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公开(公告)号：US10980645B2
公开(公告)日：2021-04-20
申请号：US14934894
申请日：2015-11-06
申请人： ORTHOSOFT, INC.
摘要： A computer-assisted surgery system comprises a calibrating instrument adapted to be applied to a pelvis in a known manner, and a surgical instrument. A computer-assisted processor unit operating a surgical assistance procedure and comprises at least one portable inertial sensor unit configured to be connected to the at least one calibrating instrument and the at least one surgical instrument, the portable inertial sensor unit outputting readings representative of its orientation. A geometrical relation data module provides a geometrical relation data between the orientation of the portable inertial sensor unit, of the calibrating instrument and of the surgical instrument. A coordinate system module sets a coordinate system of the pelvis in which an anterior-posterior axis of the pelvis is generally in a direction of gravity, and in which a medio-lateral axis of the pelvis is obtained from readings of the at least one portable inertial sensor unit on the calibrating instrument using the geometrical relation data therebetween. A tracking module tracks movements of the at least one surgical instrument relative to the coordinate system using readings from the inertial sensor unit on the surgical instrument using the geometrical relation data therebetween, and calculates navigation data for the movements, the navigation data relating the orientation of the surgical instrument to the orientation of the pelvis. An interface outputs the navigation data.
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公开(公告)号：US10149725B2
公开(公告)日：2018-12-11
申请号：US15712929
申请日：2017-09-22
申请人： ORTHOSOFT INC.
发明人： Tin Nguyen , Yvan Leone , Benoit Pelletier
摘要： A computer-assisted surgery (CAS) navigation assembly comprises a micro-electromechanical sensor (MEMS) navigation unit having one or more MEMS to provide at least orientation data. A support receives the MEMS navigation unit therein, the support being adapted to be mounted on the instrument in a fixed orientation relative to established navigated features of the instrument. At least two mating ball-in-socket features are disposed between the MEMS navigation unit and the support at opposed ends thereof for releasably engaging the MEMS navigation unit in precise orientational alignment within the receptacle, the at least two mating ball-in-socket features comprising catches aligned along an axis extending between the opposed ends, at least one of the catches being a biased catch. A method of connecting a MEMS navigation unit with a mating support fixed to a CAS instrument navigated by the CAS system is also provided.
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公开(公告)号：US09987021B2
公开(公告)日：2018-06-05
申请号：US15222026
申请日：2016-07-28
申请人： ORTHOSOFT INC.
发明人： Benoit Pelletier , Karine Duval , Trong Tin Nguyen , Pierre Couture , Louis-Philippe Amiot , Yannick Boutin , Alain Richard , Catherine Proulx
CPC分类号： A61B17/157 , A61B5/4528 , A61B5/4538 , A61B5/4585 , A61B17/154 , A61B34/20 , A61B90/06 , A61B2034/2048 , A61B2034/2068 , A61F2/46 , A61F2/4657
摘要： A method for determining a mechanical axis of a tibia using a tibial digitizer is disclosed. The method includes: determining an upper reference point on a tibial plateau corresponding to an entry point of the mechanical axis; fastening an upper mounting end of the tibial digitizer to the tibial plateau at the upper reference point; and fastening a lower mounting end of the tibial digitizer to medial and lateral malleoli of the ankle, by inwardly displacing opposed caliper arms of a self-centering malleoli engaging mechanism toward each other in a common plane until the caliper arms abut the malleoli. A lower reference point located at a midpoint between the medial and lateral malleoli is then determined by identifying a corresponding midpoint between the caliper arms when they are clamped onto the medial and lateral malleoli.
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公开(公告)号：US09801685B2
公开(公告)日：2017-10-31
申请号：US13724060
申请日：2012-12-21
申请人： ORTHOSOFT INC.
发明人： Tin Nguyen , Yvan Léone , Benoit Pelletier
CPC分类号： A61B34/20 , A61B2017/00477 , A61B2034/2048 , A61B2090/3983
摘要： A computer-assisted surgery (CAS) navigation assembly comprises a micro-electromechanical sensor (MEMS) navigation unit having one or more MEMS to provide at least orientation data. A support receives the MEMS navigation unit therein, the support being adapted to be mounted on the instrument in a fixed orientation relative to established navigated features of the instrument. At least two mating ball-in-socket features are disposed between the MEMS navigation unit and the support at opposed ends thereof for releasably engaging the MEMS navigation unit in precise orientational alignment within the receptacle, the at least two mating ball-in-socket features comprising catches aligned along an axis extending between the opposed ends, at least one of the catches being a biased catch. A method of connecting a MEMS navigation unit with a mating support fixed to a CAS instrument navigated by the CAS system is also provided.
