Patent Publication Number: US-2009222059-A1

Title: Shaped implantation device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is related to and claims the benefit of the earliest available effective filing date(s) from the following listed application(s) (the “Related Applications”) (e.g., claims earliest available priority dates for other than provisional patent applications or claims benefits under 35 USC § 119(e) for provisional patent applications, for any and all parent, grandparent, great-grandparent, etc. applications of the Related Application(s)). 
     RELATED APPLICATIONS 
     For purposes of the USPTO extra-statutory requirements, the present application constitutes a continuation-in-part of U.S. patent application Ser. No. 12/074,257, entitled SHAPED SURGICAL TOOL, naming W. Daniel Hillis, Leroy E. Hood, Roderick A. Hyde, Eric C. Leuthardt, Nathan P. Myhrvold, and Clarence T. Tegreene as inventors, filed 28 Feb., 2008, which is currently co-pending, or is an application of which a currently co-pending application is entitled to the benefit of the filing date. The United States Patent Office (USPTO) has published a notice to the effect that the USPTO&#39;s computer programs require that patent applicants reference both a serial number and indicate whether an application is a continuation or continuation-in-part. Stephen G. Kunin,  Benefit of Prior - Filed Application , USPTO Official Gazette Mar. 18, 2003, available at http://www.uspto.gov/web/offices/com/sol/og/2003/week11/patbene.htm. The present Applicant Entity (hereinafter “Applicant”) has provided above a specific reference to the application(s) from which priority is being claimed as recited by statute. Applicant understands that the statute is unambiguous in its specific reference language and does not require either a serial number or any characterization, such as “continuation” or “continuation-in-part,” for claiming priority to U.S. patent applications. Notwithstanding the foregoing, Applicant understands that the USPTO&#39;s computer programs have certain data entry requirements, and hence Applicant is designating the present application as a continuation-in-part of its parent applications as set forth above, but expressly points out that such designations are not to be construed in any way as any type of commentary and/or admission as to whether or not the present application contains any new matter in addition to the matter of its parent application(s). 
     All subject matter of the Related Applications and of any and all parent, grandparent, great-grandparent, etc. applications of the Related Applications is incorporated herein by reference to the extent such subject matter is not inconsistent herewith. 
    
    
     SUMMARY 
     In one embodiment, a shaped implantation device comprises: a self following, substantially rigid structure of a material suitable for insertion in living tissue of a subject, the self following, substantially rigid structure having a shape defined by a subject-specific route corresponding to a risk-benefit selected routing through the living tissue, wherein the self following, substantially rigid structure is configured to intersect a first location internal to the subject to interact with the tissue at the first location internal to the subject, and to receive and guide an implantable device to a second location internal to the subject, the second location internal to the subject being substantially separate from the first location. 
     In another embodiment a shaped implantation device comprises: a self following, substantially rigid structure of a material suitable for insertion in living tissue of a subject, the self following, substantially rigid structure having a shape defined by a subject-specific route corresponding to a risk-benefit selected routing through the living tissue, wherein the self following, substantially rigid structure is configured to substantially circumscribe a first treatment region of the subject and to receive and guide an implantable device to an implantation location internal to the subject. 
     In another embodiment, a system comprises: path optimization circuitry operative to receive a data set representative of a region of a subject and responsive to the data set representative of a region of a subject to define a self-following path, the self-following path being selected to intersect at least two substantially separate treatment regions; and an automated fabrication machine responsive to the path optimization circuitry to produce an insertable device configured to follow the self-following path, the automated fabrication machine further being responsive to physiological modulation device characterization data to configure the insertable device to receive and guide a physiological modulation device. 
     In another embodiment, a method, comprises: receiving a customized surgical tool shaped according to fabrication data, said fabrication data produced from image data corresponding to a subject body region; engaging the subject body region with the customized surgical tool; without unengaging the subject body region with the customized surgical tool, passing the customized surgical tool proximate to a first treatment location; and without unengaging the subject body region with the customized surgical tool, positioning a dynamical implant in a second location different from the first treatment location and proximate to the subject body region with the customized surgical tool. 
     In another embodiment, a method comprises: determining a location for implantation of a biologically interactive device in a first location internal to a subject; determining a treatment location in a second location internal to the subject, the second location internal to the subject being different from the first location internal to the subject; receiving characterizing data relating to a first internal region of the subject proximate to or including the first location internal to the subject and a second internal region of the subject proximate to or including the second location internal to the subject; and responsive to the received characterizing data relating to first and second internal regions of the subject, the determined location for implantation of a biologically interactive device, and the determined treatment location, determining a nonlinear, self following path from a location external to the subject to the determined first location internal to the subject and passing through or proximate to the determined second location, according to a risk-defined routing. 
     In another embodiment, a storage device contains instructions to: receive data characteristic of a subject body region, the subject body region including at least one treatment location and a site suitable for implantation, the site suitable for implantation being different from the at least one treatment location; determine data characteristic of a physiological modulation device; and according to the received data characteristic of the subject body region and the determined data characteristic of the physiological modulation device, determine a non-linear, self-following path from a first location external to the subject body region to the site suitable for implantation of the physiological modulation device, wherein the non-linear, self-following path is further selected to pass through or proximate to the at least one treatment location. 
     The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG. 1  shows a system comprising an imaging system, path optimization circuitry, and a rapid prototyping machine. 
         FIG. 2  shows a spiral-shaped insertable device. 
         FIG. 3  shows a system comprising an imaging system, path optimization circuitry, and a rapid prototyping machine. 
         FIG. 4  shows a shaped surgical tool. 
         FIG. 5  shows a shaped surgical tool. 
         FIG. 6  is a flow chart depicting a method. 
         FIGS. 7-10  depict variants of the flow chart of  FIG. 6 . 
         FIG. 11  is a flow chart depicting a method. 
         FIGS. 12-14  depict variants of the flow chart of  FIG. 11 . 
         FIG. 15  shows a shaped implantation device. 
         FIG. 16  shows a self following, substantially rigid structure. 
         FIG. 17  shows a self following, substantially rigid structure. 
         FIG. 18  shows a shaped implantation device. 
         FIG. 19  shows a system comprising an imaging system, path optimization circuitry, and an automatic fabrication machine. 
         FIG. 20  shows a map of a region of a subject. 
         FIG. 21  shows a storage device. 
         FIG. 22  is a flow chart depicting a method. 
         FIGS. 23-25  depict variants of the flow chart of  FIG. 22 . 
         FIG. 26  is a flow chart depicting a method. 
         FIGS. 27-29  depict variants of the flow chart of  FIG. 26 . 
     
    
    
     DETAILED DESCRIPTION 
     In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here. 
     In some medical applications, routing or other considerations may provide constraints on instrument configurations. For example, a brain surgeon may wish to reach a target area of the brain with an instrument, such as needle, while avoiding certain areas of the brain. In such an application, one may image the brain, determine the area(s) to be reached and the area(s) to be avoided and create a shape that achieves this, and produce an instrument having this shape. One approach to producing such an instrument is rapid prototyping, which can employ commercially available rapid prototyping technologies for such instruments or may adapt such technologies for specific configurations. Following are related embodiments. 
