Abstract: A treatment instrument includes a grasping piece that is openable and closable to a treatment portion, and includes an electrode member. An electrode inclination surface facing a side on which the treating portion is located is provided on an outer surface of the electrode member of the grasping piece, and the electrode inclination surface extends from an inner side to an outer side in a width direction so as to be inclined in a direction away from the treatment portion.

Abstract: The present invention features an all-in-one system for vascular access and closure. In particular, this invention features systems and methods for forming holes in blood vessels and rapidly closing these vessel holes using an all-in-one system. For example, an arterial access and closure port system is disclosed herein to provide fail-safe percutaneous entry and exit into any artery, particularly useful for high flow and high pressure arteries such as the carotid artery. The present invention is a single system that forms and closes vascular holes and can be used for percutaneous arterial access with interventional radiology, interventional cardiology, neuro-intervention, endovascular surgery, and endovascular neurosurgery.

Abstract: There are provided a lesion part volume measuring method and an endoscopic diagnostic apparatus capable of easily detecting the volume of a lesion part without using a special treatment instrument. This problem is solved by detecting the position of a distal end portion of a scope hood from an image captured by an endoscope to which the scope hood is attached, finding the volume of the internal space of the scope hood, which is formed by the scope hood and the distal end surface of an insertion part, from the position of the distal end portion of the scope hood and the model of the endoscope and/or the model of the scope hood, and injecting water into the scope hood and detecting the volume of a lesion part from the difference between the water injection amount and the volume of the internal space of the scope hood.

Abstract: A jaw member for use with a surgical instrument includes a support base, a jaw liner, and a jaw overmold. The support base has a proximal portion configured to be pivotably coupled to a surgical instrument, and a distal portion. The support base defines a channel that extends longitudinally between the proximal and distal portions and an aperture disposed in communication with the channel. The jaw liner includes an elongate body configured for receipt in the channel of the support base, and a projection extending from the elongate body and configured for receipt in the aperture of the support base. The jaw overmold overlaps at least a portion of the support base and the jaw liner to fix the jaw liner to the support base.

Abstract: A treatment method is a treatment method for cutting cartilage of a human body by an ultrasonic device including a cutting section that ultrasonically vibrates. The treatment method includes cutting the cartilage with a product of an amplitude of the cutting section and a pressing force for pressing the cutting section against the cartilage being 100 (N·?m) or larger.

Abstract: Ultrasound imaging systems and methods are disclosed to reduce speckle. The systems and methods include the use of an ultrasound device and a controller. The ultrasound device includes an end effector having a first jaw member and a second jaw member opposite the first jaw member. The first jaw member and the second jaw member move relative to one another to grasp tissue therebetween. A first ultrasound transducer is disposed on the first jaw member and a second ultrasound transducer is disposed on the second jaw member. The controller receives a first signal from the first ultrasound transducer and a second signal from the second ultrasound transducer and generates an image based on the first signal and the second signal.

Abstract: An apparatus for operating on tissue includes a body, a shaft assembly, and an end effector. The shaft assembly extends distally from the body and includes an acoustic waveguide. The waveguide is configured to acoustically couple with an ultrasonic transducer. The end effector includes an ultrasonic blade, a clamp arm, and a clamp pad. The blade is in acoustic communication with the waveguide. The clamp arm is configured to pivot about a first pivot point toward and away from the ultrasonic blade and includes a coupling feature. The clamp pad is selectively attachable to the blade to acoustically isolate the clamp arm from the ultrasonic blade. The coupling feature of the clamp arm is configured to provide a snap fit between the clamp pad and the clamp arm and thereby permit manipulation of the clamp pad for removal of the clamp pad from the clamp arm.

Abstract: An endovascular navigation system and method are disclosed. The endovascular navigation system includes an elongate flexible member, a endovascular electrogram lead disposed at a distal end of the elongate flexible member and configured to sense an endovascular electrogram signal, a processor and an output device. The processor is configured to receive the endovascular electrogram signal, to determine a peak amplitude of a P-wave in the endovascular electrogram signal, and to determine that the position of the distal end of the elongate flexible member is within a predetermined structure within the venous vasculature of the patient. The output device is configured to display a visual indication that the distal end of the elongate flexible member is within the predetermined structure within the venous vasculature of the patient, where the visual indication is different from the endovascular electrogram signal of the venous vasculature of the patient.

