公开(公告)号：US20070265715A1

公开(公告)日：2007-11-15

申请号：US10593563

申请日：2005-04-26

申请人： Benoit Chouinard ,  Louis Brillon ,  Benoit Pelletier ,  Sebastien Jutras

发明人： Benoit Chouinard ,  Louis Brillon ,  Benoit Pelletier ,  Sebastien Jutras

IPC分类号： G06F7/66 ,  G06F19/00

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B90/94 ,  A61B90/96 ,  A61B90/98 ,  A61B2017/00526 ,  A61B2017/00725 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/256 ,  A61B2090/3983 ,  G06F19/00

摘要： There is described a method of manufacturing a device to be used with a computer-aided surgery system, a method of calibrating the device, and the device itself. After fabrication, the device is measured to obtain true parameters thereof. The true parameters are stored on a storage medium associated with the device and include measurement data of high precision relating to dimensions of the device as well as to relative positioning of a tracker on the device with respect to the device. The true parameters are entered into the system and when the tracker is located in the 3D environment, the device can then be located in the 3D environment with a high degree of precision using the true parameters.

摘要翻译： 描述了一种制造与计算机辅助手术系统一起使用的装置的方法，校准装置的方法和装置本身。 在制造之后，测量该装置以获得其真实参数。 真实参数存储在与设备相关联的存储介质上，并且包括与设备的尺寸相关的高精度的测量数据以及跟踪器相对于设备在设备上的相对定位。 真实参数输入到系统中，并且当跟踪器位于3D环境中时，可以使用真实参数以高精确度将设备定位在3D环境中。

公开(公告)号：US20050021043A1

公开(公告)日：2005-01-27

申请号：US10677321

申请日：2003-10-03

申请人： Herbert Andre Jansen ,  Louis-Philippe Amiot ,  Sebastien Cossette ,  Sebastien Jutras ,  Benoit Pelletier

发明人： Herbert Andre Jansen ,  Louis-Philippe Amiot ,  Sebastien Cossette ,  Sebastien Jutras ,  Benoit Pelletier

IPC分类号： A61B5/103 ,  A61B17/15 ,  A61B17/16 ,  A61B17/17 ,  A61B19/00 ,  A61F2/30 ,  A61F2/34 ,  A61F2/36 ,  A61F2/46 ,  G09B23/28 ,  G09B23/30 ,  A61B17/88

CPC分类号： A61B34/10 ,  A61B5/064 ,  A61B5/103 ,  A61B5/4528 ,  A61B5/6878 ,  A61B17/15 ,  A61B17/1666 ,  A61B17/1703 ,  A61B17/1717 ,  A61B17/1735 ,  A61B17/1746 ,  A61B17/175 ,  A61B34/20 ,  A61B34/25 ,  A61B34/70 ,  A61B90/36 ,  A61B2034/102 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2090/062 ,  A61B2090/363 ,  A61B2090/3983 ,  A61F2/32 ,  A61F2/34 ,  A61F2/4607 ,  A61F2/4609 ,  A61F2/4657 ,  A61F2002/30952 ,  A61F2002/3611 ,  A61F2002/4632 ,  A61F2002/4658 ,  A61F2002/4668 ,  A61F2002/4681 ,  A61F2002/4697 ,  G09B23/28 ,  G09B23/30

摘要： An apparatus for obtaining an axis of an intramedullary canal of an exposed bone with a position tracking system in computer-assisted surgery, comprising a detectable device trackable in space for position and orientation. A stem portion is secured to the detectable device so as to be tracked for position and orientation. The stem portion has a leading end insertable in an intramedullary canal of the bone through an opening in the bone, and is adapted to be handled by a following end thereof. A tip portion is provided at the leading end of the stem portion. The tip portion is positionable in a determined way with respect to a surface of the intramedullary canal, such that reference points with respect to the intramedullary canal are calculable as a function of the position and orientation of the detectable device. The reference points are related to define an axis of the intramedullary canal. A method is provided for digitizing the intramedullary canal axis.

