公开(公告)号：EP3033025A1

公开(公告)日：2016-06-22

申请号：EP14750729.7

申请日：2014-08-12

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud Udi ,  BECKETT, Martin Gregory ,  MEDINA RODRIGUEZ, Alvaro Andres

IPC分类号： A61B34/20

CPC分类号： A61B5/055 ,  A61B6/032 ,  A61B8/14 ,  A61B19/52 ,  A61B19/54 ,  A61B34/20 ,  A61B90/98 ,  A61B2019/5287 ,  A61B2019/5483 ,  A61B2034/101 ,  A61B2034/2065 ,  A61B2090/363 ,  A61B2090/371 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61C3/00 ,  A61C19/00

摘要： A method for determining the 3D location and orientation of a fiducial reference comprises disposing the fiducial reference so as to render a part of the fiducial reference observable by a tracker; obtaining from the tracker scan data of the part of the fiducial reference that is observable by the tracker; obtaining predetermined geometric information about location points on the fiducial reference, the geometric information containing three-dimensional coordinates of the location points relative to the structure of the fiducial reference; identifying within the scan data at least three location points having coordinates in the predetermined geometric information; and determining from the scan data and the coordinates of the three identified location points in the predetermined geometric information the 3D location and orientation of the fiducial reference.

摘要翻译： 一种用于确定基准参考的3D位置和取向的方法包括设置基准参考以呈现由跟踪器可观察到的基准参考的一部分; 从跟踪器扫描数据中获得跟踪器可观察到的基准参考部分; 获得关于所述基准参考上的位置点的预定几何信息，所述几何信息包含所述位置点相对于所述基准参考的结构的三维坐标; 在所述扫描数据内识别具有所述预定几何信息中的坐标的至少三个位置点; 以及从扫描数据和预定几何信息中的三个识别的位置点的坐标确定基准参考的3D位置和取向。

公开(公告)号：EP2830527A1

公开(公告)日：2015-02-04

申请号：EP13716228.5

申请日：2013-03-27

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Udi ,  BECKETT, Martin Gregory

IPC分类号： A61B19/00

CPC分类号： A61B34/20 ,  A61B90/39 ,  A61B2090/3966 ,  A61B2090/3983

摘要： Embodiments of the present invention involve a surgical monitoring systems and methods for modeling surgical procedures. A multi-element fiducial reference pattern (710, 754, 764, 910, 910', 912, 912') observable by a tracker (508, 610, 730, 758, 768, 930, 932) may be transferred directly to the skin proximate the surgical site (), either through a stencil as a radio-opaque ink pattern or via transfer tape, or may be applied in prepared form on a surgical incise film. Alternatively the surgical incise film may be applied over the surgical site and the inked reference pattern applied to the film before surgery. A controller determines the three-dimensional location and orientation of the surgical site by comparing the position and orientation of the reference pattern in a prior scan with the position and orientation of the reference pattern in image information about the surgical site obtained from the tracker. The system may track the movement of instruments relative to the surgical site, or may be used to track changes in the surgical site itself.

公开(公告)号：EP3104802A1

公开(公告)日：2016-12-21

申请号：EP15703774.8

申请日：2015-02-09

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud Udi ,  BECKETT, Martin Gregory

IPC分类号： A61B34/20

CPC分类号： A61C1/082 ,  A61B6/03 ,  A61B6/0492 ,  A61B6/12 ,  A61B6/14 ,  A61B6/5294 ,  A61B10/0233 ,  A61B34/20 ,  A61B2034/2065 ,  A61B2090/3983 ,  A61C9/0053

摘要： A three-dimensional position and orientation tracking system comprises one or more pattern tags (77), each comprising a plurality of contrasting portions (1222, 1322, 1332), a tracker (508, 610) for obtaining image information about the pattem tags, a database with geometric information describing patterns on pattem tags; and a controller (210) for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information. The contrasting portions are arranged in a rotationally asymmetric pattern (1224) and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section (1236, 1326, 1336). The perimeter of the contrasting portion may comprise a conic section, including for example an ellipse or a circle. The pattern tags may be borne on tracking markers (12) that have a three-dimensional shaped surface. The tracking system may be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. In other embodiments, the contrasting portions are implemented as contrasting pattern elements (333) on a close-packed tiled background (35) of tiles (334) of at least two mutually contrasting colors.

