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41.发明授权公开(公告)号：US10463447B2
公开(公告)日：2019-11-05
申请号：US15125245
申请日：2014-09-15
申请人： Gal Sela , Arun Victor Jagga
发明人： Gal Sela , Arun Victor Jagga
摘要： Systems, and methods are provided for computer based method for determining a source of a registration error in a surgical navigation system, by registering at least two patient reference markers in a common coordinate space, positioning at least one reference marker in a known position with respect to at least one of two patient reference markers. A relative position of the at least two patient reference markers with respect to each other in the common coordinate space is monitored, as well as a position of said at least one reference marker with respect to a first of the at least two patient reference markers. Upon detecting a change in relative position of the least at least two patient reference markers with respect to each other, determining if the position of said at least one reference marker with respect to the first of the at least two patient reference markers has changed, and if yes, designating that the first patient reference marker has moved, and if not, designating that the second of the at least two patient reference markers has moved.
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公开(公告)号：US20190223704A1
公开(公告)日：2019-07-25
申请号：US16326349
申请日：2016-08-17
摘要： A flexible high resolution endoscope is provided herein. The endoscope comprises: a plurality of optical fiber bundles; a plurality of lenses in a one-to-one relationship with the plurality of optical fiber bundles; and, a plurality of cameras in a one-to-one relationship with the plurality of optical fiber bundles, each respective optical fiber bundle, of the plurality of optical fiber bundles, having a respective lens, of the plurality of lenses, located at a respective distal end, and a camera, of the plurality of cameras, located at a respective proximal end, the plurality of optical fiber bundles being coupled together at a common distal end, and otherwise being uncoupled from one another, a bending radius of the endoscope defined by a largest respective bending radius of each of the plurality of optical fiber bundles.
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公开(公告)号：US10251724B2
公开(公告)日：2019-04-09
申请号：US15584132
申请日：2017-05-02
摘要： A reference tie to be secured around a portion of a spine during a surgical procedure and to be tracked by a surgical navigation system is described. The reference tie includes an elongate strap having a first strap end and a second strap end. The reference tie also includes a fastener joined to the elongate strap at the first strap end, the fastener for securing the first strap end to a portion of the second strap end. The elongate strap is configured to form a secured loop around the portion of the spine. The reference tie also includes a fiducial marker joined to at least one of the elongate strap or the fastener. The fiducial marker is trackable by the surgical navigation system.
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公开(公告)号：US10166078B2
公开(公告)日：2019-01-01
申请号：US15537576
申请日：2015-07-21
摘要： A medical navigation system is provided for registering a patient for a medical procedure with the medical navigation system using fiducial markers. The fiducial markers are placed on the patient prior to a 3D scan and the fiducial markers each have a target for use with a tracking system. The medical navigation system comprises a 3D scanner, a tracking system, a display, and a controller electrically coupled to the 3D scanner, the tracking system, and the display. The controller has a processor coupled to a memory. The controller is configured to: receive 3D scan data generated by the 3D scanner representative of a 3D scan of at least a portion of the patient, the 3D scan including the fiducial markers visible by the 3D scanner; load from the memory saved medical image data, the saved medical data including preoperative image data saved during a previous scan of at least a portion of the patient; receive position data from the tracking system based on the target for each of the fiducial markers; and perform a transformation mapping to create a single unified virtual coordinate space based on the 3D scan data, the position data, and the medical image data, and updating registration data of the medical navigation system based on the transformation mapping.
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45.发明授权公开(公告)号：US10102681B2
公开(公告)日：2018-10-16
申请号：US15107015
申请日：2015-07-29
摘要： A method of generating adjusted image data to compensate for modality-induced distortion includes, at a processor: receiving a three-dimensional image captured with a first imaging modality and including (i) distorted surface image data depicting a surface of an object and (ii) distorted volume image data depicting a volume of the object; extracting the distorted surface image data from the three-dimensional image; receiving reference surface image data captured with a second imaging modality and depicting the surface of the object; determining a surface transformation for registering the distorted surface image data with the reference surface image data; determining a volume transformation informed by the surface transformation; generating an adjusted three-dimensional image by applying the volume transformation to the three-dimensional image; and storing the adjusted three-dimensional image in the memory.
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公开(公告)号：USD794787S1
公开(公告)日：2017-08-15
申请号：US29506602
申请日：2014-10-17
申请人： Leila Kheradpir , William Wai-Leung Lau , Gal Sela , Neil Witcomb
设计人： Leila Kheradpir , William Wai-Leung Lau , Gal Sela , Neil Witcomb
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公开(公告)号：US20210228283A1
公开(公告)日：2021-07-29
申请号：US17094777
申请日：2020-11-10
申请人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
发明人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
摘要： Methods and systems for outputting depth data during a medical procedure on a patient. Depth data is outputted, representing at least one of relative depth data and general depth data. Tracking information about the position and orientation of a medical instrument and depth information about variations in depth over a site of interest are used. Relative depth data represents the depth information relative to the position and orientation of the instrument. General depth data represents the depth information over the site of interest independently of the position and orientation of the instrument.
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公开(公告)号：US20210037228A1
公开(公告)日：2021-02-04
申请号：US17038158
申请日：2020-09-30
申请人： Thomas Alexander MEDAL , Gal Sela
发明人： Thomas Alexander MEDAL , Gal Sela
IPC分类号： H04N13/204 , G02B21/00 , G02B21/22 , G02B21/36 , H04N13/111 , A61B34/30 , A61B90/20 , A61B90/50 , H04N13/156
摘要： An optical imaging system for imaging a target during a medical procedure is disclosed. The optical imaging system includes: a first camera for capturing a first image of the target; a second wide-field camera for capturing a second image of the target; at least one path folding mirror disposed in an optical path between the target and a lens of the second camera; and a processing unit for receiving the first image and the second image, the processor being configured to: apply an image transform to one of the first image and the second wide-field image; and combine the transformed image with the other one of the images to produce a stereoscopic image of the target.
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公开(公告)号：US10832408B2
公开(公告)日：2020-11-10
申请号：US15794518
申请日：2017-10-26
申请人： Kirusha Srimohanarajah , Dorothy Lui , Gal Sela , Kai Hynna , Shysta Ismaili , Samson Ng , Jakub Jankowski
发明人： Kirusha Srimohanarajah , Dorothy Lui , Gal Sela , Kai Hynna , Shysta Ismaili , Samson Ng , Jakub Jankowski
IPC分类号： G06T7/00 , G06T11/00 , G16H40/60 , G06T7/246 , G06T7/80 , G06F19/00 , A61B34/20 , G16H20/40 , G16H30/40 , G16H40/40
摘要： Methods and apparatuses for performing patient registration. 3D scan data from a 3D scanner, preoperative image data, first tracking data from a first tracking system, and second tracking data from a second tracking system are mapped to a common coordinate space. The 3D scan data and the first tracking data are mapped to each other using a transformation that is determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space. The 3D scan data and the preoperative image data are mapped to each other using a surface matching algorithm. The first tracking data and the second tracking data are mapped to each other based on tracking of the patient reference device.
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公开(公告)号：US10828114B2
公开(公告)日：2020-11-10
申请号：US16343248
申请日：2016-10-21
申请人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
发明人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
摘要： Methods and systems for outputting depth data during a medical procedure on a patient. Depth data is outputted, representing at least one of relative depth data and general depth data. Tracking information about the position and orientation of a medical instrument and depth information about variations in depth over a site of interest are used. Relative depth data represents the depth information relative to the position and orientation of the instrument. General depth data represents the depth information over the site of interest independently of the position and orientation of the instrument.
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