公开(公告)号：US11116580B2

公开(公告)日：2021-09-14

申请号：US15573766

申请日：2016-08-02

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Christian Rabus ,  Nils Frielinghaus

IPC: A61B34/20 ,  G06F30/23 ,  G16H40/40 ,  B25J9/16 ,  G16H50/50 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30 ,  A61B34/10

Abstract: The present invention relates to computer-implemented medical method of verifying an expected deformation of an elastically deformable and actuator-adjusted medical fine-adjustment unit (1), the method comprising executing, on a processor of a computer, the steps of; —acquiring model data describing a model of the fine-adjustment unit (1), the model reflecting deformation properties of the fine-adjustment unit (1); —acquiring actuator data describing an actuator position of at least one actuator coupled to the fine-adjustment unit (1); —determining, based on the model data and the actuator data, target deformation data describing a target deformation of the fine-adjustment unit (1) caused by the at least one actuator at said actuator position; —acquiring actual deformation data describing an actual deformation of the fine-adjustment unit (1) caused by the at least one actuator at said actuator position; —determining, based on the target deformation data and the actual deformation data, verification data describing whether the target deformation corresponds to the actual deformation. The present invention further relates to a corresponding computer program causing a computer to perform such method, and a corresponding system comprising such a computer.

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.