     In a first embodiment, shown in  FIG. 1 , a system  100  includes an imaging system  102  operative to provide a data set representative of a region  103  of a patient  104 , path optimization circuitry  106  operative to receive the data set representative of a region  103  of a patient and responsive to the data set representative of a region  103  of a patient to define a self-following path  107 , and a rapid prototyping machine  108  responsive to the defined self-following path  107  to produce an insertable device  110  (such as a biopsy needle, a scalpel, or a different kind of tool) configured to follow the self-following path  107 . 
     Rapid prototyping technology is known to those skilled in the art and many technologies may be implemented as the rapid prototyping machine  108 , for example, stereolithography, fused deposition modeling, and/or electron beam melting. The rapid prototyping machine  108  may include one or more of a range of other processes that can make customized shapes on demand, including: subtractive processes, such as CNC machining, laser-cutting, waterjet cutting, electric-discharge machining; casting using a 3-D-printed master or mold; and/or forming processes, such as computer-controlled bending of metal tubing. The rapid prototyping machine  108  may, for example, be configured to fabricate a mandrel (not shown) that may include a depression in the shape of the desired self-following path  107 , where the insertable device  110  may be shaped by using the mandrel as a guide. Further, one skilled in the art may combine one or more techniques, including but not limited to those mentioned above, in the rapid prototyping machine  108 . Although the rapid prototyping machine  108  is shown in  FIG. 1  as a single machine, it may in some embodiments include any number of different machines, which may be on a scale much larger or smaller than is shown in  FIG. 1 . 
     The insertable device  110  may include a metal such as surgical steel or titanium, a plastic such as polypropylene or polycarbonate, glass, a different material, or a combination of several different materials. 
     The imaging system  102  may include, but is not limited to, an MRI system, a PET system, a CT system, an ultrasound system, an x-ray system, or a different type of imaging system. 
     The path optimization circuitry  106  operative to receive the data set representative of a region  103  of a patient  104  and responsive to the data set representative of a region  103  of a patient  104  to define a self-following path  107  may further include: avoidance logic  112  configured to define at least one region  114  of prohibited travel of the insertable device  110 ; alignment structure logic  116  configured to provide data representative of an alignment tool  118  complementary to the insertable device  110 , which may assist in inserting the insertable device  110  along a planned trajectory, and which may further be configured to provide conforming data representative of a surface substantially conforming to an outer surface  120  of the patient  104 , which may include data representative of a surface substantially conforming to a patient cranial region, where in  FIG. 1  the outer surface  120  is that of a patient cranial region. 
     The system may further include a user input device  122  coupled to the path optimization circuitry  106 , wherein the path optimization circuitry  106  is responsive to user interaction with the user input device  122 . For example, as shown in  FIG. 1 , the user input device  122  is a writing instrument configured to write on a screen  124  such that the path optimization circuitry  106  may receive information related to the writing on the screen. The screen  124  may be configured to display image data received from the imaging system  102 , alone or along with data marking regions such as sensitive regions that should not be traversed by an instrument, such that the user may draw the desired path according to the display on the screen  124 . The screen  124  may further be configured to display an overlay corresponding to image data, which may include identifiers such as the location of the brain and/or sensitive regions, where the overlay may include shading and/or colors to show the identifiers. The screen  124  may further be configured to display image data from different angles, allowing the user to rotate the image display. Further, where the path optimization circuitry  106  is configured to evaluate different areas of the image according to their sensitivity to the passage of a surgical tool, the path optimization circuitry  106  may be configured to calculate a score corresponding to a selected path and display this score on the screen  124  such that a user may optimize the score. Although the user input device  122  is shown and described above as a writing instrument, in other embodiments the user input device  122  may have a different form, such as a device configured to receive a user selection of an assortment of instruments. 
     Although the path optimization circuitry  106  is shown symbolically as a computer, the path optimization circuitry  106  may take a different form. For example, the path optimization circuitry  106  may be integral to the imaging system  102 . Or, the path optimization circuitry  106  may be housed in a simple device that does not receive user input. There are many forms that the path optimization circuitry  106  may take and one skilled in the art may readily adapt the path optimization circuitry  106  to fit a chosen setup. 
     The avoidance logic  112  and the alignment structure logic  116  are also shown symbolically as a component of a computer. However, as described above with reference to the path optimization circuitry, the avoidance logic  112  and/or the alignment structure logic  116  may take a different form. Further, the path optimization circuitry  106  may include other components not described. For example, the path optimization circuitry  106  may include circuitry for selecting paths through preferred areas rather than avoiding non-preferred areas. Or, the path optimization circuitry  106  may be configured to rank areas based on their accessibility and select a route based on an algorithm that optimizes a path for to minimize damage to a patient. 
     The insertable device  110  that is configured to follow a self-following path such as the self-following path  107  shown in  FIG. 1  may be a spiral  202  such as that shown in  FIG. 2 , an arc such as that of the insertable device  110  shown in  FIG. 1 , or a different shape. The arc and the spiral are just two examples of different shapes that the insertable device  110  may take, including but not limited to regular, irregular, two-dimensional and/or three-dimensional shapes. 
     The system may further include an energy exchange system  302  (shown in  FIG. 3 ) arranged to exchange energy with the insertable device. The energy exchange system  302  may be, for example, a system for exchanging heat with the insertable device  110  where the insertable device  110  includes a shape memory alloy (i.e., increasing or decreasing the temperature of the insertable device  110 ). The energy exchange system  302  may, in the case where the insertable device  110  includes a shape memory alloy, be configured to change the shape of the insertable device. For example, the energy exchange system  302  may be configured to exchange energy with the insertable device  110  in order to bend or elongate the insertable devices  110 . Or, the energy exchange system  302  may be configured to heat all or a portion of the insertable device  110  for cauterization or for other reasons. 
     The system may further include a system  304  arranged to control the insertable device  110 . For example, a steerable, insertable device is described in U.S. Pat. No. 6,551,302 entitled STEERABLE CATHETER WITH TIP ALIGNMENT AND SURFACE CONTACT DETECTOR to Rosinko et al., which is incorporated herein by reference. The system  304  may be configured to control the shape, the position, or some other parameter of the insertable device  110 . For example, an insertable device  110  may include a guide wire (not shown), where applying mechanical force to the guide wire may move the insertable device  110 . Or, the insertable device  110  may include a shape memory alloy as described previously with respect to the energy exchange system  302 , where in this case exchanging energy between the shape memory alloy and the energy exchange system  302  is configured to adjust the insertable device  110  in order to steer or otherwise control the insertable device  110 . There are many ways of steering and/or adjusting an insertable element and one skilled in the art may incorporate other ways not described to control the insertable device  110 . 
     The system may further include a system  306  for imaging the insertable device  110  when it is inserted into the patient. As shown in  FIG. 3 , the imaging system  306  for imaging the insertable device  110  is the same as the system  102  that is operative to provide a data set representative of a region  103  of a patient  104 , however in other embodiments they may be completely different systems, or they may be substantially different systems that share some components. Further, the system  306  for imaging the insertable device  110  may include components incorporated in and/or on the insertable device  110  for imaging within the patient and/or for locating the insertable device  110  within the patient, and/or it may include components not previously mentioned. 