摘要翻译： 一种用于通过计算机辅助手术中的位置跟踪系统获得暴露骨骼的髓内管轴的装置，包括可在空间中追踪位置和取向的可检测装置。 杆部分被固定到可检测装置，以便被跟踪以用于位置和取向。 茎部具有通过骨中的开口可插入骨的髓内管中的前端，并且适于由其后端处理。 尖端部设置在杆部的前端。 尖端部分可以相对于髓内管的表面以确定的方式定位，使得相对于髓内管的参考点可计算为可检测装置的位置和取向的函数。 参考点与髓内管的定义有关。 提供了一种用于数字化髓内管轴的方法。

公开(公告)号：US20060260147A1

公开(公告)日：2006-11-23

申请号：US11434786

申请日：2006-05-17

申请人： Benoit Pelletier ,  Sebastien Jutras ,  Bruno Falardeau ,  Mathieu Legare

发明人： Benoit Pelletier ,  Sebastien Jutras ,  Bruno Falardeau ,  Mathieu Legare

IPC分类号： G01D21/00

CPC分类号： G01B21/042 ,  A61B34/20 ,  A61B90/36 ,  A61B2017/00725 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/061

摘要： A method of determining a center of curvature of the spherical outer surface of an object using a computer system is provided. The method includes defining at least one contact region on the spherical outer surface in a plane substantially tangential to a circumference thereof and a first reference axis normal to said plane. Spatial coordinates of at least one of a first and a second geometric parameter are determined, the first geometric parameter including at least two points located on the spherical outer surface and the second geometric parameter including a second reference axis normal to the spherical outer surface. The center of curvature of the spherical outer surface is then calculated using the first reference axis and at least one of the first and second geometric parameters. An associated system and calibration device is also provided.

摘要翻译： 提供了一种使用计算机系统确定物体的球形外表面的曲率中心的方法。 该方法包括在基本上与其圆周相切的平面中的球面外表面上限定至少一个接触区域和垂直于所述平面的第一参考轴。 确定第一和第二几何参数中的至少一个的空间坐标，所述第一几何参数包括位于所述球形外表面上的至少两个点，所述第二几何参数包括垂直于所述球形外表面的第二参考轴。 然后使用第一参考轴和第一和第二几何参数中的至少一个来计算球形外表面的曲率中心。 还提供了相关联的系统和校准装置。

公开(公告)号：US20070100325A1

公开(公告)日：2007-05-03

申请号：US11555947

申请日：2006-11-02

申请人： Sebastien Jutras ,  Louis-Philippe Amiot ,  Benoit Pelletier

发明人： Sebastien Jutras ,  Louis-Philippe Amiot ,  Benoit Pelletier

IPC分类号： A61B17/00

CPC分类号： A61B34/20 ,  A61B90/39 ,  A61B2034/2055 ,  A61B2034/256 ,  A61B2090/3983

摘要： A tracker device of the type is associated with a surgical instrument and being trackable in space by a CAS system such that a position of the surgical instrument is calculable. A support is adapted to be connected to the surgical instrument. Optical elements are mounted to the support in a first pattern so as to be detectable by the CAS system along a first range of visibility. Other optical elements are mounted to the support in a second pattern so as to be detectable by the CAS system along a second range of visibility, with the first range of visibility and the second range of visibility having at most a common portion, whereby a position of the surgical instrument is tracked within the first and the second range of visibility as a function of the detection of any one of the patterns of the optical elements.

摘要翻译： 该类型的跟踪器装置与外科器械相关联，并且可通过CAS系统在空间中跟踪，使得可计算手术器械的位置。 支架适于与外科器械连接。 光学元件以第一图案安装到支撑件上，以便沿着可见度的第一范围由CAS系统检测。 其他光学元件以第二图案安装到支撑件上，以便沿着可见度的第二范围由CAS系统检测，第一可见度范围和第二可见度范围具有至多公共部分，由此位置 作为检测光学元件的任何一种图案的函数，在第一和第二可见度范围内追踪外科器械。

公开(公告)号：US10219865B2

公开(公告)日：2019-03-05

申请号：US15131552

申请日：2016-04-18

申请人： Herbert Andre Jansen ,  Louis-Philippe Amiot ,  Isabelle Fontaine ,  Sebastien Jutras ,  Daniel Odermatt ,  Benoit Pelletier

发明人： Herbert Andre Jansen ,  Louis-Philippe Amiot ,  Isabelle Fontaine ,  Sebastien Jutras ,  Daniel Odermatt ,  Benoit Pelletier

IPC分类号： A61F2/34 ,  A61B34/10 ,  A61B5/06 ,  A61B5/103 ,  A61B17/15 ,  A61B17/16 ,  A61B17/17 ,  G09B23/28 ,  G09B23/30 ,  A61F2/32 ,  A61B5/00 ,  A61F2/46 ,  A61F2/30 ,  A61F2/36 ,  A61B90/00 ,  A61B34/20 ,  A61B34/00

摘要： A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus. A controller is connected to the sensing apparatus to: i) register a frame of reference of the femur by calculating surface information provided by the registration tool as a function of the position and orientation of the registration tool provided by the sensing apparatus, and/or retrieving in a database a model of the femur; ii) calculate a desired implant position with respect to the frame of reference as a function of the limb length; and iii) calculate a current implant position and orientation in relation to the desired implant position with respect to alterations being performed in the femur with the bone altering tool, as a function of the position and orientation of the bone altering tool provided by the sensing apparatus and of a digital model of a femoral implant provided by the database. The database is connected to the controller for the controller to store and retrieve information relating to an operation of the controller. The computer-assisted system may be used to guide an operator in inserting a pelvic implant in an acetabulum as a function of an orientation of the pelvic implant with respect to the pelvis.

