公开(公告)号：US20180140223A1

公开(公告)日：2018-05-24

申请号：US15315945

申请日：2014-10-17

申请人： Leila KHERADPIR ,  William LAU ,  Gal SELA ,  Neil WITCOMB

发明人： Leila KHERADPIR ,  William LAU ,  Gal SELA ,  Neil WITCOMB

IPC分类号： A61B5/06 ,  A61B34/20

CPC分类号： A61B5/064 ,  A61B5/6848 ,  A61B34/20 ,  A61B2017/00725 ,  A61B2034/2055 ,  A61B2034/207 ,  A61B2505/05 ,  A61B2560/0223 ,  A61B2560/0233

摘要： A calibration apparatus is provided for calibrating a medical tool having a tool tracking marker. The medical tool and the calibration apparatus are for use with a medical navigation system. The calibration apparatus comprises a frame, a frame tracking marker attached to the frame, and a reference point formed on the frame. The reference point provides a known spatial reference point relative to the frame tracking marker.

公开(公告)号：US20160324583A1

公开(公告)日：2016-11-10

申请号：US14904870

申请日：2014-10-14

申请人： Leila KHERADPIR ,  William LAU ,  Gal SELA ,  Josh RICHMOND ,  Vivek SAINI

发明人： Leila KHERADPIR ,  William LAU ,  Gal SELA ,  Josh RICHMOND ,  Vivek SAINI

IPC分类号： A61B34/20 ,  A61B90/00 ,  A61B46/10 ,  A61B5/06

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： A patient reference device is provided for use during a medical procedure. The patient reference device includes a housing having a back side and a front side, at least three tracking markers attached to the front side of the housing, the housing extending around the at least three tracking markers and beyond a horizontal plane defined by tops of the at least three tracking markers, the housing terminating at a substantially continuous edge, and a sterile cover attached to the substantially continuous edge of the housing for covering the housing and the tracking markers.

摘要翻译： 提供了在医疗过程中使用的患者参考装置。 患者参考装置包括具有后侧和前侧的壳体，附接到壳体的前侧的至少三个跟踪标记，所述壳体围绕所述至少三个跟踪标记延伸并且超过由 至少三个跟踪标记，所述外壳终止于基本上连续的边缘，以及附接到所述壳体的基本上连续的边缘的无菌盖，用于覆盖所述外壳和所述跟踪标记。

公开(公告)号：US20170165005A1

公开(公告)日：2017-06-15

申请号：US15323760

申请日：2014-08-28

申请人： Leila KHERADPIR ,  William LAU ,  Gal SELA ,  Joshua Lee RICHMOND

发明人： Leila KHERADPIR ,  William LAU ,  Gal SELA ,  Joshua Lee RICHMOND

IPC分类号： A61B34/20 ,  A61B46/20 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30

CPC分类号： A61B34/20 ,  A61B5/061 ,  A61B17/3421 ,  A61B17/3423 ,  A61B34/25 ,  A61B34/30 ,  A61B46/20 ,  A61B2017/00902 ,  A61B2017/3492 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2090/363 ,  A61B2090/3983

摘要： An access port tracking apparatus is provided having a frame including two arms positioned at a relative angle, a coupling member attached to the frame, the coupling member for coupling the tracking apparatus to an access port, and a coupling attached to the frame for connecting a tracking marker to the frame.

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

IPC分类号： A61B34/20 ,  A61B34/10

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.

公开(公告)号：US20160155232A1

公开(公告)日：2016-06-02

申请号：US14555636

申请日：2014-11-27

申请人： Gal SELA ,  Neil WITCOMB ,  David GALLOP ,  Kelly Noel DYER ,  Wes HODGES

发明人： Gal SELA ,  Neil WITCOMB ,  David GALLOP ,  Kelly Noel DYER ,  Wes HODGES

IPC分类号： G06T7/00 ,  A61B19/00 ,  G06T7/20 ,  G06F19/00

CPC分类号： G06T7/0012 ,  A61B34/10 ,  A61B2034/107 ,  G06F19/00 ,  G06F19/321 ,  G06K9/4652 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6267 ,  G06T7/20 ,  G06T19/003 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/30016 ,  G06T2207/30096 ,  G06T2207/30101 ,  G06T2207/30204 ,  G06T2210/41

摘要： A method and computing device for displaying surgical path data are provided. The computing device includes an input device, a display, a memory and a processor. The memory stores (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume. The processor receives an identifier of a target location within the volume; generates a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location; for each of the plurality of paths, determines a score based on a comparison between the path and the anatomical data; and controls the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

摘要翻译： 提供了一种用于显示手术路径数据的方法和计算装置。 计算设备包括输入设备，显示器，存储器和处理器。 存储器存储（i）具有外表面的患者组织的体积的图像，以及（ii）定义体积的解剖特征的解剖数据。 处理器接收该卷内的目标位置的标识符; 产生从外表面到目标位置的多个路径，每个路径具有位于外表面上的起始点和目标位置处的终点; 对于所述多个路径中的每一个，基于所述路径和所述解剖数据之间的比较来确定分数; 并且控制显示器呈现外表面，并且在起始点的位置处指示对应于开始点的路径的各个分数。