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公开(公告)号：US11413164B2
公开(公告)日：2022-08-16
申请号：US16535659
申请日：2019-08-08
申请人： ORTHOSOFT INC.
发明人： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , François Paradis
摘要： A computer-assisted surgery system has inertial sensor unit connected to an instrument and producing readings representative of its orientation. A computer-assisted surgery processor unit has a coordinate system module for setting a pelvic coordinate system from readings of the inertial sensor unit when the instrument is in a given orientation relative to the pelvis, a tracking module for tracking an orientation of the instrument relative to the pelvic coordinate system during movements thereof and a geometrical relation data module for recording preoperatively a landmark orientation relative to the pelvic coordinate system and a distance when the at least one instrument has a first end abutted to a pelvic landmark and a second end abutted to a leg landmark, for recording after implant rejointing the medio-lateral orientation and the distance, and for calculating a leg length discrepancy and/or an offset, based on the distances and the medio-lateral orientations.
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公开(公告)号：US10729452B2
公开(公告)日：2020-08-04
申请号：US16007270
申请日：2018-06-13
申请人： ORTHOSOFT, INC.
摘要： A tibia cutting assembly includes a tibia cut guide with at least one cut slot. A guide rod has a guide holder mountable to the cut guide at a first end of the guide rod, and a second end of the guide rod is mountable non-invasively about a skin of a patient. The guide rod is extendable in length to displace the tibia cut guide and adjust a position thereof with respect to a tibia of the patient. The guide holder cooperates with the tibia cut guide to adjust an orientation of the tibia cut guide. A first inertial sensor is mountable to the guide holder and is displaceable therewith, and a second inertial sensor is mountable to the guide rod at the second end thereof.
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公开(公告)号：US10251653B2
公开(公告)日：2019-04-09
申请号：US15292895
申请日：2016-10-13
申请人： ORTHOSOFT INC.
发明人： Louis-Philippe Amiot , Alain Richard , Yannick Boutin , Joel Zuhars , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoit Pelletier , Catherine Proulx , Myriam Valin
摘要： A computer-assisted surgery system for guiding alterations to a bone, comprises a trackable member secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data. A positioning block is secured to the bone, and is adjustable once the positioning block is secured to the bone to be used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone.
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公开(公告)号：US20160220318A1
公开(公告)日：2016-08-04
申请号：US15013507
申请日：2016-02-02
申请人： ORTHOSOFT INC.
发明人： Bruno Falardeau , Karine Duval , Yvan Leone , Francois Paradis , Di Li , Myriam Valin , Benoit Pelletier , Laurence Moreau-Belanger
CPC分类号： A61B34/30 , A61B17/1666 , A61B34/10 , A61B34/20 , A61B34/70 , A61B2034/2048 , A61B2034/2055
摘要： A computer-assisted surgery (CAS) system comprises a cup implanting device including a shaft having a tooling end and a handle end with a handle for being manipulated, the shaft having a longitudinal axis, the tooling end adapted to support a cup for being received in an acetabulum of a patient, and a rotation indicator having a visual guide representative of a device plane, wherein the device plane is in a known position and orientation relative to a center of the cup on the tooling end. A CAS processing unit includes at least one inertial sensor unit connected to the cup implanting device, the inertial sensor unit outputting three-axes readings and having a virtual preset orientation related to a reference axis of a pelvis of the patient, the virtual preset orientation being based on pre-operative imaging specific to the pelvis of the patient, the reference axis of the pelvis passing through a center of rotation of said acetabulum of the pelvis and through a reference landmark of the pelvis, wherein an instant three-axis orientation of the longitudinal axis of the cup implanting device is trigonometrically known relatively to the reference axis when the cup is in the acetabulum of the patient and the device plane passes through the reference landmark via the visual guide, the instant three-axis orientation used for calibrating the inertial sensor unit on the cup implanting device relative to the pelvis.