公开(公告)号：US20160228192A1

公开(公告)日：2016-08-11

申请号：US15131552

申请日：2016-04-18

申请人： Herbert Andre Jansen ,  Louis-Philippe Amiot ,  Isabelle Fontaine ,  Sebastien Jutras ,  Daniel Odermatt ,  Benoit Pelletier

发明人： Herbert Andre Jansen ,  Louis-Philippe Amiot ,  Isabelle Fontaine ,  Sebastien Jutras ,  Daniel Odermatt ,  Benoit Pelletier

IPC分类号： A61B34/10 ,  A61B34/20 ,  A61F2/32

CPC分类号： A61B34/10 ,  A61B5/064 ,  A61B5/103 ,  A61B5/4528 ,  A61B5/6878 ,  A61B17/15 ,  A61B17/1666 ,  A61B17/1703 ,  A61B17/1717 ,  A61B17/1735 ,  A61B17/1746 ,  A61B17/175 ,  A61B34/20 ,  A61B34/25 ,  A61B34/70 ,  A61B90/36 ,  A61B2034/102 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2090/062 ,  A61B2090/363 ,  A61B2090/3983 ,  A61F2/32 ,  A61F2/34 ,  A61F2/4607 ,  A61F2/4609 ,  A61F2/4657 ,  A61F2002/30952 ,  A61F2002/3611 ,  A61F2002/4632 ,  A61F2002/4658 ,  A61F2002/4668 ,  A61F2002/4681 ,  A61F2002/4697 ,  G06F19/00 ,  G09B23/28 ,  G09B23/30

摘要： A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus. A controller is connected to the sensing apparatus to: i) register a frame of reference of the femur by calculating surface information provided by the registration tool as a function of the position and orientation of the registration tool provided by the sensing apparatus, and/or retrieving in a database a model of the femur; ii) calculate a desired implant position with respect to the frame of reference as a function of the limb length; and iii) calculate a current implant position and orientation in relation to the desired implant position with respect to alterations being performed in the femur with the bone altering tool, as a function of the position and orientation of the bone altering tool provided by the sensing apparatus and of a digital model of a femoral implant provided by the database. The database is connected to the controller for the controller to store and retrieve information relating to an operation of the controller. The computer-assisted system may be used to guide an operator in inserting a pelvic implant in an acetabulum as a function of an orientation of the pelvic implant with respect to the pelvis.

摘要翻译： 一种用于引导操作者将股骨植入物插入股骨中的CAS系统和方法，其作为股骨植入物相对于股骨的肢体长度和取向的函数，包括用于股骨的参考工具，配准工具，骨骼 改变工具和感测装置。 控制器连接到感测装置，以便：i）通过计算由对准工具提供的表面信息作为由感测装置提供的对准工具的位置和取向的函数来登记股骨的参考系，和/或 在数据库中检索股骨的模型; ii）根据肢体长度计算相对于参考系的期望的植入位置; 以及iii）根据由所述感测装置提供的骨骼改变工具的位置和取向来计算与所述骨骼改变工具相对于在股骨中进行的改变相对于期望的植入位置的当前植入物位置和取向 以及由数据库提供的股骨植入物的数字模型。 数据库连接到控制器，用于控制器存储和检索与控制器的操作有关的信息。 计算机辅助系统可以用于指导操作者将骨盆植入物插入髋臼中作为骨盆植入物相对于骨盆的取向的函数。

公开(公告)号：US10128991B2

公开(公告)日：2018-11-13

申请号：US12695377

申请日：2010-01-28

申请人： Paul Marinier ,  Diana Pani ,  Benoit Pelletier ,  Rocco DiGirolamo

发明人： Paul Marinier ,  Diana Pani ,  Benoit Pelletier ,  Rocco DiGirolamo

IPC分类号： H04L12/26 ,  H04L1/20 ,  H04L1/24 ,  H04W76/19 ,  H04L1/00

摘要： A method and apparatus are described for performing a dual-carrier operation. A first timer is initiated for an anchor carrier and a second timer is initiated for a supplementary carrier. A physical channel failure may be declared on a condition that either of the timers expire before a predefined number of in-synch indication received from a layer 1 (L1) entity is counted. Uplink transmission and enhanced dedicated channel (E-DCH) operations may be stopped on a supplementary carrier associated with the physical channel failure, but may be continued on an anchor carrier that has a physical channel established. If the physical channel failure is associated with the anchor carrier, uplink transmission and E-DCH transmission operations are stopped on all carriers.

