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公开(公告)号：US10799294B2
公开(公告)日：2020-10-13
申请号：US16308994
申请日：2016-06-13
申请人： Michael Jonathan Rotenberg , Kelly Noel Dyer , Kirusha Srimohanarajah , SYNAPTIVE MEDICAL (BARBADOS) INC.
摘要： A method and system to generate an operating room layout plan for a surgical procedure involving a patient and a trajectory of access. A patient model is positioned in a virtual coordinate space representing the operating room, and is rendered, along with the trajectory of access relative to the patient, on a display. The trajectory of access defines a zone of operation in the virtual coordinate space. The planning system receives selection of a navigation camera location in the virtual coordinate space; renders a navigation camera model visually indicating an operative field of view; determines whether the navigation camera has a direct line-of-sight to the zone of operation and, if not, indicates an error; and outputs the operating room layout plan based on the location of the models in the virtual coordinate space.
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公开(公告)号：US10765480B2
公开(公告)日：2020-09-08
申请号：US15543803
申请日：2016-08-17
摘要： A fiducial marker to be tracked by a surgical navigation system. The fiducial marker is to be affixed to an object during a surgical procedure. The fiducial marker including a casing for attachment to the object; a light emitting component attached to the casing; a power source within the casing; a signal receiver to receive a signal from the surgical navigation system; and control logic to control the light emitting component in response to the signal from the surgical navigation system. The object to-be-tracked may include a plurality of the fiducial markers arranged in geometric pattern, and the markers may include a first active fiducial marker having a first light emitting component that emits light having a first spectral bandwidth, and a second active fiducial marker having a second light emitting component that emits light having a second spectral bandwidth different from the first spectral bandwidth.
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公开(公告)号：US10111717B2
公开(公告)日：2018-10-30
申请号：US15553426
申请日：2016-05-02
申请人： SYNAPTIVE MEDICAL (BARBADOS) INC. , Dorothy Lui , Gal Sela , Aisha Sial , Sepide Movaghati , Kirusha Srimohanarajah , Sean Chen , Simon Alexander , Neil Witcomb
发明人： Dorothy Lui , Gal Sela , Aisha Sial , Sepide Movaghati , Kirusha Srimohanarajah , Sean Jy-Shyang Chen , Simon Kenley Alexander , Neil Jeffrey Witcomb
摘要： The application as disclosed herein describes systems and methods for performing patient registration using a surgical navigation system. This application attempts to provide for improvements upon existing systems through the addition of refinement steps used to increase the accuracy of registration and streamline said process. In some cases the improvements generally involve the manipulation of spatial data in an iterative manner.
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公开(公告)号：US20200008878A1
公开(公告)日：2020-01-09
申请号：US16468191
申请日：2016-12-08
申请人： Kirusha Srimohanarajah , Dorothy Lui , Gal Sela , Stephen Elliott Soman , Sepide Movaghati , SYNAPTIVE MEDICAL (BARBADOS) INC.
摘要： A system for adjusting an operating state of a medical electronic device is described. In an aspect, the system includes an optical tracking system configured to detect three or more tracking markers. The system also includes a processor coupled with the optical tracking system. The processor is programmed with instructions which, when executed, configure the processor to: configure an input command by assigning at least one operating state of the medical electronic device to a particular state of at least one of the tracking markers; after receiving a priming command, identify a present state of the tracking markers based on data from the optical tracking system; compare the present state with the particular state assigned to the operating state; and based on the comparison, determine that an input command has been received and adjust the operating state of the medical electronic device to the assigned operating state.
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公开(公告)号：US10828107B2
公开(公告)日：2020-11-10
申请号：US15571554
申请日：2016-10-21
申请人： SYNAPTIVE MEDICAL (BARBADOS) INC. , Gal Sela , Fergal Kerins , Kamyar Abhari , Kirusha Srimohanarajah
发明人： Gal Sela , Fergal Kerins , Kamyar Abhari , Kirusha Srimohanarajah
摘要： A training system for training a trainee to perform a surgical procedure on an anatomical region. The system includes a physical model of the anatomical region, a physical training instrument, a tracking system configured to track the location and orientation of the physical training instrument relative to the physical model, a display device, and a computer system. The computer system receives from the tracking system information indicating the location and orientation of the physical training instrument and generates and displays an augmented physical model and the physical training instrument. The display is updated based as the trainee manipulates the physical training instrument. After the trainee has completed the surgical procedure, the computer calculates a score based on the performance of the trainee. The score is a measure of the accuracy of the surgical procedure performed by the trainee or the duration of the surgical procedure.
