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    Determination of Center of Rotation of a Bone
    1.
    发明申请
    Determination of Center of Rotation of a Bone 审中-公开

    公开(公告)号：US20180296133A1

    公开(公告)日：2018-10-18

    申请号：US15767336

    申请日：2015-12-11

    Applicant: Brainlab AG

    Inventor： Christian BRACK ,  Mario SCHUBERT

    IPC: A61B5/11 ,  A61B5/00

    CPC classification number: A61B5/1121 ,  A61B5/1079 ,  A61B5/1127 ,  A61B5/4504 ,  A61B5/4528 ,  A61B5/6878 ,  G06T7/0012

    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.

    SAGITTAL ROTATION DETERMINATION
    3.
    发明申请
    SAGITTAL ROTATION DETERMINATION 审中-公开

    公开(公告)号：US20200305976A1

    公开(公告)日：2020-10-01

    申请号：US16306991

    申请日：2018-03-01

    Applicant: Brainlab AG

    Inventor： Steffen BECK ,  Mario SCHUBERT ,  Christian BRACK ,  Luise POITZSCH

    IPC: A61B34/10 ,  G06T3/60 ,  G06T7/00 ,  G06T11/00

    Abstract: The invention relates to a method of determining the sagittal rotation of a patient's pelvis based on a standard anterior posterior X-ray-image with known image parameters and a calibration of the image, for example by using at least one King-Mark calibration object. The angle of the pelvic rotation is determined between a pelvic plane which is orthogonal to the midsagittal plane of the pelvis, and the image plane of the X-ray-image. Assuming the patient's position shown on the X-ray-image represents a standard neutral position, the X-ray-image plane can be used as a functional reference plane for further calculations, for example during hip-replacement surgery. The present invention further relates to a corresponding computer program and system.

    METHOD FOR DETERMINING THE SPATIAL POSITION OF OBJECTS
    5.
    发明公开
    METHOD FOR DETERMINING THE SPATIAL POSITION OF OBJECTS 审中-公开

    公开(公告)号：US20230404680A1

    公开(公告)日：2023-12-21

    申请号：US18240867

    申请日：2023-08-31

    Applicant: Brainlab AG

    Inventor： Oliver FLEIG ,  Timo NEUBAUER ,  Mario SCHUBERT ,  Sabine KLING

    IPC: A61B34/20

    CPC classification number: A61B34/20 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2051 ,  A61B2090/502

    Abstract: The present invention relates to a method for determining the spatial position of objects, in particular objects, comprising the steps of: —acquiring first position data which comprise first position information describing the spatial position of an object (2) within a first co-ordinate system (A); —acquiring first transformation data which comprise first transformation information describing a transformation of the object's position from the first co-ordinate system (A) into a second co-ordinate system (B); —acquiring, on the basis of the first position data and the first transformation data, second position data which comprise second position information describing the spatial position of the object (2) within the second co-ordinate system (B); —acquiring second transformation data which comprise second transformation information describing a transformation of the object's position from the second co-ordinate system (B) into an inertial co-ordinate system (I); —determining, on the basis of the second position data and the second transformation data, inertial position data which comprise inertial position information describing the spatial position of the object (2) within the inertial co-ordinate system (I). The present invention also relates to a program which, when running on a computer (4), cause the computer (4) to perform the method steps of the method described above and/or to a program storage medium on which the program is stored and/or to a computer (4) comprising such a program storage medium and/or to a signal wave, in particular a digital signal wave, carrying information which represents the program. The present invention also relates to a tracking system for determining the spatial position of objects, in particular medical objects, comprising: —a sensor array (1) which is configured to determine the spatial position of at least one tracking marker attached to an object (2); —an inertial sensor array (3) which is attached to said sensor array; and —a computer (4).

    METHOD AND APPARATUS FOR DETERMINING A LEG LENGTH DIFFERENCE AND A LEG OFFSET
    7.
    发明申请
    METHOD AND APPARATUS FOR DETERMINING A LEG LENGTH DIFFERENCE AND A LEG OFFSET 审中-公开
    用于确定LEG长度差异和LEG偏移的方法和装置

    公开(公告)号：US20160022173A1

    公开(公告)日：2016-01-28

    申请号：US14773553

    申请日：2013-09-18

    Applicant: BRAINLAB AG

    Inventor： Mario SCHUBERT ,  Melanie WEGNER ,  Sabine KLING ,  Luise POITZSCH

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

    CPC classification number: A61B5/1079 ,  A61B5/0077 ,  A61B5/1072 ,  A61B5/1075 ,  A61B5/1121 ,  A61B5/1127 ,  A61B5/4538 ,  A61B5/7278 ,  A61B34/20 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/3937 ,  A61B2562/0219 ,  A61B2576/00 ,  G01B11/14 ,  G06K9/52 ,  G06T3/60 ,  G06T7/0014 ,  G06T7/30 ,  G06T7/60 ,  G06T7/73 ,  G06T7/74 ,  G06T2207/30004 ,  G06T2207/30204

    Abstract: A data processing method, performed by a computer, for determining a leg length difference and a leg offset difference of a patient's leg including a femur connected to a pelvis, comprising the steps of: —determining a first landmark vector between a femoral landmark and a second landmark at a first point in time; —determining 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; —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 leg length direction; —calculating a direction which is perpendicular to the sagittal plane and using this direction as a leg offset direction; and —calculating the leg length difference in the leg length direction and the leg offset difference in the leg offset direction from the first landmark vector and the second landmark vector.

