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    Determining the Positional Information of Characteristic Points of a Leg for Osteotomy
    1.
    发明申请
    Determining the Positional Information of Characteristic Points of a Leg for Osteotomy 审中-公开
    确定截骨特征点的位置信息

    公开(公告)号：US20160106515A1

    公开(公告)日：2016-04-21

    申请号：US14895019

    申请日：2013-12-12

    Applicant: BRAINLAB AG

    Inventor： Sabine Kling ,  Luise Poitzsch ,  Melanie Stulpe ,  Mario Schubert ,  Christianäß Brack ,  Timo Neubauer

    IPC: A61B5/00 ,  A61B5/11 ,  A61B17/60

    Abstract: A data processing method for determining the positional information of characteristic points of a leg, the method comprising the following steps performed by a computer: a) acquiring, by detecting via a hand-held device a stationary reference (R3) and at least one further information, at least four different positions of the femur (F), wherein the pelvis within which the femur (F) can turn is stationary with respect to the stationary reference (R3) and the femur (F) is in a different position each time a positional information value of the femur (F) is acquired; b) determining from the at least four different acquired positional information values of the femur (F) the position of the center of rotation (COR) of the femoral head in relation to a femur reference (R1, R4); c) acquiring a femur information by detecting via a hand-held device a femur reference (R1), and at least one further information; d) determining from the femur information and the at least one further information acquired in step c) the distal end point of the femur axis and the proximal end point of the tibia axis at least in relation to the femur reference (R1); and e) determining the distal end point of the tibia axis by acquiring via a hand-held device the positional information of an ankle reference (R2) being at the distal end point of the tibia axis.

    Abstract translation: 一种用于确定腿的特征点的位置信息的数据处理方法，所述方法包括由计算机执行的以下步骤：a）通过手持设备检测静态参考（R3）和至少另外一个 信息，股骨（F）的至少四个不同位置，其中股骨（F）可以在其内转动的骨盆相对于静止参考点（R3）是静止的，而股骨（F）每次处于不同的位置 获取股骨（F）的位置信息值; b）从所述股骨（F）的至少四个不同的获取的位置信息值确定股骨头相对于股骨参考（R1，R4）的旋转中心（COR）的位置; c）通过手持设备检测股骨参考（R1）和至少一个其他信息来获取股骨信息; d）从股骨信息和至少一个进一步的信息确定，所述至少一个进一步信息至少相对于股骨参考（R1）在步骤c）股骨轴线的远端点和胫骨轴线的近端点处获得; 以及e）通过经由手持装置获取在胫骨轴线的远端点处的脚踝参考（R2）的位置信息来确定胫骨轴线的远端点。

    Determination of center of rotation of a bone
    2.
    发明授权
    Determination of center of rotation of a bone 有权

    公开(公告)号：US10561345B2

    公开(公告)日：2020-02-18

    申请号：US15767336

    申请日：2015-12-11

    Applicant: Brainlab AG

    Inventor： Christian Brack ,  Mario Schubert

    IPC: A61B5/00 ,  A61B5/107 ,  A61B5/11 ,  G06T7/00

    Abstract: A computer implemented method for determining a center of rotation of a bone, comprising the steps of: a) acquiring image data representing a plurality of images taken by a camera while the bone is being rotated about the center of rotation, wherein the images show a marker device attached to the bone; b) forming a plurality of image pairs from the image data, wherein each image pair comprises two different images; c) determining a first relative position of the marker device relative to the camera from a first image of an image pair; d) determining a second relative position of the marker device relative to the camera from a second image of the same image pair; e) calculating a transformation of the first relative position into the second relative position; f) repeating steps c) to e) for all image pairs to obtain a plurality of transformations; and calculating the location of the center of rotation of the bone relative to the marker device from the plurality of transformations.

