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1. 发明授权

US11129681B2 Bone and tool tracking in robotized computer-assisted surgery 有权
公开(公告)号：US11129681B2
公开(公告)日：2021-09-28
申请号：US15902420
申请日：2018-02-22
申请人： ORTHOSOFT INC.
发明人： Louis-Philippe Amiot , Pierre Couture
IPC分类号： A61B34/10 , A61B34/20 , G16H40/60 , G01B11/25 , A61B34/30 , A61B90/00 , A61B90/96
摘要： A system for tracking at least one bone in robotized computer-assisted surgery, comprises a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of the at least one bone in the coordinate system to a robot driver controlling a robot arm supporting a surgical tool in the coordinate system for altering the bone.

2. 发明授权

US10413428B2 Leg length calculation in computer-assisted surgery 有权
公开(公告)号：US10413428B2
公开(公告)日：2019-09-17
申请号：US15013285
申请日：2016-02-02
申请人： ORTHOSOFT INC.
发明人： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , Francois Paradis
IPC分类号： A61F2/46 , A61B5/107 , A61B34/20 , A61B5/00 , A61B17/84 , A61B34/00 , G01B21/04 , A61B90/00
摘要： A computer-assisted surgery (CAS) system outputs a leg length discrepancy and/or an offset between conditions. An inertial sensor unit is connected to an instrument(s) to produce readings representative of its orientation. A CAS processor unit has a coordinate system module for setting a pelvic coordinate system from readings of the inertial sensor unit, a tracking module for tracking an orientation of the instrument(s) relative to the pelvic coordinate system during movements thereof, and a geometrical relation data module for recording preoperatively a medio-lateral orientation of the instrument(s) representative of a medio-lateral axis of the legs and a distance between the legs, for recording after implant rejointing the medio-lateral orientation and the distance, and for calculating a leg length discrepancy and/or an offset, based on the distances and the medio-lateral orientations. An interface outputs the leg length discrepancy and/or the offset between leg conditions.

3. 发明授权

US10318024B2 Mechanical optical pointer 有权
公开(公告)号：US10318024B2
公开(公告)日：2019-06-11
申请号：US15716873
申请日：2017-09-27
申请人： ORTHOsoft, Inc.
发明人： Emily Gogarty , Pierre Couture
IPC分类号： G06F3/0354 , A61B34/20 , G06F3/03 , A61B90/00
摘要： Embodiments of a system and method for digitizing locations within a coordinate system are generally described herein. A device may include a sleeve including a sleeve tracking marker and a tracked probe portion including an array of tracking markers and a probe tip. Movement of the probe tip relative to the sleeve between at least a first position and a second position may be monitored by tracking the sleeve tracking marker relative to at least one tracking marker of the array of tracking markers.

4. 发明授权

US10092218B2 Pelvic digitizer device with inertial sensor unit and method 有权
公开(公告)号：US10092218B2
公开(公告)日：2018-10-09
申请号：US13954288
申请日：2013-07-30
申请人： ORTHOSOFT, INC.
发明人： Di Li , Louis-Philippe Amiot , Don Dye , Myriam Valin , Isabelle Robitaille , Francois Paradis , Karine Duval , Yonik Breton , Simon Ferron-Forget
IPC分类号： A61B5/107 , A61F2/46 , A61B34/20
摘要： A pelvic digitizer device has a body defined by a shaft having a tooling end and a handle end with a handle for being manipulated. A visual guide is oriented in a reference plane of the digitizer device. A cup is connected to the tooling end and adapted to be received in an acetabulum of a patient. An inertial sensor unit is connected to the body, the inertial sensor unit having a preset orientation aligned with the reference plane.

5. 发明授权

US09788904B2 Proximity-triggered computer-assisted surgery system and method 有权
公开(公告)号：US09788904B2
公开(公告)日：2017-10-17
申请号：US14188036
申请日：2014-02-24
申请人： ORTHOSOFT INC.
发明人： Yannick Boutin , Jean-Guillaume Abiven , Mathieu Chevrier
IPC分类号： A61B34/20 , A61B19/00 , G06F19/00 , A61B34/30 , A61B34/00
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B2034/2048 , A61B2034/254 , G06F19/00 , G06F19/3481 , G16H20/40
摘要： A computer-assisted surgery system comprises a first surgical device with a tracking unit tracked during a surgical procedure and adapted to perform a first function associated to the surgical procedure. A second surgical device is adapted to perform a second function associated to the surgical procedure. A triggered unit is triggered when the first surgical device and the second surgical device reach a predetermined proximity relation. A surgical procedure processing unit tracks the first surgical device. A trigger detector detects a triggering of the triggered unit. A CAS application operates steps of a surgical procedure. A controller commands the CAS application to activate a selected step associated with the second function in the surgical procedure when the trigger detector signals a detection. An interface displays information about the selected step in the surgical procedure.

