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公开(公告)号：US20180168735A1
公开(公告)日：2018-06-21
申请号：US15553426
申请日：2016-05-02
申请人： Dorothy LUI , Gal SELA , Aisha SIAL , Sepide MOVAGHATI , Kirusha SRIMOHANARAJAH , Sean CHEN , Simon ALEXANDER , Neil WITCOMB , SYNAPTIVE MEDICAL (BARBADOS) INC.
发明人： Dorothy LUI , Gal SELA , Aisha SIAL , Sepide MOVAGHATI , Kirusha SRIMOHANARAJAH , Sean Jy-Shyang CHEN , Simon Kenley ALEXANDER , Neil Jeffrey WITCOMB
CPC分类号： A61B34/20 , A61B5/055 , A61B34/10 , A61B2034/101 , A61B2034/2068 , A61B2034/2074 , G06T7/30
摘要： The application as disclosed herein describes systems and methods for performing patient registration using a surgical navigation system. This application attempts to provide for improvements upon existing systems through the addition of refinement steps used to increase the accuracy of registration and streamline said process. In some cases the improvements generally involve the manipulation of spatial data in an iterative manner.
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公开(公告)号：US20180325621A1
公开(公告)日：2018-11-15
申请号：US15543803
申请日：2016-08-17
CPC分类号： A61B34/00 , A61B34/20 , A61B2017/00115 , A61B2017/00154 , A61B2017/00734 , A61B2034/2055 , A61B2034/2068 , A61B2090/3945 , A61B2090/3979
摘要： A fiducial marker to be tracked by a surgical navigation system. The fiducial marker is to be affixed to an object during a surgical procedure. The fiducial marker including a casing for attachment to the object; a light emitting component attached to the casing; a power source within the casing; a signal receiver to receive a signal from the surgical navigation system; and control logic to control the light emitting component in response to the signal from the surgical navigation system. The object to-be-tracked may include a plurality of the fiducial markers arranged in geometric pattern, and the markers may include a first active fiducial marker having a first light emitting component that emits light having a first spectral bandwidth, and a second active fiducial marker having a second light emitting component that emits light having a second spectral bandwidth different from the first spectral bandwidth.
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公开(公告)号：US20180036884A1
公开(公告)日：2018-02-08
申请号：US15228853
申请日：2016-08-04
申请人： Sean Jy-Shyang CHEN , Kirusha SRIMOHANARAJAH , Gal SELA , Joshua RICHMOND , Kelly DYER , Synaptive Medical (Barbados) Inc.
CPC分类号： B25J9/1676 , A61B34/20 , A61B34/30 , A61B90/03 , A61B2034/2055 , G05B2219/36541 , Y10S901/02
摘要： Methods and devices for identifying and defining a safety zone for restricting movement of a robotic arm in an operating room during a medical procedure are disclosed. The disclosed method utilizes medical navigation system, which receives an initiation input indicating initiation of defining of the safety zone. In response to receiving the initiation input, the system tracks an instrument and determines the location of the tracked instrument relative to a reference point. The system detects changes in the location of the tracked instrument until a termination input is received at the medical navigation system. The termination input indicates the termination of the defining of the safety zone. The system stores, in memory, change data indicative of the changes in the location of the tracked instrument. The data identifies the safety zone relative to the reference point.
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公开(公告)号：US20210056699A1
公开(公告)日：2021-02-25
申请号：US17091920
申请日：2020-11-06
申请人： Kirusha SRIMOHANARAJAH , Dorothy LUI , Gal SELA , Kai HYNNA , Shysta ISMAILI , Samson NG , Jakub JANKOWSKI
发明人： Kirusha SRIMOHANARAJAH , Dorothy LUI , Gal SELA , Kai HYNNA , Shysta ISMAILI , Samson NG , Jakub JANKOWSKI
IPC分类号： G06T7/00 , G06T7/246 , G06T7/80 , G06T11/00 , A61B34/20 , G16H40/60 , G16H20/40 , G16H30/40 , G16H40/40
摘要： Methods and apparatuses for performing patient registration. 3D scan data from a 3D scanner, preoperative image data, first tracking data from a first tracking system, and second tracking data from a second tracking system are mapped to a common coordinate space. The 3D scan data and the first tracking data are mapped to each other using a transformation that is determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space. The 3D scan data and the preoperative image data are mapped to each other using a surface matching algorithm. The first tracking data and the second tracking data are mapped to each other based on tracking of the patient reference device.
