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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
Applicant: ORTHOSOFT, INC.
Inventor： Bruno Falardeau , Myriam Valin , Benoit Pelletier , Francois Paradis
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.
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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
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
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.
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3.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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公开(公告)号：US10413428B2
公开(公告)日：2019-09-17
申请号：US15013285
申请日：2016-02-02
Applicant: ORTHOSOFT INC.
Inventor： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , Francois Paradis
Abstract: 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：US10092218B2
公开(公告)日：2018-10-09
申请号：US13954288
申请日：2013-07-30
Applicant: ORTHOSOFT, INC.
Inventor： Di Li , Louis-Philippe Amiot , Don Dye , Myriam Valin , Isabelle Robitaille , Francois Paradis , Karine Duval , Yonik Breton , Simon Ferron-Forget
Abstract: 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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Patent Agency Ranking
公开(公告)号：US20160220391A1
公开(公告)日：2016-08-04
申请号：US15013285
申请日：2016-02-02
Applicant: ORTHOSOFT INC.
Inventor： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , Francois Paradis
CPC classification number: 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
Abstract: 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.
Abstract translation: 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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7.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
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。
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公开(公告)号：US11812974B2
公开(公告)日：2023-11-14
申请号：US17577142
申请日：2022-01-17
Applicant: ORTHOSOFT INC.
Inventor： Louis-Philippe Amiot , Alain Richard , Yannick Boutin , Joel Zuhars , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoit Pelletier , Catherine Proulx , Myriam Valin
CPC classification number: A61B17/155 , A61B17/157 , A61B34/20 , G01C21/166 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048
Abstract: 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：US11413164B2
公开(公告)日：2022-08-16
申请号：US16535659
申请日：2019-08-08
Applicant: ORTHOSOFT INC.
Inventor： Karine Duval , Di Li , Laurence Moreau-Belanger , Benoit Pelletier , Yvan Leone , Myriam Valin , François Paradis
Abstract: 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：US10251653B2
公开(公告)日：2019-04-09
申请号：US15292895
申请日：2016-10-13
Applicant: ORTHOSOFT INC.
Inventor： Louis-Philippe Amiot , Alain Richard , Yannick Boutin , Joel Zuhars , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoit Pelletier , Catherine Proulx , Myriam Valin
Abstract: 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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