Source: https://patents.google.com/patent/US8603068B2/en
Timestamp: 2019-04-19 12:34:03+00:00

Document:
A drive mechanism for use with an elongated medical implement comprises a motor, a first pulley mechanically coupled to the motor, and a second pulley. The drive mechanism further comprises a connector mechanically coupled to the second pulley. The connector is configured for laterally receiving the medical implement. The drive mechanism further comprises a belt wrapped around the first and second pulleys to transmit force from the motor to the connector. A robotic medical system comprises a user interface configured for receiving at least one command, a drive mechanism including a motor and a connector configured for laterally receiving the medical implement, and an electrical controller configured for directing the motor to cause the drive mechanism to move the medical implement within at least one degree-of-freedom.
This application is a continuation of U.S. application Ser. No. 11/467,886, filed Aug. 28, 2006, now U.S. Pat. No. 7,766,894, which is a continuation of U.S. application Ser. No. 10/270,740, filed Oct. 11,2002, now abandoned, which claims the benefit of U.S. Application Ser. No. 60/332,287, filed Nov. 21, 2001, and is a continuation-in-part of U.S. application Ser. No. 10/216,069, filed Aug. 8, 2002, now abandoned, which claims the benefit of U.S. Application Ser. No. 60/313,495, filed Aug. 21, 2001, and is a continuation-in-part of U.S. application Ser. No. 10/023,024 (now abandoned), Ser. No. 10/011,371 (now U.S. Pat. No. 7,090,683), Ser. No. 10/011,449 (now abandoned), Ser. No. 10/010,150 (now U.S. Pat. No. 7,214,230), Ser. No. 10/022,038 (now abandoned), and Ser. No. 10/012,586, now U.S. Pat. No. 7,371,210, all filed Nov. 16, 2001, and all of which claim the benefit of U.S. Application Ser. Nos. 60/269,200, filed Feb. 15, 2001, 60/276,217, filed Mar. 15,2001, 60/276,086, filed Mar. 15, 2001,60/276,152, filed Mar. 15, 2001, and 60/293,346, filed May 24, 2001.
This application is also related to U.S. application Ser. No. 11/762,749, now U.S. Pat. No. 8,187,229, Ser. No. 11/762,751, now U.S. Pat. No. 7,955,316, and Ser. No. 11/762,748, now U.S. Pat. No. 7,727,185, all filed Jun. 13, 2007. The entire disclosures of the above applications are expressly incorporated herein by reference.
Catheters maybe provided in a variety of different shapes and sizes depending upon the particular application. It is typical for a clinician to manipulate the proximal end of the catheter to guide the distal end of the catheter inside the body, for example, through a vein or artery. Because of the small size of the incision or opening and the remote location of the distal end of the catheter, much of the procedure is not directly visible to the clinician. Although clinicians can have visual feedback from the procedure site through the use of a video camera or endoscope inserted into the patient, or through radiological imaging or ultrasonic imaging, the ability to control even relatively simple instruments remains difficult.
In accordance with a first aspect of the present inventions, a drive mechanism for use with an elongated medical implement (e.g., a catheter) is provided. The drive mechanism comprises a motor, a first pulley mechanically coupled to the motor, and a second pulley. The drive mechanism further comprises a connector mechanically coupled to the second pulley. The connector is configured for laterally receiving the medical implement. The drive mechanism further comprises a belt wrapped around the first and second pulleys to transmit force from the motor to the connector. In one embodiment, the force is transmitted by the motor produces a rotational motion in the connector.
In one embodiment, the connector comprises a slot for receiving the medical implement. In one example, the slot has an enlarged portion into which the medical implement can be snapped. In another example, the connector may comprise a pair of legs configured for clamping the medical implement within the slot. In still another example, the drive mechanism comprises a block in which the connector is disposed, and a screw threaded through the block into contact with the connector to narrow the slot. In yet another example, the drive mechanism may comprise a sleeve that can be fitted over the connector to narrow the slot, e.g., by threading the sleeve over the connector. In another embodiment, the connector comprises an inner C-shaped ring for receiving the medical implement and an outer C-shaped ring configured for being rotated around the inner ring to capture the medical implement within the inner ring.