    Interrelated point acquisition for navigated surgery
    3.
    发明授权
    Interrelated point acquisition for navigated surgery 有权

    公开(公告)号：US10179031B2

    公开(公告)日：2019-01-15

    申请号：US15027606

    申请日：2013-10-28

    Applicant: Brainlab AG

    Inventor： Martin Haimerl ,  Mario Schubert

    IPC: G06F17/30 ,  A61B34/20 ,  G06F19/00 ,  G16H40/63 ,  A61B90/00

    Abstract: The present invention relates to a method for acquiring the position of points for navigated surgery, the method being constituted to be executed by a computer and comprising the following steps:—acquiring, on the basis of detecting a first tracked device, first point position data for each of at least two points, wherein the first point position data comprise point position information describing the three-dimensional position of the point within a first co-ordinate system assigned to the first tracked device;—acquiring first co-ordinate transformation data for each of at least two points, wherein the first co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the first co-ordinate system to a second co-ordinate system;—acquiring second co-ordinate transformation data for each of at least two points, wherein the second co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the second co-ordinate system to a third co-ordinate system assigned to a second tracked device;—determining, on the basis of the first and second co-ordinate transformation data, second point position data for each of at least two points, wherein the second point position data comprise point position information describing the three-dimensional position of the point within the third co-ordinate system; wherein the second point position data of at least one of the at least two points are determined on the basis of the second co-ordinate transformation data of at least one other of the at least two points.

    INTERRELATED POINT ACQUISITION FOR NAVIGATED SURGERY
    5.
    发明申请
    INTERRELATED POINT ACQUISITION FOR NAVIGATED SURGERY 审中-公开
    用于导航手术的中间点获取

    公开(公告)号：US20160249985A1

    公开(公告)日：2016-09-01

    申请号：US15027606

    申请日：2013-10-28

    Applicant: BRAINLAB AG

    Inventor： Martin Haimerl ,  Mario Schubert

    IPC: A61B34/20 ,  G06F19/00

    CPC classification number: A61B34/20 ,  A61B2034/2068 ,  A61B2090/363 ,  A61B2090/364 ,  G06F19/00 ,  G06F19/324 ,  G16H40/63

    Abstract: The present invention relates to a method for acquiring the position of points for navigated surgery, the method being constituted to be executed by a computer and comprising the following steps: —acquiring, on the basis of detecting a first tracked device, first point position data for each of at least two points, wherein the first point position data comprise point position information describing the three-dimensional position of the point within a first co-ordinate system assigned to the first tracked device; —acquiring first co-ordinate transformation data for each of at least two points, wherein the first co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the first co-ordinate system to a second co-ordinate system; —acquiring second co-ordinate transformation data for each of at least two points, wherein the second co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the second co-ordinate system to a third co-ordinate system assigned to a second tracked device; —determining, on the basis of the first and second co-ordinate transformation data, second point position data for each of at least two points, wherein the second point position data comprise point position information describing the three-dimensional position of the point within the third co-ordinate system; wherein the second point position data of at least one of the at least two points are determined on the basis of the second co-ordinate transformation data of at least one other of the at least two points.

    Abstract translation: 本发明涉及一种用于获取导航手术点的位置的方法，该方法被构造成由计算机执行，并且包括以下步骤： - 基于检测到第一被跟踪设备来查询第一点位置数据 对于至少两个点中的每一个，其中第一点位置数据包括描述分配给第一跟踪设备的第一坐标系统内的点的三维位置的点位置信息; - 获取至少两个点中的每一个的第一坐标变换数据，其中所述第一坐标变换数据包括描述从所述第一坐标系到所述点的所述三维位置的变换的坐标变换信息 第二协调系统; - 针对至少两个点中的每一个获取第二坐标变换数据，其中所述第二坐标变换数据包括描述从所述第二坐标系到所述点的所述三维位置的变换的坐标变换信息 分配给第二跟踪装置的第三坐标系; - 基于所述第一和第二坐标变换数据确定用于至少两个点中的每一个的第二点位置数据，其中所述第二点位置数据包括描述所述点内的点的三维位置的点位置信息 第三坐标系; 其中所述至少两个点中的至少一个点的所述第二点位置数据是基于所述至少两个点中的至少另一个点的所述第二坐标变换数据来确定的。

