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    METHOD AND SYSTEM FOR CREATING FRAME OF REFERENCE FOR CAS WITH INERTIAL SENSORS
    11.
    发明申请
    METHOD AND SYSTEM FOR CREATING FRAME OF REFERENCE FOR CAS WITH INERTIAL SENSORS 审中-公开
    用于创建具有惯性传感器的CAS参考框架的方法和系统

    公开(公告)号：US20140031829A1

    公开(公告)日：2014-01-30

    申请号：US13954279

    申请日：2013-07-30

    Applicant: ORTHOSOFT, INC.

    Inventor： Francois Paradis ,  Joel Zuhars ,  Karine Duval ,  Mathieu Chevrier ,  Louis-Philippe Amiot ,  Herbert Jansen ,  Myriam Valin ,  Don Dye ,  Isabelle Robitaille ,  Simon Ferron-Forget ,  Francois Baudoin

    IPC: A61B19/00

    CPC classification number: A61B90/06 ,  A61B17/1742 ,  A61B34/20 ,  A61B2034/2048 ,  A61B2034/2068 ,  A61B2090/3983

    Abstract: A digitizer device comprises an elongated body and legs connected to the elongated body. At least one joint is between the legs and the elongated body such that free ends of the legs are displaceable relative to one another. An inertial sensor unit is connected to the elongated body, the inertial sensor unit having a preset orientation aligned with the elongated body. A table reference device comprises a body adapted to be fixed to an operating table. An inertial sensor unit is with a preset orientation related to the operating table. A patient coordinate system comprising orientation data obtained from the inertial sensor units of the digitizer device and the table reference device

    Abstract translation: 数字化仪装置包括细长体和连接到细长体的腿。 至少一个关节在腿和细长体之间，使得腿的自由端相对于彼此可移位。 惯性传感器单元连接到细长主体，惯性传感器单元具有与细长主体对准的预定方向。 桌子参考装置包括适于固定在操作台上的主体。 惯性传感器单元具有与操作台相关的预设方向。 一种患者坐标系，包括从数字化仪装置的惯性传感器单元和表参考装置获得的取向数据

    Leg length calculation in computer-assisted surgery
    13.
    发明授权
    Leg length calculation in computer-assisted surgery 有权

    公开(公告)号：US11413164B2

    公开(公告)日：2022-08-16

    申请号：US16535659

    申请日：2019-08-08

    Applicant: ORTHOSOFT INC.

    Inventor： Karine Duval ,  Di Li ,  Laurence Moreau-Belanger ,  Benoit Pelletier ,  Yvan Leone ,  Myriam Valin ,  François Paradis

    IPC: A61B5/107 ,  A61F2/46 ,  A61B34/20 ,  A61B5/00 ,  A61B34/00 ,  A61B17/84 ,  G01B21/04 ,  A61B90/00

    Abstract: A computer-assisted surgery system has inertial sensor unit connected to an instrument and producing readings representative of its orientation. A computer-assisted surgery processor unit has a coordinate system module for setting a pelvic coordinate system from readings of the inertial sensor unit when the instrument is in a given orientation relative to the pelvis, a tracking module for tracking an orientation of the instrument relative to the pelvic coordinate system during movements thereof and a geometrical relation data module for recording preoperatively a landmark orientation relative to the pelvic coordinate system and a distance when the at least one instrument has a first end abutted to a pelvic landmark and a second end abutted to a leg landmark, 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.

    Tibia cutting assembly
    14.
    发明授权
    Tibia cutting assembly 有权

    公开(公告)号：US10729452B2

    公开(公告)日：2020-08-04

    申请号：US16007270

    申请日：2018-06-13

    Applicant: ORTHOSOFT, INC.

