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1.发明申请公开(公告)号：US20180055579A1
公开(公告)日：2018-03-01
申请号：US15788826
申请日：2017-10-20
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2034/2068 , A61B2090/363 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082
摘要： The present invention involves a vectorized multi-material fiducial reference for use in tracking on a user-calibration free basis a non-visible scan-detectable structure of a body as part of a three-dimensional tracking system. The fiducial consists of scan-detectable elements embedded within the body of the fiducial, the body being formed of a material compatible with the tracked body. The scan-detectable elements are embedded in a rotationally asymmetric pattern in the fiducial with to an accuracy compatible with surgery. A vectorized tracking marker may be attached directly or indirectly to the fiducial. The system employs a controller in communication with a non-stereo optical tracker to track in real time the marker and thereby the fiducial based on a prior scan of the surgical site with the fiducial attached. A method for manufacturing the fiducial employs pins to hold the scan-detectable elements accurately in position while forming the body of the fiducial around the elements.
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2.发明申请SYSTEM AND METHOD FOR TRACKING NON-VISIBLE STRUCTURES OF BODIES RELATIVE TO EACH OTHER 审中-公开跟踪每个其他机构的不可见结构的系统和方法公开(公告)号：US20140343405A1
公开(公告)日：2014-11-20
申请号：US14270392
申请日：2014-05-06
CPC分类号： A61B5/064 , A61B5/0022 , A61B5/055 , A61B6/032 , A61B34/10 , A61B34/20 , A61B90/39 , A61B2034/105 , A61B2034/2055 , A61B2034/2065 , A61B2090/3966 , A61B2090/3983 , A61C1/082
摘要： A monitoring system tracks the non-visible structure of a body and relatable non-visible structures in real time in three dimensions. A tracker obtains image information of the body and its vicinity. A controller spatially relates the image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan, a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information are used by the controller to provide the user with real time information about the relative 3D locations and orientations of the relatable non-visible structures and the non-visible structure of the body. Using three-dimensional tracking markers attached to the fiducial reference on the body and to the relatable non-visible structures, the system and method may be employed to track in three dimensions in real time a plurality of bodies having non-visible structure. Three-dimensional tracking markers intergrated with surgical screws may be attached directly to the relatable non-visible structures.
摘要翻译： 监控系统在三维实时跟踪身体的不可见结构和可关联的不可见结构。 跟踪器获取身体及其附近的图像信息。 控制器在空间上将图像信息与先前获得的显示对象的不可见结构的对象的扫描数据相关联。 对于扫描，扫描中可检测的基准参考可以可拆卸地连接到物体上的位置。 控制器使用扫描数据和图像信息来向用户提供有关可相对的不可见结构和身体的不可见结构的相对3D位置和取向的实时信息。 使用连接到身体上的基准参考的三维跟踪标记和可关联的不可见结构，可以采用系统和方法在三维实时跟踪具有不可见结构的多个体。 与外科螺钉相结合的三维跟踪标记可以直接连接到可相关的不可视结构。
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公开(公告)号：US20220265387A1
公开(公告)日：2022-08-25
申请号：US17692437
申请日：2022-03-11
摘要： The present invention relates to a tool system comprising a handheld implement having a passive vectorized tracking marker permanently integrated with the implement at a predetermined location on the implement in a predetermined orientation with respect to the implement; and a database comprising geometric information describing the at least one of a rotationally asymmetric shape of the tracking marker and a rotationally asymmetric pattern disposed on the tracking marker. The system may further comprise: a tracker configured for obtaining image information about the tracking marker when the tracking marker is in a field of view of the tracker; and a controller having a processor and memory, the controller in communication with the database and the tracker, the processor programmable for receiving and processing image information from the tracker; accessing the database to retrieve the geometric information; and comparing the image information with the geometric information. The handheld implement may be three-dimensionally tracked by the tracker.
