公开(公告)号：US09788904B2

公开(公告)日：2017-10-17

申请号：US14188036

申请日：2014-02-24

Applicant: ORTHOSOFT INC.

Inventor： Yannick Boutin ,  Jean-Guillaume Abiven ,  Mathieu Chevrier

IPC: A61B34/20 ,  A61B19/00 ,  G06F19/00 ,  A61B34/30 ,  A61B34/00

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/2048 ,  A61B2034/254 ,  G06F19/00 ,  G06F19/3481 ,  G16H20/40

Abstract: A computer-assisted surgery system comprises a first surgical device with a tracking unit tracked during a surgical procedure and adapted to perform a first function associated to the surgical procedure. A second surgical device is adapted to perform a second function associated to the surgical procedure. A triggered unit is triggered when the first surgical device and the second surgical device reach a predetermined proximity relation. A surgical procedure processing unit tracks the first surgical device. A trigger detector detects a triggering of the triggered unit. A CAS application operates steps of a surgical procedure. A controller commands the CAS application to activate a selected step associated with the second function in the surgical procedure when the trigger detector signals a detection. An interface displays information about the selected step in the surgical procedure.

公开(公告)号：US20170007329A1

公开(公告)日：2017-01-12

申请号：US15203208

申请日：2016-07-06

Applicant: ORTHOSOFT INC.

Inventor： DI LI ,  LOUIS-PHILIPPE AMIOT ,  FRANCOIS PARADIS ,  BENOIT PELLETIER ,  LAURENCE MOREAU-BELANGER ,  KARINE DUVAL

IPC: A61B34/10 ,  A61B34/20 ,  A61B5/00 ,  A61B5/107

CPC classification number: A61B34/10 ,  A61B5/1075 ,  A61B5/4528 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/3983 ,  A61B2090/3991

Abstract: A system for measuring a length variation between body portions in computer-assisted surgery between a preoperative condition and intra- or post-operative condition comprises a a rangefinder configured to measure its distance to at least one reference landmark on at least a first body portion of a patient from a known position relative to a second body portion. A support includes joint(s) allowing one or more rotational degree of freedom of movement of the rangefinder to point to the at least one reference landmark. An inertial sensor unit is connected to the rangefinder to produce orientation data for the rangefinder. A computer-assisted surgery processing unit has a tracking module for tracking the rangefinder in a virtual coordinate system using the orientation data, a coordinate system module for determining coordinates in the virtual coordinate system of the at least one reference landmark using the distance and the orientation data, and a length calculation module for measuring a length between the body portions using the coordinates, the length calculation module calculating and outputting the length variation between the body portions by using said length obtained from a preoperative condition and said length obtained from an intra- or post-operative condition. A method for measuring a length variation between body portions in computer-assisted surgery between a preoperative condition and intra- or post-operative condition is also provided.

Abstract translation: 一种用于在计算机辅助手术中在术前状况和术中或术后状态之间测量身体部分之间的长度变化的系统包括测距器，其被配置成测量其距离至少一个参考标记至少在第一身体部分 患者从相对于第二身体部分的已知位置。 支撑件包括允许测距仪的一个或多个旋转自由度的自由度指向至少一个参考标记的关节。 惯性传感器单元连接到测距仪，以产生测距仪的方位数据。 计算机辅助手术处理单元具有跟踪模块，用于使用所述取向数据跟踪虚拟坐标系中的测距仪，坐标系模块，用于使用所述距离和所述方位确定所述至少一个参考标记的所述虚拟坐标系中的坐标 数据和长度计算模块，用于使用坐标测量身体部分之间的长度，长度计算模块通过使用从术前条件获得的所述长度和从内部部分获得的所述长度来计算和输出身体部分之间的长度变化， 或手术后状态。 还提供了一种用于在术前状况和手术前或术后状态下测量计算机辅助手术中的身体部分之间的长度变化的方法。

公开(公告)号：US20160220391A1

公开(公告)日：2016-08-04

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

IPC: A61F2/46 ,  A61B17/56 ,  A61B5/00 ,  A61B5/107 ,  A61B34/20

CPC classification number: A61F2/4657 ,  A61B5/1072 ,  A61B5/1075 ,  A61B5/1079 ,  A61B5/6829 ,  A61B5/6838 ,  A61B17/848 ,  A61B34/20 ,  A61B34/25 ,  A61B2034/2048 ,  A61B2090/061 ,  A61F2002/4658 ,  A61F2002/469 ,  G01B21/04 ,  G01B2210/40 ,  G01B2210/58

