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1. 发明授权

US07813784B2 Interactive computer-assisted surgery system and method 有权
标题翻译：交互式电脑辅助手术系统及方法
公开(公告)号：US07813784B2
公开(公告)日：2010-10-12
申请号：US11199559
申请日：2005-08-08
申请人： Joel Marquart , Randall Hand , Arthur E. Quaid, III , Louis K. Arata , Rony A. Abovitz , Marwan Sati
发明人： Joel Marquart , Randall Hand , Arthur E. Quaid, III , Louis K. Arata , Rony A. Abovitz , Marwan Sati
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B17/1757 , A61B34/10 , A61B34/25 , A61B90/90 , A61B90/94 , A61B2017/00199 , A61B2017/00207 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2034/256 , G06F19/00
摘要： A system and method for providing computer assistance for performing a medical procedure provides a graphical user interface to guide and/or assist a user, for example a surgeon, performing the medical procedure, whether surgical or non-surgical. The computer-assisted system comprises a software application that may be used for a medical procedure.
摘要翻译：用于提供用于执行医疗程序的计算机辅助的系统和方法提供图形用户界面以引导和/或辅助用户，例如外科医生，执行医疗程序，无论是手术还是非外科手术。计算机辅助系统包括可用于医疗程序的软件应用程序。

2. 发明授权

US07683565B2 Method and apparatus for controlling a haptic device 有权
标题翻译：用于控制触觉装置的方法和装置
公开(公告)号：US07683565B2
公开(公告)日：2010-03-23
申请号：US11804374
申请日：2007-05-18
申请人： Arthur E. Quaid , Hyosig Kang , Dennis Moses
发明人： Arthur E. Quaid , Hyosig Kang , Dennis Moses
IPC分类号： B25J19/02
CPC分类号： B25J9/1638 , B25J13/025 , G06F3/016
摘要： A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
摘要翻译：一种用于控制触觉装置的方法和装置。在一个实施例中，触觉装置包括致动器; 致动器传感器，产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器，致动器传感器和致动器电连通的控制器。控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。在一个实施例中，用于控制触觉装置的致动器的方法包括以下步骤：产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器，以产生对用户的触觉响应。

3. 发明授权

US08911499B2 Haptic guidance method 有权
标题翻译：触觉指导方法
公开(公告)号：US08911499B2
公开(公告)日：2014-12-16
申请号：US12144526
申请日：2008-06-23
申请人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61F2/30 , A61F2/46 , A61B19/00 , A61B17/17 , G06F3/01 , A61B5/11 , A61B17/00 , A61F2/38 , A61B17/16 , A61B5/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical planning method is provided. A representation of a bone of a joint is created. The joint is moved to a first position. A first point corresponding to a first location in the joint is identified when the joint is in the first position. The joint is moved to a second position. A second point corresponding to a second location in the joint is identified, when the joint is in the second position. Bone preparation for implanting an implant on the bone is planned based at least in part on the first and second points.
摘要翻译：提供外科手术方法。创建关节骨骼的表示。关节移动到第一位置。当关节处于第一位置时，识别对应于关节中的第一位置的第一点。关节移动到第二位置。当关节处于第二位置时，识别对应于关节中的第二位置的第二点。至少部分地基于第一和第二点来计划用于将植入物植入骨骼的骨准备。

4. 发明授权

US08571628B2 Apparatus and method for haptic rendering 有权
标题翻译：触觉渲染的装置和方法
公开(公告)号：US08571628B2
公开(公告)日：2013-10-29
申请号：US11646204
申请日：2006-12-27
申请人： Hyosig Kang , Arthur E. Quaid , Dennis Moses
发明人： Hyosig Kang , Arthur E. Quaid , Dennis Moses
IPC分类号： A61B17/56 , A61B5/05
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.
摘要翻译：一方面，本发明涉及一种用于产生触觉惩罚力的方法，包括在一个实施例中的步骤：定义主代理位置; 定义副代理职位; 定义HIP位置; 响应于主代理位置和HIP位置产生第一力，并且响应于辅助代理位置和HIP位置产生第二力。

