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    Bone and tool tracking in robotized computer-assisted surgery
    1.
    发明授权
    Bone and tool tracking in robotized computer-assisted surgery 有权

    公开(公告)号：US11129681B2

    公开(公告)日：2021-09-28

    申请号：US15902420

    申请日：2018-02-22

    Applicant: ORTHOSOFT INC.

    Inventor： Louis-Philippe Amiot ,  Pierre Couture

    IPC: A61B34/10 ,  A61B34/20 ,  G16H40/60 ,  G01B11/25 ,  A61B34/30 ,  A61B90/00 ,  A61B90/96

    Abstract: 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.

    ACETABULAR CUP PROSTHESIS POSITIONING INSTRUMENT AND METHOD
    3.
    发明申请
    ACETABULAR CUP PROSTHESIS POSITIONING INSTRUMENT AND METHOD 有权
    ACETABULAR CUP PROSTHISIS定位仪和方法

    公开(公告)号：US20140364858A1

    公开(公告)日：2014-12-11

    申请号：US14301877

    申请日：2014-06-11

    Applicant: ORTHOSOFT, INC.

    Inventor： 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: A61F2/46

    CPC classification number: A61F2/4609 ,  A61B90/13 ,  A61B2034/104 ,  A61B2034/2048 ,  A61F2002/4623 ,  A61F2002/4687

    Abstract: 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.

    Abstract translation: 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。

    Computer-assisted hip replacement surgery
    4.
    发明授权
    Computer-assisted hip replacement surgery 有权

    公开(公告)号：US11311339B2

    公开(公告)日：2022-04-26

    申请号：US16249333

    申请日：2019-01-16

    Applicant: ORTHOSOFT INC.

    Inventor： Herbert Andre Jansen ,  Louis-Philippe Amiot ,  Isabelle Fontaine ,  Sebastien Jutras ,  Daniel Odermatt ,  Benoit Pelletier

    IPC: 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

    Abstract: 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.

    Computer-assisted surgery system and method
    5.
    发明授权
    Computer-assisted surgery system and method 有权

    公开(公告)号：US11116577B2

    公开(公告)日：2021-09-14

    申请号：US15361048

    申请日：2016-11-24

    Applicant: ORTHOSOFT INC.

    Inventor： Louis-Philippe Amiot ,  Eric Szmutny ,  Michel Boivin ,  Yannick Brosseau

    IPC: A61B6/00 ,  A61B34/20 ,  A61B90/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/00

    Abstract: 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.

    Robotic surgery planar cutting systems and methods
    6.
    发明授权
    Robotic surgery planar cutting systems and methods 有权

    公开(公告)号：US10856890B2

    公开(公告)日：2020-12-08

    申请号：US16265318

    申请日：2019-02-01

    Applicant: ORTHOSOFT INC.

    Inventor： Pierre Couture ,  Louis-Philippe Amiot

    IPC: A61B17/16 ,  A61B34/30 ,  A61B90/50 ,  A61F2/46 ,  A61B17/00 ,  A61B34/20

    Abstract: Examples of robotically controlled planar cutting systems and methods for controlling cutting systems to prepare bone tissue in surgical procedures, are generally described herein. Applicable surgical procedures for the robotically controlled cutting systems and methods include procedures involving the preparation (e.g., removal, surfacing) of bone tissue, such as is performed in knee arthroplasties.In an example, a robotically controlled planar cutting system can include a housing, a cutting element disposed in the housing, and a cutting control mechanism in communication with a robotic controller to control operation of the cutting element to machine a planar surface. The cutting element can be exposed and retracted relative to the housing and can include a plurality of cutting implements arranged to machine the planar surface.

    METHOD AND SYSTEM FOR CREATING FRAME OF REFERENCE FOR CAS WITH INERTIAL SENSORS
    9.
    发明申请
    METHOD AND SYSTEM FOR CREATING FRAME OF REFERENCE FOR CAS WITH INERTIAL SENSORS 审中-公开
    用于创建具有惯性传感器的CAS参考框架的方法和系统

    公开(公告)号：US20140031829A1

    公开(公告)日：2014-01-30

    申请号：US13954279

    申请日：2013-07-30

    Applicant: ORTHOSOFT, INC.

    Inventor： Francois Paradis ,  Joel Zuhars ,  Karine Duval ,  Mathieu Chevrier ,  Louis-Philippe Amiot ,  Herbert Jansen ,  Myriam Valin ,  Don Dye ,  Isabelle Robitaille ,  Simon Ferron-Forget ,  Francois Baudoin

    IPC: A61B19/00

    CPC classification number: A61B90/06 ,  A61B17/1742 ,  A61B34/20 ,  A61B2034/2048 ,  A61B2034/2068 ,  A61B2090/3983

    Abstract: A digitizer device comprises an elongated body and legs connected to the elongated body. At least one joint is between the legs and the elongated body such that free ends of the legs are displaceable relative to one another. An inertial sensor unit is connected to the elongated body, the inertial sensor unit having a preset orientation aligned with the elongated body. A table reference device comprises a body adapted to be fixed to an operating table. An inertial sensor unit is with a preset orientation related to the operating table. A patient coordinate system comprising orientation data obtained from the inertial sensor units of the digitizer device and the table reference device

    Abstract translation: 数字化仪装置包括细长体和连接到细长体的腿。 至少一个关节在腿和细长体之间，使得腿的自由端相对于彼此可移位。 惯性传感器单元连接到细长主体，惯性传感器单元具有与细长主体对准的预定方向。 桌子参考装置包括适于固定在操作台上的主体。 惯性传感器单元具有与操作台相关的预设方向。 一种患者坐标系，包括从数字化仪装置的惯性传感器单元和表参考装置获得的取向数据

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