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公开(公告)号：US10231790B2
公开(公告)日：2019-03-19
申请号：US12144507
申请日：2008-06-23
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randal Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randal Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B34/10 , A61B34/30 , A61F2/30 , G06F3/01 , A61B17/16 , A61B34/37 , A61B34/35 , A61N1/05 , A61N1/36 , A61N1/372 , G06F19/00 , A61F2/46 , A61B5/11 , A61B17/17 , A61B17/00 , A61F2/38 , A61B5/00 , A61B90/00 , A61B34/20 , A61B34/00 , A61B90/14
摘要： A method for joint replacement is provided. A representation of a first bone is created, and a representation of a second bone is created. Bone preparation for implanting a first implant on the first bone is planned. The first bone to receive the first implant is prepared by manipulating a surgical tool to sculpt the first bone. Bone preparation for implanting a second implant on the second bone after preparing the first bone is planned. The second bone to receive the second implant is prepared by manipulating the surgical tool to sculpt the second bone.
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公开(公告)号：US20060142657A1
公开(公告)日：2006-06-29
申请号：US11357197
申请日：2006-02-21
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B5/05
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译： 手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。 计算机系统被编程为实现用于控制外科手术装置的控制参数，以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个 手术装置的一部分的位置，方向，速度和加速度，以及响应于手术期间解剖结构的移动来调整控制参数。
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公开(公告)号：US20120109150A1
公开(公告)日：2012-05-03
申请号：US13195733
申请日：2011-08-01
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译： 手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。 计算机系统被编程为实现用于控制外科手术装置的控制参数，以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个 手术装置的一部分的位置，方向，速度和加速度，以及响应于手术期间解剖结构的移动来调整控制参数。
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公开(公告)号：US20090012532A1
公开(公告)日：2009-01-08
申请号：US12144517
申请日：2008-06-23
申请人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B19/00
摘要： A surgical planning method is provided. A height of a cartilage surface above a bone is detected. A representation of the bone and a representation of the height of the cartilage surface is created. Bone preparation for implanting an implant on the bone is planned based at least in part on the detected height of the cartilage surface.
摘要翻译： 提供外科手术方法。 检测到骨头上方的软骨表面的高度。 创建骨的表示和软骨表面高度的表示。 至少部分地基于检测到的软骨表面的高度来计划用于将植入物植入骨的骨准备。
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公开(公告)号：US20090000626A1
公开(公告)日：2009-01-01
申请号：US12144507
申请日：2008-06-23
申请人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A method for joint replacement is provided. A representation of a first bone is created, and a representation of a second bone is created. Bone preparation for implanting a first implant on the first bone is planned. The first bone to receive the first implant is prepared by manipulating a surgical tool to sculpt the first bone. Bone preparation for implanting a second implant on the second bone after preparing the first bone is planned. The second bone to receive the second implant is prepared by manipulating the surgical tool to sculpt the second bone.
摘要翻译： 提供了一种关节置换的方法。 创建第一个骨骼的表示，并创建第二个骨骼的表示。 计划在第一个骨上植入第一个植入物的骨骼准备。 通过操纵外科手术工具来雕刻第一个骨头来准备第一个接收第一种植入物的骨头。 计划在准备第一骨后在第二骨上植入第二植入物的骨准备。 接受第二植入物的第二骨通过操纵外科手术工具来雕刻第二骨来制备。
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公开(公告)号：US20090012531A1
公开(公告)日：2009-01-08
申请号：US12144496
申请日：2008-06-23
申请人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.
摘要翻译： 手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。 计算机系统被编程以创建患者的解剖结构的表示; 将解剖结构和手术装置与解剖结构的表示相关联; 以操纵所述手术装置以通过在所述解剖结构的区域中移动所述外科手术装置的一部分来对患者执行手术; 基于解剖结构的表示与位置，取向，速度和加速度中的至少一个之间的关系来控制手术装置以提供触觉引导和对手术装置的操纵的限制中的至少一个 的外科装置的一部分; 并且在手术期间响应于解剖结构的移动来调整解剖结构的表示。
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公开(公告)号：US20090000627A1
公开(公告)日：2009-01-01
申请号：US12144526
申请日：2008-06-23
申请人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur QUAID , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical planning method is provided. A representation of a bone of a joint is created. The joint is moved to a first position. A first point corresponding to a first location in the joint is identified when the joint is in the first position. The joint is moved to a second position. A second point corresponding to a second location in the joint is identified, when the joint is in the second position. Bone preparation for implanting an implant on the bone is planned based at least in part on the first and second points.
摘要翻译： 提供外科手术方法。 创建关节骨骼的表示。 关节移动到第一位置。 当关节处于第一位置时，识别对应于关节中的第一位置的第一点。 关节移动到第二位置。 当关节处于第二位置时，识别对应于关节中的第二位置的第二点。 至少部分地基于第一和第二点来计划用于将植入物植入骨骼的骨准备。
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公开(公告)号：US08911499B2
公开(公告)日：2014-12-16
申请号：US12144526
申请日：2008-06-23
申请人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61F2/30 , A61F2/46 , A61B19/00 , A61B17/17 , G06F3/01 , A61B5/11 , A61B17/00 , A61F2/38 , A61B17/16 , A61B5/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical planning method is provided. A representation of a bone of a joint is created. The joint is moved to a first position. A first point corresponding to a first location in the joint is identified when the joint is in the first position. The joint is moved to a second position. A second point corresponding to a second location in the joint is identified, when the joint is in the second position. Bone preparation for implanting an implant on the bone is planned based at least in part on the first and second points.
摘要翻译： 提供外科手术方法。 创建关节骨骼的表示。 关节移动到第一位置。 当关节处于第一位置时，识别对应于关节中的第一位置的第一点。 关节移动到第二位置。 当关节处于第二位置时，识别对应于关节中的第二位置的第二点。 至少部分地基于第一和第二点来计划用于将植入物植入骨骼的骨准备。
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公开(公告)号：US09002426B2
公开(公告)日：2015-04-07
申请号：US12144496
申请日：2008-06-23
申请人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur E. Quaid , Hyosig Kang , Dennis Moses , Rony A. Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis K. Arata , Dana C. Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B6/00 , A61B5/05 , A61B17/56 , A61B19/00 , A61B17/17 , G06F3/01 , A61B5/11 , A61B17/00 , A61F2/38 , A61B17/16 , A61B5/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.
摘要翻译： 手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。 计算机系统被编程以创建患者的解剖结构的表示; 将解剖结构和手术装置与解剖结构的表示相关联; 以操纵所述手术装置以通过在所述解剖结构的区域中移动所述外科手术装置的一部分来对患者执行手术; 基于解剖结构的表示与位置，取向，速度和加速度中的至少一个之间的关系来控制手术装置以提供触觉引导和对手术装置的操纵的限制中的至少一个 的外科装置的一部分; 并且在手术期间响应于解剖结构的移动来调整解剖结构的表示。
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公开(公告)号：US08010180B2
公开(公告)日：2011-08-30
申请号：US11357197
申请日：2006-02-21
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Scott Illsley
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Scott Illsley
IPC分类号： A61B5/05
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译： 手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。 计算机系统被编程为实现用于控制外科手术装置的控制参数，以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个 手术装置的一部分的位置，方向，速度和加速度，以及响应于手术期间解剖结构的移动来调整控制参数。
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