公开(公告)号：US20220405935A1

公开(公告)日：2022-12-22

申请号：US17891470

申请日：2022-08-19

Applicant: Brainlab AG

Inventor： Sven Flossmann ,  Samuel Kerschbaumer ,  Nils Frielinghaus ,  Christoffer Hamilton

IPC: G06T7/00 ,  G06T7/11 ,  G06T7/33 ,  G06T7/60

Abstract: The disclosed method encompasses using an augmented reality device to blend in augmentation information including for example atlas information. The atlas information may be display separately from or in addition to a patient image (planning image). In order to display the atlas information in a proper position relative to the patient image, the two data sets are registered to one another. This registration can serve for generating a diversity of atlas-based image supplements, for example alternatively or additionally to the foregoing for displaying a segmentation of the patient image in the augmented reality image. The disclosed method is usable in a medical environment such as for surgery or radiotherapy.

公开(公告)号：US11141859B2

公开(公告)日：2021-10-12

申请号：US15535654

申请日：2016-11-02

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Christoffer Hamilton ,  Nils Frielinghaus

IPC: G06F17/00 ,  B25J9/16 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/00

Abstract: A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: —acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; —acquiring patient position data representing the position of a patient to be treated; and —calculating the configuration from the treatment information data and the patient position data.

公开(公告)号：US12197637B2

公开(公告)日：2025-01-14

申请号：US17947828

申请日：2022-09-19

Applicant: Brainlab AG

Inventor： Nils Frielinghaus ,  Christoffer Hamilton

IPC: G06F3/01 ,  A61B90/00 ,  G02B27/01 ,  G06T19/00

Abstract: The disclosed method encompasses registering an augmented reality device such as augmented reality glasses with a tracking coordinate system associated with a position tracking system. This may be effected by different approaches, for example by using a distance measurement unit (depth sensor) of the augmented reality device to determine a position of the augmented reality device relative to an object in a medical environment such as in surgery or radiotherapy/radiosurgery. The object may additionally be tracked by the position tracking system so that on the basis of the distance measurement, a relative position between the augmented reality device and the tracking coordinate system can be determined in order to register the augmented reality device with the position tracking system. This registration allows displaying augmentation information in a desired context and/or at a desired location in the image of the medical environment captured by the augmented reality device.

公开(公告)号：US12133693B2

公开(公告)日：2024-11-05

申请号：US16646786

申请日：2019-07-17

Applicant: Brainlab AG

Inventor： Nils Frielinghaus ,  Mohamed Ahmed Fouad Barakat

IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B90/50

Abstract: A method for automatic detection of a medical instrument orientation for robotic surgery is presented. The method determines the orientation of a marker device attached to the medical instrument in relation to the robotic system by comparing movement information. The method compares the information about a movement of the marker device from a tracking system with the information about a movement of the robotic arm, which movement data can be acquired by the robotic system. The orientation of the medical instrument with respect to the robotic system can be determined automatically and used for subsequent calculations such as an automatic and efficient precise alignment to a target trajectory or a correct positioning assistance for a mechatronic arm. A computer-implemented medical method of automatically determining an orientation of a medical instrument base in relation to a robotic system is provided.

公开(公告)号：US12086988B2

公开(公告)日：2024-09-10

申请号：US17891470

申请日：2022-08-19

Applicant: Brainlab AG

Inventor： Sven Flossmann ,  Samuel Kerschbaumer ,  Nils Frielinghaus ,  Christoffer Hamilton

IPC: G06T7/00 ,  G06T7/11 ,  G06T7/33 ,  G06T7/60

CPC classification number: G06T7/0016 ,  G06T7/11 ,  G06T7/33 ,  G06T7/60 ,  G06T2210/41

Abstract: The disclosed method encompasses using an augmented reality device to blend in augmentation information including for example atlas information. The atlas information may be display separately from or in addition to a patient image (planning image). In order to display the atlas information in a proper position relative to the patient image, the two data sets are registered to one another. This registration can serve for generating a diversity of atlas-based image supplements, for example alternatively or additionally to the foregoing for displaying a segmentation of the patient image in the augmented reality image. The disclosed method is usable in a medical environment such as for surgery or radiotherapy.

公开(公告)号：US11589934B2

公开(公告)日：2023-02-28

申请号：US16497853

申请日：2018-09-24

Applicant: Brainlab AG

Inventor： Mohamed Ahmed Fouad Barakat ,  Nils Frielinghaus

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/50 ,  G16H40/63

Abstract: Disclosed is a computer-implemented method of determining control data for increasing the braking force exerted by a braking mechanism of a mechatronic articulable arm on at least one or all joints connecting the arm elements of the mechatronic articulable arm to a level of braking force which is higher than the level required for locking the joint or joints, respectively. The control data is determined in dependence on both the relative position between the mechatronic articulable arm and an anatomical body part of patient, and a locking state of the mechatronic articulable arm.

