FIG. 10 is an end view of the nerve surveillance probe ofFIG. 6 pushing a nerve out of the way of an advancing cannula. -
FIG. 11 is an illustration of an expandable tip nerve surveillance probe of the present invention. -
FIG. 12 is a perspective distal view of the system ofFIG. 11 . -
FIG. 13 is a view of the distal tip of the system ofFIG. 12 , with the petals in a closed position. -
FIG. 14 is a view corresponding toFIG. 13 , but with the petals in an open position. -
FIG. 15 is a sectional view of the system ofFIG. 11 , with an obturator received therein and the petals in a closed position. -
FIG. 16 is a schematic illustration of the electrodes at the distal tip of the present invention, the electrodes being used to sense the position of a para-spinal nerve. -
FIG. 17 is a sectional view of the system ofFIG. 11 with a inner cannula received therein and the petals in an open position. -
FIG. 18 is a side view of an alternate embodiment of the distal tip region of the present invention having truncated petals. -
FIG. 19 is an end view corresponding toFIG. 18 . -
FIG. 20 is a top plan view of a peel back expandable tip cannula. -
FIG. 21 is a side elevation view of the peel back cannulaFIG. 20 . -
FIG. 22 is a side sectional view of the peel back cannula ofFIG. 20 in a sealed position. -
FIG. 23 is a sectional side elevation view of the peel back cannula ofFIG. 20 in an open position. -
FIG. 24 is a top plan view corresponding toFIG. 23 . -
FIG. 25 is a side elevation view of a curved petal nerve surveillance probe. -
FIG. 26 is a side elevation view corresponding toFIG. 25 , but with the petals in an open position. -
FIG. 27 is a view corresponding toFIG. 26 , but with an expandable elastomer shown wrapped around the distal end of the curved petals. -
FIG. 28 is a sectional elevation view of the distal end of an alternate nerve surveillance cannula. -
FIG. 29 is a perspective view an alternative nerve surveillance probe. -
FIG. 30 shows the surveillance probe ofFIG. 29 with the petals opened by an inner cannula. -
FIG. 31 corresponds toFIG. 30 , but with the internal obturator removed. -
FIG. 32 corresponds toFIG. 30 , but with the internal obturator advanced distally. -
FIG. 33 corresponds toFIG. 31 , but with the internal cannula advanced distally. - As will be set forth herein, the present invention encompasses both nerve surveillance probes which are received through cannulae, and various expandable tip cannulae comprising nerve surveillance probes at their distal ends.
- In a first preferred embodiment, as is seen in
FIG. 1 , an electromyographynerve surveillance probe 10 having ablunt end 11 is provided.Electrode 13 is disposed at the distal end ofprobe 10 and is charged byelectrical contacts 15. Aselectrode 13 approaches nerve 20 (as seen inFIG. 2 ), the minimal threshold depolarization value elicited by the electrode will result in corresponding electromyography activity, such that the presence ofnerve 20 can be sensed by standard electromyographic techniques, thus indicating the presence of the nerve. Specifically, using standard electromyographic techniques, the presence ofnerve 20 will be sensed by appropriate needles or patches attached to the appropriate muscle aselectrode 13 stimulates, and thereby depolarizeselectrode 13. - In an exemplary method of application, (as is shown in
FIG. 2 ), the presentnerve surveillance probe 10 can be advanced percutaneously through the patient's back in a posterolateral approach towards the patient's intervertebral space using the arrangement in which afirst cannula 30 surroundsprobe 10 as the probe is advanced. Asprobe 10 is advanced, it will then become positionedproximal nerve 20. When this occurs, the presence ofnerve 20 relative to probe 10 will be determined by the signal generated byelectrode 13 as set forth above. - In one preferred aspect of the present invention, an
expandable mesh 32 is received overfirst cannula 30 such that expansion of this mesh from the contracted position shown inFIG. 2 to the expanded position shown inFIG. 3 will gently movenerve 20 out of the way. - Also in a preferred aspect as shown in
