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    OPTICAL CAMERA CALIBRATION FOR CAS NAVIGATION
    2.
    发明申请
    OPTICAL CAMERA CALIBRATION FOR CAS NAVIGATION 审中-公开
    用于CAS导航的光学相机校准

    公开(公告)号：US20100076306A1

    公开(公告)日：2010-03-25

    申请号：US12564494

    申请日：2009-09-22

    申请人： Emmanuel Daigneault ,  Ahmed Aoude

    发明人： Emmanuel Daigneault ,  Ahmed Aoude

    IPC分类号： A61B5/05

    CPC分类号： A61B34/20 ,  A61B46/10 ,  A61B2034/2055

    摘要： A navigation system for tracking an object during surgery, comprises markers adapted to be connected to an object in a known relation. An optical camera detects a light signal from the at least one marker, the optical camera generating tracking data associated with a position of the markers from the light signal. A transparent shield is positioned between the optical camera and the markers during surgery to allow the optical camera to be within the sterile field. Calibration data is associated with an effect of the shield on the light signal passing therethrough to be detected by the optical camera. A position and orientation calculator calculates a position and/or orientation of the object as a function of the tracking data, of the calibration data, and of the known relation between the object and the markers. A method is provided for tracking an object in computer-assisted surgery.

    摘要翻译： 用于在手术期间跟踪对象的导航系统包括适于以已知关系连接到对象的标记。 光学摄像机检测来自至少一个标记的光信号，光学摄像机产生与来自光信号的标记位置相关联的跟踪数据。 在手术期间，透明屏蔽件位于光学摄像机和标记之间，以允许光学摄像机处于无菌区域内。 校准数据与屏蔽对通过的光信号的影响相关联，以由光学摄像机检测。 位置和姿态计算器根据跟踪数据，校准数据以及对象和标记之间的已知关系来计算对象的位置和/或取向。 提供了一种在计算机辅助手术中跟踪对象的方法。

    TRACKING CAS SYSTEM
    3.
    发明申请
    TRACKING CAS SYSTEM 审中-公开
    跟踪系统

    公开(公告)号：US20110004224A1

    公开(公告)日：2011-01-06

    申请号：US12679493

    申请日：2009-03-12

    申请人： Emmanuel Daigneault ,  Ahmed Aoude

    发明人： Emmanuel Daigneault ,  Ahmed Aoude

    IPC分类号： A61B19/00

    CPC分类号： A61B5/1114 ,  A61B5/06 ,  A61B5/1127 ,  A61B5/4528 ,  A61B34/20 ,  A61B2017/00725 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/0807 ,  A61B2090/0808 ,  A61B2090/0812 ,  A61B2090/3983 ,  A61B2505/05

    摘要： A computer-assisted surgery system for tracking an object during surgery comprises a first tracker device and a second tracker device secured to different parts of the object. The first and the second tracker device are secured to the object separately in such a way that a geometrical pattern is defined with trackable elements from the first tracker device and from the second tracker device. A tracking system has a sensor unit tracking the trackable members. A calibration unit defines a geometrical pattern from the trackable members. A pattern identifier identifies the geometrical pattern. A position and orientation calculator calculates a position and orientation of the geometrical pattern The tracking system calculates position and orientation of the object as a function of the position and orientation of the geometrical pattern and of object/geometrical pattern relation data gathered during surgery.

    摘要翻译： 用于在手术期间跟踪物体的计算机辅助手术系统包括固定到物体的不同部分的第一跟踪器装置和第二跟踪装置。 第一和第二跟踪器装置以这样一种方式固定到对象上，使得几何图案被定义成具有来自第一跟踪器装置和第二跟踪装置的可跟踪元件。 跟踪系统具有跟踪跟踪构件的传感器单元。 校准单元定义来自可跟踪构件的几何图案。 图案标识符标识几何图案。 位置和姿态计算器计算几何图案的位置和方向跟踪系统根据几何图案的位置和取向以及在手术期间收集的对象/几何图案关系数据来计算对象的位置和方向。

    CALIBRATION SYSTEM OF A COMPUTER-ASSISTED SURGERY SYSTEM
    4.
    发明申请
    CALIBRATION SYSTEM OF A COMPUTER-ASSISTED SURGERY SYSTEM 审中-公开
    计算机辅助手术系统的校准系统

    公开(公告)号：US20090163930A1

    公开(公告)日：2009-06-25

    申请号：US12339405

    申请日：2008-12-19

    申请人： Ahmed Aoude ,  Bruno Falardeau ,  Melanie Chasse ,  Karine Duval

    发明人： Ahmed Aoude ,  Bruno Falardeau ,  Melanie Chasse ,  Karine Duval

    IPC分类号： A61B19/00

    CPC分类号： A61B34/20 ,  A61B2017/00725 ,  A61B2090/0807 ,  A61B2090/3983

    摘要： A calibration system for the calibration of a surgical instrument, comprises a surgical instrument having a working shaft. A clamp has a first trackable member and is releasably connected to the surgical instrument such that an orientation relation between the clamp and the working shaft of the instrument is known. A base is separated from the clamp and has a second trackable member and a positioning portion being tracked for position. A sensor unit tracks the first and second trackable members. A calibration unit calibrates the surgical instrument by initializing the orientation relation between the clamp and the working shaft from the tracking data to obtain an orientation of the working shaft, and by setting a position for the working shaft with respect to the first trackable member by relating the orientation of the working shaft to the position of the positioning portion when the working shaft contacts the positioning portion.

    摘要翻译： 用于校准外科器械的校准系统包括具有工作轴的手术器械。 夹具具有第一可跟踪构件并且可释放地连接到外科器械，使得夹具与仪器的工作轴之间的取向关系是已知的。 基座与夹具分离，并具有第二可跟踪构件和位置跟踪的定位部分。 传感器单元跟踪第一和第二可跟踪构件。 校准单元通过从跟踪数据初始化夹具和工作轴之间的取向关系以获得工作轴的取向并通过相对于第一可跟踪构件设定工作轴的位置来校准外科器械 当工作轴接触定位部分时，工作轴的定向到定位部分的位置。