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公开(公告)号：US20210401500A1
公开(公告)日：2021-12-30
申请号：US16914696
申请日：2020-06-29
发明人： Yair Palti , Vadim Gliner , Yoav Pinsky
摘要： A method includes receiving a medical imaging scan of at least a part of a body of a patient. Voxels of the scan are identified, that correspond to regions in the body that are traversable by a probe inserted therein. The scan is displayed on a screen and selected termination and start points for the probe are marked thereon. Using a processor, a backward path is found from the termination point to the start point comprising a connected set of the identified voxels. The backward path is visualized on the screen in association with the scan.
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公开(公告)号：US11123144B2
公开(公告)日：2021-09-21
申请号：US16748993
申请日：2020-01-22
发明人： Itamar Bustan , Ehsan Shameli , Moran Levi , Itzhak Fang , Uriel Hod , Babak Ebrahimi , Yoav Pinsky , Fatemeh Akbarian , Noam Racheli
摘要： Apparatus, including a patient tracker, attached to a subject, having magnetic field sensors and optical landmarks with known spatial relationships to each other. A camera acquires a 3D optical image, in a first frame of reference (FOR), of the subject's face. A magnetic radiator assembly generates magnetic fields at the subject's head, thereby defining a second FOR. A processor: processes field sensor signals to acquire location coordinates of the sensors in the second FOR; segments a tomographic image of the subject, having a third FOR, to identify the subject's face in the third FOR; computes a first transformation between the third and first FORs to map the tomographic face image to the 3D optical image; maps the optical landmarks to the third FOR; maps the respective location coordinates of the sensors to the first FOR; and computes a second transformation between the second FOR and the third FOR.
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公开(公告)号：US11065064B2
公开(公告)日：2021-07-20
申请号：US15812059
申请日：2017-11-14
发明人： Yoav Pinsky , Akram Zoabi , Itamar Bustan , Michal Alroy Levy
IPC分类号： A61B34/20 , A61B5/06 , A61B17/00 , A61B17/24 , A61B1/233 , A61B90/00 , A61B5/00 , A61B5/0538
摘要： An apparatus, including a magnetic field generator, a first magnetic field sensor configured for attachment to a proximal end of a surgical tool configured for insertion into a body, and a calibration device that includes a second magnetic field sensor and a proximity sensor, wherein the field sensors generate respective location signals responsive to a magnetic field emanating from the generator and traversing the field sensors. The apparatus includes a control unit, which receives the signals from all the sensors, extracts respective location and orientation coordinates of the field sensors based on the signals, computes a conversion relation between the coordinates of the first sensor and a distal end of the tool that is brought into contact with the calibration device, and subsequently applies the conversion relation, together with the coordinates of the first sensor, in providing a visual indication of a location of the distal end inside the body.
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公开(公告)号：US20190192232A1
公开(公告)日：2019-06-27
申请号：US16229629
申请日：2018-12-21
发明人： Andres Claudio Altmann , Assaf Govari , Vadim Gliner , Itzhak Fang , Noam Rachli , Yoav Pinsky , Itamar Bustan , Jetmir Palushi , Zvi Dekel
CPC分类号： A61B34/20 , A61B1/00009 , A61B1/0005 , A61B1/04 , A61B1/233 , A61B5/0077 , A61B5/064 , A61B5/066 , A61B5/068 , A61B5/743 , A61B17/24 , A61B34/25 , A61B90/36 , A61B90/361 , A61B2034/2051 , A61B2034/2057 , A61B2034/2065 , A61B2034/2068 , A61B2034/2072 , A61B2034/254 , A61B2034/256 , A61B2090/365 , A61B2090/373 , A61B2090/3983 , A61B2505/05 , G06F3/011 , G06T7/74 , G06T11/00 , G06T2207/30204
摘要： Physicians performing invasive procedures require accuracy and precision when working with surgical tools. Surgical procedures are increasingly becoming minimally invasive, with physicians operating using cameras to view the surgery site and directing their tools through oculars or video displays. Ideally, the physician should be able to perform the invasive procedure while simultaneously observing both the real-time image of the patient and additional data critical for his medical decisions about the manipulation of the surgical tool and the next surgical step. The augmented reality navigation system of the present disclosure provides tool location visibility for invasive procedures through the use of location sensors included on a camera and/or on the tools used during a procedure. A location tracking system determines and monitors the locations of the tools and camera based on the characteristics of signals detected by the sensors and displays informational overlays on images obtained with a camera.
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公开(公告)号：US12079440B2
公开(公告)日：2024-09-03
申请号：US18138382
申请日：2023-04-24
发明人： Jetmir Palushi , Henry F. Salazar , Jordan R. Trott , Moran Levi , Itamar Bustan , Yoav Pinsky , Noam Racheli , Athanasios Papadakis
IPC分类号： G06F3/04815 , A61B34/00 , A61B34/20 , G06F3/04842 , G06T15/20 , G16H20/40 , G16H30/20 , A61B34/10 , A61B90/00
CPC分类号： G06F3/04815 , A61B34/20 , A61B34/25 , G06F3/04842 , G06T15/205 , G16H20/40 , G16H30/20 , A61B2034/105 , A61B2090/374 , A61B2090/3762 , A61B2090/378 , G06F2203/04803 , G06T2200/24 , G06T2210/41
摘要： A virtual endoscopic view shows a surgical area and surrounding anatomy and may also show a position of a surgical instrument in use during a surgical procedure, allowing a surgeon to virtually view the surgical area when direct viewing or actual endoscopic views are incomplete, obstructed, or otherwise unavailable or undesirable. In order to render the endoscopic view, an IGS navigation system may be configured with an observer point and an observer orientation within 3-D space based upon user inputs. A user interface for defining these points allows a user to view a virtual endoscopic preview in real-time while providing inputs, thus improving the likelihood that the resulting virtual endoscopic view is as desired by the user; and reducing time spent redefining and reconfiguring the virtual endoscopic view. The virtual endoscopic preview may provide combinations of static and dynamic images to illustrate the spatial relationship of the provided inputs.