5. 发明授权

US08361163B2 Prosthetic device and system for preparing a bone to receive a prosthetic device 有权
标题翻译：用于准备骨骼以接收假体装置的假体装置和系统
公开(公告)号：US08361163B2
公开(公告)日：2013-01-29
申请号：US12330271
申请日：2008-12-08
申请人： Arthur E. Quaid
发明人： Arthur E. Quaid
IPC分类号： A61F2/36
CPC分类号： A61F2/3603 , A61B17/1668 , A61B17/175 , A61B34/30 , A61F2/30942 , A61F2002/30125 , A61F2002/30769 , A61F2002/308 , A61F2002/30817 , A61F2002/30878 , A61F2002/30891 , A61F2002/3619 , A61F2002/4631 , A61F2230/0008 , A61F2310/00011 , A61F2310/00179 , A61F2310/00796
摘要： A substantially cup-shaped prosthetic device for a joint is provided. The prosthetic device includes an outer surface configured to operatively engage at least one of a first bone of the joint and a component and an inner surface configured to connect to a second bone of the joint. The inner surface is rotationally asymmetric to minimize intrusion on a vascular region of the second bone.
摘要翻译：提供了一种用于关节的基本上杯形的假体装置。假体装置包括外表面，该外表面构造成可操作地接合关节的第一骨中的至少一个，以及构造成连接到关节的第二骨的部件和内表面。内表面是旋转不对称的，以最小化在第二骨的血管区域上的侵入。

6. 发明授权

US07831292B2 Guidance system and method for surgical procedures with improved feedback 有权
标题翻译：具有改进反馈的外科手术指导系统和方法
公开(公告)号：US07831292B2
公开(公告)日：2010-11-09
申请号：US10621119
申请日：2003-07-16
申请人： Arthur E. Quaid , Rony A. Abovitz
发明人： Arthur E. Quaid , Rony A. Abovitz
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B17/3403 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/03 , A61B90/10 , A61B2017/00115 , A61B2017/00119 , A61B2017/3405 , A61B2034/107 , A61B2034/2055 , A61B2034/2059 , A61B2034/2072 , A61B2034/252 , A61B2090/031 , A61B2090/061 , A61B2090/064 , A61B2090/0818 , A61B2090/365 , A61B2090/372 , G06F3/033 , G06F3/0346 , G06F19/00
摘要： It is often desirable to define objects with respect to images of an anatomy displayed using an image guided surgery system. For non-trivial objects, or those with complicated two or three dimensional forms, it may be difficult to present information in a manner that is simple for a user to understand. The local distance to a surface of interest, such as the surface of the defined object, or to a desired position, the local penetration distance of the surface of interest, or haptic repulsion force, often provides the most useful information for augmenting the interaction of the user with the image guided surgery system. The scalar value of the local distance may be conveyed to the user by visual, audio, tactile, haptic, or other means.
摘要翻译：通常期望相对于使用图像引导手术系统显示的解剖结构的图像来定义对象。对于不平凡的对象或具有复杂的二维或三维形式的对象，可能难以以简单的方式呈现信息以供用户理解。到目标表面的局部距离，例如限定物体的表面，或所需位置，感兴趣的表面的局部穿透距离或触觉排斥力，通常提供最有用的信息，以增强相互作用用户使用图像引导手术系统。本地距离的标量值可以通过视觉，音频，触觉，触觉或其他方式传达给用户。

7. 发明授权

US07747311B2 System and method for interactive haptic positioning of a medical device 有权
标题翻译：用于医疗设备的交互式触觉定位的系统和方法
公开(公告)号：US07747311B2
公开(公告)日：2010-06-29
申请号：US10384194
申请日：2003-03-06
申请人： Arthur E. Quaid, III
发明人： Arthur E. Quaid, III
IPC分类号： A61B5/05
CPC分类号： A61B34/10 , A61B17/1703 , A61B17/1757 , A61B17/1767 , A61B17/3403 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/03 , A61B90/06 , A61B90/36 , A61B90/39 , A61B2017/00022 , A61B2017/00119 , A61B2017/00128 , A61B2017/00199 , A61B2017/00212 , A61B2017/00398 , A61B2017/3405 , A61B2034/104 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2090/031 , A61B2090/064 , A61B2090/365 , A61B2090/3945 , B25J9/0081 , B25J13/025 , G06F19/00
摘要： A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.
摘要翻译：触觉装置和计算机辅助医疗系统的组合被用于耦合到触觉装置的医疗装置的交互式触觉定位。可重构的触觉对象便于医疗装置和/或触觉装置的定位。触觉对象可以响应于触觉装置的用户对触觉对象施加抵抗触觉对象的触觉装置的应力而被修改。优选地，触觉物体沿着由触觉装置施加的力的方向移动。可以将医疗装置从其当前位置引导到相对于目标区域的期望姿态。用户可以从其当前位置接近目标区域，并且仍然提供触觉提示以使得用户能够将医疗设备引导到目标区域。

