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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：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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3.发明申请公开(公告)号：US20140031722A1
公开(公告)日：2014-01-30
申请号：US13954288
申请日：2013-07-30
申请人： ORTHOSOFT, INC.
发明人： Di Li , Louis-Philippe Amiot , Don Dye , Myriam Valin , Isabelle Robitaille , Francois Paradis , Karine Duval , Yonik Breton , Simon Ferron-Forget
IPC分类号： A61B5/107
CPC分类号： A61B5/1077 , A61B2034/2048 , A61F2/4609 , A61F2002/4668
摘要： A pelvic digitizer device comprises a body comprising: a shaft having a tooling end and a handle end with a handle for being manipulated. A visual guide is oriented in a reference plane of the digitizer device. A cup is connected to the tooling end and adapted to be received in an acetabulum of a patient. An inertial sensor unit is connected to the body, the inertial sensor unit having a preset orientation aligned with the reference plane.
摘要翻译： 骨盆数字化仪装置包括主体，其包括：轴，其具有工具端和具有用于操纵的手柄的手柄端。 视觉指南指向数字转换器装置的参考平面。 杯子连接到工具端并适于被容纳在患者的髋臼中。 惯性传感器单元连接到主体，惯性传感器单元具有与参考平面对齐的预定方向。
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公开(公告)号：US11446090B2
公开(公告)日：2022-09-20
申请号：US15946857
申请日：2018-04-06
申请人： ORTHOSOFT INC.
发明人： Di Li , Louis-Philippe Amiot , Pierre Couture
IPC分类号： A61B34/10 , A61B8/00 , A61B5/11 , A61B8/08 , A61B34/20 , A61B5/107 , A61B5/00 , A61B34/00 , A61B90/00
摘要： Systems and methods for determining position and orientation of a bone of an anatomical feature are described. These include the use of a wearable holder configured to be mounted about an outer-skin surface of the anatomical feature, such that the anatomical feature and the bone are positioned in fixed relation with respect to the wearable holder when the wearable holder is mounted about the anatomical feature. Reference marker arrays are fixedly mounted to the wearable holder, each being positioned on the wearable holder to identify a landmark of the bone within the wearable holder when the wearable holder is mounted to the anatomical feature. The position and orientation of the reference markers are trackable to determine position and orientation of the wearable holder in a reference coordinate system, thereby enabling position and orientation of the landmarks on the bone to be determined.
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公开(公告)号：US09987148B2
公开(公告)日：2018-06-05
申请号：US14301877
申请日：2014-06-11
申请人： ORTHOSOFT, INC.
发明人： Di Li , Louis-Philippe Amiot , Herbert Jansen , Francois Paradis , Isabelle Robitaille , Bruno Falardeau , Karine Duval , Myriam Valin , Yvan Leone , Yonik Breton , Benoit Pelletier , Jerome Casaubon , Mathieu Chevrier
CPC分类号： A61F2/4609 , A61B90/13 , A61B2034/104 , A61B2034/2048 , A61F2002/4623 , A61F2002/4687
摘要： A method for assisting in positioning the acetabular cup comprises orienting a cup positioning instrument with a cup thereon in an initial reference orientation relative to an acetabulum of a pelvis with the cup forming a joint with the acetabulum, the cup positioning instrument comprising an inertial sensor unit with pre-planned orientation data for a desired cup orientation based on at least one landmark of the pelvis, The cup positioning instrument is rotated to a desired abduction angle as guided by an interface of the cup positioning instrument, based on movements relative to at least one landmark. The cup positioning instrument is rotated to a desired anteversion angle as guided by the interface of the cup positioning instrument, based on movements relative to the at least one landmark. Upon reaching the desired cup orientation as indicated by the interface, the cup is impacted into the acetabulum.
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公开(公告)号：US11090170B2
公开(公告)日：2021-08-17
申请号：US15968868
申请日：2018-05-02
申请人： ORTHOSOFT INC.
发明人： Di Li , Louis-Philippe Amiot , Herbert Andre Jansen , Francois Paradis , Isabelle Robitaille , Bruno Falardeau , Karine Duval , Myriam Valin , Yvan Leone , Yonik Breton , Benoit Pelletier , Mathieu Chevrier , Jerome Casaubon
摘要： A method for assisting in positioning the acetabular cup comprises orienting a cup positioning instrument with a cup thereon in an initial reference orientation relative to an acetabulum of a pelvis with the cup forming a joint with the acetabulum, the cup positioning instrument comprising an inertial sensor unit with pre-planned orientation data for a desired cup orientation based on at least one landmark of the pelvis, The cup positioning instrument is rotated to a desired abduction angle as guided by an interface of the cup positioning instrument, based on movements relative to at least one landmark. The cup positioning instrument is rotated to a desired anteversion angle as guided by the interface of the cup positioning instrument, based on movements relative to the at least one landmark. Upon reaching the desired cup orientation as indicated by the interface, the cup is impacted into the acetabulum.
