公开(公告)号：US20230404680A1

公开(公告)日：2023-12-21

申请号：US18240867

申请日：2023-08-31

Applicant: Brainlab AG

Inventor： Oliver FLEIG ,  Timo NEUBAUER ,  Mario SCHUBERT ,  Sabine KLING

IPC: A61B34/20

CPC classification number: A61B34/20 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2051 ,  A61B2090/502

Abstract: The present invention relates to a method for determining the spatial position of objects, in particular objects, comprising the steps of: —acquiring first position data which comprise first position information describing the spatial position of an object (2) within a first co-ordinate system (A); —acquiring first transformation data which comprise first transformation information describing a transformation of the object's position from the first co-ordinate system (A) into a second co-ordinate system (B); —acquiring, on the basis of the first position data and the first transformation data, second position data which comprise second position information describing the spatial position of the object (2) within the second co-ordinate system (B); —acquiring second transformation data which comprise second transformation information describing a transformation of the object's position from the second co-ordinate system (B) into an inertial co-ordinate system (I); —determining, on the basis of the second position data and the second transformation data, inertial position data which comprise inertial position information describing the spatial position of the object (2) within the inertial co-ordinate system (I). The present invention also relates to a program which, when running on a computer (4), cause the computer (4) to perform the method steps of the method described above and/or to a program storage medium on which the program is stored and/or to a computer (4) comprising such a program storage medium and/or to a signal wave, in particular a digital signal wave, carrying information which represents the program. The present invention also relates to a tracking system for determining the spatial position of objects, in particular medical objects, comprising: —a sensor array (1) which is configured to determine the spatial position of at least one tracking marker attached to an object (2); —an inertial sensor array (3) which is attached to said sensor array; and —a computer (4).

公开(公告)号：US20230350177A1

公开(公告)日：2023-11-02

申请号：US17791275

申请日：2020-01-08

Applicant: Brainlab AG

Inventor： Stefan VILSMEIER ,  Sven FLOSSMANN

IPC: G02B21/00 ,  G05D3/20

CPC classification number: G02B21/0012 ,  G05D3/20 ,  G06F3/012

Abstract: Provided is a robotic microscope that includes an optical system being moveable in one or more spatial directions and an actuator configured to move the optical system in the spatial directions. The microscope includes a capacitive sensor with an electrode coupled to at least a part of the optical system, the capacitive sensor configured to provide a sensor signal indicative of a capacitance in a vicinity of the electrode. The microscope further includes control circuitry configured to determine, based on processing the sensor signal, at least one capacitance value for the capacitance, and configured to actuate, based on comparing at least one capacitance value with at least one reference value for the capacitance, the actuator to move the optical system such that a distance between a user's head and part of the optical system and/or an orientation of the user's head and part of the optical system is substantially constant.

公开(公告)号：US20230346573A1

公开(公告)日：2023-11-02

申请号：US18029366

申请日：2021-09-29

Applicant: Brainlab AG

Inventor： Thomas Drexl ,  Dimitrij Surmeli ,  Amar Husejic

IPC: A61F2/46 ,  A61B34/10

CPC classification number: A61F2/4657 ,  A61B34/10 ,  A61B2034/102 ,  A61F2/447

Abstract: A computer implemented medical method of calibrating a cage is presented. In particular, this calibration method calculates a virtual model of the cage based on a cage tip point and a cage end point, acquired by using a pointer tip of a pointing device, and at least one axis, acquired by using a pointer shaft of the pointing device along a side of the cage. This method allows for providing a more detailed virtual model of the cage, while being in compliance with sterility restrictions.

公开(公告)号：US11759261B2

公开(公告)日：2023-09-19

申请号：US17487464

申请日：2021-09-28

Applicant: Brainlab AG

Inventor： Nils Frielinghaus ,  Christoffer Hamilton

IPC: A61B34/10 ,  G06F3/01 ,  G06V20/20 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/10 ,  G06F3/011 ,  G06V20/20 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/365 ,  A61B2090/3937

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.

公开(公告)号：US11750364B2

公开(公告)日：2023-09-05

申请号：US17286931

申请日：2020-03-17

Applicant: Brainlab AG

Inventor： Shiva Ashish Thumparthy

IPC: H04L29/06 ,  H04L9/00 ,  G06F16/2458 ,  H04L9/06

CPC classification number: H04L9/008 ,  G06F16/2468 ,  H04L9/0618

Abstract: Computer-implemented methods and systems (DMS) for facilitating data similarity queries across a network (CN) of data memories (DM1, DM2). The disclosed methods and system are configured for matching data items held in the data memories (DM1, DM2) in a probabilistic manner with cryptographic protection of the data items. The data matching methods and systems (DMS) are robust against inconsistencies within the data to be matched (such as typographical errors, minor mismatches etc), within a certain predetermined similarity threshold (q), usually described as a percentage. The disclosed methods and systems (DMS) allow fast, low latency turnaround by aggregating the data items to be matched into data structures (M1, M2) that facilitate group-wise matching as opposed to pair-wise matching.

公开(公告)号：US11715212B2

公开(公告)日：2023-08-01

申请号：US17397697

申请日：2021-08-09

Applicant: Brainlab AG

Inventor： Kajetan Berlinger ,  Andreas Blumhofer

IPC: G06T7/215 ,  G16H30/40 ,  A61B5/11 ,  A61B5/00 ,  A61B6/00 ,  G06T7/00

CPC classification number: G06T7/215 ,  A61B5/1128 ,  A61B5/7246 ,  A61B6/5294 ,  G06T7/0016 ,  G16H30/40 ,  G06T2207/20128 ,  G06T2207/20221 ,  G06T2207/30241

Abstract: A dynamic anatomic atlas is disclosed, comprising static atlas data describing atlas segments and dynamic atlas data comprising information on a dynamic property which information is respectively linked to the atlas segments.