FIG. 3 , asecond cannula 34 can thereafter be received over expandedmesh 32, thereby providing alarge passageway 40 for intervertebral access whenprobe 10,first cannula 30, and expandedmesh 32 are removed as shown inFIGS. 4 and 5 . Accordingly, thelarge passageway 40 into the intervertebral area provided bycannula 34 protectssensitive nerve 20 while providing access for surgical instruments therethrough, including such surgical instruments as intervertebral inserts, bone decorticators, cameras, articulating forceps, intervertebral inserts and intervertebral positioning systems. - As is seen in
FIG. 6 , a secondnerve surveillance probe 9 is also provided.Nerve surveillance probe 9 has a plurality ofelectrodes distal end 8, as is seen inFIGS. 6, 7 and 8. Radially-disposedelectrodes - Referring to
FIG. 8 , aselectrodes probe 10, the electrodes which are closest tonerve 20, (in thiscase electrode 14, and to alesser degree electrodes 12 and 16), will operate to depolarize the nerve such that the presence ofnerve 20 can be detected by standard electromyographic techniques. As such, a signal will be generated telling the operating surgeon thatnerve 20 is proximal toelectrode 14. As can be appreciated, shouldnerve 20 instead be positioned in another orientation, the signal fromelectrodes probe 9 can be operated as a tool for inspecting the interior passageway ofcannula 34 to determine ifnerve 20 had become inadvertently trapped therein ascannulae 34 is advanced over expandedmesh 32. Moreover, as theelectrodes nerve 20. Preferably as well, each ofelectrodes - In another aspect of the invention, radially disposed
electrodes probe 9, it is possible to pass current between various electrodes, thus cauterizing adjacent blood vessels. - In another aspect of the invention, radially disposed
electrodes nerve 20 as follows. Referring toFIG. 10 ,nerve 20 will be determined to be adjacent to electrode 14 using the above set forth method.Probe 10 can then be gently moved in a radial direction away fromelectrode 14, as is shown by arrow D, such thatnerve 20 can then be gently pushed out of the way, providing safe access to the patient's intervertebral space. Alternatively, the movement ofprobe 10 in a direction opposite direction D will push the nerve out of the way such that a cannula can then be advancedpast nerve 20 without damaging the nerve. - In another aspect of the present invention as shown in
FIGS. 9A, 9B and 9C, the expansion ofmesh 32 is controlled as follows. As is shown inFIG. 9A ,expandable mesh 32 is in a contracted position and is mounted on the end of acannula 35. A distal end ofmesh 32 is positioned against the patient'sannulus 40 or any other suitably hard bone structure. Pushing rod orcannula 35 in direction D2 will compressmesh 34, causing it to expand radially and shorten. This movement will displace nerve 20 (shown here in cross section). Following this,cannula 37 can be slid over expandedmesh 32 is seen inFIG. 9B . Following this,cannula 37 can be advancedpast nerve 20, gently pushingnerve 20 still further out of the way, as shown inFIG. 9C . Lastly, rod orcannula 35 and attachedmesh 32 can be removed, leaving a large cannulated passageway to the annulus or intervertebral space. - It is to be understood that the present nerve surveillance probes can be used without the expandable mesh system of
FIGS. 9A, 9B and 9C. Moreover, it is to be understood that the present method and apparatus of minimally invasive nerve surveillance can be used in any arthroscopic procedure. - As can also be appreciated the present nerve surveillance probes are able to detect the presence of any other efferent skeletal motor nerve in addition to the spinal nerve and can thus be used in various surgical procedures. Alternatively, using evoked potential elecrtromyography, the present nerve surveillance probes are also adapted to sense the presence of afferent sensory nerves in response to signals received in the spinal cord or cerebral cortex.