6. 发明申请

US20140316545A1 METHOD AND SYSTEM FOR PLANNING/GUIDING ALTERATIONS TO A BONE 有权
标题翻译：用于对骨骼进行计划/引导改变的方法和系统
公开(公告)号：US20140316545A1
公开(公告)日：2014-10-23
申请号：US14157043
申请日：2014-01-16
申请人： ORTHOSOFT, INC.
发明人： Louis-Philippe AMIOT , Yannick BOUTIN , Yonik BRETON , Karine DUVAL , Herbert Andre JANSEN , Benoit PELLETIER , Catherine PROULX , Alain RICHARD , Myriam VALIN , Joel ZUHARS
IPC分类号： G06F17/50 , A61B19/00
CPC分类号： A61B17/155 , A61B17/157 , A61B34/20 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048 , G01C21/16 , G06F17/5086
摘要： A computer-assisted surgery system for guiding alterations to a bone, comprises a trackable member secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data. A positioning block is secured to the bone, and is adjustable once the positioning block is secured to the bone to be used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone.
摘要翻译：一种用于引导骨骼改变的计算机辅助手术系统，包括固定到骨骼上的可跟踪构件。可跟踪构件具有产生基于定向的数据的第一惯性传感器单元。定位块被固定到骨头上，并且一旦定位块被固定到骨头上就可调节，以用于引导改变骨骼的工具。定位块具有产生基于定向的数据的第二惯性传感器单元。提供将骨骼与可跟踪构件相关联的定向参考的处理系统包括用于确定可跟踪构件和定位块的取向的信号解释器。参数计算器计算与定位块相对于骨骼的实际方向相关的改变参数。

7. 发明授权

US08696675B2 Proximity-triggered computer-assisted surgery system and method 有权
标题翻译：近程触发计算机辅助手术系统及方法
公开(公告)号：US08696675B2
公开(公告)日：2014-04-15
申请号：US12872415
申请日：2010-08-31
申请人： Yannick Boutin , Jean-Guillaume Abiven , Mathieu Chevrier
发明人： Yannick Boutin , Jean-Guillaume Abiven , Mathieu Chevrier
IPC分类号： A61F2/46
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B2034/2048 , A61B2034/254 , G06F19/00 , G06F19/3481 , G16H20/40
摘要： A computer-assisted surgery system comprises a first surgical device with a tracking unit tracked during a surgical procedure and adapted to perform a first function associated to the surgical procedure. A second surgical device is adapted to perform a second function associated to the surgical procedure. A triggered unit is triggered when the first surgical device and the second surgical device reach a predetermined proximity relation. A surgical procedure processing unit tracks the first surgical device. A trigger detector detects a triggering of the triggered unit. A CAS application operates steps of a surgical procedure. A controller commands the CAS application to activate a selected step associated with the second function in the surgical procedure when the trigger detector signals a detection. An interface displays information about the selected step in the surgical procedure.
摘要翻译：计算机辅助手术系统包括第一手术装置，其具有在外科手术过程中跟踪的跟踪单元，并适于执行与外科手术相关联的第一功能。第二手术装置适于执行与外科手术相关联的第二功能。当第一手术装置和第二手术装置达到预定的接近关系时触发触发装置。外科手术处理单元跟踪第一手术装置。触发检测器检测触发单元的触发。 CAS应用程序操作外科手术的步骤。当触发检测器发出检测信号时，控制器命令CAS应用激活与外科手术中的第二功能相关联的所选步骤。界面显示有关外科手术中所选步骤的信息。

8. 发明申请

US20130274778A1 PATIENT SPECIFIC SURGICAL GUIDE 审中-公开
标题翻译：患者特异性手术指南
公开(公告)号：US20130274778A1
公开(公告)日：2013-10-17
申请号：US13863678
申请日：2013-04-16
申请人： ORTHOSOFT INC.
发明人： Laurence MERCIER , Pierre COUTURE , Louis-Philippe AMIOT
IPC分类号： A61B17/17 , G06T7/00 , A61B19/00
CPC分类号： A61B17/1739 , A61B10/02 , A61B34/10 , A61B90/11 , A61B2034/108 , B33Y80/00
摘要： A patient specific instrument (PSI) surgical guide and method for producing same is described. The method includes: obtaining imagery of at least a portion of a patient, and determining one or more surgical targets in the tissue; planning at least a trajectory of the surgical procedure based on a determined surgical target within the tissue; performing segmentation of the imagery; creating a three-dimensional model of the PSI surgical guide, the PSI surgical guide being customized in size and shape and configured to fit on the specific patient. The PSI surgical guide is then produced to correspond to the modeled PSI surgical guide. The PSI surgical guide has a guide element positioned and oriented to guide a surgical implement along the planned trajectory toward the determined surgical target in the tissue.
摘要翻译：描述了一种患者特异性仪器（PSI）手术指南及其制造方法。该方法包括：获得患者的至少一部分的图像，以及确定组织中的一个或多个手术靶标; 基于所述组织内的确定的外科手术目标来规划所述外科手术的至少轨迹; 执行图像的分割; 创建PSI手术引导件的三维模型，PSI手术引导器被定制在尺寸和形状上并且被配置为适合于特定患者。然后产生PSI手术引导件以对应于建模的PSI手术引导件。 PSI外科手术引导件具有定位和定向的引导元件，以沿着计划的轨迹导向外科器械，朝向组织中确定的手术靶标。

