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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

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。

3. 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。

4. 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。

5. 发明授权

US07206627B2 System and method for intra-operative haptic planning of a medical procedure 有权
标题翻译：用于术中触觉计划的医疗程序的系统和方法
公开(公告)号：US07206627B2
公开(公告)日：2007-04-17
申请号：US10384077
申请日：2003-03-06
申请人： Rony A. Abovitz , Arthur E. Quaid, III , Julio J. Santos-Munne
发明人： Rony A. Abovitz , Arthur E. Quaid, III , Julio J. Santos-Munne
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： In accordance with an embodiment of the present invention, attractive haptic objects are associated with a target region for performing a medical procedure and repulsive haptic objects are associated with anatomical features to be avoided during the medical procedure. A surgeon may perform surgical planning by moving the haptic device around. The surgeon moves the haptic device until a pose is found where haptic cues from the attractive haptic objects are active indicating that a medical device if attached to the haptic device would reach the target region, and haptic cues from the repulsive haptic objects are inactive indicating that the medical device would not penetrate any of the anatomical features to be avoided. During the planning process a virtual tool may be displayed on a display device to indicate the position and/or movement of the medical device if the medical device had been coupled to the haptic device.
摘要翻译：根据本发明的实施例，有吸引力的触觉对象与用于执行医疗过程的目标区域相关联，并且排斥性触觉对象与在医疗过程期间避免的解剖特征相关联。外科医生可以通过移动触觉装置来执行手术计划。外科医生移动触觉装置直到找到姿势，其中来自有吸引力的触觉对象的触觉提示活跃，指示如果附接到触觉装置的医疗装置将到达目标区域，并且来自排斥性触觉对象的触觉提示是无效的，医疗装置不会穿透要避免的任何解剖特征。在规划过程中，如果医疗设备已经耦合到触觉设备，则可以在显示设备上显示虚拟工具以指示医疗设备的位置和/或移动。

6. 发明授权

US07383073B1 Digital minimally invasive surgery system 有权
标题翻译：数字微创手术系统
公开(公告)号：US07383073B1
公开(公告)日：2008-06-03
申请号：US09978599
申请日：2001-10-16
申请人： Rony A. Abovitz , William F. Tapia , Robert F. Frechette
发明人： Rony A. Abovitz , William F. Tapia , Robert F. Frechette
IPC分类号： A61B5/05
CPC分类号： G16H40/40 , G06F8/656 , G06F19/00 , G16H40/63
摘要： A software-integrated disposable kit contains a series of sterile packages which hold instrumented surgical tools, surgical accessories, user input computer controlling peripherals (e.g. mouse, keyboard), markers, and a one time use digital medium. When image guided surgery is to be performed, the digital medium is inserted into the computer and the user interface is displayed. The digital medium stores a portion of the software which, in combination with software on the computer, provides all of the software necessary for full user functionality (e.g. display diagnostic image information, tracking surgical instruments, superimposition of surgical tools). At the end of a surgical procedure, the digital medium is deactivated or encrypted and the used surgical tools are then disposed of without reuse. The system allows the user to save relevant information obtained from the surgery (e.g. images, notes) on the digital medium which is encrypted against reuse and archived.
摘要翻译：软件集成的一次性套件包含一系列无菌包装，其中装有手术工具，手术配件，用户输入计算机控制外围设备（例如鼠标，键盘），标记和一次性使用数字媒体。当进行图像引导手术时，将数字媒体插入到计算机中，并显示用户界面。数字介质存储软件的一部分，其结合计算机上的软件提供完整的用户功能所需的所有软件（例如，显示诊断图像信息，跟踪手术器械，外科手术工具的叠加）。在外科手术结束时，数字介质被去激活或加密，然后使用所使用的外科手术工具进行处理而不再使用。该系统允许用户将从外科获得的相关信息（例如，图像，笔记）保存在经过加密的数字媒体上，以便不再重复使用和归档。