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公开(公告)号：US10265854B2
公开(公告)日：2019-04-23
申请号：US15228853
申请日：2016-08-04
申请人： Synaptive Medical (Barbados) Inc. , Sean Jy-Shyang Chen , Kirusha Srimohanarajah , Gal Sela , Joshua Richmond , Kelly Dyer
摘要： Methods and devices for identifying and defining a safety zone for restricting movement of a robotic arm in an operating room during a medical procedure are disclosed. The disclosed method utilizes medical navigation system, which receives an initiation input indicating initiation of defining of the safety zone. In response to receiving the initiation input, the system tracks an instrument and determines the location of the tracked instrument relative to a reference point. The system detects changes in the location of the tracked instrument until a termination input is received at the medical navigation system. The termination input indicates the termination of the defining of the safety zone. The system stores, in memory, change data indicative of the changes in the location of the tracked instrument. The data identifies the safety zone relative to the reference point.
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公开(公告)号：US20190380780A1
公开(公告)日：2019-12-19
申请号：US15571554
申请日：2016-10-21
发明人： Gal Sela , Fergal Kerins , Kamyar Abhari , Kirusha Srimohanarajah
摘要： A training system for training a trainee to perform a surgical procedure on an anatomical region. The system includes a physical model of the anatomical region, a physical training instrument, a tracking system configured to track the location and orientation of the physical training instrument relative to the physical model, a display device, and a computer system. The computer system receives from the tracking system information indicating the location and orientation of the physical training instrument and generates and displays an augmented physical model and the physical training instrument. The display is updated based as the trainee manipulates the physical training instrument. After the trainee has completed the surgical procedure, the computer calculates a score based on the performance of the trainee. The score is a measure of the accuracy of the surgical procedure performed by the trainee or the duration of the surgical procedure.
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8.发明授权公开(公告)号：US10987173B2
公开(公告)日：2021-04-27
申请号：US15899753
申请日：2018-02-20
发明人： Yu-Ching Audrey Kuo , Kirusha Srimohanarajah , Gal Sela , Alexander Gyles Panther , Kelly Noel Dyer
摘要： A method of maintaining patient registration in surgical navigation includes: obtaining a patient position in a tracking system frame of reference, based on a fiducial marker array affixed in a first position relative to the patient; receiving an initial surface scan depicting the patient and the fiducial array; responsive to receiving an intraoperative image depicting the patient: obtaining a position, in the tracking system frame of reference, of the fiducial array affixed in a second position relative to the patient; receiving a secondary surface scan depicting the patient and the fiducial array; detecting a deviation in a position of the fiducial marker array relative to the patient between the initial and secondary surface scans; and applying the deviation to the position of the patient to generate an updated position of the patient in the tracking system frame of reference, based on the fiducial array affixed in the second position.
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公开(公告)号：US09925013B2
公开(公告)日：2018-03-27
申请号：US14995826
申请日：2016-01-14
发明人： Trevor James Dell , Adam Keith White , David Bruce McFadzean , Monroe Milas Thomas , Oleg Valerievitch Rakitine , Mark Leon Unger , Kirusha Srimohanarajah , Gal Sela , Kamyar Abhari , Bradley Allan Fernald , William Dennis Babby
CPC分类号： A61B34/32 , A61B34/20 , A61B34/25 , A61B34/30 , A61B90/11 , A61B90/25 , A61B90/361 , A61B2034/2055 , A61B2034/2059 , A61B2034/2074 , A61B2090/363 , A61B2090/3735
摘要： A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device. The controller has a processor coupled to a memory and the controller is configured to perform the following during the medical procedure: position the robotic arm in a first position by providing a first positioning signal to the robotic arm; save the first position in the memory as a first saved position in response to a signal received from the input device; position the robotic arm in a second position by providing a second positioning signal to the robotic arm; and return the robotic arm to the first position by loading the first saved position from the memory and providing the first positioning signal to the robotic arm when an input is received from the input device corresponding to a command to return to the first saved position.
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公开(公告)号：US10278787B2
公开(公告)日：2019-05-07
申请号：US15518312
申请日：2015-07-31
摘要： An apparatus is provided that is at least partially visible by both a three dimensional (3D) scanner system of a medical navigation system and a tracking system of the medical navigation system. The apparatus includes a rigid member, a plurality of identifiable features attached to the rigid member and visible by the tracking system, a distinct identifiable portion visible by the 3D scanner system, and a connector mechanism attached to the rigid member to connect the apparatus to a location. The apparatus is in a field of view of the 3D scanner system and the tracking system within a timeframe of the 3D scan.
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