Abstract: A medical apparatus (600, 700, 800, 900) including a high intensity focused ultrasound system (602) generates focused ultrasonic energy (612) for sonicating within a target volume (620) of a subject (601). The high intensity focused ultrasound includes an ultrasonic transducer (606) with a controllable focus (618). The apparatus further includes a memory (634) containing machine executable for controlling the medical apparatus and a processor (628). The processor causes (100, 200, 300, 400, 502) ultrasonic cavitations at multiple cavitation locations (622, 1002) within the target volume using the high intensity focused ultrasound system, and sonicates (102, 206, 306, 402, 504) multiple sonication locations (1004) within the target volume using the high intensity focused ultrasound system. The multiple sonication locations and the multiple cavitation locations are targeted by adjusting the controllable focus.

Abstract: An endovascular navigation system and method are disclosed. The endovascular navigation system includes an elongate flexible member, a endovascular electrogram lead disposed at a distal end of the elongate flexible member and configured to sense an endovascular electrogram signal, a processor and an output device. The processor is configured to receive the endovascular electrogram signal, to determine a peak amplitude of a P-wave in the endovascular electrogram signal, and to determine that the position of the distal end of the elongate flexible member is within a predetermined structure within the venous vasculature of the patient. The output device is configured to display a visual indication that the distal end of the elongate flexible member is within the predetermined structure within the venous vasculature of the patient, where the visual indication is different from the endovascular electrogram signal of the venous vasculature of the patient.

Abstract: A treatment method which treats a living tissue using an ultrasonic device includes making the ultrasonic device come in contact with the living tissue in a state where the product of a pressing force of the ultrasonic device to the living tissue, an amplitude of an ultrasonic vibration caused by the ultrasonic device, and a resonance frequency of the ultrasonic device becomes a predetermined value, and excising the living tissue in a state where the ultrasonic device is in contact with the living tissue.

Abstract: At the present time, physicians often treat patients with atrial fibrillation (AF) using radiofrequency (RF) catheter systems to ablate conducting tissue in the wall of the Left Atrium of the heart around the ostium of the pulmonary veins. These systems are expensive and take time consuming to use. The present invention circular ablation system CAS includes a multiplicity of expandable needles that can be expanded around a central axis and positioned to inject a fluid like ethanol to ablate conductive tissue in a ring around the ostium of a pulmonary vein quickly and without the need for expensive capital equipment. The expansion of the needles is accomplished by self-expanding or balloon expandable structures. The invention includes centering means so that the needles will be situated in a pattern surrounding the outside of the ostium of a vein. Also included are members that limit the distance of penetration of the needles into the wall of the left atrium.

Abstract: Various embodiments provide systems and methods for controlling a catheter with a catheter positioning device by using a remote controller. As the catheter is advanced by the catheter positioning device, a counterweight may be adjusted to balance the catheter positioning system. In further embodiments, the counterweight may be configured to move to balance a sled member such that any total moment exerted on a sled base remains constant. In further embodiments, the counterweight may be controlled by a control system based on one or more sensors coupled with the catheter positioning system.

Abstract: The guide tube for forming a pneumoperitoneum of the present invention comprising a flexible tube having an inner cavity, has an outer diameter that allows the guide tube to be inserted into a puncture needle, a distal end of the guide tube is closed, the distal end is provided with a tip portion that can be held by holding forceps provided in an endoscope, a proximal end of the guide tube is provided with a connecting portion to an insufflation apparatus, and the guide tube is provided with a side hole region having at least one side hole that can establish communication between the inner cavity of the flexible tube and the outside in a case where the inner cavity is pressurized through insufflation.

Abstract: Ultrasound catheter devices and methods of the present invention generally provide for ablation and/or disruption of vascular occlusions. An ultrasound transmission member, such as a wire, transmits vibrational energy from an ultrasound transducer to a distal head of the catheter to disrupt vascular occlusions. An absorber member is disposed on or around the ultrasound transmission wire at a location adjacent the sonic connector of the catheter. The absorber member absorbs heat, vibrations, and/or the like from the ultrasound transmission wire at or near the area where the transmission wire is coupled with the sonic connector. The absorptive function typically slows the process of wear and tear on the transmission wire, thus extending the useful life of the ultrasound catheter.