公开(公告)号：US20180125597A1

公开(公告)日：2018-05-10

申请号：US15803247

申请日：2017-11-03

申请人： Emily Gogarty ,  Benoit Pelletier ,  Pierre Couture

发明人： Emily Gogarty ,  Benoit Pelletier ,  Pierre Couture

IPC分类号： A61B46/10 ,  A61B34/30 ,  A61B90/00

CPC分类号： A61B46/10 ,  A61B34/30 ,  A61B90/05 ,  A61B2017/00477

摘要： Embodiments of a system and method for preparing a robot for use within a sterile surgical environment are generally described herein. A system may include a sterile robotic drape having a first sterile side and a second non-sterile side opposite the first sterile side, a robot interface embedded in the sterile robotic drape, the robot interface including a first face on the first sterile side and a second face on the second non-sterile side, and a plurality of anchors on the second face of the robot interface.

公开(公告)号：US09451601B2

公开(公告)日：2016-09-20

申请号：US13695118

申请日：2011-05-02

申请人： Diana Pani ,  Benoit Pelletier ,  Sylvie Gomes ,  Christopher R. Cave ,  Fengjun Xi ,  Joseph S. Levy ,  Hong Zhang

发明人： Diana Pani ,  Benoit Pelletier ,  Sylvie Gomes ,  Christopher R. Cave ,  Fengjun Xi ,  Joseph S. Levy ,  Hong Zhang

IPC分类号： H04W28/06 ,  H04W72/04 ,  H04W72/12

CPC分类号： H04W72/042 ,  H04W72/121 ,  H04W72/1289

摘要： Method and apparatus for multiplexing data for multiple wireless transmit/receive units (WTRUs) for high speed downlink channels are disclosed. A WTRU may receive a joint high speed shared control channel (HS-SCCH) including a common part and WTRU-specific parts. The common part includes common control information for WTRUs multiplexed in one transmission time interval (TTI), and each of the WTRU-specific parts includes WTRU-specific control information for a corresponding WTRU. The WTRU receives a high speed physical downlink shared channel (HS-PDSCH) based on decoding on the joint HS-SCCH. The HS-SCCH may include a group WTRU identity shared by a group of WTRUs.

摘要翻译： 公开了用于高速下行链路信道的用于多个无线发射/接收单元（WTRU）的数据的方法和装置。 WTRU可以接收包括公共部分和WTRU特定部分的联合高速共享控制信道（HS-SCCH）。 公共部分包括在一个传输时间间隔（TTI）中复用的WTRU的公共控制信息，并且每个WTRU特定部分包括用于相应WTRU的WTRU特定控制信息。 WTRU基于联合HS-SCCH上的解码来接收高速物理下行链路共享信道（HS-PDSCH）。 HS-SCCH可以包括由一组WTRU共享的组WTRU标识符。

公开(公告)号：US09226205B2

公开(公告)日：2015-12-29

申请号：US12429466

申请日：2009-04-24

申请人： Diana Pani ,  Paul Marinier ,  Benoit Pelletier ,  Christopher R. Cave ,  Rocco DiGirolamo

发明人： Diana Pani ,  Paul Marinier ,  Benoit Pelletier ,  Christopher R. Cave ,  Rocco DiGirolamo

IPC分类号： H04W24/10 ,  H04W36/00 ,  H04W36/18 ,  H04W88/02

CPC分类号： H04W36/04 ,  H04W36/0016 ,  H04W36/0083 ,  H04W36/18 ,  H04W74/006 ,  H04W88/02

摘要： Dual-cell or multi-cell Wireless Transmit Receive Units (WTRUS) configured to implement mobility procedures are described. The WTRU configurations implement methods to optimize and allow mobility for the procedures of cell search and cell reselection, measurement reporting and inter-frequency handovers, compressed mode measurements, and soft handovers.

摘要翻译： 描述了配置为实现移动性过程的双小区或多小区无线发射接收单元（WTRUS）。 WTRU配置实现优化和允许小区搜索和小区重选，测量报告和频间切换，压缩模式测量和软切换的过程的移动性的方法。