公开(公告)号：US20160135900A1

公开(公告)日：2016-05-19

申请号：US14934894

申请日：2015-11-06

Applicant: ORTHOSOFT, INC.

Inventor： BRUNO FALARDEAU ,  MYRIAM VALIN ,  BENOIT PELLETIER ,  FRANCOIS PARADIS

IPC: A61B19/00 ,  A61B17/17 ,  A61B17/16 ,  A61F2/46 ,  G06F19/00

CPC classification number: A61F2/4609 ,  A61B17/1666 ,  A61B34/20 ,  A61B2034/2048 ,  A61B2090/363

Abstract: 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.

Abstract translation: 计算机辅助手术系统包括适于以已知方式应用于骨盆的校准装置和外科器械。 一种操作外科手术辅助程序的计算机辅助处理器单元，包括至少一个便携式惯性传感器单元，该便携式惯性传感器单元被配置为连接到所述至少一个校准仪器和所述至少一个外科器械，所述便携式惯性传感器单元输出表示其取向的读数 。 几何关系数据模块提供便携式惯性传感器单元，校准仪器和外科器械的取向之间的几何关系数据。 坐标系统模块设置骨盆的坐标系，其中骨盆的前后轴线通常在重力方向上，并且其中从至少一个便携式的读取器获得骨盆的中间轴线 惯性传感器单元在校准仪器上使用它们之间的几何关系数据。 跟踪模块使用来自外科手术仪器上的惯性传感器单元的读数使用其间的几何关系数据跟踪相对于坐标系的至少一个外科器械的运动，并且计算运动的导航数据，导航数据与 手术器械取向骨盆。 一个接口输出导航数据。

公开(公告)号：US20170007329A1

公开(公告)日：2017-01-12

申请号：US15203208

申请日：2016-07-06

Applicant: ORTHOSOFT INC.

Inventor： DI LI ,  LOUIS-PHILIPPE AMIOT ,  FRANCOIS PARADIS ,  BENOIT PELLETIER ,  LAURENCE MOREAU-BELANGER ,  KARINE DUVAL

IPC: A61B34/10 ,  A61B34/20 ,  A61B5/00 ,  A61B5/107

CPC classification number: A61B34/10 ,  A61B5/1075 ,  A61B5/4528 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/3983 ,  A61B2090/3991

Abstract: A system for measuring a length variation between body portions in computer-assisted surgery between a preoperative condition and intra- or post-operative condition comprises a a rangefinder configured to measure its distance to at least one reference landmark on at least a first body portion of a patient from a known position relative to a second body portion. A support includes joint(s) allowing one or more rotational degree of freedom of movement of the rangefinder to point to the at least one reference landmark. An inertial sensor unit is connected to the rangefinder to produce orientation data for the rangefinder. A computer-assisted surgery processing unit has a tracking module for tracking the rangefinder in a virtual coordinate system using the orientation data, a coordinate system module for determining coordinates in the virtual coordinate system of the at least one reference landmark using the distance and the orientation data, and a length calculation module for measuring a length between the body portions using the coordinates, the length calculation module calculating and outputting the length variation between the body portions by using said length obtained from a preoperative condition and said length obtained from an intra- or post-operative condition. A method for measuring a length variation between body portions in computer-assisted surgery between a preoperative condition and intra- or post-operative condition is also provided.

Abstract translation: 一种用于在计算机辅助手术中在术前状况和术中或术后状态之间测量身体部分之间的长度变化的系统包括测距器，其被配置成测量其距离至少一个参考标记至少在第一身体部分 患者从相对于第二身体部分的已知位置。 支撑件包括允许测距仪的一个或多个旋转自由度的自由度指向至少一个参考标记的关节。 惯性传感器单元连接到测距仪，以产生测距仪的方位数据。 计算机辅助手术处理单元具有跟踪模块，用于使用所述取向数据跟踪虚拟坐标系中的测距仪，坐标系模块，用于使用所述距离和所述方位确定所述至少一个参考标记的所述虚拟坐标系中的坐标 数据和长度计算模块，用于使用坐标测量身体部分之间的长度，长度计算模块通过使用从术前条件获得的所述长度和从内部部分获得的所述长度来计算和输出身体部分之间的长度变化， 或手术后状态。 还提供了一种用于在术前状况和手术前或术后状态下测量计算机辅助手术中的身体部分之间的长度变化的方法。