In accordance with a second aspect of the present inventions, a robotic medical system is provided. The robotic medical system comprises the previously described drive mechanism, a user interface configured for receiving at least one command, and an electrical controller configured for directing the motor to cause the drive mechanism to axially rotate the medical implement in response to command(s).
In accordance with a third aspect of the present inventions another robotic medical system for use with an elongated medical implement (e.g., a catheter) is provided. The robotic medical system comprises a user interface configured for receiving at least one command, a drive mechanism including a motor and a connector configured for laterally receiving the medical implement, and an electrical controller configured for directing the motor to cause the drive mechanism to move the medical implement within at least one degree-of-freedom (e.g., an axial rotation and/or linear translation of the medical implement). The connector may be the same as any of the connectors described above. The electrical controller may be coupled to the motor via external cabling. In one embodiment, the user interface includes at least one of a dial, joystick, wheel, and mouse. In another embodiment, the user interface is located remotely from the drive mechanism.
FIGS. 19,19A and 19B illustrate yet another embodiment of the connector.
A description of preferred embodiments of the invention follows. Referring to FIG. 1 there is shown a catheter system 5 including three separate catheter shafts 10, 20, and 30, with an end effector 12 supported at the distal end of the catheter shaft 10. The end effector 12 may be, for example, an articulated tool such a grasper with a pair of jaws 12 a and 12 b that pivot about a joint 15 to grasp an item between the two jaw members. Other articulated tools that may be used as the end effector 12 include scissors, needle holders, micro dissectors, staple appliers, tackers, suction irrigation tools, and clip appliers. The end effector 12 can also be a non-articulated tool, such as a cutting blade, probe, irrigator, catheter or suction orifice, and dilation balloon. Further details of catheter systems, particularly those relating to mechanisms for multiple degrees-of-freedom of motion of catheter shafts can be found in U.S. application Ser. Nos. 10/023,024, 10/011,449, 10/022,038, 10/012,586, 10/011,371, 10/010,150, all of which were filed Nov. 16, 2001 and are incorporated herein by reference in their entirety.
Turning now to FIG. 3, the multiple coaxial catheters 10, 20, and 30 are shown coupled to a drive system 35. Also shown in FIG. 3 are the operative sections 01, 02, and 03 of the catheters 10, 20, and 30, respectively, as well as the linear translational degree-of-freedom 11, 21, and 31. At some position along the catheters, there is a patient interface, not specifically illustrated in FIG. 3 but considered to be the location where the catheter enters the anatomic body. The entry of the catheter may, for example, be percutaneously, via an incision, or even through a natural body orifice. Procedures to be described below are particularly adapted for transitioning a multi-shaft catheter constriction through an anatomic body vessel such as through the intestines. Of course, the concepts of the illustrated embodiments may be used in association with the control and transition of the catheters through other body vessels or body cavities as well.
The motor array 70 also includes separate motors for driving the bending movements S3B1 and S3B2, S2B1 and S2B2 and S1B1 and S1B2 of the catheters as previously indicated in FIG. 1. In FIG. 3, in addition to the operative segments 01, 02, and 03 where the bending of the individual catheter occurs, there are also shown in cut-out cross-section in each of the catheters respective cablings C1, C2, and C3. These cablings extend along the length of the respective catheters and can be used for controlling the bending of the operative segments. Also, cabling that extends through catheters 10, 20, and 30 can be used to operate the end effector 12 as well. The cabling C1, C2, and C3 can extend through the catheters and through the corresponding support blocks, coupling through the various mechanical cablings 80, 81, and 82. Accordingly, there may be control motors in the motor array 70 that control the bending movements of the catheters, as well as operation of the end effector 12. Further details of mechanical cabling used for the operation of catheters including bending and flexing thereof can be found in the U.S. application Ser. Nos. 10/023,024, 10/011,371, 10/011,449, 10/010,150, 10/022,038, and 10/012,586 mentioned earlier.
