Ichor Medical Systems was founded in 1994 for the purpose of developing its proprietary in vivo delivery system based on tissue electroporation. At the time Ichor was founded, little had been published on the subject of tissue electroporation. In 1987 and again in 1993, others had demonstrated a basic feasibility of the concept. While acknowledging the significance of their work, Ichor immediately recognized several deficiencies and rigorously set out to develop a technical concept for the effective electroporation of tissue utilizing penetrating electrode systems, which evolved to provide the basis for the TriGrid™ System.