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公开(公告)号：US10881470B2
公开(公告)日：2021-01-05
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
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.
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公开(公告)号：US10405928B2
公开(公告)日：2019-09-10
申请号：US15013518
申请日：2016-02-02
申请人： ORTHOSOFT INC.
发明人： Bruno Falardeau , Karine Duval , Laurence Moreau-Belanger , Francois Paradis , Di Li , Myriam Valin , Benoit Pelletier
摘要： A computer-assisted surgery (CAS) system for tracking an orientation of a pelvis comprises at least one instrument, the instrument having an acetabulum abutment end adapted to be received in an acetabulum, a rim abutment adapted to be abutted against a rim of the acetabulum, and an indicator representative of a physical orientation of the instrument. An inertial sensor unit is connected to the at least one instrument, the inertial sensor unit producing readings representative of its orientation. A computer-assisted surgery processor unit 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 has the acetabulum abutment end received in the acetabulum, the coordinate system module setting the pelvic coordinate system by obtaining a plurality of orientation values from the at least one inertial sensor unit when the rim abutment is abutted against locations of the rim, one of said orientation values having the indicator aligned with a reference landmark, the coordinate system module defining an acetabular plane representative of the pelvic coordinate system from the plurality of orientation values; and a tracking module for tracking an orientation of the at least one inertial sensor unit relative to the pelvic coordinate system during movements thereof using the readings from the inertial sensor unit. An interface outputs orientation data as a function of the pelvic coordinate system.
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公开(公告)号：US20160220315A1
公开(公告)日：2016-08-04
申请号：US15013518
申请日：2016-02-02
申请人： ORTHOSOFT INC.
发明人： Bruno Falardeau , Karine Duval , Laurence Moreau-Belanger , Francois Paradis , Di Li , Myriam Valin , Benoit Pelletier
CPC分类号： A61B34/20 , A61B2034/2048 , A61B2034/2068 , A61F2/4609 , A61F2002/4668
摘要： A computer-assisted surgery (CAS) system for tracking an orientation of a pelvis comprises at least one instrument, the instrument having an acetabulum abutment end adapted to be received in an acetabulum, a rim abutment adapted to be abutted against a rim of the acetabulum, and an indicator representative of a physical orientation of the instrument. An inertial sensor unit is connected to the at least one instrument, the inertial sensor unit producing readings representative of its orientation. A computer-assisted surgery processor unit 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 has the acetabulum abutment end received in the acetabulum, the coordinate system module setting the pelvic coordinate system by obtaining a plurality of orientation values from the at least one inertial sensor unit when the rim abutment is abutted against locations of the rim, one of said orientation values having the indicator aligned with a reference landmark, the coordinate system module defining an acetabular plane representative of the pelvic coordinate system from the plurality of orientation values; and a tracking module for tracking an orientation of the at least one inertial sensor unit relative to the pelvic coordinate system during movements thereof using the readings from the inertial sensor unit. An interface outputs orientation data as a function of the pelvic coordinate system.
摘要翻译： 用于跟踪骨盆取向的计算机辅助手术（CAS）系统包括至少一个器械，所述器械具有适于容纳在髋臼中的髋臼邻接端，所述髋臼邻接端适于邻接所述髋臼边缘 ，以及代表仪器物理方位的指标。 惯性传感器单元连接到至少一个仪器，惯性传感器单元产生表示其取向的读数。 计算机辅助手术处理器单元包括坐标系统模块，用于当至少一个仪器具有接收在髋臼中的髋臼邻接端时，从至少一个惯性传感器单元的读数设置骨盆坐标系，坐标系模块将 骨盆坐标系，当轮辋邻接件抵靠轮辋的位置时，通过从所述至少一个惯性传感器单元获得多个取向值，所述取向值中的一个具有与参考标记对准的所述指示器，所述坐标系模块限定 髋臼平面代表骨盆坐标系从多个取向值; 以及跟踪模块，用于使用来自惯性传感器单元的读数来跟踪所述至少一个惯性传感器单元相对于所述骨盆坐标系的移动期间的取向。 界面输出方位数据作为骨盆坐标系的函数。
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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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