公开(公告)号：EP3033873A1

公开(公告)日：2016-06-22

申请号：EP14752601.6

申请日：2014-08-12

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud Udi ,  BECKETT, Martin, Gregory ,  MEDINA RODRIGUEZ, Alvaro, Andres ,  BLACK, Christopher

IPC分类号： H04N5/222

CPC分类号： H04N5/23212 ,  G06K9/00624 ,  G06T7/20 ,  G06T7/579 ,  G06T7/60 ,  G06T2207/30204 ,  H04N1/00339 ,  H04N1/00342 ,  H04N5/2224 ,  H04N5/2254

摘要： A system and method for automatically focusing imaging devices on an imaging set employs at least one tracker and two or more tracking markers, each tracking marker having an identification means and a tracking pattern. The tracking markers are configured for attaching to the imaging devices and to corresponding subjects to be imaged. A tracker gathers image information of the imaging set and provides it to a controller, which compares the image information to predetermined stored information about the tracking patterns of the various tracking markers. The tracking markers are identified and their three- dimensional positions determined. The distances between the imaging devices and the subjects are determined and the distances between the imaging devices and the subjects are calculated. This provides the focus setting information for communication to the imaging devices. The tracking patterns may have no rotational symmetry, allowing the orientation of subjects to be determined.

摘要翻译： 用于将成像装置自动聚焦在成像组上的系统和方法采用至少一个跟踪器和两个或更多跟踪标记，每个跟踪标记具有识别装置和跟踪图案。 跟踪标记被配置为附接到成像装置和要被成像的相应对象。 跟踪器收集成像集的图像信息并将其提供给控制器，该控制器将图像信息与关于各种跟踪标记的跟踪图案的预定存储信息进行比较。 识别跟踪标记并确定它们的三维位置。 确定成像装置和受试者之间的距离，并且计算成像装置和受试者之间的距离。 这提供了用于与成像装置通信的焦点设置信息。 跟踪图案可以不具有旋转对称性，允许确定被摄体的方向。

公开(公告)号：EP2770935A1

公开(公告)日：2014-09-03

申请号：EP12798885.5

申请日：2012-10-21

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud

IPC分类号： A61B19/00

CPC分类号： A61B34/20 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/3983 ,  A61C1/082

摘要： A surgical hardware and software monitoring system and method allows for surgical planning while the patient is available for surgery, for example while the patient is being prepared for surgery so that the system may model the surgical site. Tracker (508, 610) obtains image information, with controller (210) configured to spatially relate image information with previously obtained scan data. Fiducial reference (10) is configured for removably attaching to a location proximate a surgical site. The fiducial reference is observable by the tracker so that software of the controller determines three dimensional location and orientation based on scan data and image data of the surgical site (600), spatially relating the image information to the scan data to determine the three-dimensional location and the orientation of the fiducial reference.

公开(公告)号：EP2996600A1

公开(公告)日：2016-03-23

申请号：EP14718058.2

申请日：2014-04-15

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud Udi ,  BECKETT, Martin Gregory

IPC分类号： A61B34/10 ,  A61B34/20

CPC分类号： A61B19/50 ,  A61B34/20 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/3966 ,  A61B2090/3983 ,  G06F19/00 ,  G16H50/50 ,  Y10T29/49764

摘要： A method for making an insert for a bone structure located within a surgical site comprises operating on the bone structure with a materials removing tool to remove materials from the bone structure; tracking in three dimensions the location and orientation of the bone structure; tracking in three dimensions the location and orientation of the working tip of the materials removing tool; creating a software model of the materials volume removed from the bone structure; and making the insert based on model data within the software model. An associated system comprises a controller and a tracker for tracking a 3-D tracking marker rigidly attached to the bone structure and a 3-D tracking marker rigidly attached to the materials removing tool. A manufacturing device is used to manufacture the insert based on the model data from the controller.

公开(公告)号：EP2830529A1

公开(公告)日：2015-02-04

申请号：EP13723250.0

申请日：2013-03-18

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud

IPC分类号： A61B19/00

CPC分类号： G06F17/50 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/108 ,  A61B2090/3983 ,  B33Y50/00 ,  B33Y80/00 ,  Y10T29/49 ,  Y10T29/49567 ,  Y10T29/49826

摘要： A method, system and software are presented for making a trackable mount (10, 11, 12) for assisting with surgery within a surgical site, the trackable mount being trackable by a tracker disposed to obtain image information of the surgical site. A software model of the trackable mount is created based on scan data (510) of the surgical site, and the making of the trackable mount is based on model data (550) derived from the software model. The exterior shape of the trackable mount may incorporate a tracking marker (12, 12'), or tracking pole (11, 11'), or both. A system (500) for executing the method consists of scan data of the surgical site, a controller (520) with memory (540) and processor (530), and a manufacturing device (570). In one embodiment the manufacturing device is a rapid prototyping machine. Software (560) is presented for executing the method of embodiments of the invention.

摘要翻译： 提出了一种方法，系统和软件，用于制造用于辅助手术部位内的手术的可跟踪安装件，所述可跟踪安装件可由被设置为获得手术部位的图像信息的跟踪器追踪。 基于手术部位的扫描数据创建可跟踪安装的软件模型，并且可追溯安装的制作基于从软件模型导出的模型数据。 可跟踪安装座的外形可以包括跟踪标记或跟踪杆，或两者。 用于执行该方法的系统包括外科手术部位的扫描数据，具有存储器和处理器的控制器以及制造装置。 在一个实施例中，制造装置是快速成型机。 呈现用于执行本发明方法的软件。

公开(公告)号：EP2996605A1

公开(公告)日：2016-03-23

申请号：EP14719740.4

申请日：2014-04-24

申请人： Navigate Surgical Technologies, Inc.