8. 发明授权

US09002426B2 Haptic guidance system and method 有权
标题翻译：触觉指导系统及方法
公开(公告)号：US09002426B2
公开(公告)日：2015-04-07
申请号：US12144496
申请日：2008-06-23
申请人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B6/00 , A61B5/05 , A61B17/56 , A61B19/00 , A61B17/17 , G06F3/01 , A61B5/11 , A61B17/00 , A61F2/38 , A61B17/16 , A61B5/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.
摘要翻译：手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。计算机系统被编程以创建患者的解剖结构的表示; 将解剖结构和手术装置与解剖结构的表示相关联; 以操纵所述手术装置以通过在所述解剖结构的区域中移动所述外科手术装置的一部分来对患者执行手术; 基于解剖结构的表示与位置，取向，速度和加速度中的至少一个之间的关系来控制手术装置以提供触觉引导和对手术装置的操纵的限制中的至少一个的外科装置的一部分; 并且在手术期间响应于解剖结构的移动来调整解剖结构的表示。

9. 发明授权

US08391954B2 System and method for interactive haptic positioning of a medical device 有权
标题翻译：用于医疗设备的交互式触觉定位的系统和方法
公开(公告)号：US08391954B2
公开(公告)日：2013-03-05
申请号：US12698353
申请日：2010-02-02
申请人： Arthur E. Quaid, III
发明人： Arthur E. Quaid, III
IPC分类号： A61B5/05
CPC分类号： A61B34/10 , A61B17/1703 , A61B17/1757 , A61B17/1767 , A61B17/3403 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/03 , A61B90/06 , A61B90/36 , A61B90/39 , A61B2017/00022 , A61B2017/00119 , A61B2017/00128 , A61B2017/00199 , A61B2017/00212 , A61B2017/00398 , A61B2017/3405 , A61B2034/104 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2090/031 , A61B2090/064 , A61B2090/365 , A61B2090/3945 , B25J9/0081 , B25J13/025 , G06F19/00
摘要： A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.
摘要翻译：触觉装置和计算机辅助医疗系统的组合被用于耦合到触觉装置的医疗装置的交互式触觉定位。可重构的触觉对象便于医疗装置和/或触觉装置的定位。触觉对象可以响应于触觉装置的使用者对触觉对象施加抵抗触觉对象的触觉装置的应力而被修改。优选地，触觉物体沿着由触觉装置施加的力的方向移动。可以将医疗装置从其当前位置引导到相对于目标区域的期望姿态。用户可以从其当前位置接近目标区域，并且仍然提供触觉提示以使得用户能够将医疗设备引导到目标区域。

10. 发明授权

US08095200B2 System and method for using a haptic device as an input device 有权
标题翻译：使用触觉装置作为输入装置的系统和方法
公开(公告)号：US08095200B2
公开(公告)日：2012-01-10
申请号：US10384078
申请日：2003-03-06
申请人： Arthur E. Quaid, III
发明人： Arthur E. Quaid, III
IPC分类号： A61B5/00
CPC分类号： A61B34/10 , A61B17/1703 , A61B17/1757 , A61B17/1767 , A61B17/3403 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/74 , A61B34/76 , A61B34/77 , A61B90/03 , A61B90/06 , A61B90/36 , A61B90/39 , A61B2017/00022 , A61B2017/00119 , A61B2017/00128 , A61B2017/00199 , A61B2017/00212 , A61B2017/00398 , A61B2017/3405 , A61B2034/104 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2090/031 , A61B2090/064 , A61B2090/365 , A61B2090/3945 , B25J9/0081 , B25J13/025 , G06F19/00
摘要： The invention generally pertains to a combination of a haptic device with a computer-assisted surgery system. The haptic device may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.
摘要翻译：本发明一般涉及触觉装置与计算机辅助手术系统的组合。触觉设备可以用作输入设备，允许信息从用户传递到计算机辅助手术系统，并且提供类似于诸如鼠标或任何其他输入设备的通用用户界面设备的功能。当用作输入装置时，它可以用于定义解剖参考几何，操纵虚拟植入物的位置和/或取向，操纵手术进近轨迹的位置和/或取向，操纵骨切除的位置和/或取向，以及任何其他解剖或手术特征的选择或放置。

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