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公开(公告)号：US11204677B2
公开(公告)日：2021-12-21
申请号：US16577019
申请日：2019-09-20
发明人： Jetmir Palushi , Henry F. Salazar , Jordan R. Trott , Moran Levi , Itamar Bustan , Yoav Pinsky , Noam Racheli , Athanasios Papadakis
IPC分类号： G06F3/0481 , G06F3/0346 , G06F3/0338 , G06F3/01 , G06T7/50 , G06T15/20 , G06F3/0484 , G16H30/20 , G16H20/40 , A61B34/20 , A61B34/00 , A61B90/00 , A61B34/10
摘要： A virtual endoscopic view shows a surgical area and surrounding anatomy and may also show a position of a surgical instrument in use during a surgical procedure, allowing a surgeon to virtually view the surgical area when direct viewing or actual endoscopic views are incomplete, obstructed, or otherwise unavailable or undesirable. In order to render the endoscopic view, an IGS navigation system may be configured with an observer point and an observer orientation within 3-D space based upon user inputs. A user interface for defining these points allows a user to view a virtual endoscopic preview in real-time while providing inputs, thus improving the likelihood that the resulting virtual endoscopic view is as desired by the user; and reducing time spent redefining and reconfiguring the virtual endoscopic view. The virtual endoscopic preview may provide combinations of static and dynamic images to illustrate the spatial relationship of the provided inputs.
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公开(公告)号：US11058497B2
公开(公告)日：2021-07-13
申请号：US16229629
申请日：2018-12-21
发明人： Andres Claudio Altmann , Assaf Govari , Vadim Gliner , Itzhak Fang , Noam Rachli , Yoav Pinsky , Itamar Bustan , Jetmir Palushi , Zvi Dekel
IPC分类号： A61B34/20 , A61B17/24 , A61B90/00 , A61B1/00 , G06T7/73 , A61B34/00 , A61B5/00 , G06T11/00 , A61B5/06 , G06F3/01 , A61B1/04 , A61B1/233
摘要： Physicians performing invasive procedures require accuracy and precision when working with surgical tools. Surgical procedures are increasingly becoming minimally invasive, with physicians operating using cameras to view the surgery site and directing their tools through oculars or video displays. Ideally, the physician should be able to perform the invasive procedure while simultaneously observing both the real-time image of the patient and additional data critical for his medical decisions about the manipulation of the surgical tool and the next surgical step. The augmented reality navigation system of the present disclosure provides tool location visibility for invasive procedures through the use of location sensors included on a camera and/or on the tools used during a procedure. A location tracking system determines and monitors the locations of the tools and camera based on the characteristics of signals detected by the sensors and displays informational overlays on images obtained with a camera.
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公开(公告)号：US20190046272A1
公开(公告)日：2019-02-14
申请号：US15674380
申请日：2017-08-10
发明人： Akram Zoabi , Yoav Pinsky , Itamar Bustan , Assaf Govari , Moshe Israel Shilemay
摘要： A method, including receiving a computerized tomography (CT) image of voxels of a subject's head, and analyzing the image to identify respective locations of the subject's eyes in the image, so defining a first line segment joining the respective locations. The method includes identifying a voxel subset overlaying bony sections of the head, lying on a second line segment parallel to the first line segment and on a third line segment orthogonal to the first line segment. A magnetic tracking system configured to measure positions on the subject's head is activated, and a probe, operative in the system, is positioned in proximity to the bony sections to measure positions of a surface of the head overlaying the bony sections. A correspondence between the positions and the voxel subset is formed, and a registration between the CT image and the magnetic tracking system is generated in response to the correspondence.
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公开(公告)号：US20220238203A1
公开(公告)日：2022-07-28
申请号：US17158510
申请日：2021-01-26
发明人： Helen Wolfson , Iris Segal , Yoav Pinsky , George Gusein , Uriel Hod
摘要： A method is provided. The method is implemented by an interface engine stored as processor executable code on a memory coupled to a processor. The method includes aggregating data from completed cases, analyzing the data for accuracy, consistency, or error within or across the one completed cases, and generating one or more grades based on the analysis of the data. Note that the data includes location information and registration information, and the completed cases include at least one ear, nose, and throat navigation and registration procedure.
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公开(公告)号：US20220137788A1
公开(公告)日：2022-05-05
申请号：US17528429
申请日：2021-11-17
发明人： Jetmir Palushi , Henry F. Salazar , Jordan R. Trott , Moran Levi , Itamar Bustan , Yoav Pinsky , Noam Racheli , Athanasios Papadakis
IPC分类号： G06F3/04815 , G06T15/20 , G06F3/04842 , G16H30/20 , G16H20/40 , A61B34/20 , A61B34/00
摘要： A virtual endoscopic view shows a surgical area and surrounding anatomy and may also show a position of a surgical instrument in use during a surgical procedure, allowing a surgeon to virtually view the surgical area when direct viewing or actual endoscopic views are incomplete, obstructed, or otherwise unavailable or undesirable. In order to render the endoscopic view, an IGS navigation system may be configured with an observer point and an observer orientation within 3-D space based upon user inputs. A user interface for defining these points allows a user to view a virtual endoscopic preview in real-time while providing inputs, thus improving the likelihood that the resulting virtual endoscopic view is as desired by the user; and reducing time spent redefining and reconfiguring the virtual endoscopic view. The virtual endoscopic preview may provide combinations of static and dynamic images to illustrate the spatial relationship of the provided inputs.
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