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公开(公告)号：US20150049238A1
公开(公告)日：2015-02-19
申请号：US14458186
申请日：2014-08-12
CPC分类号： H04N5/23212 , G06K9/00624 , G06T7/20 , G06T7/579 , G06T7/60 , G06T2207/30204 , H04N1/00339 , H04N1/00342 , H04N5/2224 , H04N5/2254
摘要： A system and method for automatically focusing imaging devices on an imaging set employs at least one tracker and two or more tracking markers, each tracking marker having an identification means and a tracking pattern. The tracking markers are configured for attaching to the imaging devices and to corresponding subjects to be imaged. A tracker gathers image information of the imaging set and provides it to a controller, which compares the image information to predetermined stored information about the tracking patterns of the various tracking markers. The tracking markers are identified and their three-dimensional positions determined. The distances between the imaging devices and the subjects are determined and the distances between the imaging devices and the subjects are calculated. This provides the focus setting information for communication to the imaging devices. The tracking patterns may have no rotational symmetry, allowing the orientation of subjects to be determined.
摘要翻译： 用于将成像装置自动聚焦在成像组上的系统和方法采用至少一个跟踪器和两个或更多个跟踪标记，每个跟踪标记具有识别装置和跟踪图案。 跟踪标记被配置为附接到成像装置和要被成像的相应对象。 跟踪器收集成像集合的图像信息并将其提供给控制器，其将图像信息与预定存储的关于各种跟踪标记的跟踪图案的信息进行比较。 识别跟踪标记并确定其三维位置。 确定成像装置与受试者之间的距离，并且计算成像装置和受试者之间的距离。 这提供了用于与成像装置的通信的聚焦设置信息。 跟踪图案可以不具有旋转对称性，允许确定受试者的取向。
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5.发明申请SYSTEM AND METHOD FOR TRACKING NON-VISIBLE STRUCTURE OF A BODY WITH MULTI-ELEMENT FIDUCIAL 有权用于跟踪具有多元素的身体的非可见结构的系统和方法公开(公告)号：US20170014195A1
公开(公告)日：2017-01-19
申请号：US15278213
申请日：2016-09-28
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/363 , A61B2090/364 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/082 , G06T7/0014 , G06T7/74 , G06T2207/30036 , G06T2207/30204 , H04N13/20
摘要： A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers with at least one pattern segment. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. Scan data and image information is used by the controller to provide the user with real time information on relative 3D locations and orientations of instruments and the non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track changes in the body itself. In other embodiments, a model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
摘要翻译： 监控系统在三个维度上跟踪身体的不可见结构。 跟踪器获取其附近的对象和乐器的图像信息，所有图像信息都具有至少一个图案片段的3D跟踪标记。 控制器在空间上将图像信息与先前获得的显示对象的不可见结构的对象的扫描数据相关联。 对于扫描，扫描中可检测的基准参考可移除地附着到物体上的位置。 控制器使用扫描数据和图像信息来向用户提供关于仪器的相对3D位置和取向以及身体的不可见结构的实时信息。 在另一实施例中，监视系统可用于对身体本身的变化进行建模和跟踪。 在其他实施例中，使用身体和器械的模型来跟踪预期的动作并警告可能不适当的仪器过程。
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6.发明申请公开(公告)号：US20160135904A1
公开(公告)日：2016-05-19
申请号：US15004653
申请日：2016-01-22
CPC分类号： A61B34/20 , A61B5/0088 , A61B5/055 , A61B5/064 , A61B6/032 , A61B6/12 , A61B6/14 , A61B10/0233 , A61B17/3211 , A61B90/16 , A61B90/39 , A61B2017/00477 , A61B2034/2055 , A61B2090/363 , A61B2090/364 , A61B2090/376 , A61B2090/3925 , A61B2090/3937 , A61B2090/3954 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082
摘要： The present invention involves a surgical site monitoring system and associated method of use employing passive vectorized tracking markers attached to a surgical implement, an intra-oral mapping device and/or a scan-visible passive vectorized fiducial reference fixed to a surgical site. A non-stereo optical tracker obtains image information about the tracking markers and uses either markings on or shapes of the tracking markers to determine from the image information the relative 3D locations and orientations of the surgical implement, mapping device and/or fiducial reference. A scan of the surgical site prior to a surgical procedure with the fiducial reference attached is used to obtain scan data. The system and method allow the scan data and intra-oral maps of the surgery site by the mapping device to be three-dimensionally superimposed and, in some embodiments, allows surgery to be tracked. In some embodiments, the superimposition may be done in real time during surgery.