Abstract: A method for surgically removing a tumor from a woman's breast is provided. The method can include inserting an optical trocar having a working channel and a transparent tip through a skin incision, guiding the transparent tip of the trocar through breast tissue with visualization such that the transparent tip of the trocar is placed adjacent to the tumor, insufflating gas via the working channel of the trocar to create a cavity in an operative field next to the tumor, dissecting the tumor free with a surgical instrument inserted through the working channel and removing the tumor through the trocar.

Abstract: Methods and percutaneous devices for assessing, and treating patients having sympathetically mediated disease, involving augmented peripheral chemoreflex and heightened sympathetic tone by reducing chemosensor input to the nervous system via percutaneous carotid body ablation.

Abstract: An apparatus for performing a transesophageal cardiovascular procedure includes an elongated tubular main access device having a first lumen with an open proximal end and a distal side opening, and a second lumen with a rigid outer wall and a collapsible inner wall. The second lumen is adapted to receive an elongated probe or surgical device. The apparatus further includes an inflatable sealing means on the outside of the main access device above and below the side opening, and a first fluid conduit extending along the main access device for inflating the sealing means so that when the main access device is inserted into a patient's esophagus and the sealing means are inflated. The portion of the esophagus opposite the side opening is isolated from the remainder of the esophagus above and below the side opening.

Abstract: Devices and systems for ultrasonically imaging tissue and performing ablation therapy are disclosed. An ablation probe for treating and imaging body tissue includes an ablation electrode tip with a number of acoustic openings and a plurality of ultrasonic imaging sensors disposed within an interior lumen of the tip. The ultrasonic imaging sensors are supported within the interior lumen via an insert equipped with a number of recesses that receive the ultrasonic imaging sensors. An acoustically transparent shell disposed between the ultrasonic imaging sensors and the acoustic openings forms a fluid channel in the acoustic pathway of the sensors. During an ablation procedure, cooling fluid from an external fluid source is delivered through the fluid channel, providing an acoustic coupling effect between the ultrasonic imaging sensors and the surrounding body tissue.

Abstract: A supporting apparatus used for medical treatment includes a support arm in which a leading end side is coupled to a supporting unit supporting an endoscope, and a moving arm that is coupled to a base end side of the support arm, the moving arm moving the supporting unit and supporting the supporting unit in a moved position of the supporting unit. The support arm includes a leading-end-side coupling unit that is turnably coupled to the supporting unit, a base-end-side coupling unit that is disposed in coaxial with the leading-end-side coupling unit and turnably coupled to the moving arm, and an offset unit laterally offset with respect to an axis line R passing through the leading-end-side and the base-end-side coupling units. The offset unit is freely rotatable about the axis line R with respect to the supporting unit and the moving arm.

Abstract: An apparatus has an elongate element with a proximal end and a distal end. A connection element is disposed at the proximal end of the elongate element. A morcellator is disposed proximate the distal end. The morcellator has a shank with a base and a leading surface. The base is operably connected to the distal end of the elongate element. The shank at least partially defines a flute disposed substantially helically about an outer surface of the shaft. At least one cutting edge is disposed on the leading surface and proximate the at least one flute.

Abstract: A high-power ultrasound heating applicator for minimally-invasive thermal treatment of uterine fibroids or myomas. High-intensity interstitial ultrasound, applied with minimally-invasive laparoscopic or hysteroscopic procedures, is used to effectively treat fibroids within the myometrium in lieu of major surgery. The applicators are configured with high-power capabilities and thermal penetration to treat large volumes of fibroid tissue (>70 cm3) in short treatment times (3-20 minutes), while maintaining three-dimensional control of energy delivery to thermally destroy the target volume.

Abstract: An ablation catheter comprises: an elongated catheter body extending along a longitudinal axis; at least one ablation element disposed in a distal portion which is adjacent the distal end of the catheter body to ablate a targeted tissue region outside the catheter body; a single pulse-echo ultrasonic transducer disposed in the distal portion and arranged to emit and receive an acoustic beam along a centroid in a beam direction, at a transducer angle of about 30-60 degrees relative to a distal direction of the longitudinal axis at a location of intersection between the longitudinal axis and the beam direction of the centroid of the acoustic beam; and a mechanism to manipulate the distal portion in movement including rotation of at least the distal portion around the longitudinal axis. The single ultrasonic transducer emits and receives acoustic pulses to provide lesion information in the targeted tissue region being ablated.