     The system may further include a sterilizer, not shown, configured to disable a biomaterial proximate to the insertable device  110 . The sterilizer may be configured to deliver heat and/or ultraviolet radiation to the insertable device  110 , and/or it may be configured to pass a fluid configured to disable a biomaterial proximate to at least a portion of the insertable device  110 . There are many technologies for sterilizing and one skilled in the art may substitute other sterilizing technologies for those previously mentioned. 
     Although the patient region  103  being imaged in  FIG. 1  is a head, it may in other embodiments be a different part of the body, and/or the body may not be a human body but an animal including domestic, marine, research, zoo, farm animals, fowl and sports animals, or pet animals, such as dogs, cats, cattle, horses, sheep, pigs, goats, rabbits, chicken, birds, fish, amphibian and reptile. Although the insertable device  110  is shown as a needle, it need not be a needle and may include, for example, a scalpel, clamp, or a different type of surgical tool. 
     In one embodiment shown in  FIG. 4 , a shaped surgical tool  402  (in this embodiment, the shaped surgical tool  402  is a biopsy needle) comprises a self following, substantially rigid structure  404  of a material suitable for insertion in living tissue of a user  406 , the self following, substantially rigid structure  404  having a shape defined by a user-specific route corresponding to a risk-defined routing through the living tissue. In this embodiment, the self following, substantially rigid structure  404  is arc-shaped, similar to the shape of the insertable device  110  shown in  FIGS. 1 and 3 , however the shape may include a hook, an arc, a spiral (such as the spiral shown in  FIG. 2 ), or a different self following shape. 
     The shape is defined by a user-specific route corresponding to a risk-defined routing through the living tissue of a user  406 . For example, as described with respect to  FIG. 1 , the “user-specific route” may be determined by imaging a patient region and using path optimization circuitry  106  in order to define a “risk-defined routing through the living tissue of a user  406 ”. However there may be other ways of determining a “user-specific route corresponding to a risk-defined routing.” For example, a practitioner may identify a target area to reach with the shaped surgical tool  402  and may, based on general anatomical knowledge, wish to avoid a region proximate to the target area and decide on a shape for a shaped surgical tool  402  based on this knowledge, and create or obtain a shaped surgical tool  402  having this specific shape. 
     The shape may be dynamically variable, in some cases in response to a user input. For example, as described with respect to  FIG. 3 , an energy exchange system  302  and/or system  304  may be arranged to move, direct, change the shape of, or otherwise change the shaped surgical tool  402 , in the case where the shaped surgical tool  402  includes a shape memory alloy or a different mechanism for changing shape. The shape of the shaped surgical tool  402  may be substantially two dimensional, as in the arc-shaped insertable device  110  shown in  FIG. 1 , or it may be substantially three-dimensional, as in the spiral  202  shown in  FIG. 2 . Further, the shape need not be a regular shape and may be irregular. The shaped surgical tool  402  may include a control structure  410  at an end opposite the insertion end. For example, in U.S. Pat. No. 5,769,086 entitled CONTROL SYSTEM AND METHOD FOR AUTOMATED BIOPSY DEVICE to Ritchart et al., which is incorporated herein by reference, the shaped surgical tool  402  includes a control structure arranged move, rotate, and position the shaped surgical tool  402 . This is one example of how a controller may be incorporated to control a shaped surgical tool  402  or other insertable device. Other examples include, but are not limited to, a controller configured to bend a shaped surgical tool  402  and/or a controller that is not automated but is user-controlled. 
     In one embodiment the shaped surgical tool  402  may further include a portion  412  suitable for grasping by a practitioner. The portion  412  suitable for grasping by a practitioner need not be shaped as the exemplary embodiment in  FIG. 4  shows, but may be proportionally larger or smaller than shown as compared with the self following, substantially rigid structure  404 , and may be more or less irregularly shaped than is shown in  FIG. 4 . 
     The shaped surgical tool  402  may include a sampling structure  502 , as shown in  FIG. 5 , at an insertion end  408 , where the sampling structure  502  shown is a simple device that operates similarly to a tweezer. The sampling structure  502  shown in  FIG. 5  is just one example of such, and those skilled in the art may be familiar with other structures. For example, in U.S. Pat. No. 2,496,111 entitled BIOPSY NEEDLE to Henry Turkel, which is incorporated herein by reference, the biopsy needle includes a cutting needle. Other sampling structures may be incorporated in a device depending on the type of device, the function of the sampling structure, and/or depending on other considerations. 
     The shaped surgical tool  402  may further include a cauterizer  504 . For example, in U.S. Pat. No. 5,578,030 entitled BIOPSY NEEDLE WITH CAUTERIZATION FEATURE to John M. Levin, which is incorporated herein by reference, the biopsy needle includes a cauterization feature to cauterize the wound caused by the taking of a tissue specimen and the tissues in contact with the biopsy needle. The cauterizer  504  may be, for example, an electrically conductive region arranged to receive electrical energy and convert it to heat at the insertion end  408  of the self-following, substantially rigid structure  404 . 
     The shaped surgical tool  402  may include a first biofluid guiding conduit  506  at least partially within the self following, substantially rigid structure  404 . The first biofluid guiding conduit  506  may be arranged to deliver a biofluid to the user  406  and/or to receive a biofluid from the user  406 , where a biofluid may include blood, pharmaceuticals, or a different type of biofluid. The shaped surgical tool  402  may further include a second biofluid guiding conduit  508  different from the first biofluid guiding conduit  506  and at least partially within the self following, substantially rigid structure  404 , wherein the second biofluid guiding conduit  508  is arranged to deliver or receive a biofluid from the user  406 . Although two biofluid guiding conduits  506  and  508  are shown, other embodiments may have a different number of biofluid guiding conduits. Further, although  FIG. 5  is shown with one biofluid guiding conduit  506  to deliver a biofluid to the user  406 , in a different embodiment all biofluid guiding conduits may be arranged to receive a biofluid from a user, or a biofluid guiding conduit may be arranged to deliver a biofluid to a user under some circumstances and to receive a biofluid from a user under other circumstances. There are many different ways of configuring a biofluid guiding conduit  506  and/or  508  within a shaped surgical tool  402  and one skilled in the art may configure them according to the particular design of the instrument. 
     The shaped surgical tool  402  may further include an imaging device  510  proximate to the self following, substantially rigid structure  404 . The imaging device  510  may be located at an insertion end  408  of the self-following, substantially rigid structure  404 . Or, the imaging device may be at a different location. For example, the imaging device  510  may be located at an insertion end  408  of the self-following, substantially rigid structure to image the tissue that the shaped surgical tool  402  is cutting through. Or, an array of imaging devices  510  may be included on the self-following, substantially rigid structure to image substantially all of the tissue surrounding the self-following, substantially rigid structure  404 . Other applications may call for different configurations of imaging devices  510  and one skilled in the art may configure imaging devices  510  according to the design. 
     In one embodiment the self following, substantially rigid structure  404  may include an extendable core  512  of a material suitable for insertion in living tissue of a user. The extendable core  512  may include a shape memory alloy and/or the extendable core  512  may have a shape that is dynamically variable. The extendable core  512  may, in some embodiments, be an extension of the shaped surgical tool  402  that is smaller than the shaped surgical tool  402  and may be extended in order to reach areas unreachable with the shaped surgical tool  402 . Or, the extendable core  512  may include devices for cutting that are only exposed when the shaped surgical tool  402  reaches the area for cutting. These are just a few examples of the ways in which an extendable core  512  may be used with respect to a shaped surgical tool  402 . 
