公开(公告)号：US20120279325A1

公开(公告)日：2012-11-08

申请号：US13512630

申请日：2010-11-30

Applicant: Ferdinando Maria Rodriguez Y Baena ,  Luca Frasson

Inventor： Ferdinando Maria Rodriguez Y Baena ,  Luca Frasson

IPC: G01D21/00

CPC classification number: A61B1/01 ,  A61B1/00071 ,  A61B1/0016 ,  A61B1/0051 ,  A61M25/0069 ,  A61M25/0113 ,  A61M25/0141 ,  A61M25/0147 ,  A61M25/0152

Abstract: A steerable probe comprises a body and drive means arranged to drive the probe through a sample. The body comprises at least three body sections extending parallel to each other along the probe and each movable relative to the others along the probe. The drive means is arranged to move each of the body sections in turn relative to the others thereby to drive the probe through the sample.

Abstract translation: 可操纵探头包括主体和驱动装置，驱动装置将探针驱动通过样品。 主体包括沿着探针彼此平行延伸的至少三个主体部分，并且每个主体部分沿着探针相对于另一个可移动。 驱动装置被布置成相对于其它的轮子相对于身体部分移动，从而驱动探针通过样品。

公开(公告)号：US08303575B2

公开(公告)日：2012-11-06

申请号：US12090578

申请日：2006-08-18

Applicant: Ferdinando Maria Rodriguez Y Baena

Inventor： Ferdinando Maria Rodriguez Y Baena

IPC: A61B19/00

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B90/50

Abstract: A mechanism which constrains the spatial location of a working or a focal point of a tool (103), has a manipulator (101) and a remote center mechanism (102) mounted thereon. The manipulator (101) provides at least one degree of freedom for positioning the remote center mechanism (102) which itself provides at least a further degree of freedom for positioning a tool holder suitable for holding the tool (103) which is to be constrained in operation with respect to a remote center point. The orientation of the tool holder is adjustable while still maintaining the position of the remote center point fixed with respect to the manipulator (101).

Abstract translation: 限制工具（103）的工作或焦点的空间位置的机构具有安装在其上的操纵器（101）和远程中心机构（102）。 所述操纵器（101）提供至少一个自由度来定位所述远程中心机构（102），其自身至少提供进一步的自由度，用于定位适于保持待约束的工具（103）的工具架 相对于远程中心点的操作。 工具架的方向可调节，同时仍保持远程中心点相对于操纵器（101）固定的位置。

公开(公告)号：US20110166832A1

公开(公告)日：2011-07-07

申请号：US12987362

申请日：2011-01-10

Applicant: Ferdinando Maria Rodriguez Y Baena

Inventor： Ferdinando Maria Rodriguez Y Baena

IPC: G06F17/50

CPC classification number: A61B5/103 ,  A61B5/4504 ,  A61B5/4528 ,  A61B2090/364 ,  G06T7/33 ,  G06T2207/30008

Abstract: A model-based method is described which defines a rigid transformation between two co-ordinate systems that reduces the accuracy requirements on the quality of the data-set (including, but not restricted to, the error in the acquisition process, and the number and spread of the points) measured in one of the two co-ordinate systems by identifying a set of remote correspondences that are used to bind the convergence process. The method can be used in minimal-access orthopaedic surgery to improve the accuracy of limb registration. Specific instances include femoral registration, by estimating the functional centre of the hip joint in both co-ordinate systems to be co-registered, and tibial registration, using the ankle centre as a distant set of paired correspondences. Accuracy can be measured in a variety of ways, including, but not restricted to, evaluating the mis-alignment between the two co-registered objects.

Abstract translation: 描述了基于模型的方法，其定义了两个坐标系之间的刚性变换，其降低了对数据集的质量的准确性要求（包括但不限于采集过程中的误差，以及数量和 通过识别用于绑定收敛过程的一组远程通信，在两个坐标系统之一中测量的点的分布）。 该方法可用于最小限度的矫形手术，以提高肢体对位的准确性。 具体实例包括股骨注册，通过估计要共同登记的两个坐标系统中的髋关节的功能中心，以及使用脚踝中心作为远处一对对应的胫骨登记。 可以以各种方式测量精度，包括但不限于评估两个共同注册物体之间的错配。

公开(公告)号：US20090089026A1

公开(公告)日：2009-04-02

申请号：US11718662

申请日：2005-11-03

Applicant: Ferdinando Maria Rodriguez Y Baena

Inventor： Ferdinando Maria Rodriguez Y Baena

IPC: A61B5/103 ,  A61F2/28

CPC classification number: A61B5/103 ,  A61B5/4504 ,  A61B5/4528 ,  A61B2090/364 ,  G06T7/33 ,  G06T2207/30008

