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公开(公告)号：US11754267B2
公开(公告)日：2023-09-12
申请号：US15370005
申请日：2016-12-06
申请人： 7D SURGICAL INC.
发明人： Adrian Mariampillai , Peter Siegler , Jean-Francois Paul , Michael Leung , Beau Anthony Standish , Victor X. D. Yang
IPC分类号： A61B90/35 , F21V21/28 , F21S8/08 , F21V21/108 , F21V9/14 , F21S6/00 , H04N13/254 , H04N13/271 , H04N13/239
CPC分类号： F21V21/28 , A61B90/35 , F21S8/08 , F21V9/14 , F21V21/108 , F21S6/004 , H04N13/239 , H04N13/254 , H04N13/271
摘要： Alignment systems and devices are provided for controlling the alignment of an optical payload. In some embodiments, an optical positioning system is provided that includes a yoke supporting an optical payload. The yoke, which includes a plurality of articulated segments and associated pivot joints, is mechanically coupled to the optical payload, such that when the optical payload is oriented in a given direction, such as towards a distal target, the optical payload is rotatable about a distal pivot axis associated with a distal pivot joint of the yoke. The pivot joints of the yoke may be configured such that the rotation axis associated with a given pivot joint passes sufficiently close to a respective center of mass of a distalward portion of the optical alignment system beyond the given pivot joint, such that the position and orientation of the optical payload is maintained in the absence of external forces.
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公开(公告)号：US11547488B2
公开(公告)日：2023-01-10
申请号：US16314826
申请日：2017-07-04
申请人： 7D SURGICAL INC.
发明人： Victor X. D. Yang , Adrian Mariampillai , Michael Leung , Peter Siegler , Beau Anthony Standish
IPC分类号： A61B5/05 , A61B34/20 , A61B90/00 , G06T7/521 , G06T7/37 , A61B5/00 , A61B5/055 , A61B6/03 , A61B6/12 , A61B6/00
摘要： Systems and methods are provided for performing intraoperative fusion of two or more volumetric image datasets via surface-based image registration. The volumetric image datasets are separately registered with intraoperatively acquired surface data, thereby fusing the two volumetric image datasets into a common frame of reference while avoiding the need for complex and time-consuming preoperative volumetric-to-volumetric image registration and fusion. The resulting fused image data may be processed to generate one or more images for use during surgical navigation.
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公开(公告)号：US10789739B2
公开(公告)日：2020-09-29
申请号：US16510078
申请日：2019-07-12
申请人： 7D SURGICAL INC.
发明人： Adrian Linus Dinesh Mariampillai , Peter Siegler , Michael Leung , Beau Anthony Standish , Victor X. D. Yang
IPC分类号： G06K9/00 , G06T11/00 , A61B6/03 , A61B5/055 , A61B6/04 , A61B6/00 , G06T7/33 , G06T3/00 , A61B5/107
摘要： The present disclosure relates to the generation of partial surface models them volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.
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5.发明授权公开(公告)号：US11712304B2
公开(公告)日：2023-08-01
申请号：US16623649
申请日：2018-06-21
申请人： 7D SURGICAL INC.
发明人： Michael K. K. Leung , Adrian Mariampillai , Beau Anthony Standish , Peter Siegler , Victor X. D. Yang
CPC分类号： A61B34/20 , A61B34/25 , A61B17/7074 , A61B2017/00216 , A61B2017/564 , A61B2034/107 , A61B2034/254 , A61B2090/363 , A61B2090/364 , A61B2090/365 , A61B2090/3983
摘要： Various example embodiments of the present disclosure provide systems and methods for performing image-guided navigation during medical procedures using intraoperative surface detection. A surface detection device is employed to obtain intraoperative surface data characterizing multiple surface regions of a subject. Pre-operative volumetric image data is registered to each surface region, providing per-surface-region registration transforms. In some example embodiments, navigation images may be generated intraoperatively based on the dynamic selection of a suitable registration transform. For example, a registration transform for generating navigation images may be dynamically determined based on the proximity of a tracked surgical tool relative to the surface regions. In an alternative example embodiment, multiple navigation images may be displayed, wherein each navigation image is generated using a different registration transform.