     In another embodiment, the self-following, substantially rigid structure  404  may act as a guide path for placement of electrodes or other neuromodulating constructs (such as light source, heating and/or cooling element, etc.), for delivery of drug and/or molecular therapies, for placement of an acoustic or ultrasonic source, for placement of an optical fiber, or for placement of a different device or material, particularly in regions in the brain that may be difficult to access through straight trajectories from the surface of the head or brain. Examples of such locations include the mesial temporal lobe and associated structures such as the hippocampus, the insula, and regions of the hypothalamus. A spiral or other non-linearly shaped structure  404  could allow placement of stimulating electrodes or other neuromodulating devices in these regions to treat medical diagnoses such as epilepsy, psychiatric disorders, or behavior disorders such as over eating/obesity. 
     In one embodiment, a method of producing a customized surgical tool, shown in the flow chart of  FIG. 6 , comprises ( 602 ) obtaining image data (such as with the imaging system  102  shown in  FIG. 1 , through data retrieved from a memory, or from another appropriate source) corresponding to a patient body region (such as the region  103  shown in  FIG. 1 ), ( 604 ) processing the image data to produce fabrication data (such as with the path optimization circuitry  106  shown in  FIG. 1 ), and ( 606 ) rapid prototyping the customized surgical tool according to the fabrication data (for example, with the rapid prototyping machine  108 , also shown in  FIG. 1 ). 
     In one embodiment, illustrated in the flow chart of  FIG. 7 , ( 604 ) processing the image data to produce fabrication data may include ( 702 ) calculating a path, which may further include ( 704 ) identifying an entry region, a target region, and at least one avoidance region (such as the region of prohibited travel  114  shown in  FIG. 1 ), which may further include ( 706 ) assigning a first risk level to a first region and comparing the first risk level to a threshold risk level, which may further include ( 708 ) assigning a second risk level to a second region different from the first region and comparing the second risk level to the threshold risk level. ( 606 ) Rapid prototyping the customized surgical tool according to the fabrication data may further include ( 714 ) rapid prototyping a tool shaped to enter the patient proximate to the entry region, arrive proximate to the target region, and substantially avoid the at least one avoidance region. ( 606 ) Rapid prototyping the customized surgical tool according to the fabrication data may further include ( 716 ) rapid prototyping a tool shaped to minimize an overall risk level, wherein the overall risk level is a function of the first risk level and the second risk level. 
     In another embodiment, also shown in  FIG. 7 , ( 604 ) processing the image data to produce fabrication data may include ( 710 ) mapping a surgical route, which may further include ( 712 ) identifying an avoidance region (such as the region of prohibited travel  114  shown in  FIG. 1 ) and selecting the surgical route to circumnavigate the avoidance region. ( 606 ) Rapid prototyping the customized surgical tool according to the fabrication data may further include ( 718 ) rapid prototyping the customized surgical tool shaped according to the mapped surgical route, and/or ( 720 ) rapid prototyping the customized surgical tool shaped such that it is configured to circumnavigate the avoidance region. Different rapid prototyping technologies have been previously described with respect to the rapid prototyping machine  108  shown in  FIG. 1 . In different embodiments, shown in the flow chart of  FIG. 8 , ( 602 ) obtaining image data corresponding to a patient body region may include: ( 802 ) obtaining a CT scan, ( 804 ) obtaining an ultrasound image, ( 806 ) obtaining an x-ray image, and/or ( 808 ) receiving image data corresponding to the patient body region. 
     In one embodiment, shown in the flow chart of  FIG. 9 , ( 604 ) processing the image data to produce fabrication data may include ( 902 ) identifying a first subregion of the patient body region, obtaining a first evaluation of the first subregion of the patient body region, and producing fabrication data according to the first evaluation, which may further include, ( 904 ) identifying a second subregion of the patient body region different from the first subregion of the patient body region, obtaining a second evaluation of the second subregion of the patient body region, and producing fabrication data according to the second evaluation, wherein ( 906 ) the first subregion may overlap at least in part with the second subregion. ( 902 ) Identifying a first subregion of the patient body region, obtaining a first evaluation of the first subregion of the patient body region, and producing fabrication data according to the first evaluation may further include ( 908 ) obtaining a measurement of the first subregion and/or ( 910 ) receiving a measurement of the first subregion. ( 606 ) Rapid prototyping the customized surgical tool according to the fabrication data may further include ( 912 ) rapid prototyping the customized surgical tool according to the first and second evaluations. 
     In embodiments shown in the flow chart of  FIG. 10 , ( 604 ) processing the image data to produce fabrication data may further include ( 1002 ) comparing the image data to a model (for example, a map including regions of prohibited travel) and/or ( 1004 ) receiving a user signal and producing the fabrication data according to the user signal (for example, a user may input a desired shape by selecting from a predetermined array, by drawing a shape that is recognizable by software such as with the user input device  122  as described with respect to  FIG. 1 , and/or in another way). ( 1004 ) Receiving a user signal and producing the fabrication data according to the user signal may further include ( 1010 ) accepting a user input, which may further include ( 1012 ) determining a user movement and defining a set of processing parameters according to the determined users movement, which may further include ( 1014 ) curve fitting to the determined user movement. Further, ( 606 ) rapid prototyping the customized surgical tool according to the fabrication data may further include ( 1006 ) bending an object to form a portion of the customized surgical tool and/or ( 1008 ) attaching two objects together to form a portion of the customized surgical tool. 
     In one embodiment, a method, shown in the flow chart of  FIG. 11 , comprises ( 1102 ) receiving a customized surgical tool shaped according to fabrication data, said fabrication data produced from image data corresponding to a patient body region, ( 1106 ) utilizing the customized surgical tool in contact with the patient body region, and ( 1108 ) removing the customized surgical tool from contact with the patient body region. 
     In different embodiments, shown in the flow chart of  FIG. 12 , ( 1200 ) the fabrication data may be produced according to a planned surgical path at least partially within the patient body region, and/or ( 1201 ) the customized surgical tool may be shaped to circumnavigate an avoidance region in the patient body region. Further, ( 1106 ) utilizing the customized surgical tool in contact with the patient body region may include ( 1202 ) inserting the customized surgical tool into the patient body region through the skin and/or ( 1204 ) inserting the customized surgical tool into the patient body region through a body cavity. The method may further include, ( 1206 ) imaging the customized surgical tool in the patient body region, which may further include ( 1208 ) guiding the customized surgical tool according to the imaging the customized surgical tool in the patient body region. 
     The method may further include, as shown in the flow chart of  FIG. 13 , ( 1302 ) changing the shape of the customized surgical tool, which may further include: ( 1304 ) dynamically changing the shape of the customized surgical tool (such as in the case where the customized surgical tool includes a shape memory alloy, where the tool may be configured to bend, telescope, or otherwise change shape in response to a user input), ( 1306 ) changing the shape of the customized surgical tool in the patient body region, ( 1308 ) changing the shape of the customized surgical tool in response to an energy exchange, and/or ( 1310 ) changing the shape of the customized surgical tool in response to a user directive. 