公开(公告)号：US20170076450A1

公开(公告)日：2017-03-16

申请号：US15358796

申请日：2016-11-22

申请人： Gal SELA ,  Neil WITCOMB ,  David GALLOP ,  Kelly Noel DYER ,  Wes HODGES

发明人： Gal SELA ,  Neil WITCOMB ,  David GALLOP ,  Kelly Noel DYER ,  Wes HODGES

IPC分类号： G06T7/00 ,  A61B34/10 ,  G06K9/46 ,  G06K9/62 ,  G06K9/52

CPC分类号： G06T7/0012 ,  A61B34/10 ,  A61B2034/107 ,  G06F19/00 ,  G06F19/321 ,  G06K9/4652 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6267 ,  G06T7/20 ,  G06T19/003 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/30016 ,  G06T2207/30096 ,  G06T2207/30101 ,  G06T2207/30204 ,  G06T2210/41

摘要： A method and computing device for displaying surgical path data are provided. The computing device includes an input device, a display, a memory and a processor. The memory stores (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume. The processor receives an identifier of a target location within the volume; generates a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location; for each of the plurality of paths, determines a score based on a comparison between the path and the anatomical data; and controls the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

摘要翻译： 提供了一种用于显示手术路径数据的方法和计算装置。 计算设备包括输入设备，显示器，存储器和处理器。 存储器存储（i）具有外表面的患者组织的体积的图像，以及（ii）定义体积的解剖特征的解剖数据。 处理器接收该卷内的目标位置的标识符; 产生从外表面到目标位置的多个路径，每个路径具有位于外表面上的起始点和目标位置处的终点; 对于所述多个路径中的每一个，基于所述路径和所述解剖数据之间的比较来确定分数; 并且控制显示器呈现外表面，并且在起始点的位置处指示对应于开始点的路径的各个分数。

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.

公开(公告)号：US20180318035A1

公开(公告)日：2018-11-08

申请号：US15584132

申请日：2017-05-02

申请人： Stewart David MCLACHLIN ,  Gal SELA ,  Kamyar ABHARI ,  Kai Michael HYNNA

发明人： Stewart David MCLACHLIN ,  Gal SELA ,  Kamyar ABHARI ,  Kai Michael HYNNA

IPC分类号： A61B90/00 ,  A61B34/20 ,  A61B90/96 ,  A61B17/70

CPC分类号： A61B90/39 ,  A61B17/7074 ,  A61B34/20 ,  A61B90/96 ,  A61B2017/00004 ,  A61B2017/00938 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/3916 ,  A61B2090/3937 ,  A61B2090/3954 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61B2090/3991

摘要： A reference tie to be secured around a portion of a spine during a surgical procedure and to be tracked by a surgical navigation system is described. The reference tie includes an elongate strap having a first strap end and a second strap end. The reference tie also includes a fastener joined to the elongate strap at the first strap end, the fastener for securing the first strap end to a portion of the second strap end. The elongate strap is configured to form a secured loop around the portion of the spine. The reference tie also includes a fiducial marker joined to at least one of the elongate strap or the fastener. The fiducial marker is trackable by the surgical navigation system.

公开(公告)号：US20180116742A1

公开(公告)日：2018-05-03

申请号：US15846960

申请日：2017-12-19

申请人： Trevor James DELL ,  Adam Keith WHITE ,  David Bruce MCFADZEAN ,  Monroe Milas THOMAS ,  Oleg Valerievitch RAKITINE ,  Mark Leon UNGER ,  Bradley Allan FERNALD ,  William Dennis BABBY ,  Kirusha SRIMOHANARAJAH ,  Gal SELA ,  Kamyar ABHARI

发明人： Trevor James DELL ,  Adam Keith WHITE ,  David Bruce MCFADZEAN ,  Monroe Milas THOMAS ,  Oleg Valerievitch RAKITINE ,  Mark Leon UNGER ,  Bradley Allan FERNALD ,  William Dennis BABBY ,  Kirusha SRIMOHANARAJAH ,  Gal SELA ,  Kamyar ABHARI

IPC分类号： A61B34/32 ,  A61B34/20 ,  A61B90/00 ,  A61B90/11

CPC分类号： A61B34/32 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B90/11 ,  A61B90/25 ,  A61B90/361 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2074 ,  A61B2090/363 ,  A61B2090/3735

摘要： A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device. The controller has a processor coupled to a memory and the controller is configured to perform the following during the medical procedure: position the robotic arm in a first position by providing a first positioning signal to the robotic arm; save the first position in the memory as a first saved position in response to a signal received from the input device; position the robotic arm in a second position by providing a second positioning signal to the robotic arm; and return the robotic arm to the first position by loading the first saved position from the memory and providing the first positioning signal to the robotic arm when an input is received from the input device corresponding to a command to return to the first saved position.

公开(公告)号：US20190125451A1

公开(公告)日：2019-05-02

申请号：US15796002

申请日：2017-10-27

申请人： Kirusha SRIMOHANARAJAH ,  Gal SELA ,  Dorothy LUI ,  Kai Michael HYNNA

发明人： Kirusha SRIMOHANARAJAH ,  Gal SELA ,  Dorothy LUI ,  Kai Michael HYNNA

IPC分类号： A61B34/20 ,  G06F19/00 ,  G06Q50/24

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.