Abstract: A model-based method is described which defines a rigid transformation between two co-ordinate systems that reduces the accuracy requirements on the quality of the data-set (including, but not restricted to, the error in the acquisition process, and the number and spread of the points) measured in one of the two co-ordinate systems by identifying a set of remote correspondences that are used to bind the convergence process. The method can be used in minimal-access orthopaedic surgery to improve the accuracy of limb registration. Specific instances include femoral registration, by estimating the functional centre of the hip joint in both co-ordinate systems to be co-registered, and tibial registration, using the ankle centre as a distant set of paired correspondences. Accuracy can be measured in a variety of ways, including, but not restricted to, evaluating the mis-alignment between the two co-registered objects.

Abstract translation: 描述了基于模型的方法，其定义了两个坐标系之间的刚性变换，其降低了对数据集的质量的准确性要求（包括但不限于采集过程中的误差，以及数量和 通过识别用于绑定收敛过程的一组远程通信，在两个坐标系统之一中测量的点的分布）。 该方法可用于最小限度的矫形手术，以提高肢体对位的准确性。 具体实例包括股骨注册，通过估计要共同登记的两个坐标系统中的髋关节的功能中心，以及使用脚踝中心作为远处一对对应的胫骨登记。 可以以各种方式测量精度，包括但不限于评估两个共同注册物体之间的错配。

公开(公告)号：US08744819B2

公开(公告)日：2014-06-03

申请号：US12987362

申请日：2011-01-10

Applicant: Ferdinando Maria Rodriguez Y Baena

Inventor： Ferdinando Maria Rodriguez Y Baena

IPC: G06G7/48

CPC classification number: A61B5/103 ,  A61B5/4504 ,  A61B5/4528 ,  A61B2090/364 ,  G06T7/33 ,  G06T2207/30008

Abstract: A model-based method is described which defines a rigid transformation between two co-ordinate systems that reduces the accuracy requirements on the quality of the data-set (including, but not restricted to, the error in the acquisition process, and the number and spread of the points) measured in one of the two co-ordinate systems by identifying a set of remote correspondences that are used to bind the convergence process. The method can be used in minimal-access orthopaedic surgery to improve the accuracy of limb registration. Specific instances include femoral registration, by estimating the functional center of the hip joint in both co-ordinate systems to be co-registered, and tibial registration, using the ankle center as a distant set of paired correspondences. Accuracy can be measured in a variety of ways, including, but not restricted to, evaluating the mis-alignment between the two co-registered objects.

Abstract translation: 描述了基于模型的方法，其定义了两个坐标系之间的刚性变换，其降低了对数据集的质量的准确性要求（包括但不限于采集过程中的误差，以及数量和 通过识别用于绑定收敛过程的一组远程通信，在两个坐标系统之一中测量的点的分布）。 该方法可用于最小限度的矫形手术，以提高肢体对位的准确性。 具体实例包括股骨注册，通过估计要共同登记的两个坐标系统中的髋关节的功能中心，以及使用脚踝中心作为远处一对对应的胫骨登记。 可以以各种方式测量精度，包括但不限于评估两个共同注册物体之间的错配。

公开(公告)号：US20090041565A1

公开(公告)日：2009-02-12

申请号：US12090578

申请日：2006-08-18

Applicant: Ferdinando Maria Rodriguez Y Baena

Inventor： Ferdinando Maria Rodriguez Y Baena

IPC: B25J9/02

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B90/50

Abstract: A mechanism which constrains the spatial location of a working or a focal point of a tool (103), has a manipulator (101) and a remote centre mechanism (102) mounted thereon. The manipulator (101) provides at least one degree of freedom for positioning the remote centre mechanism (102) which itself provides at least a further degree of freedom for positioning a tool holder suitable for holding the tool (103) which is to be constrained in operation with respect to a remote centre point. The orientation of the tool holder is adjustable whilst still maintaining the position of the remote centre point fixed with respect to the manipulator (101).

Abstract translation: 限制工具（103）的工作或焦点的空间位置的机构具有安装在其上的操纵器（101）和远程中心机构（102）。 所述操纵器（101）提供至少一个自由度来定位所述远程中心机构（102），其自身至少提供进一步的自由度，用于定位适于保持待约束的工具（103）的工具架 相对于远程中心点的操作。 刀架的方向可调节，同时仍保持远程中心点相对于操纵器（101）固定的位置。