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公开(公告)号：US20210322101A1
公开(公告)日：2021-10-21
申请号：US17260096
申请日：2018-08-30
Applicant: Brainlab AG
Inventor： Bálint Varkuti , Bogdan Moldovan
IPC: A61B34/10 , A61B34/00 , A61N1/375 , A61B90/14 , G06T19/20 , G06T7/11 , G06K9/00 , G16H20/40 , G16H10/60 , G16H50/30 , G16H30/20 , G16H30/40 , G16H20/30 , G16H15/00 , G16H40/63
Abstract: A computer-assisted and automatic identification of possible cranial positions for any kind of implant is presented. In this method, skull data of the individual patient's skull are used as well as statistical skull data which include so-called skull avoidance zones. Further, a digital template of the implant is used to find these possible positions. The implant may be e.g. an IPG and/or the screws of a fixation frame, but these are only embodiments of implants and other implants may be used with the present invention as well. The computer-implemented medical method of the present invention removes the uncertainty whether a given patient can safely receive an implant, like for example a cranial IPG, which was previously only possible on the basis of human judgement. Furthermore, the present invention removes the uncertainty whether a given patient can be safely fixated in a stereotactic frame or a Mayfield head clamp. The present invention supports the localization of optimal implant location as well as neuro-navigation guided execution of surgery. This enhances safety and speed of the entire medical procedure, as will be explained in more detail hereinafter. The advantages described hereinbefore are in the same way realized by the computer program, the medical system and the navigation system for computer-assisted surgery of the present invention.
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公开(公告)号：US20210312644A1
公开(公告)日：2021-10-07
申请号：US17352683
申请日：2021-06-21
Applicant: Brainlab AG
Inventor： Kajetan Berlinger , Birte Domnik
Abstract: The disclosed method encompasses reconstruction of a three-dimensional position of a tracking structure (which may comprise a target of radiation treatment) as reconstructed tracking structure data from pairs of two-dimensional tracking images which are input as tracking image data. Each tracking image contained in a pair of tracking images is compared to a tracking representation of the tracking structure contained in a search template image generated from the same perspective onto the tracking structure as the associated tracking image and input as search template data. The tracking image having the highest at local degree of similarity to its associated search template image is selected as a starting point (the first tracking image) for computing a corresponding image position (a complement point) in the other tracking image (the second tracking image) on the basis of applying epipolar geometry outgoing from the position in the first tracking image associated with the highest local degree of similarity. The method then continues with determining whether there is a point in the second tracking image having a higher degree of similarity than the complement point. Depending on the result of this analysis, an accumulated value of similarity is determined for each pair of tracking images depending on the sum of similarity values of the maximum similarity points in the first and second tracking images so determined. The position of the tracking structure is determined as the intersection of back-projection lines of the points being associated with the highest sum of associated similarity values. Thereby, the reliability of position determination from stereoscopic two-dimensional x-ray images can be enhanced.
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公开(公告)号：US11135016B2
公开(公告)日：2021-10-05
申请号：US16488152
申请日：2017-03-10
Applicant: Brainlab AG
Inventor： Nils Frielinghaus , Christoffer Hamilton
Abstract: The disclosed method encompasses pre-registering an anatomical body part with a coordinate system used by an augmented reality device (such as augmented reality glasses) for outputting (e.g. displaying or projecting) augmentation information. An example of the augmentation information is the position (in the real image captured by the augmented reality device) of a fine registration area on the anatomical body part which a user is supposed to identify for fine registration of the anatomical body part with a tracking coordinate system used by a medical position tracking system. The disclosed method is usable in a medical environment such as for surgery or radiotherapy.
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公开(公告)号：US11116580B2
公开(公告)日：2021-09-14
申请号：US15573766
申请日：2016-08-02
Applicant: Brainlab AG
Inventor： Wolfgang Steinle , Christian Rabus , Nils Frielinghaus
IPC: A61B34/20 , G06F30/23 , G16H40/40 , B25J9/16 , G16H50/50 , A61B17/00 , A61B90/00 , A61B34/30 , A61B34/10
Abstract: The present invention relates to computer-implemented medical method of verifying an expected deformation of an elastically deformable and actuator-adjusted medical fine-adjustment unit (1), the method comprising executing, on a processor of a computer, the steps of; —acquiring model data describing a model of the fine-adjustment unit (1), the model reflecting deformation properties of the fine-adjustment unit (1); —acquiring actuator data describing an actuator position of at least one actuator coupled to the fine-adjustment unit (1); —determining, based on the model data and the actuator data, target deformation data describing a target deformation of the fine-adjustment unit (1) caused by the at least one actuator at said actuator position; —acquiring actual deformation data describing an actual deformation of the fine-adjustment unit (1) caused by the at least one actuator at said actuator position; —determining, based on the target deformation data and the actual deformation data, verification data describing whether the target deformation corresponds to the actual deformation. The present invention further relates to a corresponding computer program causing a computer to perform such method, and a corresponding system comprising such a computer.