     The method may further include, as shown in the flow chart of  FIG. 14 , ( 1402 ) obtaining material from the patient body region with the customized surgical tool, which may further include ( 1404 ) extending a portion of the customized surgical tool from inside the customized surgical tool to outside the customized surgical tool and/or ( 1406 ) suctioning the material into the customized surgical tool. The method may further include ( 1408 ) cauterizing a portion of the patient body region. 
     In some embodiments it may be desirable to pass an object, tool, or other item through the self-following, substantially rigid structure  404 . For example, one may wish to implant a device at a location reachable by the self-following, substantially rigid structure  404 , and constructing the self-following, substantially rigid structure  404  such that it may guide such a device would allow this. Or, one may wish to pass, for example, a fluid through the self-following, substantially rigid structure  404 . In other embodiments it may be desirable to create the self-following, substantially rigid structure  404  such that the rigid structure  404  may travel through or proximate to a region to be treated. Following are several related embodiments. 
     In one embodiment shown in  FIG. 15 , a shaped implantation device  1502  comprises: a self following, substantially rigid structure  404  of a material suitable for insertion in living tissue of a subject  1504 , the self following, substantially rigid structure  404  having a shape defined by a subject-specific route corresponding to a risk-benefit selected routing through the living tissue, wherein the self following, substantially rigid structure  404  is configured to intersect a first location  1506  internal to the subject  1504  to interact with the tissue at the first location  1506  internal to the subject  1504 , and to receive and guide an implantable device  1508  to a second location  1510  internal to the subject  1504 , the second location  1510  internal to the subject  1504  being substantially separate from the first location  1506 . 
     The shape defined by a subject-specific route corresponding to a risk-benefit selected routing through the living tissue may be defined in a number of ways. For example, one way might include imaging a region of the subject  1504  that includes the first location  1506  internal to the subject  1504  and the second location  1510  internal to the subject  1504 , and, by comparing the image to a map of the region (for example, the map  2002  shown in  FIG. 20 ), determining areas that the implantable device  1508  should avoid entering and areas that the implantable device  1508  should travel through or proximate to for treatment. The shape may be calculated, selected from an assortment of shapes and modified, or it may be obtained in a different way. For example, in the case where the shape is calculated, an algorithm may input data including spatial information defining regions and numerical evaluations of the regions corresponding to the relative risk and/or benefit of traveling through the region, and determine an optimal shape using this information. 
     Interacting with the tissue at the first location  1506  of the subject  1504  may include, for example, delivering a biomaterial such as a medication or chemotherapy to the first location  1506 , stimulating the tissue with an electrode or other device, taking a sample of the tissue, or a different interaction. 
     The implantable device  1508  may include, for example, an electrode, a source of electromagnetic energy, and/or a sensor. The shape of the substantially rigid structure  404  may, in some embodiments, be two-dimensional, three-dimensional, and/or may have a shape that is substantially an arc, a spiral, a helix, or a different shape. 
     The self following, substantially rigid structure  404  may be further configured to position the implantable device  1508  at the second location  1510  internal to the subject and/or to guide an implantable device  1508  to the first location  1506  internal to the subject. 
     In one embodiment, shown in  FIG. 16 , the self following, substantially rigid structure  404  may include at least one hollow portion  1602  configured to pass the implantable device. In another embodiment, also shown in  FIG. 16 , the self following, substantially rigid structure  404  may include at least one pocket  1604  configured to hold the implantable device  1508 . For example, the at least one hollow portion  1602  may include an interior mechanism, not shown, configured to guide an implantable device  1508  along the interior of the self following, substantially rigid structure  404 . The self following, substantially rigid structure  404  may include one or more ports for delivering this implantable device  1508  to a location along the self following, substantially rigid structure  404 , at the first location  1506  internal to the subject, the second location  1510  internal to the subject, and/or a different location. In some embodiments where the self following, substantially rigid structure  404  delivers more than one implantable device  1508  to the subject  1504 , the implantable devices  1508  may be configured to be delivered sequentially or in parallel to one or more locations. 
     In another embodiment, shown in  FIG. 17 , the self following, substantially rigid structure  404  includes a first passageway configured to hold a conduit  1702 , where the conduit  1702  may be configured to transfer power, information, an electrical signal, an electromagnetic signal, heat, and/or another transmissive entity. The conduit may further be configured to pass a biomaterial, where the biomaterial may include a genetic material (such as a gene therapy or other genetic material), medication, a metabolite, an antibody, chemotherapy, a stem cell, and/or a different biomaterial. 
     In some embodiments the first and/or second locations  1506 ,  1510  internal to the subject may be selected according to: an association with a movement disorder (such as Parkinson&#39;s disease, tremor, or a different movement disorder), a neurodegenerative disorder, a mood disorder (such as depression, bipolar disorder, obsessive compulsive disorder, or a different mood disorder), or obesity; proximity to a tumor; or a different association. 
     In another embodiment, shown in  FIG. 18 , a shaped implantation device  1502  comprises: a self following, substantially rigid structure  404  of a material suitable for insertion in living tissue of a subject, the self following, substantially rigid structure  404  having a shape defined by a subject-specific route corresponding to a risk-benefit selected routing through the living tissue, wherein the self following, substantially rigid structure  404  is configured to substantially circumscribe a first treatment region  1802  of the subject and to receive and guide an implantable device  1508  to an implantation location internal to the subject. 
     In one embodiment, the first treatment region of the subject  1802  may include a tumor. In this case, the self following, substantially rigid structure  404  may be configured such that it may substantially surround the tumor and in some cases deliver chemotherapy or other agents to the tumor. For example, where the self following, substantially rigid structure  404  is configured with a series of ports, they may be configured to release an agent to the first treatment region  1802 . 
     In another embodiment, the self following, substantially rigid structure  404  may be configured with at least one port  1804  releasable of an agent, wherein the agent may be a medication, chemotherapy, gene therapy, nanoparticle treatment, or other agent. The at least one port  1804  releasable of an agent may include a permeable membrane. In another embodiment, the self following, substantially rigid structure  404  may be configured with at least one radioactive source  1806 . In another embodiment, the self following, substantially rigid structure  404  may be configured with a source of electromagnetic and/or ultrasonic energy (not shown). 
     As described previously with respect to the embodiments including that of  FIG. 15 , the shape of the substantially rigid structure  404  may, in some embodiments, be two-dimensional, three-dimensional, and/or may have a shape that is substantially an arc, a spiral, a helix or a different shape. 
     In one embodiment, shown in  FIG. 19 , a system  1900  comprises: path optimization circuitry  1902  operative to receive a data set representative of a region  1904  of a subject  1504  and responsive to the data set representative of a region  1904  of a subject  1504  to define a self-following path  1906 , the self-following path  1906  being selected to intersect at least two substantially separate treatment regions,  1908  and  1910 ; and an automated fabrication machine  1912  responsive to the path optimization circuitry  1902  to produce an insertable device  1914  configured to follow the self-following path  1906 , the automated fabrication machine  1912  further being responsive to physiological modulation device characterization data to configure the insertable device  1914  to receive and guide a physiological modulation device  1916 . 