Abstract: An interventional catheter assembly comprising a catheter for insertion and guidance to a target site in a body lumen or a cavity and an operating head mounted in proximity to a distal end of the catheter and comprising a system for removing obstructive material from the target site is provided. In certain embodiments, the catheter assembly includes at least one aspiration port located proximal to the operating head that communicates with a first sealed lumen for withdrawing fluids and obstructive material from the target site. The catheter assembly may also include at least one liquid infusion port that communicates with a second sealed lumen for supplying fluid to a location in proximity to the target site. Kits including the interventional catheter assembly with an aspiration and/or infusion conduit are also provided.

Abstract: An apparatus for performing a transesophageal cardiovascular procedure includes an elongated tubular main access device having a first lumen with an open proximal end and a distal side opening, and a second lumen with a rigid outer wall and a collapsible inner wall. The second lumen is adapted to receive an elongated probe or surgical device. The apparatus further includes an inflatable sealing component on the outside of the main access device above and below the side opening, and a first fluid conduit extending along the main access device for inflating the sealing component so that when the main access device is inserted into a patient's esophagus and the sealing component is inflated. The portion of the esophagus opposite the side opening is isolated from the remainder of the esophagus above and below the side opening.

Abstract: An adaptor for an endoscopic device includes (a) a cylindrical core extending from a first end to a second end along a central axis and (b) a collar slidably received over the core. The second end includes first and second slots defining first and second arms which radially expandable toward the axis and away from the axis. The second end is sized and dimensioned to engage an end of a first conduit of a biopsy device. The collar extendes from a first end to a second end and being movable from a first position in which the second end of the collar is axially separated from the arms and a second position in which a portion of the collar is positioned over the arms radially compressing the arms to lockingly grasp a free end of a first conduit positioned therebetween to create a fluid-tight seal about the first conduit.

Abstract: An interventional device (12) is configured to be positioned in a body and includes an electrically operable unit (E1, E2) configured to carry out an interaction with the body upon a receipt of electric power. The device further includes a sensor (2) configured for wirelessly receiving electromagnetic energy from a remote source. The sensor is configured as a resonant circuit (2a, 2b) which converts the received electromagnetic energy into the electric power. The electrically operable device may include a diagnostic and/or therapeutic module.

Abstract: An imaging and diagnostic system and method to differentiate between malignant and non-malignant tissue of a prostate and surrounding region. The system acquires imaging data from the prostate and surrounding proximal region, and processes the data to differentiate areas of tissue malignancy from non-malignant tissue. A sectioning device or ablative device is provided. The ablative device is operable by automation for receiving the imaging output coordinates and defining the trajectory and quantity of energy or power to be delivered into the malignant tissue. A control system determines calculated energy or power to be deposited into the malignant tissue during ablation, to minimize destruction of the non-malignant tissue within the prostate and surrounding tissue. The system operates on generated ablative device output data.

Abstract: An embodiment of an imaging system of an imaged subject is provided. The imaging system comprises a controller, and an imaging system and a display in communication with the controller. The imaging system can include an imaging probe having a marker representative of a unique identifier. The display can be illustrative of the imaged data acquired with the imaging probe in combination with a graphic representation of an imaging plane vector representative of a general direction of a field of view (FOV) of image acquisition of the imaging probe traveling through the imaged subject.

Abstract: Devices and techniques for thermotherapy based on optical imaging.

Abstract: A medical device may include a micro-machined substrate, at least one thermo-electric assembly associated with the substrate, and a cooling system configured to configured to remove heat from the a region of the substrate proximal the substrate. According to various aspects, a method of clearing plaque from a blood vessel may include implanting a micro-device in the blood vessel, wherein the micro-device may include at least one ultrasonic transducer, and operably controlling the micro-device to emit high frequency ultrasonic waves for breaking up said plaque.

Abstract: An intracardiac catheter for ultrasound guided ablation and EP mapping. Ablation and mapping electrodes 34, 36, 38, 39 are carried on the surface of an outer catheter 30 and an ultrasound array is mounted inside an inner catheter 20. Backloading the inner catheter into the outer catheter provides the ultrasound array in position to image tissue near the surface electrodes. An acoustic coupling fluid is provided between the catheters and a number of the electrodes 34, 38 are positioned directly within the image field of the array.