- In a second preferred embodiment, the present invention provides an expandable tip nerve surveillance cannula system 110 comprising an endoscopic
hollow cannula shaft 112 having anexpandable tip 113 comprised of a plurality ofpetals 114, (the details ofpetals 114 are better shown inFIGS. 12, 13 , and 14). System 110 further comprises anobturator 120 which is slidably received withincannula shaft 112. As is shown inFIG. 15 ,obturator 120 is a rigid structure which provides internal support tocannula shaft 112 such thatcannula shaft 112 can be received percutaneously.Shaft 112 can have a cross section which is circular, oval, racetrack-shaped or any other design. By holdingobturator handle 122, the surgeon is able to advancecannula shaft 112 through the patient's para-spinal musculature and dockexpandable tip 113 at the patient's annulus. - As seen in
FIGS. 12 and 13 ,expandable tip 113 is comprised of a plurality ofpetals 114, held together bybreakable seals 115.Breakable seals 115 can be formed by an elastomeric material with predictable failure segments between the petals, which fracture with radial expansion of the petals. In one preferred aspect each ofpetals 114 has anelectrode 116 disposed therein as shown.Electrodes 116 serve the following important functions. - First,
electrodes 116 can be used for electromyography, and in particular to sense the presence and relative position of para-spinal nerves ascannula shaft 112 is advanced. Referring toFIG. 16 , as can be seenelectrodes cannula shaft 112, with one electrode disposed in each ofpetals 114, as has been described.Electrodes para-spinal nerve 160 as follows. The electrodes closest tonerve 160, (in thiscase electrodes electrodes nerve 160 such that the presence ofnerve 160 can be detected by electromyography. As such,shaft 112 can be moved in direction D, thereby avoidingnerve 160 asshaft 112 is inserted. Alternatively, of course,shaft 112 can be moved in the opposite direction to D, such thatcannula shaft 112 gently movesnerve 112 out of the way. Moreover, when none ofelectrodes shaft 112 can be safely advanced toward the patient's intervertebral space. Should each one ofelectrodes cannula shaft 112. Accordingly, the cannula shaft could be moved such that contact with the nerve is avoided. - Alternatively, when none of
electrodes electrodes electrodes 116 are not activated when any ofelectrodes 116 sense the presence of a para-spinal nerve thereby. - Preferably, each of
electrodes - As seen in
FIG. 11 ,button 121 can be used to activate the nerve sensing functions andbutton 123 can be used to activate the blood vessel cauterization functions.Buttons near handle 122 such that they may be activated while the surgeon gripsobturator handle 122. - Subsequent to being positioned at the patient's annulus,
obturator 120 is removed fromcannula shaft 112. As seen inFIG. 17 ,inner cannula 130 is then inserted intocannula shaft 112.Inner cannula 130 is dimensioned to be of a size that, when fully inserted intoshaft 112,inner cannula 130 breaks apart seals 115, forcingpetals 114 to be displaced radially outwards to a distance of at least the internal diameter ofshaft 112 as shown.Inner cannula 130 can alternately comprise a solid rod or obturator which is dimensioned to be received withinshaft 112 to openpetals 114. - As can be seen in
FIG. 13 , anotch 118 is found betweenadjacent petals 114 wherepetals 114 are mounted to thedistal end 113 ofcannula shaft 112.Notches 118 operate to facilitate breakage ofseals 115 by providing a stress relief region at the base ofbreakable seals 115. - In an alternate design, as shown in
FIGS. 18 and 19 ,distal tip 113 comprises truncatedpetals 114 a which, when sealed together by way ofbreakable seals 115, meet at their distal end to define asmall opening 117 atdistal tip 113 ofcannula shaft 112. In this design, anobturator 120 a is slidably received withincannula shaft 112.Obturator 120 a has a narrow distal end 113 a which protrudes throughopening 117.Electrodes obturator 120 a, functioning similar to the probe design shown inFIG. 6 . - In this alternate design of
FIGS. 18 and 19 , nerve surveillance and blood vessel cauterization functions as described above and as performed byelectrodes 116 onpetals 114 are instead performed byelectrodes 119 onobturator 120 a. In this aspect of the invention,petals 114 a are truncated andobturator 120 a protrudes therethrough. - In another alternate embodiment, a peel back cannula having an expandable tip is provided. Referring to