    Abstract translation: 一种由计算机执行的用于确定包括连接到骨盆的股骨的患者腿部的腿部长度差和腿部偏移差异的数据处理方法，包括以下步骤： - 确定股骨标记和第 在第一时间点的第二个地标; - 在第二时间点之后确定股骨标记和第二标记之间的第二标记向量，该第二时间点晚于第一时间点; 将所述第一界标矢量的正交投影计算到矢状平面中，并且使用所述第一界标矢量的正交投影的方向作为所述矢状面作为腿长度方向; 计算垂直于矢状面的方向，并使用该方向作为腿偏移方向; 以及计算腿长度方向上的腿长度差和腿偏移方向上的腿偏移差与第一界标矢量和第二界标矢量。

    METHOD AND DEVICE FOR DETERMINING THE ORIENTATION OF A CO-ORDINATE SYSTEM OF AN ANATOMICAL OBJECT IN A GLOBAL CO-ORDINATE SYSTEM
    9.
    发明申请
    METHOD AND DEVICE FOR DETERMINING THE ORIENTATION OF A CO-ORDINATE SYSTEM OF AN ANATOMICAL OBJECT IN A GLOBAL CO-ORDINATE SYSTEM 有权
    用于确定全球共同体系统中的解剖学对象的共同系统方向的方法和装置

    公开(公告)号：US20150379718A1

    公开(公告)日：2015-12-31

    申请号：US14766471

    申请日：2013-04-03

    Applicant: BRAINLAB AG

    Inventor： Mario SCHUBERT ,  Melanie WEGNER ,  Sabine KLING

    IPC: G06T7/00 ,  G06K9/52 ,  G06T7/60 ,  G06T3/60 ,  G01B11/14

    CPC classification number: A61B5/1079 ,  A61B5/0077 ,  A61B5/1072 ,  A61B5/1075 ,  A61B5/1121 ,  A61B5/1127 ,  A61B5/4538 ,  A61B5/7278 ,  A61B34/20 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/3937 ,  A61B2562/0219 ,  A61B2576/00 ,  G01B11/14 ,  G06F19/00 ,  G06K9/52 ,  G06T3/60 ,  G06T7/0014 ,  G06T7/30 ,  G06T7/60 ,  G06T7/73 ,  G06T7/74 ,  G06T2207/30004 ,  G06T2207/30204

    Abstract: A data processing method for determining the relative orientation of an object coordinate system of an anatomical object in a global co-ordinate system, comprising the steps of: acquiring a reference direction dataset representing a first reference direction of a line between a first anatomical landmark of a reference object and a second anatomical landmark of the reference object, and a second reference direction of a line between a third anatomical landmark of the reference object and a fourth anatomical landmark of the reference object, wherein the first and second reference directions are given in a reference coordinate system and the reference object corresponds to the anatomical object; acquiring an object direction dataset representing a first object direction of a line between the first anatomical landmark of the anatomical object and the second anatomical landmark of the anatomical object, and a second object direction of a line between the third anatomical landmark of the anatomical object and the fourth anatomical landmark of the anatomical object, wherein the first and second object directions are given in the global co-ordinate system and the landmarks of the anatomical object correspond to the landmarks of the reference object; calculating the orientation of the reference co-ordinate system relative to the global co-ordinate system which results in the best match between each of the reference directions and the respectively corresponding object direction; and—using the orientation of the reference co-ordinate system in the global co-ordinate system as the relative orientation of the object co-ordinate system.

    Abstract translation: 一种用于确定全局坐标系中的解剖学对象的物体坐标系的相对取向的数据处理方法，包括以下步骤：获取基准方向数据集，所述参考方向数据集表示第一解剖学标记之间的线的第一参考方向， 参考对象的参考对象和第二解剖学标记，以及参考对象的第三解剖标记与参考对象的第四解剖学标记之间的线的第二参考方向，其中第一和第二参考方向在 参考坐标系和参考对象对应于解剖对象; 获取表示解剖学对象的第一解剖学标记与解剖学对象的第二解剖学标记之间的线的第一对象方向的对象方向数据集，以及解剖对象的第三解剖学标记之间的线的第二对象方向和 解剖学对象的第四解剖学标记，其中在全局坐标系中给出第一和第二对象方向，并且解剖对象的界标对应于参考对象的界标; 计算参考坐标系相对于全局坐标系的取向，其导致每个参考方向和相应的对象方向之间的最佳匹配; 并使用全局坐标系中参考坐标系的方向作为对象坐标系的相对方向。

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