    Inventor： Catherine Leveille ,  Benoit Pelletier ,  Bruno Falardeau ,  Karine Duval

    IPC: A61B17/15 ,  A61B17/17 ,  A61B17/00 ,  A61B90/00 ,  A61B34/10 ,  A61B34/20

    Abstract: A tibia cutting assembly includes a tibia cut guide with at least one cut slot. A guide rod has a guide holder mountable to the cut guide at a first end of the guide rod, and a second end of the guide rod is mountable non-invasively about a skin of a patient. The guide rod is extendable in length to displace the tibia cut guide and adjust a position thereof with respect to a tibia of the patient. The guide holder cooperates with the tibia cut guide to adjust an orientation of the tibia cut guide. A first inertial sensor is mountable to the guide holder and is displaceable therewith, and a second inertial sensor is mountable to the guide rod at the second end thereof.

    METHOD AND DEVICE FOR CUP IMPLANTING USING INERTIAL SENSORS
    16.
    发明申请
    METHOD AND DEVICE FOR CUP IMPLANTING USING INERTIAL SENSORS 审中-公开
    使用惯性传感器进行印刷的方法和装置

    公开(公告)号：US20160220318A1

    公开(公告)日：2016-08-04

    申请号：US15013507

    申请日：2016-02-02

    Applicant: ORTHOSOFT INC.

    Inventor： Bruno Falardeau ,  Karine Duval ,  Yvan Leone ,  Francois Paradis ,  Di Li ,  Myriam Valin ,  Benoit Pelletier ,  Laurence Moreau-Belanger

    IPC: A61B34/30 ,  A61B34/20 ,  A61B17/56 ,  A61B34/10 ,  A61B34/00

    CPC classification number: A61B34/30 ,  A61B17/1666 ,  A61B34/10 ,  A61B34/20 ,  A61B34/70 ,  A61B2034/2048 ,  A61B2034/2055

    Abstract: A computer-assisted surgery (CAS) system comprises a cup implanting device including a shaft having a tooling end and a handle end with a handle for being manipulated, the shaft having a longitudinal axis, the tooling end adapted to support a cup for being received in an acetabulum of a patient, and a rotation indicator having a visual guide representative of a device plane, wherein the device plane is in a known position and orientation relative to a center of the cup on the tooling end. A CAS processing unit includes at least one inertial sensor unit connected to the cup implanting device, the inertial sensor unit outputting three-axes readings and having a virtual preset orientation related to a reference axis of a pelvis of the patient, the virtual preset orientation being based on pre-operative imaging specific to the pelvis of the patient, the reference axis of the pelvis passing through a center of rotation of said acetabulum of the pelvis and through a reference landmark of the pelvis, wherein an instant three-axis orientation of the longitudinal axis of the cup implanting device is trigonometrically known relatively to the reference axis when the cup is in the acetabulum of the patient and the device plane passes through the reference landmark via the visual guide, the instant three-axis orientation used for calibrating the inertial sensor unit on the cup implanting device relative to the pelvis.

    Abstract translation: 计算机辅助手术（CAS）系统包括杯子植入装置，其包括具有工具端的轴和具有用于被操纵的手柄的手柄端，所述轴具有纵向轴线，所述工具端适于支撑杯子以被接收 在患者的髋臼中，以及具有代表装置平面的视觉引导件的旋转指示器，其中，所述装置平面相对于所述工具端上的杯的中心处于已知位置和取向。 CAS处理单元包括连接到杯注入装置的至少一个惯性传感器单元，惯性传感器单元输出三轴读数并具有与患者骨盆的参考轴线相关的虚拟预设方向，虚拟预设方向为 基于对患者骨盆特异性的手术前成像，骨盆的参考轴线穿过骨盆的所述髋臼的旋转中心并通过骨盆的参考标记，其中立体三轴取向 当杯子位于患者的髋臼中并且装置平面经由视觉引导件穿过参考标记时，杯子植入装置的纵向轴线相对于参考轴线是三项式知道的，用于校准惯性的即时三轴取向 传感器单元在杯子植入装置相对于骨盆。