FIG. 20 ,cannula 150 is provided.Cannula 150 has a tapered narrowdistal end 152 and a tear awayline 153 which is formed in the preferred polymeric material ofcannula 150. Tear awayline 153 will split under tension as will be explained.Cannula 150 may also compriseelectrodes 153 which perform a similar function to theelectrodes 116 described herein.Electrodes 153 can be disposed axially along the length ofcannula 150, or radially around the distal end ofcannula 150, or some combination thereof. - An advantage of being disposed axially along the cannula is that
electrodes 153 will be able to sense the position of a nerve relative to the cannula in an axial dimension. Similarly, an advantage of being disposed radially around the cannula is that the electrodes will be able to sense the position of a nerve relative to the cannula in a radial dimension. It is to be understood that all embodiments of the present invention comprise the concept of nerve surveillance electrodes disposed both radially around and axially along the nerve surveillance cannula or obturator, and that the radial electrode placement shown in the design ofFIGS. 7, 8 and 11 to 19, and the axial electrode placement shown in the design of FIGS. 20 to 23 is not limiting. - In a preferred method of operation,
cannula 150 is advanced such that itstapered end 152 isadjacent nerve 160 as is seen inFIG. 22 . Aobturator 155 is positioned withincannula 150.Obturator 155 provides structural support for the cannula as it is being inserted or as it is moving a nerve.Obturator 155 is thereafter removable such thatcannula 150 operates as an open passageway as will be explained. - A narrow
inner cannula 157 may also be provided.Cannula 157 is received aroundobturator 155 and withincannula 150. When the operator has determined it is safe and desirable to opencannula 150,inner cannula 157 is advanced to the position shown inFIGS. 23 and 24 . Specifically,inner cannula 157 pushes against the tapered end of 152 ofcannula 150 causingcannula 150 to split open along tear awayline 153. Accordingly,inner cannula 157 can be used to provide a cannulated passageway whenobturator 157 has been withdrawn therefrom. Alternatively,inner cannula 157 can be replaced by a suitably dimensioned obturator for openingcannula 150 along tear awayline 153. - Tear away
line 153 may be formed by scribing the polymericmaterial forming cannula 150. Tear awayline 153 preferably runs some distance along opposite sides of the open 152 ofcannula 150. Alternatively, tear awayline 153 can be disposed along the top and bottom ofcannula 150 as shown. -
FIG. 25 is a side view of a curved petal design of the present invention in a closed position withcannula 220 having outwardlycurved petals 212 atdistal end 215. Anerve 230 is disposed adjacent the ends ofclosed petals 212 as shown.Petals 212 are then opened, (using methods described herein), as shown inFIG. 26 . The opening ofpetals 212 causesnerve 230 to be generally displaced upward away from an operative site which may preferably comprise a patient'sintervertebral disk 240. - As shown in
FIG. 27 , anelastomer 250 can be wrapped around thepetals 212 such that nerves are not pinched ingaps 213 between the adjacent petals either when the petals are first opened or when the petals are closed during the removal of the cannula from the patient. It is to be appreciated thatelastomer 250 could also be wrapped around the ends of any of the straight petal designs shown in FIGS. 11 to 19. - The operative site or target site may comprise a patient's
intervertebral disk 240 when the present invention is used in minimally invasive spinal surgery. It is to be understood, however, that the present expandable tip cannula can be used in all manner of minimally invasive surgery and is especially useful for approaching any target site having sensitive nerves adjacent thereto since the present invention is specifically adapted to gently push the nerve out of the way as the petals are opened, thereby providing a cannulated access portal for the insertion and removal of various surgical devices throughcannula 220. -
FIG. 28 shows an alternate design of thedistal end 302 of anerve surveillance cannula 300.Cannula 300 has a plurality of expandingpetals 314, with eachpetal 314 comprising anelectrode 316 adapted for nerve surveillance or blood vessel cauterization as described above. In this aspect of the invention, anobturator 310 protrudes through an opening betweenpetals 314, as shown. As can be seen,obturator 310 may preferably be tapered to a narrowdistal end 302, which assists in easingcannula 300 through the patient's facia and para-spinal musculature and into the patient's intervertebral space. In addition,distal end 302 ofobturator 310 can be shaped to latch against the ends ofpetals 314, as shown, thereby assisting in holding togetherpetals 314 ascannula 300 is advanced. - Preferably,
