Devices descending from K121772
15 later devices reach Allura 3D-RA Rel 6, 3D Roadmap Rel 1, MR-CT Roadmap Rel 1 through their predicates, nearest generation first.
| Generation | Number | Device | Applicant | Decided | Own descendants | Recalls |
|---|---|---|---|---|---|---|
| +1 | K201583 | SmartCT R1.0 | Philips Medical Systems Nederland B.V. | 2021 | 1 | — |
| +1 | K170130 | Dynamic Coronary Roadmap | Philips Medical Systems Nederland B.V. | 2017 | 1 | — |
| +1 | K151598 | VesselNavigator Rel. 1.0 | Philips Medical Systems Nederland B.V. | 2015 | 8 | — |
| +1 | K142273 | EmboGuide | Philips Medical Systems Nederland B.V. | 2015 | 1 | — |
| +2 | K253670 | SmartCT (R3.0 (L10)) | Philips Medical Systems B.V. | 2026 | 0 | — |
| +2 | K182601 | Vitrea Software Package, VSTP-001A | Canon Medical Systems Corporation | 2018 | 0 | — |
| +2 | K172307 | Dynamic Coronary Roadmap 2.0 | Philips Medical Systems Nederland B.V. | 2017 | 0 | — |
| +2 | K160088 | Cydar EV | Cydar, Ltd. | 2016 | 7 | — |
| +3 | K222998 | F3 | Acrew Imaging, Inc. | 2023 | 0 | — |
| +3 | K212442 | Cydar EV (Series B) and Cydar EV Maps | Cydar, Ltd. | 2021 | 1 | — |
| +3 | K171829 | EndoNaut | Therenva Sas | 2017 | 3 | — |
| +4 | K252500 | CARA System | Cara Medical, Ltd. | 2026 | 0 | — |
| +4 | K212383 | EndoNaut | Therenva Sas | 2021 | 2 | — |
| +5 | K222070 | EndoNaut | Therenva Sas | 2022 | 1 | — |
| +6 | K243432 | Vascular Navigation PAD 2.0; Navigation Software Vascular PAD | Brainlab AG | 2025 | 0 | — |