In some embodiments, the controller 72 is a microprocessor that receives input commands from the input device 76. The input device 76 can be one of various types of controls such as a dial, joystick, wheel, or mouse. A touch-screen can also be employed as the input device 76 to allow the surgeon to input information about the desired location of a particular portion of the catheter by touching the screen. In this regard, reference may also be made to U.S. application Ser. No. 10/216,669 filed herewith, the entire contents of which are incorporated herein by reference, which describes a catheter tracking system that enables an operator at the input device to select a particular anatomic body site and direct the catheter automatically to that site.
Referring to FIGS. 4, 5 and 6, there is shown another implementation of the catheter control. Here, the system employs multiple catheters with multiple balloons in combination with a control mechanism by which the balloons are inflated and deflated to move the catheters in increments through a body vessel. In FIG. 6, a set of catheters 110, 120, and 130 are located within a body vessel 100. Associated with catheter 120 is a distal balloon D. and similarly, associated with the distal end of catheter 130 is a proximal balloon P. In FIG. 6 there are also shown ports D1 and P1 through which air or other fluid is introduced into each of the balloons to inflate the balloons or removed to deflate the balloons. In FIG. 6 the proximal balloon P is shown inflated and the distal balloon D is shown deflated. Note that although only two balloons are shown, one or more additional balloons can be associated with a third or even a fourth catheter.
The outputs of a motor array 90 are coupled to the inner catheter control 84 and the outer catheter control 85, while a controller 92 is coupled to and controls the motor any 90. An input device 96 connected to the controller 92 provides an interface for a user such as surgeon to operate the inner and outer catheters 86 and 87.
In step (e) the outer catheter 130 in FIG. 6 is moved forward carrying the proximal balloon P. which has previously been deflated allowing it to move readily through the vessel 100.
After the catheter 130 and its associated proximal balloon P has moved a certain distance, then, as illustrated in step (f) the process again inflates the proximal balloon P, and in step (g) deflates the distal balloon D. Once this occurs, the catheter system is then in the position illustrated in FIG. 6, having advanced by an incremental amount related to the length of movement of the inner and outer catheters 120 and 130.
Note that the particular control illustrated in FIGS. 4-6 does not necessarily require the use of an input device. Alternatively, if an input device is used, it can be of the type that simply initiates a sequence that is stored in the algorithm of controller 92. Hence again, in this way, once the sequence is initiated, then subsequent moves are controlled by the controller 92 and not by any specific manipulations at the input device 96.
To position each of the separate catheters, there is illustrated in FIG. 9 a fixing or securing means such as balloon 332 located at the distal end of large outer catheter 330 and balloon 322 located at the distal end of the middle catheter 320. Each of these balloons may be inflated to hold its corresponding catheter in a relatively fixed position in the body vessel. Alternatively, rather than the use of balloons, other securing devices may be employed such as sonic type of expandable mechanical member. Regardless of the type of securing member employed, it is capable of being operated by the surgeon from a remote location at the master station, and at the appropriate time selected by the surgeon. The balloons 322 and 332 can be a single lobed balloon that totally obstructs the vessel when inflated. Alternatively, the balloons may have a multi-lobed configuration as illustrated in FIG. 9A. The balloon 322 or 332 shown in FIG. 9A has three lobes 305 that when inflated in a vessel 306 allows fluid to flow in the space 307 between the lobes. The balloon 322 or 332 can have fewer or more than three lobes in other arrangements. In certain implementations, the individual lobes can be inflated independently of each other.
The catheter drive system described above can be implemented in other configurations as well. For example, there is shown in FIG. 11A a catheter drive system associated with a fluid or drug delivery system. Note in FIG. 11A, emphasis is placed on the proximal end of a catheter 1070 and guide wire 1072. The more distal portion of the catheter is identified by the dotted lines. Details of the distal portions of the catheter 1070 and guide wire 1072 can be found in U.S. application Ser. No. 10/216,067 filed herewith, the entire contents of which are incorporated herein by reference.