Abstract: An apparatus and method for treating subcutaneous tissues using acoustic waves in the range of low acoustic pressure ultrasound waves is disclosed. The method includes injections of enhancing agents, wherein disruption of subcutaneous tissues and subcutaneous cavitational bioeffects are produced by ultrasound waves having a power that will not produce tissue cavitation in the absence of the enhancing agents. The apparatus and method of use is useful for treatment of subcutaneous abnormalities including cellulite, lipomas, and tumors.

Abstract: An ultrasound medical treatment system includes an end effector insertable into a patient. The end effector includes a tissue-retaining device. The tissue-retaining device includes a first tissue-retaining member having an ultrasound medical-treatment transducer and includes a second tissue-retaining member. The first and second tissue-retaining members are operatively connected together to retain patient tissue between the first and second tissue-retaining members and to release patient tissue so retained. In one example, the second tissue-retaining member has an ultrasound reflector. In the same or a different example, the ultrasound medical-treatment transducer is an ultrasound imaging and medical-treatment transducer.

Abstract: Real-time monitoring of tissue ablation is possible by using a vibrating ablation needle coupling lateral shear waves to the tissue. Ultrasonic imaging may characterize the velocity of these shear waves to reveal Young's modulus of the tissue and, at a discontinuity in Young's modulus, a boundary of the ablated lesion reflecting an underlying increase in stiffness of ablated tissue. This technique may be coupled with quasi-static elastography-based ablation monitoring techniques for improved measurement.

Abstract: Devices and methods are disclosed for providing a sensing element to scan tissue and detect the presence of structures within the tissue to avoid the structures when performing a procedure on the tissue. A catheter includes a blood vessel sensing assembly and a working lumen adapted to receive a medical appliance or instrument for performing various medical procedures.

Abstract: The invention relates to a method for identifying the location at least one treatment channel from a group of a plurality of treatment channels as wells as a system for effecting radiation treatment on a pre-selected anatomical portion of an animal body. According to the invention the identifying method being characterized by the steps of A selecting at least one of said plurality of treatment channels; B reconstructing the actual location of said selected treatment channel relative to said animal body; and C comparing said reconstructed location said pre-planned plurality of locations. Furthermore the system according to the invention is characterized in that identifying means are present for identifying the location of at least one treatment channel from said group of said plurality of inserted treatment channels and comparing said identified location with one or more of said pre-planned locations present in said treatment plan.

Abstract: A catheter for diagnosing and performing an interventional procedure on tissue has an elongated catheter shaft, and optical fibers, extending through the catheter shaft, for transmitting light to tissue located at a distal end of the catheter and conveying light back from the tissue for analysis by a spectroscopic diagnosis system to determine whether an interventional procedure should be performed on the tissue. An interventional device is located at the distal end of the catheter for engaging tissue diagnosed by the spectroscopic diagnosis system in order to perform the interventional procedure on the tissue.

Abstract: The present invention contemplates a surgical device for both ablating a channel in a patient's tissue and also delivering a therapeutic agent. The device includes an elongated multi-lumen tube, an elongated tissue ablating assembly, and a therapeutic agent delivery assembly. The therapeutic agent is capable of being delivered into the channel and/or to the surrounding tissue. The device may further include a second multi-lumen tube also capable of delivering therapeutic agents. Although suitable for many operations, the device is particularly well suited for transmyocardial revascularization operations. The present invention also contemplates a procedure for using such a surgical device to ablate a channel in a patient's tissue and also deliver a therapeutic agent.

Abstract: A needle biopsy guide system is disclosed for attachment to an endoluminal ultrasound probe or like sonographic instrument. The device includes a biopsy-guide attachment that allows for trocar catheter placement for abscess drainage or like procedures, using the transvaginal or transrectal route under sonographic control. The device has a base portion, which is attachable to an ultrasound probe. A removable retainer is provided that slides into the base unit to hold a biopsy needle in place. A physician may locate the target area in the body with the ultrasound probe, insert the biopsy needle into the target area, and then remove the insert (retainer) from the base unit and ultrasound probe, and leave the biopsy needle in place in the body.