摘要翻译： 本发明涉及一种外科手术部位监测系统及其相关联的使用方法，其采用附接到手术器械的被动向量化跟踪标记，固定在外科手术部位的口内映射装置和/或扫描可见被动矢量化基准参考。 非立体光学跟踪器获得关于跟踪标记的图像信息，并且使用跟踪标记上的标记或跟踪标记的形状从图像信息中确定手术器具，映射设备和/或基准参考的相对3D位置和取向。 使用附着基准的外科手术之前对外科手术部位的扫描获得扫描数据。 该系统和方法允许通过映射设备的扫描数据和口内地图的三维重叠，并且在一些实施例中允许跟踪手术。 在一些实施例中，叠加可以在手术期间实时完成。
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7.发明申请METHOD FOR DETERMINING THE LOCATION AND ORIENTATION OF A FIDUCIAL REFERENCE 有权用于确定FIDUCAL参考的位置和方向的方法公开(公告)号：US20160045279A1
公开(公告)日：2016-02-18
申请号：US14458205
申请日：2014-08-12
CPC分类号： A61B5/055 , A61B6/032 , A61B8/14 , A61B19/52 , A61B19/54 , A61B34/20 , A61B90/98 , A61B2019/5287 , A61B2019/5483 , A61B2034/101 , A61B2034/2065 , A61B2090/363 , A61B2090/371 , A61B2090/3966 , A61B2090/3983 , A61C3/00 , A61C19/00
摘要： A method for determining the 3D location and orientation of a fiducial reference comprises disposing the fiducial reference so as to render a part of the fiducial reference observable by a tracker; obtaining from the tracker scan data of the part of the fiducial reference that is observable by the tracker; obtaining predetermined geometric information about location points on the fiducial reference, the geometric information containing three-dimensional coordinates of the location points relative to the structure of the fiducial reference; identifying within the scan data at least three location points having coordinates in the predetermined geometric information; and determining from the scan data and the coordinates of the three identified location points in the predetermined geometric information the 3D location and orientation of the fiducial reference.
摘要翻译： 用于确定基准参考的3D位置和取向的方法包括布置基准参考以便使跟踪器可观察到基准参考的一部分; 从跟踪器获取可由跟踪器观察到的基准参考部分的数据; 获取关于基准参考上的位置点的预定几何信息，该几何信息包含相对于基准参考的结构的位置点的三维坐标; 在所述扫描数据内识别具有所述预定几何信息中的坐标的至少三个位置点; 并根据所述扫描数据和所述预定几何信息中的所述三个识别的位置点的坐标来确定所述基准参考的3D位置和方位。
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8.发明申请SYSTEM AND METHOD FOR DETERMINING THE THREE-DIMENSIONAL LOCATION AND ORIENTATION OF IDENTIFICATION MARKERS 审中-公开用于确定三维位置和识别标记的方位的系统和方法公开(公告)号：US20150150641A1
公开(公告)日：2015-06-04
申请号：US14613827
申请日：2015-02-04
CPC分类号： A61C1/082 , A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/3937 , A61B2090/3983 , A61C19/04 , G06K9/00201 , G06K2009/3225 , G06K2209/055 , G06T7/251 , G06T2207/10016 , G06T2207/30208 , Y10S128/922 , Y10S128/923
摘要： A three-dimensional position and orientation tracking system comprises one or more pattern tags, each comprising a plurality of contrasting portions, a tracker for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information. The contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section. The perimeter of the contrasting portion may comprise a conic section, including for example an ellipse or a circle. The pattern tags may be borne on tracking markers that have a three-dimensional shaped surface. The tracking system may be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. In other embodiments, the contrasting portions are implemented as contrasting pattern elements on a close-packed tiled background of tiles of at least two mutually contrasting colors.