     In one embodiment, the automated fabrication machine  1912  may be further responsive to the physiological modulation device characterization data to produce a physiological modulation device  1916  shaped and sized for receiving and guiding by the insertable device  1914  into the region  1904  of the subject  1504 . 
     The data set representative of a region  1904  of a subject  1504  may include, for example, an image (not shown) of the region  1904  of the subject  1504 , which be obtained by an imaging system  1917  configured to produce the data set representative of a region  1904  of the subject  1504 . In other embodiments the data set representative of a region  1904  of a subject  1504  may be a pre-existing image, a set of coordinates corresponding to points of interest, or may be a different kind of data set. 
     The path optimization circuitry  1902  responsive to the data set representative of a region  1904  of a subject  1504  to define a self-following path  1906  may, for example, include an algorithm for calculating the shape of the self-following path  1906 , may include an algorithm for allowing a user to select one of several self-following paths from a number of predetermined paths, or may operate in a different way to define a self-following path  1906  responsive to the data set representative of a region  1904  of a subject  1504 . 
     In one embodiment, the automated fabrication machine  1912  may include a rapid prototyping machine. As described previously with respect to  FIG. 1 , rapid prototyping technology is known to those skilled in the art and many technologies may be implemented as the automated fabrication machine  1912  and/or rapid prototyping machine. 
     In one embodiment, the path optimization circuitry  1902  may be further operative to compare the data set representative of a region  1904  of a subject  1504  to a map  2002  of the region  1904  of the subject  1504 . A map  2002 , as shown in  FIG. 20 , may show regions of prohibited travel  2004 ,  2006 , regions of inhibited travel  2008 ,  2010 , and/or one or more target regions, such as the target region  2012 . For example, the regions of prohibited travel  2004 ,  2006  may be regions of the brain that should not be entered, the regions of inhibited travel  2008 ,  2010  may be regions of the brain that may be entered but through which travel should be minimized, and the target region  2012  may be a region that includes a treatment area or other area where it may be beneficial for the insertable device  1914  to travel through or near. 
     In one embodiment the path optimization circuitry  1902  may further include avoidance logic  1918  configured to define at least one region of prohibited travel of the insertable device  1914  and/or alignment structure logic  1920  configured to provide data representative of an alignment tool complementary to the insertable device  1914 . 
     In one embodiment, the physiological modulation device  1916  may be configured to record a signal and/or to emit a signal, where the signal may have a first frequency and/or may include an electromagnetic signal, electrical, or other type of signal. The physiological modulation device  1916  may include a battery and/or be configured to receive power via electromagnetic induction. The physiological modulation device  1916  may be operably coupleable to a neuron and/or may include a biocompatible material. The physiological modulation device  1916  may include an electrode, a light source, a heating element, a cooling element, an ultrasound source, a source of electromagnetic energy, and/or a different source of energy. 
     Although one physiological modulation device  1916  is shown in  FIG. 19 , other embodiments may include more than one physiological modulation device  1916 . For example, the insertable device  1914  may be configured to deliver more than one physiological modulation device  1916  to more than one location in a subject  1504 , such as in the case where two physiologic modulation devices  1916  are delivered to a region  1904  in a subject  1504  and configured to produce an electric field between the two physiological modulation devices  1916 . Or, a single physiological modulation device  1916  may be configured to interact at more than one location in the subject  1504 . Further, the physiological modulation device  1916  may include, for example, two or more electrodes, heating elements, or other elements spaced apart on the device. There are many ways in which one or more physiological modulation devices  1916  may be configured and/or delivered to a region  1904  in a subject  1504 , and one skilled in the art may design the one or more physiological modulation devices  1916  according to particular embodiments. 
     The map  2002  show in  FIG. 20  depicts just one exemplary embodiment of a map that may be used in determining a self-following path  1906 . For example, the regions of inhibited travel  2008 ,  2010  need not surround the regions of prohibited travel  2004 ,  2006 , but may have a different form. Further, although the map  2002  shows only regions of inhibited and prohibited travel and a target region, in other embodiments regions may be defined in other terms, such as numerical evaluations or other evaluation. 
     In one embodiment, a storage device  2102  contains instructions to: receive data characteristic of a subject body region  2104 , the subject body region  2104  including at least one treatment location  2106  and a site suitable for implantation  2108 , the site suitable for implantation  2108  being different from the at least one treatment location  2106 ; determine data characteristic of a physiological modulation device  1916  (which may further include receiving data characteristic of the physiological modulation device  1916 ); and according to the received data characteristic of the subject body region  2104  and the determined data characteristic of the physiological modulation device  1916 , determine a non-linear, self-following path  2110  from a first location  2112  external to the subject body region to the site suitable for implantation  2108  of the physiological modulation device  1916 , wherein the non-linear, self-following path  2110  is further selected to pass through or proximate to the at least one treatment location  2106 . 
     The storage device may further contain instructions to send data corresponding to the determined non-linear, self-following path to automatic fabrication machinery. 
     In the embodiments previously described, the patient body region is shown as being a portion of a head (e.g. the region  1904  shown in  FIG. 19  and the subject body region  2104  shown in  FIG. 21 ). However, it may in other embodiments be a different part of the body, and/or the body may not be a human body but an animal including domestic, marine, research, zoo, farm animals, fowl and sports animals, or pet animals, such as dogs, cats, cattle, horses, sheep, pigs, goats, rabbits, chicken, birds, fish, amphibian and reptile. 
     Further, the shape of the self-following, substantially rigid structure  404  and the paths (e.g. the self-following path  1906  shown in  FIG. 19  and the nonlinear, self-following path  2110  shown in  FIG. 21 ) may take a variety of shapes, including but not limited to a spiral  202  such as that shown in  FIGS. 2 and 18 , an arc such as that of the insertable device  110  shown in  FIG. 1 , or a different shape. The arc and the spiral are just two examples of different shapes that self-following, substantially rigid structure  404  may take, including but not limited to regular, irregular, two-dimensional and/or three-dimensional shapes. 
     Although the implantation devices (for example, the shaped implantation device  1502  of  FIG. 15  and/or the insertable device  1914  of  FIG. 19 ) are shown as needles, they need not be needles and may include, for example, a scalpel, clamp, or a different type of surgical tool. 
     The implantable device  1508 , shown in  FIG. 15 , and/or the physiological modulation device  1916 , shown in  FIGS. 19 and 21 , may have a variety of functions. For example, the devices  1508 ,  1916  may include an electrode configured to stimulate a portion of the brain. The devices  1508 ,  1916  may, in some embodiments, be powered, for example by a battery, by electromagnetic induction, or in another way. The devices  1508 ,  1916  may be configured to emit an electromagnetic wave or to create an electric or magnetic field. Implantable devices are known to those skilled in the art, and one skilled in the art may select an implantable device  1508  and/or physiological modulation device  1916  according to the specific application. 
     In some embodiments locations, which may include for example the first location  1506  internal to the subject  1504  and/or the second location  1510  internal to the subject as shown in  FIG. 15 , or the first treatment region  1802  of the subject shown in  FIG. 18 , or the two substantially separate treatment regions  1908 ,  1910  shown in  FIG. 19 , or the treatment location  2106  shown in  FIG. 21 , may be selected according to an association with certain diseases and/or afflictions, such as a mood disorder, obesity, a movement disorder, a neurodegenerative disorder, or another disorder, disease and/or affliction. 
