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公开(公告)号：US20160135900A1
公开(公告)日：2016-05-19
申请号：US14934894
申请日：2015-11-06
Applicant: ORTHOSOFT, INC.
Inventor： BRUNO FALARDEAU , MYRIAM VALIN , BENOIT PELLETIER , FRANCOIS PARADIS
CPC classification number: A61F2/4609 , A61B17/1666 , A61B34/20 , A61B2034/2048 , A61B2090/363
Abstract: A computer-assisted surgery system comprises a calibrating instrument adapted to be applied to a pelvis in a known manner, and a surgical instrument. A computer-assisted processor unit operating a surgical assistance procedure and comprises at least one portable inertial sensor unit configured to be connected to the at least one calibrating instrument and the at least one surgical instrument, the portable inertial sensor unit outputting readings representative of its orientation. A geometrical relation data module provides a geometrical relation data between the orientation of the portable inertial sensor unit, of the calibrating instrument and of the surgical instrument. A coordinate system module sets a coordinate system of the pelvis in which an anterior-posterior axis of the pelvis is generally in a direction of gravity, and in which a medio-lateral axis of the pelvis is obtained from readings of the at least one portable inertial sensor unit on the calibrating instrument using the geometrical relation data therebetween. A tracking module tracks movements of the at least one surgical instrument relative to the coordinate system using readings from the inertial sensor unit on the surgical instrument using the geometrical relation data therebetween, and calculates navigation data for the movements, the navigation data relating the orientation of the surgical instrument to the orientation of the pelvis. An interface outputs the navigation data.
Abstract translation: 计算机辅助手术系统包括适于以已知方式应用于骨盆的校准装置和外科器械。 一种操作外科手术辅助程序的计算机辅助处理器单元，包括至少一个便携式惯性传感器单元，该便携式惯性传感器单元被配置为连接到所述至少一个校准仪器和所述至少一个外科器械，所述便携式惯性传感器单元输出表示其取向的读数 。 几何关系数据模块提供便携式惯性传感器单元，校准仪器和外科器械的取向之间的几何关系数据。 坐标系统模块设置骨盆的坐标系，其中骨盆的前后轴线通常在重力方向上，并且其中从至少一个便携式的读取器获得骨盆的中间轴线 惯性传感器单元在校准仪器上使用它们之间的几何关系数据。 跟踪模块使用来自外科手术仪器上的惯性传感器单元的读数使用其间的几何关系数据跟踪相对于坐标系的至少一个外科器械的运动，并且计算运动的导航数据，导航数据与 手术器械取向骨盆。 一个接口输出导航数据。
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12.发明申请公开(公告)号：US20140031722A1
公开(公告)日：2014-01-30
申请号：US13954288
申请日：2013-07-30
Applicant: ORTHOSOFT, INC.
Inventor： Di Li , Louis-Philippe Amiot , Don Dye , Myriam Valin , Isabelle Robitaille , Francois Paradis , Karine Duval , Yonik Breton , Simon Ferron-Forget
IPC: A61B5/107
CPC classification number: A61B5/1077 , A61B2034/2048 , A61F2/4609 , A61F2002/4668
Abstract: A pelvic digitizer device comprises a body comprising: 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.
Abstract translation: 骨盆数字化仪装置包括主体，其包括：轴，其具有工具端和具有用于操纵的手柄的手柄端。 视觉指南指向数字转换器装置的参考平面。 杯子连接到工具端并适于被容纳在患者的髋臼中。 惯性传感器单元连接到主体，惯性传感器单元具有与参考平面对齐的预定方向。
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公开(公告)号：US20040068179A1
公开(公告)日：2004-04-08
申请号：US10263772
申请日：2002-10-04
Applicant: ORTHOSOFT INC.
Inventor： Sebastien Jutras , Herbert Jansen , Louis-Philippe Amiot
IPC: A61B005/05
CPC classification number: A61B90/36 , A61B34/20 , A61B90/10 , A61B2017/00473 , A61B2034/105 , A61B2034/2055 , A61B2034/2065 , A61B2034/2068 , A61B2034/256 , A61B2090/062 , A61B2090/3983
Abstract: A registration pointer for registering points of surfaces of bodily elements in computer-assisted surgery, comprising a handle for being manipulated by a pointer operator. A stem is connected to the handle and has a first and a second tip configurations each having a respective use relating to a registration of points on specified bodily elements. A detectable device is secured to the stem, and is adapted to be tracked in space for position and orientation by a sensing apparatus. A position of the tip configurations with respect to the detectable device is determinable such that a position of the tip configurations is calculable as a function of the position and orientation of the detectable device. The tip configurations are chosen to register points on given bodily elements as a function of the respective use, by recording a position of points of contact between the tip configurations and the given bodily element.