Abstract: A computer-assisted surgery system for outputting at least one of a leg length discrepancy and an offset between a preoperative leg condition and a post-implant rejointing leg condition comprises instruments. An inertial sensor unit is connected to one of the instrument, the inertial sensor unit producing readings representative of its orientation. A computer-assisted surgery processor unit operating a surgical assistance procedure and 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 is in a given orientation relative to the pelvis, a tracking module for tracking an orientation of the at least one instrument relative to the pelvic coordinate system during movements thereof using the readings from the inertial sensor unit on the instrument, and a geometrical relation data module for recording preoperatively a medio-lateral orientation of the at least one instrument representative of a medio-lateral axis of the legs relative to the pelvic coordinate system and a distance between the legs along the medio-lateral axis, for recording after implant rejointing the medio-lateral orientation and said distance, and for calculating at least one of a leg length discrepancy and an offset, based on said distances and said medio-lateral orientations. An interface outputs at least the leg length discrepancy or the offset between the preoperative leg condition and the post-implant rejointing leg condition.

Abstract translation: 一种计算机辅助手术系统，用于输出腿部长度差异和术前腿部状况与植入物后连接腿状况之间的偏移中的至少一个，包括器械。 惯性传感器单元连接到仪器之一，惯性传感器单元产生代表其取向的读数。 一种操作手术辅助程序的计算机辅助手术处理器单元，包括坐标系统模块，用于当所述至少一个仪器相对于所述骨盆处于给定取向时，从所述至少一个惯性传感器单元的读数设置骨盆坐标系， 跟踪模块，用于使用来自仪器上的惯性传感器单元的读数来跟踪至少一个器械相对于骨盆坐标系的姿态，以及几何关系数据模块，用于在术前记录术中的中间坐标系的中间方向 至少一个仪器代表腿部相对于骨盆坐标系的中间轴线轴线和沿着中间轴线的腿之间的距离，用于在植入物重新连接中间横向方向和所述距离之后进行记录，并用于计算 基于所述距离和所述中间位置，腿长度差异和偏移中的至少一个 坦率的方向。 界面至少输出腿部长度差异或术前腿部状况与植入后重合腿部状况之间的偏移。

公开(公告)号：US20160220385A1

公开(公告)日：2016-08-04

申请号：US15013402

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: A61F2/46 ,  A61F2/34

CPC classification number: A61F2/4609 ,  A61B2034/2048 ,  A61F2002/4681 ,  A61F2002/4687

Abstract: An impactor for positioning and inserting an acetabular cup into an acetabulum of a pelvis during hip arthroplasty is described. The impactor includes a guide element mounted to an elongated body and including first and second openings aligned with each other to define an axial passage. The first and second openings and the axial passage receive a guide pin therethrough that is pinned in a fixed position to the pelvis. The guide element provides a mechanical orientation guide which restricts an angular orientation of the impactor relative to the guide pin when the guide pin is pinned in the fixed position relative to the pelvis and received through the first and second openings of the guide element. Centering the openings of the guide element relative to the guide pin in the fixed position accordingly achieves a desired orientation of the impactor within a predetermined angular tolerance.

Abstract translation: 描述了一种用于在髋关节置换术期间将髋臼杯定位和插入骨盆髋臼的冲击器。 冲击器包括安装到细长主体并包括彼此对准以限定轴向通道的第一和第二开口的引导元件。 第一和第二开口和轴向通道容纳穿过其中的引导销固定在骨盆的固定位置。 引导元件提供了一种机械定向引导件，当引导销相对于骨盆被固定在固定位置并且通过引导元件的第一和第二开口被接收时，限制冲击器相对于引导销的角度定向。 引导元件相对于引导销的开口定位在固定位置，从而在冲击器的预定角度公差内达到期望的取向。

公开(公告)号：US20150073424A1

公开(公告)日：2015-03-12

申请号：US14386620

申请日：2013-03-28

Applicant: ORTHOSOFT, INC.

Inventor： Pierre Couture ,  Jean-Sebastien Merette ,  Alain Richard ,  Jean-Guillaume Abiven ,  Thomas Gourgon

IPC: A61B17/17 ,  A61B17/16 ,  A61F2/40

CPC classification number: A61F2/4081 ,  A61B17/1684 ,  A61B17/1778 ,  A61B2017/568 ,  A61F2002/30736 ,  A61F2002/4085

Abstract: A pin placement instrument for placing a pin in a bone comprises an anatomical interface with a hook-like portion being opened in a lateral direction of the instrument to receive a bone therein in a planned position. A drill guide is connected to the anatomical interface and defining at least one guide slot in a longitudinal direction of the instrument. The guide slot has a lateral opening over its full length in the drill guide to allow lateral withdrawal of the instrument in said lateral direction with the pin placed in the bone passing through the lateral opening. A bushing is removably placed in said guide slot via said longitudinal direction in a planned fit, the bushing defining a throughbore aligned with the guide slot and adapted to receive the pin extending in said longitudinal direction when the bushing is in the guide slot for pin placement.