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公开(公告)号：US20210251694A1
公开(公告)日：2021-08-19
申请号：US16973181
申请日：2018-07-30
Applicant: Brainlab AG
Inventor： Bálint VÁRKUTI , Rebecca RITTSTIEG
Abstract: Disclosed is a computer-implemented method of determining a consensus plane for imaging an elongate medical device such as an electrode or a catheter. When positioning an analytical device such that its imaging plane is parallel to or coincides with the consensus plane, an optimal image of the elongate medical device can be generated. The consensus plane is determined by analyzing patient image data used for planning an imaging procedure, planned trajectory data defining a planned position of the elongate medical device relative to the position of an anatomical body part, imaging device constraint data describing machine constraints governing operation of the medical imaging device, avoidance region position data defining the position of anatomical regions of the patient's body, and orientation condition data defining a boundary condition for an angle between the orientation of the consensus plane and the orientation of the characteristic geometric quantity of the elongate medical device.
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Patent Agency Ranking
公开(公告)号：US20210220673A1
公开(公告)日：2021-07-22
申请号：US16302008
申请日：2017-10-27
Applicant: Brainlab AG
Inventor： Cornelis KAMERLING , Stefan SCHELL , Andreas SCHATTI
Abstract: Disclosed is a computer-implemented method of determining a treatment plan, encompassing acquiring patient image data, acquiring target data describing targets, acquiring position data describing control points which define one or more arcs, and determining target projection data which describes outlines of the target in a beam's-eye view. Margin data is acquired. For the outlines, margins are applied to determine auxiliary outlines. Beam shaping device data is determined describing configurations of the collimator leaves so that irradiation of the auxiliary outlines is enabled. Based on these configurations, the irradiation amount is simulated for voxels of the patient image data. Constraints to be fulfilled by the treatment plan may be set. Configurations of blockings, arc-weights and margins are proposed. Only different combinations of these parameters are proposed while additional possible parameters are neglected. An optimization algorithm is used to minimize an objective function. The best configuration is selected as the treatment plan.
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公开(公告)号：US11062465B2
公开(公告)日：2021-07-13
申请号：US16083928
申请日：2017-03-09
Applicant: Brainlab AG
Inventor： Sebastian Stopp , Johannes Manus , Sven Flossmann , Martin Pregler , Uli Mezger , Manfred Weiser
Abstract: A medical tracking method for tracking a spatial position of a medical instrument within a medical workspace including an anatomical structure of a patient. The method includes: acquiring, using a first camera targeted on the medical workspace, instrument position data describing a spatial position of the medical instrument with respect to a first camera; acquiring, using a second camera and at least one optical tracking marker that is adapted to be recognized by the second camera, camera position data describing a spatial position of the first camera with respect to the anatomical structure, determining, based on the instrument position data and the camera position data, tracking data describing the spatial position of the medical instrument with respect to the anatomical structure; and tracking the spatial position of the medical instrument within the medical workspace using the tracking data.
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178.发明申请公开(公告)号：US20210209750A1
公开(公告)日：2021-07-08
申请号：US16075450
申请日：2017-05-23
Applicant: Brainlab AG
Inventor： Pablo APONTE , Jochen VEIGEL , Ivana IVANOVSKA , Hagen KAISER
Abstract: A method for determining the relative position between a first camera and a second camera used in a medical application, wherein the first camera captures a 2D image of a phantom, the second camera emits light onto the phantom and analyzes the reflected light, thus generating a 3D point cloud representing points on the surface of the phantom, and the phantom has a planar surface forming a background on which a plurality of 2D markers are formed, wherein one of the background and the 2D markers is reflective, thus reflecting light emitted by the second camera back to the second camera, and the other one is non-reflective, thus not reflecting light emitted by the second camera back to the second camera, the method involving that a) the first camera captures a 2D image of the phantom, b) the second camera generates a 3D point cloud representing the planar surface of the phantom, c) the 2D markers are identified in the 2D image, thus obtaining 2D marker data representing the locations of the 2D markers in the 2D image, d) the 2D markers are identified in the 3D point cloud using the property that points on a non- reflective part of the planar surface are identified as having a larger distance to the second camera than points on a reflective part of the planar surface, thus obtaining 3D marker data representing the locations of the 2D markers in a reference system of the second camera, and e) fmding the relative position between the first camera and the second camera by applying a Perspective-n-Points algorithm on the 2D marker data and the 3D marker data.
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公开(公告)号：US20210137632A1
公开(公告)日：2021-05-13
申请号：US16629351
申请日：2018-07-11
Applicant: Brainlab AG
Inventor： Sebastian STOPP , Johannes MANUS
Abstract: The present application relates to an optical observation device which is controlled in a sterility preserving manner, and to a corresponding controlling program and/or program storage medium. The optical observation device includes a main structure having at least one optical camera, a motorized support for positioning the main structure, and a control unit that receives a sequence of images from the at least one optical camera, searches a current image from the sequence of images for a trackable object, tracks the trackable object shown in the sequence of images subsequent to the current image, and controls the motorized support structure.
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公开(公告)号：USD916782S1
公开(公告)日：2021-04-20
申请号：US29673015
申请日：2018-12-11
Applicant: Brainlab AG
Designer： Hubert Goette , Martin Leidel , Annika Mueller , Michaela Ecker , Antonia Henning
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