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公开(公告)号：US20190125451A1
公开(公告)日：2019-05-02
申请号：US15796002
申请日：2017-10-27
摘要： A method for updating a patient registration during a surgical procedure is disclosed. The surgical procedure uses an optical navigation system for optically tracking a patient reference object in a real world space and includes intra-operatively acquiring a first set of image data depicting a region of interest on the patient while the first registration is intact. The region of interest includes at least one anatomical landmark. The method includes: detecting that the first registration has been lost; obtaining a second set of image data depicting the region of interest; identifying a transform based on the first set of image data and the second set of image data; and applying the identified transform to data points of the first registration to obtain data points for the updated patient registration.
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公开(公告)号：US20170239015A1
公开(公告)日：2017-08-24
申请号：US15518312
申请日：2015-07-31
CPC分类号： A61B90/39 , A61B5/064 , A61B34/20 , A61B46/10 , A61B50/13 , A61B2017/00902 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2057 , A61B2034/2063 , A61B2034/2072 , A61B2090/103 , A61B2090/3945 , A61B2090/3962 , A61B2090/3979 , A61B2090/3983 , A61B2090/3991 , A61B2090/3995
摘要： An apparatus is provided that is at least partially visible by both a three dimensional (3D) scanner system of a medical navigation system and a tracking system of the medical navigation system. The apparatus includes a rigid member, a plurality of identifiable features attached to the rigid member and visible by the tracking system, a distinct identifiable portion visible by the 3D scanner system, and a connector mechanism attached to the rigid member to connect the apparatus to a location. The apparatus is in a field of view of the 3D scanner system and the tracking system within a timeframe of the 3D scan.
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公开(公告)号：US20190000556A1
公开(公告)日：2019-01-03
申请号：US15638431
申请日：2017-06-30
摘要： In one aspect, a medical tracking system is described. The medical tracking system includes a first tracking system providing a first tracking region. The first tracking system is configured to track a tracked instrument within the first tracking region. The medical tracking system further includes a second tracking system providing a second tracking region. The second tracking system is configured to track the tracked instrument within the second tracking region. The medical tracking system also includes a processor coupled to the first tracking system and the second tracking system. The processor is configured to determine, based on data received from the first tracking system and data received from the second tracking system, transposition information to map data received from the first tracking system and data received from the second tracking system into a common space.
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公开(公告)号：US20200214772A1
公开(公告)日：2020-07-09
申请号：US16824145
申请日：2020-03-19
摘要： A method for updating a patient registration during a medical procedure is disclosed. The medical procedure uses an optical navigation system for optically tracking a patient reference object in a real-world space. The method includes: acquiring a first set of image data depicting a region of interest on the patient while a first patient registration is intact; detecting that the first patient registration has been lost; obtaining a second set of image data depicting the region of interest; and applying a transform to data points of the first region to obtain data points for an updated patient registration, the transform obtained based on the first and second sets of image data.
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9.发明申请公开(公告)号：US20190130568A1
公开(公告)日：2019-05-02
申请号：US15794518
申请日：2017-10-26
申请人： Kirusha SRIMOHANARAJAH , Dorothy LUI , Gal SELA , Kai HYNNA , Shysta ISMAILI , Samson NG , Jakub JANKOWSKI
发明人： Kirusha SRIMOHANARAJAH , Dorothy LUI , Gal SELA , Kai HYNNA , Shysta ISMAILI , Samson NG , Jakub JANKOWSKI
摘要： Methods and apparatuses for performing patient registration. 3D scan data from a 3D scanner, preoperative image data, first tracking data from a first tracking system, and second tracking data from a second tracking system are mapped to a common coordinate space. The 3D scan data and the first tracking data are mapped to each other using a transformation that is determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space. The 3D scan data and the preoperative image data are mapped to each other using a surface matching algorithm. The first tracking data and the second tracking data are mapped to each other based on tracking of the patient reference device.
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公开(公告)号：US20180071029A1
公开(公告)日：2018-03-15
申请号：US15262560
申请日：2016-09-12
CPC分类号： A61B34/20 , A41D13/11 , A41D13/1209 , A61B34/10 , A61B34/30 , A61B46/00 , A61B46/10 , A61B90/361 , A61B90/37 , A61B90/39 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2090/363 , A61B2090/364 , A61B2090/3735 , A61B2090/3937 , A61B2090/3983
摘要： Trackable apparatuses and methods involving at least one arrangement of at least one trackable feature configured for disposition in relation to at least one substrate, each arrangement of the at least one arrangement having a distinct pattern of trackable features configured to facilitate determining at least one of: an identity of at least one object and at least one subject, a disposition of at least one object and at least one subject, a disposition between at least one object and at least one subject, and a disposition among at least one object and at least one subject, and each arrangement of the at least one arrangement configured to optimize tracking by a 1 navigation tracking system, whereby at least one spatial relationship among the at least one object and the at least one subject is optimizable. The navigation tracking system is optionally multi-modal.
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