Abstract translation: 用于将销放置在骨头中的针放置器械包括具有钩状部分的解剖界面，所述钩状部分沿着所述器械的横向方向打开以在预定位置接收骨骼。 钻子引导器连接到解剖界面并且在仪器的纵向方向上限定至少一个引导槽。 引导槽在钻子引导器中具有在其全长上的横向开口，以允许器械在所述横向方向上侧向抽出，而销钉放置在骨中通过横向开口。 衬套通过所述纵向方向以预定的配合可拆卸地放置在所述引导槽中，所述衬套限定了与所述引导槽对准的通孔，并且适于在所述衬套位于所述引导槽中的销插入位置时容纳沿所述纵向方向延伸的销 。

公开(公告)号：US20140364858A1

公开(公告)日：2014-12-11

申请号：US14301877

申请日：2014-06-11

Applicant: ORTHOSOFT, INC.

Inventor： Di Li ,  Louis-Philippe Amiot ,  Herbert Jansen ,  Francois Paradis ,  Isabelle Robitaille ,  Bruno Falardeau ,  Karine Duval ,  Myriam Valin ,  Yvan Leone ,  Yonik Breton ,  Benoit Pelletier ,  Jerome Casaubon ,  Mathieu Chevrier

IPC: A61F2/46

CPC classification number: A61F2/4609 ,  A61B90/13 ,  A61B2034/104 ,  A61B2034/2048 ,  A61F2002/4623 ,  A61F2002/4687

Abstract: A method for assisting in positioning the acetabular cup comprises orienting a cup positioning instrument with a cup thereon in an initial reference orientation relative to an acetabulum of a pelvis with the cup forming a joint with the acetabulum, the cup positioning instrument comprising an inertial sensor unit with pre-planned orientation data for a desired cup orientation based on at least one landmark of the pelvis, The cup positioning instrument is rotated to a desired abduction angle as guided by an interface of the cup positioning instrument, based on movements relative to at least one landmark. The cup positioning instrument is rotated to a desired anteversion angle as guided by the interface of the cup positioning instrument, based on movements relative to the at least one landmark. Upon reaching the desired cup orientation as indicated by the interface, the cup is impacted into the acetabulum.

Abstract translation: 一种用于帮助定位髋臼杯的方法包括使杯定位器具与其上的杯定位器相对于骨盆的髋臼以初始参考方向定向，其中杯与髋臼形成接合，杯定位器包括惯性传感器单元 具有基于骨盆至少一个地标的用于期望的杯定位的预先计划的取向数据。根据至少相对于至少一个运动相关的移动，杯定位仪被杯定位器的界面引导时旋转到期望的外展角 一个里程碑 基于相对于至少一个地标的运动，杯定位仪器由杯定位器的界面引导而旋转到所需的前倾角。 当达到由界面所指示的所需的杯子方向时，杯子被冲击到髋臼中。

公开(公告)号：US20140316545A1

公开(公告)日：2014-10-23

申请号：US14157043

申请日：2014-01-16

Applicant: ORTHOSOFT, INC.

Inventor： Louis-Philippe AMIOT ,  Yannick BOUTIN ,  Yonik BRETON ,  Karine DUVAL ,  Herbert Andre JANSEN ,  Benoit PELLETIER ,  Catherine PROULX ,  Alain RICHARD ,  Myriam VALIN ,  Joel ZUHARS

IPC: G06F17/50 ,  A61B19/00

CPC classification number: A61B17/155 ,  A61B17/157 ,  A61B34/20 ,  A61B2017/00115 ,  A61B2017/00725 ,  A61B2034/2048 ,  G01C21/16 ,  G06F17/5086

Abstract: A computer-assisted surgery system for guiding alterations to a bone, comprises a trackable member secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data. A positioning block is secured to the bone, and is adjustable once the positioning block is secured to the bone to be used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone.

Abstract translation: 一种用于引导骨骼改变的计算机辅助手术系统，包括固定到骨骼上的可跟踪构件。 可跟踪构件具有产生基于定向的数据的第一惯性传感器单元。 定位块被固定到骨头上，并且一旦定位块被固定到骨头上就可调节，以用于引导改变骨骼的工具。 定位块具有产生基于定向的数据的第二惯性传感器单元。 提供将骨骼与可跟踪构件相关联的定向参考的处理系统包括用于确定可跟踪构件和定位块的取向的信号解释器。 参数计算器计算与定位块相对于骨骼的实际方向相关的改变参数。

公开(公告)号：US20140296856A1

公开(公告)日：2014-10-02

申请号：US14303099

申请日：2014-06-12

Applicant: ORTHOSOFT, INC.