Abstract translation: 一种用于在计算机辅助手术中记录身体元件的表面点的注册指针，包括由指针操作器操纵的手柄。 杆连接到手柄并且具有第一和第二尖端配置，每个顶端配置具有与指定的身体元件上的点的对准相关的使用。 可检测装置被固定到杆上，并且适于在空间中跟踪通过感测装置的位置和取向。 相对于可检测装置的尖端构造的位置是可确定的，使得尖端构造的位置可以作为可检测装置的位置和取向的函数计算。 通过记录尖端构造与给定身体元件之间的接触点的位置，选择尖端配置作为相应使用的函数来记录给定身体元件上的点。
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公开(公告)号：US20040019263A1
公开(公告)日：2004-01-29
申请号：US10202609
申请日：2002-07-25
Applicant: ORTHOsoft INC.
Inventor： Sebastien Jutras , Dominic Picard , Pierre Couture , Francois Poulin , Louis-Philippe Amiot , James Anglehart
IPC: A61B005/05
CPC classification number: A61B34/20 , A61B17/1757 , A61B90/39 , A61B2034/105 , A61B2034/2055 , A61B2090/3983
Abstract: A surgical device adapted for use with an image guided surgical system to facilitate monitoring inter-dependently mobile bone elements. A rigidly connected multiple-point anchor assembly is releasably engageable to at least two inter-dependently mobile bone elements and immobilizes the bone elements such that no relative movement therebetween is possible, and a complex rigid body comprising the immobilized bone elements and the multiple-point anchor assembly is formed. A trackable member is fastened to the multiple-point anchor assembly and comprises a detectable element adapted to be located and tracked in three dimensional space by the image guided surgical system, thereby defining position and movement of the complex rigid body.
Abstract translation: 适于与图像引导的手术系统一起使用以便于监测相互依赖的移动骨骼元件的外科装置。 刚性连接的多点锚固组件可释放地接合到至少两个相互依赖的可移动骨元件并固定骨元件，使得它们之间不存在相对移动，并且包括固定的骨元件和多点 锚固组件形成。 可跟踪构件被紧固到多点锚固组件并且包括适于通过图像引导的手术系统在三维空间中定位和跟踪的可检测元件，从而限定复合刚体的位置和运动。
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公开(公告)号：US11129681B2
公开(公告)日：2021-09-28
申请号：US15902420
申请日：2018-02-22
Applicant: ORTHOSOFT INC.
Inventor： Louis-Philippe Amiot , Pierre Couture
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US10413428B2
公开(公告)日：2019-09-17
申请号：US15013285
申请日：2016-02-02
Applicant: ORTHOSOFT INC.
Inventor： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , Francois Paradis
Abstract: 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.
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公开(公告)号：US20190240045A1
公开(公告)日：2019-08-08
申请号：US16262465
申请日：2019-01-30
Applicant: ORTHOsoft, Inc.
Inventor： Pierre Couture
CPC classification number: A61F2/4657 , A61B34/30 , A61B2034/108 , A61B2034/252 , A61F2/461 , A61F2/4684 , A61F2002/4633 , A61F2002/467
Abstract: A system and method may be used to evaluate soft tissue. A knee arthroplasty soft tissue evaluation may use an adjustable spacer, such as varying sized physical spacers or an inflatable bladder, along with a sensor to measure force, pressure, gap distance, or the like during a range of motion test. A method may include maintaining an equal pressure or gap distance for a medial component and a lateral component of an adjustable spacer during a range of motion test. Information, including, for example a maximum or minimum gap distance or pressure may be determined during the range of motion test. The determined information may be output for display or used to update a surgical plan.
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公开(公告)号：US10318024B2
公开(公告)日：2019-06-11
申请号：US15716873
申请日：2017-09-27
Applicant: ORTHOsoft, Inc.
Inventor： Emily Gogarty , Pierre Couture
IPC: G06F3/0354 , A61B34/20 , G06F3/03 , A61B90/00
Abstract: 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.
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公开(公告)号：US10092218B2
公开(公告)日：2018-10-09
申请号：US13954288
申请日：2013-07-30
Applicant: ORTHOSOFT, INC.
Inventor： Di Li , Louis-Philippe Amiot , Don Dye , Myriam Valin , Isabelle Robitaille , Francois Paradis , Karine Duval , Yonik Breton , Simon Ferron-Forget
Abstract: 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.
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公开(公告)号：US20180008354A1
公开(公告)日：2018-01-11
申请号：US15712929
申请日：2017-09-22
Applicant: ORTHOSOFT INC.
Inventor： Tin NGUYEN , Yvan LEONE , Benoit PELLETIER
CPC classification number: A61B34/20 , A61B2017/00477 , A61B2034/2048 , A61B2090/3983
Abstract: A computer-assisted surgery (CAS) navigation assembly comprises a micro-electromechanical sensor (MEMS) navigation unit having one or more MEMS to provide at least orientation data. A support receives the MEMS navigation unit therein, the support being adapted to be mounted on the instrument in a fixed orientation relative to established navigated features of the instrument. At least two mating ball-in-socket features are disposed between the MEMS navigation unit and the support at opposed ends thereof for releasably engaging the MEMS navigation unit in precise orientational alignment within the receptacle, the at least two mating ball-in-socket features comprising catches aligned along an axis extending between the opposed ends, at least one of the catches being a biased catch. A method of connecting a MEMS navigation unit with a mating support fixed to a CAS instrument navigated by the CAS system is also provided.
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