发明人： DAON, Ehud (Udi) ,  BECKETT, Martin, Gregory

IPC分类号： A61B34/20

CPC分类号： A61B34/20 ,  A61B90/39 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/3937 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61B2090/3991 ,  A61C1/082 ,  G06T7/0014 ,  G06T7/74 ,  G06T2207/30036 ,  G06T2207/30204 ,  H04N13/20

摘要： A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information is used by the controller to provide the user with real time information on the relative 3D locations and orientations of instruments and non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track changes in the body itself. In other embodiments, a model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.

摘要翻译： 监控系统在三个维度上跟踪身体的不可见结构。 跟踪器获取其附近的物体和仪器的图像信息，所有图像信息都具有3D跟踪标记。 控制器在空间上将图像信息与先前获得的显示对象的不可见结构的对象的扫描数据相关联。 对于扫描，扫描中可检测的基准参考可移除地附接到物体上的位置。 控制器使用扫描数据和图像信息来向用户提供关于仪器的相对3D位置和取向以及身体的不可见结构的实时信息。 在另一实施例中，监视系统可以用于对身体本身的变化进行建模和跟踪。 在其他实施例中，使用身体和器械的模型来跟踪预期的动作并警告可能不适当的仪器过程。

公开(公告)号：EP2996601A1

公开(公告)日：2016-03-23

申请号：EP14724455.2

申请日：2014-05-15

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud Udi ,  BECKETT, Martin Gregory

IPC分类号： A61B34/10 ,  A61B34/20

CPC分类号： A61B5/064 ,  A61B5/0022 ,  A61B5/055 ,  A61B6/032 ,  A61B34/10 ,  A61B34/20 ,  A61B90/39 ,  A61B2034/105 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61C1/082

摘要： A monitoring system tracks the non-visible structure of a body and relatable non-visible structures in real time in three dimensions. A tracker obtains image information of the body and its vicinity. A controller spatially relates the image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan, a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information are used by the controller to provide the user with real time information about the relative 3D locations and orientations of the relatable non-visible structures and the non-visible structure of the body. Using three-dimensional tracking markers attached to the fiducial reference on the body and to the relatable non-visible structures, the system and method may be employed to track in three dimensions in real time a plurality of bodies having non-visible structure. Three-dimensional tracking markers intergrated with surgical screws may be attached directly to the relatable non-visible structures.

摘要翻译： 一种监视系统跟踪在三维空间的主体和听上去很像不可见结构的实时非可见结构。 跟踪器获得体及其附近的图像信息。 控制器空间涉及与显露所述对象的不可见的结构的物体的先前获得SCANDATA的图像信息。 为扫描，在扫描检测的基准参考可拆卸地连接到所述对象上的位置。 扫描数据和图像信息由控制器使用，以提供关于听上去很像不可见结构的相对三维位置和取向与所述主体的所述不可见结构的实时信息的用户。 使用附连到身体上的参考基准和所述听上去很像不可见结构的三维跟踪标记，该系统和方法可以被用来跟踪在三维实时具有不可见结构体的复数。 与外科螺钉intergrated三维跟踪标记可直接附连到听上去很像不可见的结构。

公开(公告)号：EP2922489A1

公开(公告)日：2015-09-30

申请号：EP13792296.9

申请日：2013-11-08

申请人： Navigate Surgical Technologies Inc.

发明人： DAON, Ehud, Udi ,  BECKETT, Martin, Gregory

IPC分类号： A61B19/00

CPC分类号： G06K9/00624 ,  A61B34/20 ,  A61B90/39 ,  A61B2090/3983 ,  Y10S128/922 ,  Y10S128/923

摘要： A three-dimensional position and orientation tracking system comprises one or more pattern tags (77, 87, 97, 107, 1220, 1230, 1320, 1330), each comprising a plurality of contrasting portions, a tracker (1280, 1290) for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller (1290, 1390) for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information. With the geometric information, the contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section. The perimeter of the contrasting portion may comprise a conic section, including for example an ellipse or a circle. The tracking system may be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers.

摘要翻译： 三维位置和方向跟踪系统在白天包括一个或多个图案，每个包括对比部分的复数，用于获得关于在白天的图案图像信息的跟踪器，与几何信息白天描述上图案模式的数据库; 和用于从跟踪器接收和处理的图像信息，访问数据库以检索几何信息，并比较与几何信息的图像信息的控制器。 对比部分布置在一个旋转非对称的图案和上的图案的标签的对比部分中的至少一个具有周边做有一个数学可描述的弯曲部分。 对比部分的周界可包括圆锥截面，包括椭圆形或圆形的实施例。 跟踪系统可以在其中图案标签贴在跟踪标记，或者他们自己跟踪标记手术监控系统来实现。