A support block 1076 supports the catheter 1070 in a manner to enable at least two degrees-of-freedom of the catheter including axial movement of the catheter to an anatomic body target sit; as well as rotation of the catheter. The support block 1076 controls both the linear translation of the catheter 1070 by the wheels 1078, as indicated by the arrow 1079, and the rotational translation of the catheter, as illustrated by the arrow 1080. Again, further details of such a catheter support system illustrating multiple degrees-of-freedom can be found in the U.S. patent application Ser. Nos. 10/023,024, 10/011,371, 10/011,449, 10/010,150, 10/022,038, and 10/012,586 mentioned earlier.
In FIG. 11 A, there is also a block 1082 which controls the movement of the guide wire 1072. In particular, the wheels 1084 move the guide wire 1072 in a linear manner in the direction 1085. The block 1082 is also able to rotate the guide wire 1072 in the direction 1086. Note that the blocks 1076 and 1082 can be supported on a common support structure 1120. Although the support 1120 provides a physical connection between the blocks 1076 arid 1082, the blocks are operated independently so that the guide wire 1072 and the catheter 1070 can be driven independently of each other.
The drive or support blocks 1076 and 1082 arc coupled to an electromechanical drive member or motor array 1090 that controls the movements of both the catheter 1070 and the guide wire 1072 with at least two degrees-of-freedom. In particular, mechanical cablings 1087 and 1088 couples the motor array 1090 to the support blocks 1076 and 1082, respectively. The motor array 1090 is also coupled to a controller 1092 that directs a plurality of motors in the motor array. An input device 1096 provides an interface to the system for use by a surgeon.
The controller 1092, maybe a microprocessor that receives input commands from the input device 1096. The input device 1096 may include various types of controls such as a dial, joystick, wheel or mouse. A touch screen may also be employed as the input device 1096 to input information about the desired location of a particular portion of the catheter. Details of such a tracking system can be found in the U.S. application Ser. No. 10/216,669, mentioned earlier. Such a tracking system enables an operator, such as a surgeon, through the input device to select a particular anatomic body site and direct the catheter directly and automatically to that site.
As shown in FIG. 11 B, the manifold 1100 includes an end piece 1200 sealed to the back end of the manifold 1100 and provided with an opening 1202 through which the guide wire 1072 enters into the manifold 1100, and hence the catheter 1070. Positioned within the manifold 1110 and adjacent to the end piece 1200 is a gasket 1204. The guide wire 1072 pierces the gasket 1204 such that the gasket forms a seal about the guide wire. Thus, as fluid enters from the feedline 1107 into the manifold 1100, the gasket 1204 prevents the fluid from leaking out the back end of the manifold 1100.
As indicated previously, the input device 1096 may take on a variety of different forms. If a wheel, dial, or pivoting switch is employed as the input device 1096, then one of these may be used for controlling the two degrees-of-freedom of movement of the catheter 1070, while another such device is used to control the two degrees-of-freedom of movement of the guide wire 1072. Thus, the operator has independent control of the drive or support blocks 1076 and 1082 byway of the input device 1096. This permits the operator to selectively move the guide wire 1072 and the catheter 1070 independently of each other. Typically, the operator advances the guide wire 1072 a certain distance, and then the catheter 1070, such that the guide wire 1072 can be used to access certain twists or turns in a body lumen such as an artery or vein.
Referring now to FIGS. 12 and 12A, the drive or support block described earlier is identified as drive mechanism 1308 a associated with the catheter 1070. As can be seen in FIG. 12A, which is a view of the drive mechanism along the length of the leg 1306, the drive mechanism 1308 a includes a gripping device 1310 in which the leg 1306 of the catheter 1070 is secured, and a motor 1312. A belt 1314 is wrapped around pulleys 1315 a and 1315 b of the motor 1312 and gripping device 1310, respectively. Hence, as the motor 1312 rotates, this rotary motion is transmitted to the gripping device 1310 through the belt 1314 as indicated by the double arrow 1316, such that the catheter 1070 rotates accordingly as indicated by the double arrow 1318 a (FIG. 12).
