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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：US09554863B2
公开(公告)日：2017-01-31
申请号：US14303099
申请日：2014-06-12
申请人： ORTHOSOFT, INC.
CPC分类号： A61B34/73 , A61B17/1666 , A61B34/10 , A61B34/20 , A61F2/4609
摘要： A system for calculating a position and orientation of an acetabular cup in computer-assisted surgery comprises a first trackable reference secured to a pelvis, with a frame of reference being associated with the first trackable reference. A device is positionable between a femoral neck and the acetabulum of the pelvis in a known relation, the device having a second trackable reference. Sensors track the trackable references for position and orientation. A position/orientation calculator calculates a position and orientation of the frame of reference and of the device and for determining an orientation of the neck axis with respect to the frame of reference from the known relation at a desired position of the femur. An implant position/orientation calculator provides cup implanting information with respect to the orientation of said neck axis as a function of the tracking for position and orientation of at least the first trackable reference.
摘要翻译： 用于计算计算机辅助手术中的髋臼杯的位置和取向的系统包括固定到骨盆的第一可跟踪参考，其中参考系与第一可追踪参考相关联。 一种装置可以以已知的关系定位在股骨颈与骨盆的髋臼之间，该装置具有第二可追踪参考。 传感器跟踪可追踪的位置和方位。 位置/姿态计算器计算参考框架和装置的位置和方位，并且用于根据在股骨的期望位置处的已知关系来确定颈部轴线相对于参考系的取向。 植入物位置/取向计算器提供相对于所述颈部轴线的取向的杯子注入信息，作为至少第一可追踪参考物的位置和取向的跟踪的函数。
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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：US11129681B2
公开(公告)日：2021-09-28
申请号：US15902420
申请日：2018-02-22
申请人： ORTHOSOFT INC.
摘要： A system for tracking at least one bone in robotized computer-assisted surgery, comprises a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of the at least one bone in the coordinate system to a robot driver controlling a robot arm supporting a surgical tool in the coordinate system for altering the bone.
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公开(公告)号：US10092218B2
公开(公告)日：2018-10-09
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
摘要： A pelvic digitizer device has a body defined by 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.
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6.发明申请公开(公告)号：US20140364858A1
公开(公告)日：2014-12-11
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
IPC分类号： A61F2/46
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.
摘要翻译： 一种用于帮助定位髋臼杯的方法包括使杯定位器具与其上的杯定位器相对于骨盆的髋臼以初始参考方向定向，其中杯与髋臼形成接合，杯定位器包括惯性传感器单元 具有基于骨盆至少一个地标的用于期望的杯定位的预先计划的取向数据。根据至少相对于至少一个运动相关的移动，杯定位仪被杯定位器的界面引导时旋转到期望的外展角 一个里程碑 基于相对于至少一个地标的运动，杯定位仪器由杯定位器的界面引导而旋转到所需的前倾角。 当达到由界面所指示的所需的杯子方向时，杯子被冲击到髋臼中。
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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：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：US11311339B2
公开(公告)日：2022-04-26
申请号：US16249333
申请日：2019-01-16
申请人： ORTHOSOFT INC.
发明人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
IPC分类号： A61B34/20 , A61F2/34 , A61B34/10 , A61B5/06 , A61B5/103 , A61B17/15 , A61B17/17 , A61F2/46 , G09B23/28 , G09B23/30 , A61B90/00 , A61B17/16 , A61F2/32 , A61B5/00 , A61F2/30 , A61F2/36 , A61B34/00
摘要： A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus. A controller is connected to the sensing apparatus to: i) register a frame of reference of the femur by calculating surface information provided by the registration tool as a function of the position and orientation of the registration tool provided by the sensing apparatus, and/or retrieving in a database a model of the femur; ii) calculate a desired implant position with respect to the frame of reference as a function of the limb length; and iii) calculate a current implant position and orientation in relation to the desired implant position with respect to alterations being performed in the femur with the bone altering tool, as a function of the position and orientation of the bone altering tool provided by the sensing apparatus and of a digital model of a femoral implant provided by the database. The database is connected to the controller for the controller to store and retrieve information relating to an operation of the controller. The computer-assisted system may be used to guide an operator in inserting a pelvic implant in an acetabulum as a function of an orientation of the pelvic implant with respect to the pelvis.
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公开(公告)号：US11116577B2
公开(公告)日：2021-09-14
申请号：US15361048
申请日：2016-11-24
申请人： ORTHOSOFT INC.
摘要： There is described a system and a method for assisting a user manipulating an object during a surgery, the method comprising: tracking the object in a sterile field in which surgery is being performed at a location using a tracking device which generates tracking data; processing the tracking data using a processing device located outside the sterile field to generate position and orientation information related to the object; and sending the position and orientation information related to the object to a displaying device positioned in the sterile field adjacent to the location at which the surgery is being performed, for display to the user.
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