7. 发明授权

US07804991B2 Apparatus and method for measuring anatomical objects using coordinated fluoroscopy 有权
公开(公告)号：US07804991B2
公开(公告)日：2010-09-28
申请号：US12333599
申请日：2008-12-12
申请人： Rony A. Abovitz , William F. Tapia , Julio J. Santos-Munne
发明人： Rony A. Abovitz , William F. Tapia , Julio J. Santos-Munne
IPC分类号： G06K9/00 , A61B5/05
CPC分类号： A61B6/022 , A61B6/507 , A61B6/583 , A61B2090/364
摘要： Two fluoroscopic images taken from two different angles of the same anatomical feature are registered to a common three-dimensional coordinate system. A dimension of the anatomical feature is determined by specifying with reference to the two registered fluoroscopic images two constrained points within the three-dimensional coordinate system that correspond to the boundaries of the anatomical feature, and calculating a straight-line distance between the two. Additionally, a three-dimensional virtual model of an implant is projected into each of two, registered fluoroscopic image, and a surgeon manipulates the projections to adjust the size and shape of the virtual model, and thereby determine parameters for the implant.

8. 发明授权

US07139418B2 Fluoroscopic registration artifact with optical and/or magnetic markers 有权
标题翻译：具有光学和/或磁性标记的荧光对准伪影
公开(公告)号：US07139418B2
公开(公告)日：2006-11-21
申请号：US09963873
申请日：2001-09-25
申请人： Rony A. Abovitz , Brandon D. Larocque , Julio J. Santos-Munne
发明人： Rony A. Abovitz , Brandon D. Larocque , Julio J. Santos-Munne
IPC分类号： G06K9/00
CPC分类号： A61B6/12 , A61B34/20 , A61B90/36 , A61B2034/2055 , A61B2034/2068 , A61B2090/364 , A61B2090/376 , A61B2090/3983 , G06T7/33 , G06T2207/30004
摘要： A registration artifact (10) for use in registering two or more fluoroscopic images includes a plurality of radio opaque spheres (12, 14, 16) and a plurality of trackable markers, such as optical reflectors (20, 22, 24 and 26), mounted to a radio transparent body (11). A tracking system locates the position of registrable artifact using the trackable markers for registering the fluoroscopic images with respect to a known frame of reference.
摘要翻译：用于登记两个或多个透视图像的对准伪像（10）包括多个不透射线的球体（12,14,16）和多个可追踪标记，例如光学反射器（20,22,24和26）安装到无线电透明体（11）上。跟踪系统使用可跟踪标记来定位可注册伪像的位置，用于相对于已知的参考帧登记透视图像。

9. 发明授权

US07689014B2 Apparatus and method for measuring anatomical objects using coordinated fluoroscopy 有权
标题翻译：使用协调荧光透视法测量解剖学物体的装置和方法
公开(公告)号：US07689014B2
公开(公告)日：2010-03-30
申请号：US11179099
申请日：2005-07-12
申请人： Rony A. Abovitz , William F. Tapia , Julio J. Santos-Munné
发明人： Rony A. Abovitz , William F. Tapia , Julio J. Santos-Munné
IPC分类号： G06K9/00 , A61B5/00
CPC分类号： A61B6/022 , A61B6/507 , A61B6/583 , A61B2090/364
摘要： Two fluoroscopic images taken from two different angles of the same anatomical feature are registered to a common three-dimensional coordinate system. A dimension of the anatomical feature is determined by specifying with reference to the two registered fluoroscopic images two constrained points within the three-dimensional coordinate system that correspond to the boundaries of the anatomical feature, and calculating a straight-line distance between the two. Additionally, a three-dimensional virtual model of an implant is projected into each of two, registered fluoroscopic image, and a surgeon manipulates the projections to adjust the size and shape of the virtual model, and thereby determine parameters for the implant.
摘要翻译：从相同解剖特征的两个不同角度拍摄的两个透视图被记录到共同的三维坐标系。解剖特征的尺寸通过参照三维坐标系中对应于解剖特征的边界的两个注射的荧光透视图像两个约束点进行确定，并且计算两者之间的直线距离来确定。另外，植入物的三维虚拟模型被投影到两个注册的透视图像中的每一个中，并且外科医生操纵投影以调整虚拟模型的尺寸和形状，从而确定植入物的参数。

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