     Although some figures such as  FIGS. 19 and 21  are shown with computers representing, respectively, path optimization circuitry  1902  and a storage device  2102 , the path optimization circuitry  1902  and/or the storage device  2102  may take a different form. There are many forms that the path optimization circuitry  1902  and/or the storage device  2102  may take and one skilled in the art may readily adapt these to fit a chosen setup. 
     The embodiments previously described may include a mechanism for transporting a fluid through the device. For example,  FIG. 17  shows the self-following, substantially rigid structure  404  as including a conduit that may pass a material, such as a fluid. Although this is shown in  FIG. 18 , any of the previously described embodiments may include a conduit configured to pass a material. Such materials may include, but are not limited to: genetic material, medications, metabolites, antibodies, chemotherapies, stem cells, and/or other materials. 
     Further, the embodiments previously described may include one or more radioactive sources, such as the radioactive source  1806  shown with respect to  FIG. 18 . Although only one source  1806  is shown on the self-following, substantially rigid structure  404  shown in  FIG. 18 , in other embodiments the device may include more than one radioactive source. 
     In one embodiment, shown in the flow chart of  FIG. 22 , a method, comprises: ( 2202 ) receiving a customized surgical tool shaped according to fabrication data, said fabrication data produced from image data corresponding to a subject body region; ( 2204 ) engaging the subject body region with the customized surgical tool; ( 2206 ) without unengaging the subject body region with the customized surgical tool, passing the customized surgical tool proximate to a first treatment location; and ( 2208 ) without unengaging the subject body region with the customized surgical tool, positioning a dynamical implant in a second location different from the first treatment location and proximate to the subject body region with the customized surgical tool. The dynamical implant may include, for example, an electrode, a source of electromagnetic energy, a different source of energy, or any type of implant configured to produce a dynamical response. 
     As shown in  FIG. 23 , the method may further comprise: ( 2302 ) removing the customized surgical tool from contact with the subject body region and/or ( 2304 ) transferring power to the dynamical implant. ( 2208 ) Positioning a dynamical implant in a second location different from the first treatment location and proximate to the subject body region with the customized surgical tool may further include ( 2306 ) passing the dynamical implant through the customized surgical tool and/or ( 2308 ) releasing the dynamical implant from the customized surgical tool. 
     As shown in  FIG. 24 , the method may further comprise ( 2402 ) receiving a signal from the dynamical implant and/or ( 2404 ) sending a signal to the dynamical implant. ( 2204 ) Engaging the subject body region with the customized surgical tool may further include ( 2406 ) contacting the subject body region with the customized surgical tool and/or ( 2408 ) entering the subject body region with the customized surgical tool. 
     As shown in  FIG. 25 , the method may further comprise ( 2502 ) imaging the dynamical implant in the subject body region and/or ( 2504 ) imaging the customized surgical tool in the subject body region, which may further comprise ( 2506 ) comparing the image of the customized surgical tool in the subject body region with a map of the subject body region. 
     In one embodiment, shown in the flow chart of  FIG. 26 , a method comprises ( 2602 ) determining a location for implantation of a biologically interactive device in a first location  1506  internal to a subject; ( 2604 ) determining a treatment location in a second location internal to the subject, the second location internal to the subject being different from the first location  1506  internal to the subject; ( 2606 ) receiving characterizing data relating to a first internal region of the subject proximate to or including the first location  1506  internal to the subject and a second internal region of the subject proximate to or including the second location internal to the subject; and ( 2608 ) responsive to the received characterizing data relating to first and second internal regions of the subject, the determined location for implantation of a biologically interactive device, and the determined treatment location, determining a nonlinear, self following path from a location external to the subject to the determined first location  1506  internal to the subject and passing through or proximate to the determined second location, according to a risk-defined routing. 
     As shown in  FIG. 27 , ( 2608 ) determining a nonlinear, self following path may further include ( 2702 ) calculating the nonlinear, self-following path, which may further include ( 2704 ) determining the location external to the subject; and determining at least one avoidance region according to the received characterizing data relating to first and second internal regions of the subject, which may further include ( 2706 ) assigning a first risk level to a first sub-region and comparing the first risk level to a threshold risk level, which may further include ( 2708 ) assigning a second risk level to a second sub-region and comparing the second risk level to the threshold risk level. 
     As shown in  FIG. 28 , the method may further include ( 2802 ) producing data corresponding to the determined nonlinear, self following path; and providing the data corresponding to the determined nonlinear, self following path to automated machinery, which may further include ( 2804 ) responsive to providing the data corresponding to the determined nonlinear, self following path to automated machinery, producing a customized device configured to receive and guide the biologically interactive device. ( 2608 ) Determining a nonlinear, self following path from a location external to the subject to the determined first location internal to the subject may further include ( 2806 ) selecting the nonlinear, self-following path from an array of predetermined paths. ( 2606 ) Receiving characterizing data relating to a first internal region of the subject proximate to or including the first location  1506  internal to the subject and a second internal region of the subject proximate to or including the second location internal to the subject may further include ( 2808 ) imaging the first and second internal regions of the subject. 
     As shown in  FIG. 29 , the method may further comprise ( 2902 ) determining a design for an implantation device, the implantation device being configured to carry the biologically interactive device to the location for implantation, the implantation device further being passable along the nonlinear, self following path, which may further include ( 2904 ) simulating the passage of the implantation device along the nonlinear, self following path. ( 2608 ) Determining a nonlinear, self following path from a location external to the subject to the determined first location internal to the subject may further include ( 2906 ) mapping a surgical route, which may further include ( 2908 ) identifying an avoidance region and selecting the surgical route to circumnavigate the avoidance region. 
     Those skilled in the art will appreciate that the foregoing specific exemplary processes and/or devices and/or technologies are representative of more general processes and/or devices and/or technologies taught elsewhere herein, such as in the claims filed herewith and/or elsewhere in the present application. 
     Those having skill in the art will recognize that the state of the art has progressed to the point where there is little distinction left between hardware and software implementations of aspects of systems; the use of hardware or software is generally (but not always, in that in certain contexts the choice between hardware and software can become significant) a design choice representing cost vs. efficiency tradeoffs. Those having skill in the art will appreciate that there are various vehicles by which processes and/or systems and/or other technologies described herein can be effected (e.g., hardware, software, and/or firmware), and that the preferred vehicle will vary with the context in which the processes and/or systems and/or other technologies are deployed. For example, if an implementer determines that speed and accuracy are paramount, the implementer may opt for a mainly hardware and/or firmware vehicle; alternatively, if flexibility is paramount, the implementer may opt for a mainly software implementation; or, yet again alternatively, the implementer may opt for some combination of hardware, software, and/or firmware. Hence, there are several possible vehicles by which the processes and/or devices and/or other technologies described herein may be effected, none of which is inherently superior to the other in that any vehicle to be utilized is a choice dependent upon the context in which the vehicle will be deployed and the specific concerns (e.g., speed, flexibility, or predictability) of the implementer, any of which may vary. Those skilled in the art will recognize that optical aspects of implementations will typically employ optically-oriented hardware, software, and or firmware. 