摘要翻译： 三维位置和方向跟踪系统包括一个或多个图案标签，每个图案标签包括多个对比部分，用于获取关于图案标签的图像信息的跟踪器，具有描述图案标签上的图案的几何信息的数据库; 以及控制器，用于从跟踪器接收和处理图像信息，访问数据库以检索几何信息，以及比较图像信息。 对比部分以旋转非对称图案布置，并且图案标签上的对比部分中的至少一个具有具有数学上可描述的弯曲部分的周边。 对比部分的周边可以包括圆锥形部分，包括例如椭圆形或圆形。 模式标签可以承载在具有三维形状表面的跟踪标记上。 跟踪系统可以在手术监视系统中实现，其中模式标签附接到跟踪标记或本身是跟踪标记。 在其他实施例中，对比部分被实现为在至少两个相互对比的颜色的瓦片的紧密堆叠的平铺背景上的对比图案元素。
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公开(公告)号：US20170013187A1
公开(公告)日：2017-01-12
申请号：US15276433
申请日：2016-09-26
CPC分类号： H04N5/23212 , G06K9/00624 , G06T7/20 , G06T7/579 , G06T7/60 , G06T2207/30204 , H04N1/00339 , H04N1/00342 , H04N5/2224 , H04N5/2254
摘要： A system and method for automatically focusing imaging devices on an imaging set employs at least one tracker and two or more tracking markers, each tracking marker having an identification means and a tracking pattern. The tracking markers are configured for attaching to the imaging devices and to corresponding subjects to be imaged. A tracker gathers image information of the imaging set and provides it to a controller, which compares the image information to predetermined stored information about the tracking patterns of the various tracking markers. The tracking markers are identified and their three-dimensional positions determined. The distances between the imaging devices and the subjects are determined and the distances between the imaging devices and the subjects are calculated. This provides the focus setting information for communication to the imaging devices. The tracking patterns may have no rotational symmetry, allowing the orientation of subjects to be determined.
摘要翻译： 用于将成像装置自动聚焦在成像组上的系统和方法采用至少一个跟踪器和两个或更多个跟踪标记，每个跟踪标记具有识别装置和跟踪图案。 跟踪标记被配置为附接到成像装置和要被成像的相应对象。 跟踪器收集成像集合的图像信息并将其提供给控制器，其将图像信息与预定存储的关于各种跟踪标记的跟踪图案的信息进行比较。 识别跟踪标记并确定其三维位置。 确定成像装置与受试者之间的距离，并且计算成像装置和受试者之间的距离。 这提供了用于与成像装置的通信的聚焦设置信息。 跟踪图案可以不具有旋转对称性，允许确定受试者的取向。
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10.发明申请SURGICAL LOCATION MONITORING SYSTEM AND METHOD WITH SURGICAL INSTRUMENT GUIDANCE AND GRAPHIC USER INTERFACE 审中-公开手术位置监测系统和方法与手术仪器指导和图形用户界面公开(公告)号：US20160367321A1
公开(公告)日：2016-12-22
申请号：US15214379
申请日：2016-07-19
CPC分类号： A61B34/10 , A61B6/032 , A61B6/12 , A61B6/14 , A61B6/583 , A61B8/0841 , A61B10/0233 , A61B34/20 , A61B34/25 , A61B90/16 , A61B90/37 , A61B90/39 , A61B2017/00207 , A61B2017/00477 , A61B2034/2055 , A61B2090/3925 , A61B2090/3937 , A61B2090/3954 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61B2090/3995 , A61C1/0007 , A61C1/082 , A61C1/084
摘要： A position monitoring system comprises a fiducial reference, a tracker for obtaining image information of surgical site, and a computer system with processor, memory, a software program, and access to a database with scan data of the surgical site with the fiducial reference fixed to the site. Uniquely identifiable tracking markers are fixed to the fiducial reference and to a surgical instrument. The computer determines the relative positions and orientations of the markers based on live image information from the tracker, relates and displays on one or more display systems the current position and orientation of the fiducial reference and the surgical implement. The computer further has a database of instrument gestures and corresponding executable functions. When a user manipulates the surgical implement to form a recognizable predetermined instrument gesture, the computer recognizes the gesture in the live image information and automatically executes the corresponding function.
摘要翻译： 位置监测系统包括基准参考，用于获取外科手术部位的图像信息的跟踪器，以及具有处理器，存储器，软件程序的计算机系统，以及具有将基准参考的扫描数据固定到数据库的数据库 网站。 唯一可识别的跟踪标记固定在基准参考和手术器械上。 计算机基于来自跟踪器的实况图像信息来确定标记的相对位置和取向，在一个或多个显示系统上显示基准参考和手术工具的当前位置和方向。 计算机还具有仪器手势数据库和相应的可执行功能。 当用户操纵手术器具以形成可识别的预定仪器手势时，计算机识别实况图像信息中的手势并自动执行相应的功能。
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