公开(公告)号：USD993300S1

公开(公告)日：2023-07-25

申请号：US29741892

申请日：2020-07-16

Applicant: Brainlab AG

Designer： Matthias Schmiedbauer ,  Simon Lauwerier ,  Audrey Yrieix ,  Thomas Linke ,  Carina Eberlein ,  Michael Heinrich ,  Elmar Schlereth ,  Katharina Krenz

Abstract: FIG. 1 is a perspective view of a stand for a camera showing our new design;
FIG. 2 is a front view thereof;
FIG. 3 is a rear view thereof;
FIG. 4 is a left side view thereof;
FIG. 5 is a right side view thereof
FIG. 6 is a top view thereof; and,
FIG. 7 is a bottom view thereof.
The broken lines depict portions of the stand for a camera in which the design is embodied that form no part of the claimed design.

公开(公告)号：US20230225794A1

公开(公告)日：2023-07-20

申请号：US18010514

申请日：2020-08-12

Applicant: Brainlab AG

Inventor： Jörg UHDE

IPC: A61B34/10 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/397 ,  A61B2090/3983

Abstract: A computer-implemented method plans a position of a tracking reference device for referencing a position in a medical environment. The method includes a determination of avoidance regions in which a tracking reference device should not be placed so as to safeguard proper tracking of the tracking reference device and/or an instrument tracking reference device which is attached to a medical instrument. The avoidance region is a region lying, from the point of view of a tracking device for tracking the tracking reference device, in the shadow of an envelope surrounding at least one medical instrument. Additionally or alternatively, an avoidance region may lie in between the position of the tracking device and the envelope to avoid a shadowing, by the tracking reference device, of an instrument tracking reference device attached to the medical instrument. Information describing the position of the at least one avoidance region is displayed to a user, and also information about the position of a region which is suitable for placement of the tracking reference device can be displayed to the user.

公开(公告)号：US11663755B2

公开(公告)日：2023-05-30

申请号：US17573032

申请日：2022-01-11

Applicant: Brainlab AG

Inventor： Kajetan Berlinger ,  Birte Domnik ,  Elisa Garcia Corisco ,  Pascal Bertram

IPC: G06T11/00 ,  A61N5/10 ,  A61B6/00 ,  A61B6/12 ,  A61B6/03 ,  G16H50/50 ,  G06T7/20 ,  G06T7/00

CPC classification number: G06T11/003 ,  A61B6/032 ,  A61B6/12 ,  A61B6/486 ,  A61B6/5223 ,  A61B6/5288 ,  A61N5/1037 ,  A61N5/1049 ,  G06T7/0012 ,  G06T7/20 ,  G06T11/008 ,  G16H50/50 ,  A61N2005/1062 ,  G06T2207/10076 ,  G06T2207/10081 ,  G06T2207/10124 ,  G06T2207/30241 ,  G06T2211/412

Abstract: A computer implemented method for determining a two dimensional DRR referred to as dynamic DRR based on a 4D-CT, the 4D-CT describing a sequence of three dimensional medical computer tomographic images of an anatomical body part of a patient, the images being referred to as sequence CTs, the 4D-CT representing the anatomical body part at different points in time, the anatomical body part comprising at least one primary anatomical element and secondary anatomical elements, the computer implemented method comprising the following steps: acquiring the 4D-CT; acquiring a planning CT, the planning CT being a three dimensional image used for planning of a treatment of the patient, the planning CT being acquired based on at least one of the sequence CTs or independently from the 4D-CT, acquiring a three dimensional image, referred to as undynamic CT, from the 4D-CT, the undynamic CT comprising at least one first image element representing the at least one primary anatomical element and second image elements representing the secondary anatomical elements; acquiring at least one trajectory, referred to as primary trajectory, based on the 4D-CT, the at least one primary trajectory describing a path of the at least one first image element as a function of time; acquiring trajectories of the second image elements, referred to as secondary trajectories, based on the 4D-CT; for the image elements of the undynamic CT, determining trajectory similarity values based on the at least one primary trajectory and the secondary trajectories, the trajectory similarity values respectively describing a measure of similarity between a respective one of the secondary trajectories and the at least one primary trajectory; determining the dynamic DRR by using the determined trajectory similarity values, and, in case the planning CT is acquired independently from the 4D-CT, further using a transformation referred to as planning transformation from the undynamic CT to the planning CT, at least a part of image values of image elements of the dynamic DRR being determined by using the trajectory similarity values.

公开(公告)号：US11642428B2

公开(公告)日：2023-05-09

申请号：US16081167

申请日：2017-04-19

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Nils Frielinghaus ,  Stefan Hofberger

IPC: A61B34/30 ,  A61L2/26 ,  A61B34/00

CPC classification number: A61L2/26 ,  A61B34/25 ,  A61B34/30 ,  A61L2202/24

Abstract: A sterility-preserving robotic frontend-system, including a flexible trajectory-guide including at least one force- and/or torque-transmitting coupling-member, a baffle-member separating a sterile section from a non-sterile section, and a sterility-sleeve attached to the baffle-member; an actuator unit having a sensor unit that senses at least one of a) whether a trajectory-guide is placed with respect to the actuator unit in a manner that allows engaging-members to accurately engage an actuator interface, and b) whether the engaging-members have accurately engaged the actuator-interface; and a retainer-receptacle adapted to temporarily accommodate the trajectory guide, and to restrain flexibility of the trajectory-guide while it is accommodated. A packaging-container having an inner sterile volume containing the retainer-receptacle and the trajectory-guide and a method of setting up such a sterility-preserving robotic frontend-system.