     The foregoing detailed description has set forth various embodiments of the devices and/or processes via the use of block diagrams, flowcharts, and/or examples. Insofar as such block diagrams, flowcharts, and/or examples contain one or more functions and/or operations, it will be understood by those within the art that each function and/or operation within such block diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. In one embodiment, several portions of the subject matter described herein may be implemented via Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), digital signal processors (DSPs), or other integrated formats. However, those skilled in the art will recognize that some aspects of the embodiments disclosed herein, in whole or in part, can be equivalently implemented in integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and or firmware would be well within the skill of one of skill in the art in light of this disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed as a program product in a variety of forms, and that an illustrative embodiment of the subject matter described herein applies regardless of the particular type of signal bearing medium used to actually carry out the distribution. Examples of a signal bearing medium include, but are not limited to, the following: a recordable type medium such as a floppy disk, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape, a computer memory, etc.; and a transmission type medium such as a digital and/or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communications link, a wireless communication link, etc.). 
     In a general sense, those skilled in the art will recognize that the various embodiments described herein can be implemented, individually and/or collectively, by various types of electro-mechanical systems having a wide range of electrical components such as hardware, software, firmware, or virtually any combination thereof, and a wide range of components that may impart mechanical force or motion such as rigid bodies, spring or torsional bodies, hydraulics, and electro-magnetically actuated devices, or virtually any combination thereof. Consequently, as used herein “electromechanical system” includes, but is not limited to, electrical circuitry operably coupled with a transducer (e.g., an actuator, a motor, a piezoelectric crystal, etc.), electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment), and any non-electrical analog thereto, such as optical or other analogs. Those skilled in the art will also appreciate that examples of electromechanical systems include but are not limited to a variety of consumer electronics systems, as well as other systems such as motorized transport systems, factory automation systems, security systems, and communication/computing systems. Those skilled in the art will recognize that electromechanical as used herein is not necessarily limited to a system that has both electrical and mechanical actuation except as context may dictate otherwise. 
     In a general sense, those skilled in the art will recognize that the various aspects described herein which can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or any combination thereof can be viewed as being composed of various types of “electrical circuitry.” Consequently, as used herein “electrical circuitry” includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and/or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment). Those having skill in the art will recognize that the subject matter described herein may be implemented in an analog or digital fashion or some combination thereof. 
     Those skilled in the art will recognize that it is common within the art to describe devices and/or processes in the fashion set forth herein, and thereafter use engineering practices to integrate such described devices and/or processes into image processing systems. That is, at least a portion of the devices and/or processes described herein can be integrated into an image processing system via a reasonable amount of experimentation. Those having skill in the art will recognize that a typical image processing system generally includes one or more of a system unit housing, a video display device, a memory such as volatile and non-volatile memory, processors such as microprocessors and digital signal processors, computational entities such as operating systems, drivers, and applications programs, one or more interaction devices, such as a touch pad or screen, control systems including feedback loops and control motors (e.g., feedback for sensing lens position and/or velocity; control motors for moving/distorting lenses to give desired focuses. A typical image processing system may be implemented utilizing any suitable commercially available components, such as those typically found in digital still systems and/or digital motion systems. 
     Those skilled in the art will recognize that it is common within the art to describe devices and/or processes in the fashion set forth herein, and thereafter use engineering practices to integrate such described devices and/or processes into data processing systems. That is, at least a portion of the devices and/or processes described herein can be integrated into a data processing system via a reasonable amount of experimentation. Those having skill in the art will recognize that a typical data processing system generally includes one or more of a system unit housing, a video display device, a memory such as volatile and non-volatile memory, processors such as microprocessors and digital signal processors, computational entities such as operating systems, drivers, graphical user interfaces, and applications programs, one or more interaction devices, such as a touch pad or screen, and/or control systems including feedback loops and control motors (e.g., feedback for sensing position and/or velocity; control motors for moving and/or adjusting components and/or quantities). A typical data processing system may be implemented utilizing any suitable commercially available components, such as those typically found in data computing/communication and/or network computing/communication systems. 
     Those skilled in the art will recognize that it is common within the art to implement devices and/or processes and/or systems in the fashion(s) set forth herein, and thereafter use engineering and/or business practices to integrate such implemented devices and/or processes and/or systems into more comprehensive devices and/or processes and/or systems. That is, at least a portion of the devices and/or processes and/or systems described herein can be integrated into other devices and/or processes and/or systems via a reasonable amount of experimentation. 
     All of the above U.S. patents, U.S. patent application publications, U.S. patent applications, foreign patents, foreign patent applications and non-patent publications referred to in this specification and/or listed in any Application Data Sheet, are incorporated herein by reference, to the extent not inconsistent herewith. 
     One skilled in the art will recognize that the herein described components (e.g., steps), devices, and objects and the discussion accompanying them are used as examples for the sake of conceptual clarity and that various configuration modifications are within the skill of those in the art. Consequently, as used herein, the specific exemplars set forth and the accompanying discussion are intended to be representative of their more general classes. In general, use of any specific exemplar herein is also intended to be representative of its class, and the non-inclusion of such specific components (e.g., steps), devices, and objects herein should not be taken as indicating that limitation is desired. 
     Those skilled in the art will appreciate that ‘user’ may be representative of a human user, or in some cases a robotic user (e.g., computational entity), and/or substantially any combination thereof (e.g., a user may be assisted by one or more robotic agents). In addition, user, as set forth herein, may in fact be composed of two or more entities. Those skilled in the art will appreciate that, in general, the same may be said of “sender” and/or other entity-oriented terms as such terms are used herein. 
     With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations are not expressly set forth herein for sake of clarity. 
     The herein described subject matter sometimes illustrates different components contained within, or connected with, different other components. It is to be understood that such depicted architectures are merely exemplary, and that in fact many other architectures can be implemented which achieve the same functionality. In a conceptual sense, any arrangement of components to achieve the same functionality is effectively “associated” such that the desired functionality is achieved. Hence, any two components herein combined to achieve a particular functionality can be seen as “associated with” each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being “operably connected”, or “operably coupled”, to each other to achieve the desired functionality, and any two components capable of being so associated can also be viewed as being “operably couplable”, to each other to achieve the desired functionality. Specific examples of operably couplable include but are not limited to physically mateable and/or physically interacting components and/or wirelessly interactable and/or wirelessly interacting components and/or logically interacting and/or logically interactable components. 
     In some instances, one or more components may be referred to herein as “configured to.” Those skilled in the art will recognize that “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, etc. unless context requires otherwise. 
     While particular aspects of the present subject matter described herein have been shown and described, it will be apparent to those skilled in the art that, based upon the teachings herein, changes and modifications may be made without departing from the subject matter described herein and its broader aspects and, therefore, the appended claims are to encompass within their scope all such changes and modifications as are within the true spirit and scope of the subject matter described herein. Furthermore, it is to be understood that the invention is defined by the appended claims. It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to “at least one of A, B, or C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” 
     With respect to the appended claims, those skilled in the art will appreciate that recited operations therein may generally be performed in any order. Examples of such alternate orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplemental, simultaneous, reverse, or other variant orderings, unless context dictates otherwise. With respect to context, even terms like “responsive to,” “related to,” or other past-tense adjectives are generally not intended to exclude such variants, unless context dictates otherwise. 
     While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.