公开(公告)号：US10973587B2

公开(公告)日：2021-04-13

申请号：US15752927

申请日：2015-08-19

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Christoffer Hamilton ,  Nils Frielinghaus

IPC: A61B34/20 ,  B25J9/16 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  A61B90/50 ,  G06T7/70 ,  G06T7/00 ,  G06T11/00 ,  A61N5/10

Abstract: Provided is a reference array holder, including a first segment configured to be mounted to a reference structure, and a second segment supporting a reference array having at least one tracking marker, wherein the second segment is movably coupled to the first segment via at least one coupling, and wherein the at least one coupling includes a sensor that provides information as to the spatial position of the second segment relative to the first segment. Also provided is tracking and/or navigation system including such reference array holder and to a computer implemented method of controlling a reference array holder.

公开(公告)号：US10603120B2

公开(公告)日：2020-03-31

申请号：US15566096

申请日：2016-09-13

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Christian Rabus ,  Nils Frielinghaus

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B90/00 ,  G16Z99/00 ,  G06F19/00

Abstract: Disclosed is a medical data processing method for determining control data for an automated movement of a robotic system (1) to move a tool operatively associated with the robotic system (1), wherein the method comprises executing, on at least one processor of at least one computer (4), steps of: a) acquiring (S1) image data describing an image of an anatomical structure of a patient; b) determining (S2) planned position data, based on the image data, describing at least one planned position of the tool relative to the anatomical structure of the patient; c) acquiring (S3) status change data describing the change of data a status of the robotic system (1) from a first status to a second status, wherein in the first status a manual movement of at least one part of the robotic system (1) is allowed and in the second status a manual movement of the at least one part of the robotic system is inhibited; d) acquiring (S4) actual position data describing the actual position of an element of the statue change data robotic system, in particular the tool, relative to the anatomical structure; e) determining (S5), based on the planned position data and the status change data and the actual position data, control data describing instructions for controlling, in the second status of the robotic system (1), at least one actuator to move the tool.

公开(公告)号：US20190005661A1

公开(公告)日：2019-01-03

申请号：US16073137

申请日：2016-02-12

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Christoffer Hamilton ,  Nils Frielinghaus

IPC: G06T7/33

Abstract: A method of operating a medical registration system, the medical registration system comprising a robot which carries a surface point sampling device and comprising a computer connected to the robot, to obtain a registration of a 3D image of a patient with the patient (P) by: a) acquiring the 3D image of the patient; b) acquiring an initial registration of the 3D image with the patient as the registration; c) instructing the robot to sample the spatial locations of N different points on the surface of the patient using the surface point sampling device, wherein N is a positive integer; d) updating the registration based on the spatial locations of the N sampled points; and e) repeating steps c) and d) until a predetermined exit condition is fulfilled.

公开(公告)号：US09911187B2

公开(公告)日：2018-03-06

申请号：US15535958

申请日：2015-09-03

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Christoffer Hamilton ,  Nils Frielinghaus

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/70 ,  G06T11/00 ,  B25J9/16 ,  A61B90/00 ,  A61N5/10 ,  A61B10/02

CPC classification number: A61B34/20 ,  A61B10/0233 ,  A61B34/10 ,  A61B34/30 ,  A61B90/37 ,  A61B90/50 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B2034/2068 ,  A61B2090/0481 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/3929 ,  A61B2090/397 ,  A61B2090/3975 ,  A61B2090/3979 ,  A61N5/1049 ,  A61N2005/1059 ,  B25J9/1666 ,  B25J9/1676 ,  G06F19/00 ,  G06T7/0012 ,  G06T7/70 ,  G06T11/001 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/30024 ,  G06T2207/30241

Abstract: Disclosed is a computer-implemented method for planning a trajectory (11) through an anatomical body part (1), the trajectory (11) being usable for a medical procedure and the method comprising executing on at least one processor of at least one computer, steps of: •a) acquiring (S1), at a processor, patient image data describing a medical image of a patient anatomical body part being the anatomical body part (1) in a patient's body. •b) acquiring (S2), at a processor, atlas trajectory data describing a model anatomical body part being a model of the patient anatomical body part, and describing the position of at least one predetermined trajectory through the model anatomical body part; •c) acquiring (S3), at a processor, critical structure data describing the position of at least one critical structure (5) in the model anatomical body part or in the patient anatomical body part; •d) determining (S4), by a processor and based on the patient image data and the atlas trajectory data and the critical structure, mapping data describing a mapping of the model anatomical body part, of the position of the at least one predetermined trajectory and of the position of the at least one critical structure (5) onto the medical image of the patient anatomical body part; •e) determining (S5), by a processor and based on the mapping data and the atlas trajectory data and the patient image data, analysis region data describing an analysis region in the patient image data, the analysis region (16) having a position in the patient anatomical body part fulfilling a predetermined spatial condition relative to the position of the mapped predetermined trajectory (6); •f) determining (S6), by the processor and based on the patient image data and the atlas trajectory data and the analysis region data and the critical structure data, straight trajectory data describing a straight line trajectory (11) through the patient anatomical body part having a position fulfilling a predetermined spatial condition relative to the position of at least one critical structure (5) in the patient anatomical body part.