    Method and device for determining geometric parameters for total knee replacement surgery
    7.
    发明授权
    Method and device for determining geometric parameters for total knee replacement surgery 有权

    公开(公告)号：US10918439B2

    公开(公告)日：2021-02-16

    申请号：US15569820

    申请日：2015-04-28

    Applicant: Brainlab AG

    Inventor： Florian Haidacher ,  Timo Neubauer ,  Mario Schubert

    IPC: G06K9/00 ,  A61B34/10 ,  A61B17/15 ,  G06T7/00 ,  G06T7/60 ,  A61B90/00 ,  A61B34/20 ,  A61B17/17

    Abstract: The present invention relates to a data processing method performed by a computer, for determining geometric parameters of a phantom leg bone using a cutting guide that defines a cutting plane and that is configured to abut a predetermined surface section of the phantom leg bone. The method comprises acquiring cutting guide position data describing the spatial position of the cutting guide, acquiring relative position data describing the spatial position of a first mechanical axis point relative to the predetermined surface section of the phantom leg bone, and determining, based on the cutting guide position data and the relative position data, first axis point position data describing the spatial position of the first mechanical axis point of the phantom leg bone. The present invention further relates to a corresponding cutting guide and a corresponding computer program and computer.

    Method and apparatus for determining differences in geometry of subject element using landmarks
    8.
    发明授权
    Method and apparatus for determining differences in geometry of subject element using landmarks 有权

    公开(公告)号：US10244967B2

    公开(公告)日：2019-04-02

    申请号：US15617793

    申请日：2017-06-08

    Applicant: Brainlab AG

    Inventor： Mario Schubert ,  Melanie Wegner ,  Sabine Kling ,  Luise Poitzsch

    IPC: A61B5/00 ,  A61B5/107 ,  A61B5/11 ,  G01B11/14 ,  G06K9/52 ,  G06T3/60 ,  G06T7/00 ,  G06T7/60 ,  A61B34/20 ,  G06T7/30 ,  G06T7/73 ,  G06F19/00 ,  A61B90/00

    Abstract: A method, performed by a computer, for measuring geometric length and offset differences of a subject element using landmarks obtained through, for example, analysis of medical data images. The method may include obtaining medical image data from a medical imaging device. The method includes measuring, by the computer, a first landmark vector between a femoral landmark and a second landmark at a first point in time from, for example, the medical data images. Further, the method includes measuring, by the computer, a second landmark vector between the femoral landmark and the second landmark at a second point in time which is later than the first point in time from, for example, the medical data images. Calculating an orthogonal projection of the first landmark vector into a sagittal plane and using the direction of the orthogonal projection of the first landmark vector into the sagittal plane as a length direction. Calculating a direction which is perpendicular to the sagittal plane and using this direction as an offset direction and calculating the length difference in the length direction and the offset difference in the offset direction from the first landmark vector and the second landmark vector.

    Determination of an implant orientation relative to a bone
    9.
    发明授权
    Determination of an implant orientation relative to a bone 有权

    公开(公告)号：US10231785B2

    公开(公告)日：2019-03-19

    申请号：US15516534

    申请日：2015-05-08

    Applicant: Brainlab AG

    Inventor： Lars Dohmen ,  Mario Schubert ,  Anna Wiedenmann

    IPC: A61B5/00 ,  A61B34/10 ,  A61B34/20 ,  A61B5/11 ,  A61F2/32 ,  A61F2/46

    Abstract: Implant orientation data representing a range of functional orientations of a first implant part relative to a first bone is determined. The first implant part is part of an implant pair to be implanted in an associated patient. The implant pair includes the first implant part and a second implant part. Second implant orientation data representing an orientation of the second implant part relative to a second bone is acquired. Implant shape data representing shapes of the first and the second implant parts is acquired. Activity data representing a desired activity of the associated patient is acquired. The desired activity has an associated original range of motion between the first bone and the second bone. The implant orientation data is determined based on the second implant orientation data, the implant shape data, and the activity data.

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