obturator 310 further comprises a centrally disposedelectrode 320.Electrode 320, being axially displaced fromelectrodes 316 is adapted to sense the position of a nerve in the axial direction asprobe 300 approaches the nerve. Subsequent to placement at the patient's intervertebral space, aninternal cannula 315 can be advanced distally to openpetals 314 withobturator 310 being advanced slightly to first un-latch the distal ends ofpetals 314 and then withdrawn fromcannula 300, providing a cannulated access to the patient's intervertebral space. -
FIG. 29 through 33 show an alternative nerve surveillance cannula andprobe system 400, comprising acannula 402 having a plurality of radially outwardly extendingpetals 404. Aninternal obturator 500 is received withincannula 402.Obturator 500 has aelectrode 502 disposed at its distal end as shown inFIG. 30 .Electrode 502 can also be seen at distal end ofcannula 402 inFIG. 29 .Electrode 502 operates to stimulate and thereby, depolarize a nerve ascannula 402 is advanced towards the patient's intervertebral space.FIG. 29 shows cannula 402 withpetals 404 closed aroundelectrode 502 as the cannula is advanced. -
FIG. 30 shows aninner cannula 550 which is advanced throughcannula 402 to openpetals 404 as shown.Inner cannula 550 preferably comprises anelectrode 510 which is disposed around the distal end of the cannula, as shown. Afterinner cannula 550 has openedpetals 404, as shown,electrode 502 is turnedoffhand obturator 500 is removed frominner cannula 550 as is shown inFIG. 31 .Electrode 510 remains turned on such that it is adapted to detect whether a nerve is positioned close to entering withincannula 550, or whether a surgical instrument advanced throughcannula 550 would contact a nerveproximal electrode 510. - As is shown in
FIG. 32 ,obturator 500 can thereafter be advanced throughcannula 550 to bluntly divide and dilate the annulus of a disc. In this aspect of the invention,electrode 502 is turned off as the anulus is divided and dilated.Annular electrode 510 may preferably be turned on during this procedure to sense the presence of nerves adjacent the distal end ofcannula 550. - As is seen in
FIG. 33 , after the annulus has been divided and dilated,obturator 500 can be withdrawn fromcannula 550 withcannula 550 advanced distally into the hole cut into the annulus. As such, a safe cannulated access way into the annulus or other region of the patient's body is provided.
Claims (19)
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/489,020 US20070049962A1 (en) | 1998-12-23 | 2006-07-18 | Nerve surveillance cannulae systems |
US11/982,185 US20080065135A1 (en) | 1998-12-23 | 2007-10-31 | Nerve surveillance cannulae systems |
US11/982,254 US7962191B2 (en) | 1998-12-23 | 2007-10-31 | Nerve surveillance cannulae systems |
US11/982,250 US7693562B2 (en) | 1998-12-23 | 2007-10-31 | Nerve surveillance cannulae systems |
US13/160,477 US8165653B2 (en) | 1998-12-23 | 2011-06-14 | Surgical access and nerve surveillance |
US13/494,908 US8489170B2 (en) | 1998-12-23 | 2012-06-12 | Surgical access and nerve surveillance |
US13/943,725 US9014776B2 (en) | 1998-12-23 | 2013-07-16 | Surgical access and nerve surveillance |
US14/622,600 US20150157228A1 (en) | 1998-12-23 | 2015-02-13 | Surgical Access |
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DE69927717D1 (en) | 2006-02-23 |
US20100036226A9 (en) | 2010-02-11 |
ATE306213T1 (en) | 2005-10-15 |
AU4422699A (en) | 2000-07-31 |
JP2003524452A (en) | 2003-08-19 |
DE69927717T2 (en) | 2006-07-20 |
US8165653B2 (en) | 2012-04-24 |
US20080065144A1 (en) | 2008-03-13 |
US7962191B2 (en) | 2011-06-14 |
US20080064945A1 (en) | 2008-03-13 |
US9014776B2 (en) | 2015-04-21 |
US8489170B2 (en) | 2013-07-16 |
EP1146816A4 (en) | 2003-05-14 |
US20140024963A1 (en) | 2014-01-23 |
EP1146816B1 (en) | 2005-10-12 |
US20030195405A1 (en) | 2003-10-16 |
US20120253223A1 (en) | 2012-10-04 |
US7693562B2 (en) | 2010-04-06 |
US20110245843A1 (en) | 2011-10-06 |
US20150157228A1 (en) | 2015-06-11 |
EP1146816A1 (en) | 2001-10-24 |
US7079883B2 (en) | 2006-07-18 |
WO2000038574A1 (en) | 2000-07-06 |
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