Abstract: A catheter system is disclosed. The catheter system includes a catheter body having an external surface and an ultrasound transducer having a side between a first end and a second end. A first medium is positioned adjacent to the first end of the ultrasound transducer and a second medium is positioned adjacent to the external side of the ultrasound transducer. The second medium is harder than the first medium to encourage flexibility of the catheter body adjacent to the first end of the ultrasound transducer and efficient transmission of ultrasound energy from the external side of the ultrasound transducer.

Abstract: An apparatus and method for treating subcutaneous tissues using acoustic waves in the range of low acoustic pressure ultrasound waves is disclosed. The method includes injections of enhancing agents, wherein disruption of subcutaneous tissues and subcutaneous cavitational bioeffects are produced by ultrasound waves having a power that will not produce tissue cavitation in the absence of the enhancing agents. The apparatus and method of use is useful for treatment of subcutaneous abnormalities including cellulite, lipomas, and tumors.

Abstract: A graphical user interface for use in phacoemulsification surgical systems that allows a user to select different pulse modes by touching portions of the display screen. The user interface includes first and second display elements. One display element includes a representation of the on-time of the pulses, and the other display element includes a representation of the off-time. The representations show how the on-time and off-time change relative to a position of a controller, such as a foot pedal. The representation show a constant time, or that a time increases or decreases as the foot pedal is pressed. To select a pulse mode, a user can scroll through different pulse representations by touching the screen at the display elements. The selected pulse mode can be continuous, pulse, burst, or a combination or derivation thereof.

Abstract: An ultrasound medical treatment system includes an end effector insertable into a patient. The end effector includes a tissue-retaining device. The tissue-retaining device includes a first tissue-retaining member having an ultrasound medical-treatment transducer and includes a second tissue-retaining member. The first and second tissue-retaining members are operatively connected together to retain patient tissue between the first and second tissue-retaining members and to release patient tissue so retained. In one example, the second tissue-retaining member has an ultrasound reflector. In the same or a different example, the ultrasound medical-treatment transducer is an ultrasound imaging and medical-treatment transducer.

Abstract: The present invention provides devices and methods for decalcifying an aortic valve. The methods and devices of the present invention break up or obliterate calcific deposits in and around the aortic valve through application or removal of heat energy from the calcific deposits.

Abstract: The invention relates to a catheter device, with a position sensor system, for treatment of a partial or complete vessel blockage under image monitoring, with the catheter device featuring a treatment catheter of a vessel blockage, especially by removal or destruction of plaque and/or expansion of the vessel, which is embodied as an integrated unit, especially as a combination catheter, with an OCT catheter and an IVUS catheter for image monitoring and with the position sensor system.

Abstract: Disclosed herein is an apparatus for removing fine tumor cells, which remain around a treatment area of patient body, from which a tumor is eliminated, after surgery for removing the tumor has been conducted. The apparatus of the present invention includes a main body, which has a supply tube and a discharge tube that circulate liquid supplied from a storage tank, which is provided outside, and a therapeutic member, which is integrally coupled to an extension pipe that is coupled to the main body and surrounds the supply tube and the discharge tube. A cavity, which communicates with the supply tube and the discharge tube and is supplied with the liquid, is defined in the therapeutic member. The apparatus further includes a temperature sensing unit, which measures a temperature of a treatment area of a patient.

Abstract: A system for imaging and providing therapy to one or more regions of interest is presented. The system includes an imaging and therapy catheter configured to image an anatomical region to facilitate assessing need for therapy in one or more regions within the anatomical region and delivering therapy to the one or more regions of interest within the anatomical region. The catheter includes a therapy device having a plurality of independently controllable therapy elements. The independence of the therapy elements is exploited when multiple regions are to receive therapy simultaneously or at a given catheter position within a subject.

Abstract: An intravascular ultrasonic imaging catheter is provided with a flexible circuit electrically coupled to a transducer array mounted on the distal end of the catheter, a portion of the flexible circuit being helically wound about the catheter in order to enhance the flexibility of the circuit. The catheter may be a balloon catheter which is also provided with a stent mounted on the balloon, the stent carrying one or more drugs designed to be eluted or washed into a patient's blood stream after the stent has been delivered, by a the balloon catheter, into a target area within the patient's vascular system.

Abstract: Catheter device for performing atherectomy, comprising an atherectomy catheter, an OCT sensor, an IVUS sensor, position sensors and an image processing unit, which is embodied for creating combined 2D and/or 3D images based on the data of the sensors.