摘要翻译： 计算机辅助手术（CAS）系统包括杯子植入装置，其包括具有工具端的轴和具有用于被操纵的手柄的手柄端，所述轴具有纵向轴线，所述工具端适于支撑杯子以被接收 在患者的髋臼中，以及具有代表装置平面的视觉引导件的旋转指示器，其中，所述装置平面相对于所述工具端上的杯的中心处于已知位置和取向。 CAS处理单元包括连接到杯注入装置的至少一个惯性传感器单元，惯性传感器单元输出三轴读数并具有与患者骨盆的参考轴线相关的虚拟预设方向，虚拟预设方向为 基于对患者骨盆特异性的手术前成像，骨盆的参考轴线穿过骨盆的所述髋臼的旋转中心并通过骨盆的参考标记，其中立体三轴取向 当杯子位于患者的髋臼中并且装置平面经由视觉引导件穿过参考标记时，杯子植入装置的纵向轴线相对于参考轴线是三项式知道的，用于校准惯性的即时三轴取向 传感器单元在杯子植入装置相对于骨盆。
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公开(公告)号：US10413428B2
公开(公告)日：2019-09-17
申请号：US15013285
申请日：2016-02-02
申请人： ORTHOSOFT INC.
发明人： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , Francois Paradis
摘要： A computer-assisted surgery (CAS) system outputs a leg length discrepancy and/or an offset between conditions. An inertial sensor unit is connected to an instrument(s) to produce readings representative of its orientation. A CAS processor unit has a coordinate system module for setting a pelvic coordinate system from readings of the inertial sensor unit, a tracking module for tracking an orientation of the instrument(s) relative to the pelvic coordinate system during movements thereof, and a geometrical relation data module for recording preoperatively a medio-lateral orientation of the instrument(s) representative of a medio-lateral axis of the legs and a distance between the legs, for recording after implant rejointing the medio-lateral orientation and the distance, and for calculating a leg length discrepancy and/or an offset, based on the distances and the medio-lateral orientations. An interface outputs the leg length discrepancy and/or the offset between leg conditions.
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公开(公告)号：US20160220391A1
公开(公告)日：2016-08-04
申请号：US15013285
申请日：2016-02-02
申请人： ORTHOSOFT INC.
发明人： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , Francois Paradis
CPC分类号： A61F2/4657 , A61B5/1072 , A61B5/1075 , A61B5/1079 , A61B5/6829 , A61B5/6838 , A61B17/848 , A61B34/20 , A61B34/25 , A61B2034/2048 , A61B2090/061 , A61F2002/4658 , A61F2002/469 , G01B21/04 , G01B2210/40 , G01B2210/58
摘要： A computer-assisted surgery system for outputting at least one of a leg length discrepancy and an offset between a preoperative leg condition and a post-implant rejointing leg condition comprises instruments. An inertial sensor unit is connected to one of the instrument, the inertial sensor unit producing readings representative of its orientation. A computer-assisted surgery processor unit operating a surgical assistance procedure and comprises a coordinate system module for setting a pelvic coordinate system from readings of the at least one inertial sensor unit when the at least one instrument is in a given orientation relative to the pelvis, a tracking module for tracking an orientation of the at least one instrument relative to the pelvic coordinate system during movements thereof using the readings from the inertial sensor unit on the instrument, and a geometrical relation data module for recording preoperatively a medio-lateral orientation of the at least one instrument representative of a medio-lateral axis of the legs relative to the pelvic coordinate system and a distance between the legs along the medio-lateral axis, for recording after implant rejointing the medio-lateral orientation and said distance, and for calculating at least one of a leg length discrepancy and an offset, based on said distances and said medio-lateral orientations. An interface outputs at least the leg length discrepancy or the offset between the preoperative leg condition and the post-implant rejointing leg condition.
摘要翻译： 一种计算机辅助手术系统，用于输出腿部长度差异和术前腿部状况与植入物后连接腿状况之间的偏移中的至少一个，包括器械。 惯性传感器单元连接到仪器之一，惯性传感器单元产生代表其取向的读数。 一种操作手术辅助程序的计算机辅助手术处理器单元，包括坐标系统模块，用于当所述至少一个仪器相对于所述骨盆处于给定取向时，从所述至少一个惯性传感器单元的读数设置骨盆坐标系， 跟踪模块，用于使用来自仪器上的惯性传感器单元的读数来跟踪至少一个器械相对于骨盆坐标系的姿态，以及几何关系数据模块，用于在术前记录术中的中间坐标系的中间方向 至少一个仪器代表腿部相对于骨盆坐标系的中间轴线轴线和沿着中间轴线的腿之间的距离，用于在植入物重新连接中间横向方向和所述距离之后进行记录，并用于计算 基于所述距离和所述中间位置，腿长度差异和偏移中的至少一个 坦率的方向。 界面至少输出腿部长度差异或术前腿部状况与植入后重合腿部状况之间的偏移。
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