To move the drive mechanisms 1308 a and 1308 b (referred to generally as drive mechanism 1308) linearly in the direction 1319, various configurations can be used as illustrated in FIGS. 15A, 15B, and 15C. Referring in particular to FIG. 15A, there is shown a lead screw drive arrangement 1360 with a threaded connector 1362 attached to the drive mechanism 1308. A lead screw 1364 is threaded through the connector 1362 and coupled to a stationary motor 1366. Accordingly, rotary motion of the lead screw 1364 induced by the motor 1366 in the direction 1368 results in a linear motion of the connector 1362. Since the connector 1362 is attached to the drive mechanism 1308, linear motion of the connector 1362 produces a consequent linear motion of the drive mechanism 1308 in the direction 1319.
Referring now to FIG. 15B, there is shown a rack and pinion drive arrangement 1370 for moving the drive mechanism 1308 in a linear manner. The rack and pinion drive 1370 includes a rack 1372 attached to the drive mechanism 1308, and a pinion 1374 coupled to a stationary motor 1376. The teeth of the pinion 1374 engage with those of the rack 1372 such that as the motor 1376 rotates the pinion 1374 in the direction 1378, the rack 1372 and hence the drive mechanism 1308 moves linearly back and forth in the direction 1379.
U.S. application Ser. No. 09/783,637, filed Feb. 14, 2001, which is a continuation of PCT application Serial No. PCT/US00/12553 filed May 9, 2000, which claims the benefit of U.S. Provisional Application No. 60/133,407, filed May 10, 1999; U.S. application Ser. No. 10/208,807, filed Jul. 29, 2002, which is a continuation of U.S. application Ser. No. 09/827,503, filed Apr. 6, 2001, which is a continuation of U.S. application Ser. No. 09/746,853, filed Dec. 21, 2000, which is a divisional of U.S. application Ser. No. 09/375,666, filed Aug. 17, 1999, which is a continuation of U.S. application Ser. No. 09/028,550, filed Feb. 24, 1998, PCT application Serial No. PCT/US01/11376 filed Apr. 6, 2001, which claims priority to U.S. application Ser. No. 09/746,853, filed Dec. 21, 2000, and U.S. application Ser. No. 09/827,503, filed Apr. 6, 2001; U.S. application Ser. Nos. 10/014,143, 10/012,845, 10/008,964, 10/013,046, 10/011,450, 10/008,457, and 10/008,871, all filed Nov. 16, 2001, and all of which claim benefit to U.S. Provisional Application No. 60/279,087, filed Mar. 27, 2001; U.S. application Ser. No. 10/077,233, filed Feb. 15, 2002, which claims the benefit of U.S. Provisional Application No. 60/269,203, filed Feb. 15, 2001; U.S. application Ser. No. 10/097,923, filed Mar. 15, 2002, which claims the benefit of U.S. Provisional Application No. 60/276,151, filed Mar. 15, 2001; U.S. application Ser. No. 10/034,871, filed Dec. 21, 2001, which claims the benefit of U.S. Provisional Application No. 60/257,816, filed Dec. 21, 2000; U.S. application Ser. No. 09/827,643, filed Apr. 6, 2001, which claims the benefit of U.S. Provisional Application No. 60/257,869, filed Dec. 21, 2000, and U.S. Provisional Application No. 60/195,264, filed Apr. 7, 2000.
For example, although a detector for sensing relative movement between adjacent catheters has been described, a detector for sensing movement of any one or more of the catheters relative to a base position that may or may not be a location on a particular one of the catheters can be employed. Also described herein is the use of cabling through the catheters for controlling the movement of the catheters. In certain embodiments a piezo-electric arrangement may be employed in which electrical signal wires would extend through the catheter system for actuation of a mechanical (piezoelectric) member to provide motion of the distal end of the catheter.
the first motor, the first pulley, the second pulley, the first connector and the first belt being collectively linearly translatable by actuation of a third motor of the plurality of motors such that the first elongated medical implement is controllable with at least three degrees of freedom.