9. 发明授权

US08551108B2 Tool and method for digital acquisition of a tibial mechanical axis 有权
标题翻译：用于数字采集胫骨机械轴的工具和方法
公开(公告)号：US08551108B2
公开(公告)日：2013-10-08
申请号：US12872469
申请日：2010-08-31
申请人： Benoit Pelletier , Karine Duval , Trong Tin Nguyen , Pierre Couture , Louis-Philippe Amiot , Yannick Boutin , Alain Richard , Catherine Proulx
发明人： Benoit Pelletier , Karine Duval , Trong Tin Nguyen , Pierre Couture , Louis-Philippe Amiot , Yannick Boutin , Alain Richard , Catherine Proulx
IPC分类号： A61B17/58
CPC分类号： A61B17/157 , A61B5/4528 , A61B5/4538 , A61B5/4585 , A61B17/154 , A61B34/20 , A61B90/06 , A61B2034/2048 , A61B2034/2068 , A61F2/46 , A61F2/4657
摘要： A tool for digitizing a mechanical axis of a tibia using a computer-assisted surgery system is described. The tool includes upper and lower mounting ends interconnected by an alignment rod extending therebetween. The upper mounting end is releasably fastenable to an upper reference point on a tibial plateau and the lower mounting end includes a self-centering malleoli engaging mechanism having opposed caliper arms displaceable in a common plane relative to each other for clamping engagement with the medial and lateral malleoli of the ankle. At least one trackable member is mounted to the alignment rod of the tool and is in communication with the computer assisted surgery system for providing at least orientation information of the alignment rod. The mechanical axis of the tibia is parallel to the alignment rod and extends between the upper and lower reference points when the tool is mounted on the tibia.
摘要翻译：描述了使用计算机辅助手术系统对胫骨的机械轴进行数字化的工具。该工具包括通过在它们之间延伸的对准杆相互连接的上部和下部安装端。上安装端可释放地紧固到胫骨平台上的上参考点，并且下安装端包括自对中的踝关节接合机构，其具有相对的卡钳臂，所述相对的卡钳臂可在共同的平面中相对于彼此移位，以与内侧和外侧夹紧接合脚踝的踝骨。至少一个可跟踪构件安装到工具的对准杆上并且与计算机辅助手术系统连通，用于提供对准杆的至少取向信息。当工具安装在胫骨上时，胫骨的机械轴平行于对准杆并在上参考点和下参考点之间延伸。

10. 发明授权

US08038683B2 CAS system for condyle measurement 有权
标题翻译： CAS系统用于髁测量
公开(公告)号：US08038683B2
公开(公告)日：2011-10-18
申请号：US11627109
申请日：2007-01-25
申请人： Pierre Couture , Alain Richard , Louis-Philippe Amiot
发明人： Pierre Couture , Alain Richard , Louis-Philippe Amiot
IPC分类号： A61B5/103
CPC分类号： A61B17/155 , A61B17/1764 , A61B34/20 , A61B90/14 , A61B90/36 , A61B2034/105 , A61B2034/2055 , A61B2034/2068 , A61B2034/256 , A61B2090/364 , A61B2090/3983
摘要： A method of determining a reference point on condyles of a femur uses a computer assisted surgery system having a digitizer with perpendicular first and second planar surfaces, the digitizer being locatable and trackable in three dimensional space by the computer assisted surgery system. A digitized plane is created using the digitizer, the digitized plane being a posterior plane and/or a distal plane of the condyles. The posterior plane and the distal plane are respectively defined by the first and second planar surfaces of the digitizer. A location of the reference point in the digitized plane is then determined using the computer assisted surgical system. The reference point is a most remote point of the femur within the digitized plane.
摘要翻译：确定股骨髁上的参考点的方法使用具有数字化仪的计算机辅助手术系统，该数字化仪具有垂直的第一和第二平面，数字化仪可由计算机辅助手术系统在三维空间中定位和追踪。使用数字化仪产生数字化平面，数字化平面是髁的后平面和/或远侧平面。后平面和远侧平面分别由数字化仪的第一和第二平面表面限定。然后使用计算机辅助外科系统确定数字化平面中参考点的位置。参考点是数字化平面内股骨的最远点。

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