Inventor： Francois PARADIS ,  Louis-Philippe AMIOT ,  Daniel Odermatt

IPC: A61B19/00 ,  A61F2/46 ,  A61B17/16

CPC classification number: A61B34/73 ,  A61B17/1666 ,  A61B34/10 ,  A61B34/20 ,  A61F2/4609

Abstract: A system for calculating a position and orientation of an acetabular cup in computer-assisted surgery comprises a first trackable reference secured to a pelvis, with a frame of reference being associated with the first trackable reference. A device is positionable between a femoral neck and the acetabulum of the pelvis in a known relation, the device having a second trackable reference. Sensors track the trackable references for position and orientation. A position/orientation calculator calculates a position and orientation of the frame of reference and of the device and for determining an orientation of the neck axis with respect to the frame of reference from the known relation at a desired position of the femur. An implant position/orientation calculator provides cup implanting information with respect to the orientation of said neck axis as a function of the tracking for position and orientation of at least the first trackable reference.

Abstract translation: 用于计算计算机辅助手术中的髋臼杯的位置和取向的系统包括固定到骨盆的第一可跟踪参考，其中参考系与第一可追踪参考相关联。 一种装置可以以已知的关系定位在股骨颈与骨盆的髋臼之间，该装置具有第二可追踪参考。 传感器跟踪可追踪的位置和方位。 位置/姿态计算器计算参考框架和装置的位置和方位，并且用于根据在股骨的期望位置处的已知关系来确定颈部轴线相对于参考系的取向。 植入物位置/取向计算器提供相对于所述颈部轴线的取向的杯子注入信息，作为至少第一可追踪参考物的位置和取向的跟踪的函数。

公开(公告)号：US20130274778A1

公开(公告)日：2013-10-17

申请号：US13863678

申请日：2013-04-16

Applicant: ORTHOSOFT INC.

Inventor： Laurence MERCIER ,  Pierre COUTURE ,  Louis-Philippe AMIOT

IPC: A61B17/17 ,  G06T7/00 ,  A61B19/00

CPC classification number: A61B17/1739 ,  A61B10/02 ,  A61B34/10 ,  A61B90/11 ,  A61B2034/108 ,  B33Y80/00

Abstract: A patient specific instrument (PSI) surgical guide and method for producing same is described. The method includes: obtaining imagery of at least a portion of a patient, and determining one or more surgical targets in the tissue; planning at least a trajectory of the surgical procedure based on a determined surgical target within the tissue; performing segmentation of the imagery; creating a three-dimensional model of the PSI surgical guide, the PSI surgical guide being customized in size and shape and configured to fit on the specific patient. The PSI surgical guide is then produced to correspond to the modeled PSI surgical guide. The PSI surgical guide has a guide element positioned and oriented to guide a surgical implement along the planned trajectory toward the determined surgical target in the tissue.

Abstract translation: 描述了一种患者特异性仪器（PSI）手术指南及其制造方法。 该方法包括：获得患者的至少一部分的图像，以及确定组织中的一个或多个手术靶标; 基于所述组织内的确定的外科手术目标来规划所述外科手术的至少轨迹; 执行图像的分割; 创建PSI手术引导件的三维模型，PSI手术引导器被定制在尺寸和形状上并且被配置为适合于特定患者。 然后产生PSI手术引导件以对应于建模的PSI手术引导件。 PSI外科手术引导件具有定位和定向的引导元件，以沿着计划的轨迹导向外科器械，朝向组织中确定的手术靶标。

公开(公告)号：US20040044295A1

公开(公告)日：2004-03-04

申请号：US10222832

申请日：2002-08-19

Applicant: ORTHOsoft INC.

Inventor： Cynthia Reinert ,  Josiane Crampe ,  Franck Maras ,  Francois Poulin

IPC: A61B005/103 ,  A61F002/46

CPC classification number: A61B34/20 ,  A61B17/1735 ,  A61B17/1757 ,  A61B34/10 ,  A61B34/25 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/252 ,  A61B2034/254 ,  G06F19/325 ,  G06F19/3418 ,  G06Q50/22 ,  G16H40/63 ,  G16H50/20

Abstract: A computer system and a method for performing a computer assisted surgery uses an expert system driven graphical user interface (GUI) that displays a series of visual display screens that provide information related to respective steps required to perform the surgery. The system displays virtual images of surgical instruments used during the surgery, as well as computer enhanced images of the implant site to assist the surgical team during instrument calibration, implant site planning, implant site preparation, and implant installation.

Abstract translation: 用于执行计算机辅助手术的计算机系统和方法使用专家系统驱动的图形用户界面（GUI），其显示一系列视觉显示屏幕，其提供与执行手术所需的各个步骤相关的信息。 该系统显示在手术期间使用的手术器械的虚拟图像，以及植入物位点的计算机增强图像，以在仪器校准，植入位置规划，植入位置准备和植入物安装期间辅助外科团队。