2. The drive mechanism of claim 1, wherein the first connector comprises a slot for receiving the first elongated medical implement.
3. The drive mechanism of claim 2, wherein the slot has an enlarged portion into which the first elongated medical implement can be snapped.
4. The drive mechanism of claim 2, wherein the first connector comprises a pair of legs configured for clamping the first elongated medical implement within the slot.
5. The drive mechanism of claim 2, further comprising a block in which the first connector is disposed, and a screw threaded through the block into contact with the first connector to narrow the slot.
6. The drive mechanism of claim 2, further comprising a sleeve that can be fitted over the first connector to narrow the slot.
7. The drive mechanism of claim 6, wherein the sleeve is configured to be threaded over the first connector.
8. The drive mechanism of claim 1, wherein the first connector comprises an inner C-shaped ring for receiving the first elongated medical implement and an outer C-shaped ring configured for being rotated around the inner ring to capture the first elongated medical implement within the inner ring.
9. The drive mechanism of claim 1, wherein the force transmitted by the first motor produces a rotational motion in the first connector.
10. The drive mechanism of claim 1, wherein the first elongated medical implement is a catheter.
an electrical controller configured for directing the first motor to cause the drive mechanism to axially rotate the first elongated medical implement in response to the at least one command, the second motor to controllably bend the first elongated medical implement, and the third motor to controllably translate the first elongated medical implement.
12. The drive mechanism of claim 1, wherein the first connector is coaxial with the second pulley.
13. The drive mechanism of claim 1, wherein the first belt rotates within a plane that is perpendicular to axes of the first connector and the second pulley.
14. The drive mechanism of claim 1, wherein the first elongated medical implement is controllably bendable within orthogonal planes transverse to a longitudinal axis of the first elongated medical implement.
a second belt wrapped around the third and fourth pulleys such that the second belt extends around the second connector and around the second medical implement positioned in the second connector to transmit force from the fourth motor to the second connector so that operation of the fourth motor causes controllable rotation of the second medical implement.
16. The drive mechanism of claim 15, further comprising a fifth motor of the plurality of motors configured for operatively coupling to the control element so that operation of the fifth motor causes controllable bending of the second medical implement.
17. The drive mechanism of claim 16, further comprising a sixth motor of the plurality of motors, wherein the fourth motor, the third pulley, the fourth pulley, the second connector and the second belt being collectively linearly translatable by actuation of the sixth motor such that the second medical implement is controllable with at least three degrees of freedom.
18. The drive mechanism of claim 15, wherein the second medical implement is movable within the first medical implement.
19. The drive mechanism of claim 15, wherein the first medical implement is a catheter and the second medical implement is a guidewire.
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Documents from file history for related U.S. Appl. No. 11/467,886, filed Aug. 28, 2006, Applicant Hansen Medical, including: Office Action for U.S. Appl. No. 11/467,886, dated Apr. 30, 2008, Response to Office Action for U.S. Appl. No. 11/467,886, dated Apr. 30, 2008, submitted on Jul. 30, 2008 Final Office Action for U.S. Appl. No. 11/467,886, dated Oct. 24, 2008, Response to Final Office Action for U.S. Appl. No. 11/467,886, dated Oct. 24, 2008, response submitted on Jan. 26, 2009, Advisory Action for U.S. Appl. No. 11/467,886, dated Feb. 13, 2009, Appeal Brief for U.S. Appl. No. 11/467,886, submitted on Apr. 20, 2009, Examiner's Answer to Appeal Brief for U.S. Appl. No. 11/467,886, dated Jun. 29, 2009 (64 pages).
Documents from file history for related U.S. Appl. No. 11/762,748, filed Jun. 13, 2007, Applicant Hansen Medical, including: Non final Office Action for U.S. Appl. No. 11/762,748, dated Apr. 2, 2009. Response to Non final office action for U.S. Appl. No. 11/762,748, dated Apr. 2, 2009, response submitted on Jul. 20, 2009. (32 pages).