    PELVIC DIGITIZER DEVICE WITH INERTIAL SENSOR UNIT AND METHOD
    17.
    发明申请
    PELVIC DIGITIZER DEVICE WITH INERTIAL SENSOR UNIT AND METHOD 审中-公开
    具有惯性传感器单元的PELVIC DIGITIZER器件和方法

    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。

    Method and device for cup implanting using inertial sensors
    19.
    发明授权
    Method and device for cup implanting using inertial sensors 有权

    公开(公告)号：US10881470B2

    公开(公告)日：2021-01-05

    申请号：US15013507

    申请日：2016-02-02

    Applicant: ORTHOSOFT INC.

    Inventor： Bruno Falardeau ,  Karine Duval ,  Yvan Leone ,  Francois Paradis ,  Di Li ,  Myriam Valin ,  Benoit Pelletier ,  Laurence Moreau-Belanger

    IPC: A61B34/30 ,  A61B34/10 ,  A61B34/00 ,  A61B34/20 ,  A61B17/16

    Abstract: A computer-assisted surgery (CAS) system comprises a cup implanting device including a shaft having a tooling end and a handle end with a handle for being manipulated, the shaft having a longitudinal axis, the tooling end adapted to support a cup for being received in an acetabulum of a patient, and a rotation indicator having a visual guide representative of a device plane, wherein the device plane is in a known position and orientation relative to a center of the cup on the tooling end. A CAS processing unit includes at least one inertial sensor unit connected to the cup implanting device, the inertial sensor unit outputting three-axes readings and having a virtual preset orientation related to a reference axis of a pelvis of the patient, the virtual preset orientation being based on pre-operative imaging specific to the pelvis of the patient, the reference axis of the pelvis passing through a center of rotation of said acetabulum of the pelvis and through a reference landmark of the pelvis, wherein an instant three-axis orientation of the longitudinal axis of the cup implanting device is trigonometrically known relatively to the reference axis when the cup is in the acetabulum of the patient and the device plane passes through the reference landmark via the visual guide, the instant three-axis orientation used for calibrating the inertial sensor unit on the cup implanting device relative to the pelvis.

    Acetabulum rim digitizer device and method
    20.
    发明授权
    Acetabulum rim digitizer device and method 有权

    公开(公告)号：US10405928B2

    公开(公告)日：2019-09-10

    申请号：US15013518

    申请日：2016-02-02

    Applicant: ORTHOSOFT INC.

    Inventor： Bruno Falardeau ,  Karine Duval ,  Laurence Moreau-Belanger ,  Francois Paradis ,  Di Li ,  Myriam Valin ,  Benoit Pelletier

    IPC: A61B34/20 ,  A61F2/46

    Abstract: A computer-assisted surgery (CAS) system for tracking an orientation of a pelvis comprises at least one instrument, the instrument having an acetabulum abutment end adapted to be received in an acetabulum, a rim abutment adapted to be abutted against a rim of the acetabulum, and an indicator representative of a physical orientation of the instrument. An inertial sensor unit is connected to the at least one instrument, the inertial sensor unit producing readings representative of its orientation. A computer-assisted surgery processor unit comprises a coordinate system module for setting a pelvic coordinate system from readings of the at least one inertial sensor unit when the at least one instrument has the acetabulum abutment end received in the acetabulum, the coordinate system module setting the pelvic coordinate system by obtaining a plurality of orientation values from the at least one inertial sensor unit when the rim abutment is abutted against locations of the rim, one of said orientation values having the indicator aligned with a reference landmark, the coordinate system module defining an acetabular plane representative of the pelvic coordinate system from the plurality of orientation values; and a tracking module for tracking an orientation of the at least one inertial sensor unit relative to the pelvic coordinate system during movements thereof using the readings from the inertial sensor unit. An interface outputs orientation data as a function of the pelvic coordinate system.

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