University of Washington

International Business Machines Corporation

John A Sidles

Joseph L Garbini

Frederick A Matsen

Donald C Baumgarten

Brian S Pratt

Daniel Rugar

Costantino S Yannoni

William M Dougherty

Jon Jacky

Rico Picone

Kelly Bruland

Apparatuses and methods are provided for concentrating the magnetization of nuclear spins within a body, in one apparatus, a body having an electron spin moments and nuclear spin moments may subject to a polarizing magnetic field and a gradient magnetic field, such that a space-varied distribution of magnetic resonant frequencies of respective electron spin moments in the body is induced. The body may then be subject to a time-varying magnetic field configured to induce a spatial gradient of the electron spin magnetization such that concentrations of nuclear spin magnetization are induced. The body may be configured to receive a biological sample such that a concentration of nuclear spin magnetization may diffuse into the biological sample. The apparatus may further include a sensor configured to detect nuclear spin magnetization within the biological sample.

Method and system for concentrating magnetization of nuclear spins

The present invention provides a magnetic resonance force microscopy apparatus and method for use in combination with an oscillator. The oscillator has a motional body and one member of a sample/magnet pair is disposed on the motional body. The present invention actuates the motional body. The apparatus comprises a holder adapted to mount the second member of a sample/magnet pair, an RF field generator positioned to apply a field to the sample, a motion sensor adapted to be coupled with the motional body, an actuator adapted to be coupled with the motional body, and a motion controller coupled with the actuator and with the motion sensor. The actuation effort can dampen the vibrational amplitude of the oscillator that would otherwise diminish the spatial resolution of the device; control the oscillator dynamical properties to allow more stable signal detection; vary the distance between the magnetic tip and the sample material for sample scanning and field modulation; apply actuation and control signals to help prevent the oscillator from contacting and sticking to the sample material or other device components; provide a method for calibrating instrument subsystems; provide a way for controlling all oscillator vibrational modes, including torsional modes; and provide a way to apply feedback control to the oscillator, thereby gaining dynamic advantages.

Magnetic resonance force microscopy with oscillator actuation

A prosthesis template for aiding in the determination of a desired position of a prosthesis relative to a bone, the prosthesis having an exterior surface that simulates the exterior surface of the bone and an interior surface comprised of one or more contact surfaces to which the prepared bone must conform to provide an adequate fit of the prosthesis. The template comprises a template member having an interior surface which corresponds to an exterior surface of the prosthesis, whereby the template can be positioned adjacent to the bone and thereby provide means for evaluating a desired position of the prosthesis exterior surface.

Prosthesis template for use in a robot-aided system for surgery

An orthopedic saw guide for confining the blade of a surgical saw to movement in a single plane while allowing translational and rotational movement of the blade within the plane. A pair of elongated guideplates are secured together at either end to form a partially enclosed space. The distance between the inner surfaces of the guide plates is adjustable, and is preferably adjusted to be slightly greater than the thickness of the specific blade to be used. Mounting means is provided for rigidly securing the saw guide relative to the bone, so that the plane defined by the space between the inner surfaces corresponds to the cut plane. The inner surfaces of the guide plates include guide liners that are comprised of a low-friction material. The liners may be permanently secured to the guide plates or removable and disposable. The guide plates are curved in the plane of the guide surfaces so that the saw guide can be mounted close to the end of a bone to provide maximum access to the bone with the closest possible positioning of the guide.

Orthopedic saw guide for use in a robot-aided system for surgery

A system and method for positioning a tool relative to a patient's bone to facilitate the performance of a surgical bone alteration task. The system comprises a bone immobilization device for supporting the bone in a fixed position with respect to a reference structure, and a robot that includes a base fixed in position with respect to the reference structure. The bone imobilization device includes two semicircular frame pieces having a plurality of radial apertures through which bone gripping components adjustably extend in order to contact the bone. The bone gripping components include a shaft with a point inserted through a shaft bore of a serrated bone contact element. A support attaches to the frame to adjustably secure and position the frame relative to the reference structure.

Bone imobilization device

Methods and apparatus for detecting (and, if desired, imaging) the effects of magnetic resonance in a spin-containing material by measuring the magnetic force acting on a mechanical cantilever having a low damping coefficient due to modulation of the magnetic moment of the material in the polarizing field direction at a frequency substantially lower than the spin resonance frequency. Modulation of the magnetic moment in the direction of the polarizing magnetic field may be achieved by modulating (i) the magnitude of the magnetic field in the polarizing direction or (ii) the frequency or amplitude of a high-frequency magnetic field.

Mechanical detection and imaging of magnetic resonance by magnetic

A system and method for positioning a tool relative to a patient's bone to facilitate the performance of a surgical bone alteration task. The system comprises a bone immobilization device for supporting the bone in a fixed position with respect to the reference structure, and a robot that includes a base fixed in position with respect to the reference structure. The robot also includes a mounting member, and a manipulator connected between the base and the mounting member and permitting relative movement therebetween. The tool to be positioned by the system is mounted to the mounting member. The mounting member is caused to move relative to the reference structure in response to movement commands, so that the tool can be moved to a desired task position to facilitate performance of the task. The system preferably also includes a template attachable to the mounting member, a feature of the template representing a portion of a task. Preferably, the template is secured to the mounting member, and the template is then manually manipulated such that the template feature is properly oriented with respect to the patient's bone. The template position is then recorded as a reference position that may thereafter be combined with a geometric database defining the task to determine the position of the tool. Particular embodiments for a bone immobilizer, a template and a saw guide are also described, together with a stabilizing device for the robot and a safety device for the robot base.

Robot-aided system for surgery

Apparatus and methods for detecting NMR signals from small samples using mechanical oscillators. In one embodiment, the sample is affixed to the mechanical oscillator, and immersed in a magnetic field. Magnetic resonance is detected by monitoring the mechanical excitation of the oscillator. The greatest excitation occurs when there is a three-fold resonance between the spin precession frequency of the sample, the natural frequency of the oscillator, and the oscillation frequency of the applied time dependent magnetic field. Samples as small as a single atomic nucleus can generate a detectable signal. In a second embodiment, the sample is affixed to a mechanically vibrating substrate, and a magnetic source is affixed to the mechanical oscillator.

System for detecting nuclear magnetic resonance signals from small

A system and method for positioning a tool relative to a patient's bone to facilitate the performance of a surgical bone alteration task. The system comprises a bone immobilization device for supporting the bone in a fixed position with respect to a reference structure, and a robot that includes a base fixed in position with respect to the reference structure. The robot also includes a mounting member, and a manipulator connected between the base and the mounting member and permitting relative movement therebetween. The tool to be positioned by the system is mounted to the mounting member. The mounting member is caused to move relative to the reference structure in response to movement commands, so that the tool can be moved to a desired task position to facilitate performance of the task. The system preferably also includes a template attachable to the mounting member, a feature of the template representing a portion of a task. Preferably, the template is secured to the mounting member, and the template is then manually manipulated such that the template feature is properly oriented with respect to the patient's bone. The template position is then recorded as a reference position that may thereafter be combined with a geometric database defining the task to determine the position of the tool. Particular embodiments for a bone immobilizer, a template and a saw guide are also described, together with a stabilizing device for the robot and a safety device for the robot base.

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Seattle, WA, United States of America

John A Sidles