Documents from file history for related U.S. Appl. No. 11/762,749, filed Jun. 13, 2007, Applicant Hansen Medical, including: Non Final Office Action for U.S. Appl. No. 11/762,749, dated Mar. 31, 2009, Response to Non Final Office Action for U.S. Appl. No. 11/762,749, dated Mar. 31, 2009, response submitted on Jun. 29, 2009. (29 pages).
Documents from file history for related U.S. Appl. No. 11/762,751, filed Jun. 13, 2007, Applicant Hansen Medical, including: Non final Office Action for U.S. Appl. No. 11/762,751, dated Apr. 15, 2009, Response to non final Office Action for U.S. Appl. No. 11/762,751, dated Apr. 15, 2009, response submitted on Jul. 15, 2009. (31 pages).
Ikuta et al., "Shape Memory Alloy Servo Actuator System with Electric Resistance Feedback and Application for Active Endoscope", 1988 IEEE, CH2555-1/88/0000/0427-430.
M.W. Thring, "Robots and Telechirs: Manipulators With Memory; Remote Manipulators, Machine Limbs for the Handicapped", First published in 1983 by Ellis Horwood Limited.
Non-final Office Action mailed Aug. 2, 2011, in related U.S. Appl. No. 11/762,749, filed Jun. 13, 2007.
Papers from file history for related U.S. Appl. No. 11/467,886, filed Aug. 28, 2006, Inventor Barry Weitzner et al., including (47 pages total): Amendment response to Final Rejection mailed Apr. 27, 2010, for U.S. Appl. No. 11/467,886, submitted May 3, 2010; Final Rejection for U.S. Appl. No. 11/467,886, mailed Apr. 27, 2010; Amendment Response to Non Final Office Action mailed Nov. 9, 2009, for U.S. Appl. No. 11/467,886, submitted on Feb. 8, 2010; Non Final Office Action for U.S. Appl. No. 11/467,886, mailed Nov. 9, 2009; Amendment Response to Non Final Office Action mailed Oct. 24, 2008, for U.S. Appl. No. 11/467,886, submitted on Aug. 27, 2009.
Papers from file history for related U.S. Appl. No. 11/762,748, filed Jun. 13, 2007, Inventor Barry Weitzner et al., including (26 pages total): Amendment response to Final Rejection mailed Oct. 29, 2009, for U.S. Appl. No. 11/762,748, submitted Nov. 4, 2009; Final Rejection for U.S. Appl. No. 11/762,748, mailed Oct. 29, 2009.
Papers from file history for related U.S. Appl. No. 11/762,749, filed Jun. 13, 2007, Inventor Barry Weitzner et al., including (29 pages total): Amendment response to Final Rejection mailed Oct. 16, 2009, for U.S. Appl. No. 11/762,749, submitted Feb. 11, 2010; Final Rejection for U.S. Appl. No. 11/762,749, mailed Oct. 16, 2009.
Papers from file history for related U.S. Appl. No. 11/762,751, filed Jun. 13, 2007, Inventor Barry Weitzner et al., including (73 pages total): Non Final Office Action for U.S. Appl. No. 11/762,751, mailed Jun. 30, 2010; Amendment response to Non Final Office Action mailed Apr. 19, 2010, for U.S. Appl. No. 11/762,751, submitted Apr. 20, 2010; Non Final Office Action for U.S. Appl. No. 11/762,751, mailed Apr. 19, 2010; Supplemental Amendment Response to Final Rejection mailed Nov. 10, 2009, for U.S. Appl. No. 11/762,751, submitted on Feb. 26, 2010; Amendment Response to Final Rejection mailed Nov. 10, 2009, for U.S. Appl. No. 11/762,751, submitted on Feb. 10, 2010; Final Rejection for U.S. Appl. No. 11/762,751, mailed Nov. 10, 2009.

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