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公开(公告)号：US11605185B2
公开(公告)日：2023-03-14
申请号：US17020052
申请日：2020-09-14
申请人： 7D SURGICAL INC.
发明人： Adrian Linus Dinesh Mariampillai , Peter Siegler , Michael Leung , Beau Anthony Standish , Victor X. D. Yang
IPC分类号： G06K9/00 , G06T11/00 , A61B6/03 , A61B5/055 , A61B6/04 , A61B6/00 , G06T7/33 , G06T3/00 , A61B5/107
摘要： The present disclosure relates to the generation of partial surface models from volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.
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公开(公告)号：US10792110B2
公开(公告)日：2020-10-06
申请号：US16314809
申请日：2017-07-04
申请人： 7D SURGICAL INC.
发明人： Michael K. K. Leung , Adrian Mariampillai , Beau Anthony Standish , Peter Siegler , Victor X. D. Yang
摘要： Systems and methods are disclosed whereby a surface detection system is employed to obtain intraoperative surface data characterizing an exposed surface of the spine. In some embodiments, this intraoperative surface data is registered to segmented surface data obtained from volumetric data of the spine in order to assess the intraoperative orientation of the spine and provide feedback associated with the intraoperative orientation of the spine. The feedback may characterize the intraoperative spinal orientation as a change relative to the preoperative orientation.
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公开(公告)号：US10403009B2
公开(公告)日：2019-09-03
申请号：US16021815
申请日：2018-06-28
申请人： 7D SURGICAL INC.
发明人： Adrian Linus Dinesh Mariampillai , Peter Siegler , Michael Leung , Beau Anthony Standish , Victor X. D. Yang
IPC分类号： G06K9/00 , G06T11/00 , A61B6/03 , A61B5/055 , A61B6/04 , A61B6/00 , G06T3/00 , G06T7/33 , A61B5/107
摘要： The present disclosure relates to the generation of partial surface models from volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.
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公开(公告)号：US10143523B2
公开(公告)日：2018-12-04
申请号：US15562249
申请日：2016-03-31
申请人： 7D SURGICAL INC.
发明人： Adrian Mariampillai , Peter Siegler , Michael Leung , Beau Anthony Standish , Victor X. D. Yang
摘要： Systems, methods and devices are provided for calibrating a flexible implement that employs fiber Bragg gratings (FBGs) for shape sensing. In some embodiments, methods and devices are provided for determining the longitudinal location of a FBG within an optical fiber that is employed for shape sensing. In other embodiments, methods and devices are employed for the determination of calibration parameters that relate the measured wavelength shift of a set of FBGs to the curvature at the location within the flexible implement where the set of FBGs resides. Various calibration devices are disclosed that employ guiding features for bending the flexible portion of the flexible implement along known curved profiles. In some embodiments, keyed features are incorporated into the flexible implement and the calibration device, such that the flexible implement is inserted into the device in a known orientation. In some embodiments, the flexible implement may incorporate a strain isolation mechanism.
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公开(公告)号：US20150182293A1
公开(公告)日：2015-07-02
申请号：US14412464
申请日：2013-07-03
申请人： 7D SURGICAL INC.
发明人： Victor X. D. Yang , Peter Siegler , Adrian Mariampillai , Beau Anthony Standish , Michael Leung
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B5/064 , A61B17/1703 , A61B17/1757 , A61B90/39 , A61B2017/00477 , A61B2034/2055 , A61B2034/2065 , A61B2090/364 , A61B2090/3937 , A61B2090/3941 , A61B2090/3983
摘要： Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.
摘要翻译： 提供了用于跟踪手持式工具的位置和方位的设备和系统，使得手持式工具可以使用架空跟踪系统来跟踪。 支撑构件相对于手持式工具的纵向部分固定一个或多个标记，并且包含标记的标记平面相对于纵向部分的纵向轴线取向成一角度。 标记组件可以包括用于支撑标记的支撑构件，以及用于将标记组件可移除地附接到一个或多个手持式工具的连接器。 标记组件可以被配置为可移除地附接到多个连接适配器，其中每个连接适配器还可连接到手持式工具，可选地在校准位置，使得可以任选地使用单个连接适配器来跟踪多个 手持工具。 手持式工具可以是医疗器械。
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