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公开(公告)号：US5447154A
公开(公告)日：1995-09-05
申请号：US99334
申请日：1993-07-30
申请人： Philippe Cinquin , Stephane Lavallee , Francis Dubois , Lionel Brunie , Jocelyne Troccaz , Olivier Peria , Bruno Mazier
发明人： Philippe Cinquin , Stephane Lavallee , Francis Dubois , Lionel Brunie , Jocelyne Troccaz , Olivier Peria , Bruno Mazier
CPC分类号： A61B6/583 , A61B6/12 , A61B8/0858 , A61B8/14 , A61B6/037 , A61B6/4092 , A61B6/4258
摘要： A method for determining the position of a patient's organ with respect to at least two imaging devices includes a step of making at least one three-dimensional first image of an organ of a patient giving a first coordinate system and of a surface of the organ or skin region using a first imaging device without fixing any mark to the patient, placing the patient in an operation site having a second coordinate system and determining a first position of a second imaging device with respect to the second coordinate system of the operation site. In addition, the method includes the steps of making a second image with the second imaging device, matching the first and second images and providing a third device having a third coordinate system. The third device is positioned with respect to the second image of the second device which thereby positions the third device with respect to the first image of the first imaging device.
摘要翻译： 用于确定患者器官相对于至少两个成像装置的位置的方法包括以下步骤：制备给予第一坐标系和器官表面的患者的器官的至少一个三维第一图像，或 皮肤区域，使用第一成像装置，而不将任何标记固定到患者，将患者置于具有第二坐标系的操作部位中，并且相对于操作部位的第二坐标系确定第二成像装置的第一位置。 此外，该方法包括以下步骤：利用第二成像装置制作第二图像，匹配第一和第二图像，并提供具有第三坐标系的第三装置。 第三装置相对于第二装置的第二图像定位，从而相对于第一成像装置的第一图像定位第三装置。
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2.发明授权Method and system for determining the fixation point on the femur of a crossed ligament of the knee 失效用于确定膝盖交叉韧带股骨上固定点的方法和系统
公开(公告)号：US5564437A
公开(公告)日：1996-10-15
申请号：US166032
申请日：1993-12-14
申请人： Eric Bainville , Philippe Cinquin , Remi Julliard , Jocelyne Troccaz , Stephane Lavallee , Guillaume Champlebaux
发明人： Eric Bainville , Philippe Cinquin , Remi Julliard , Jocelyne Troccaz , Stephane Lavallee , Guillaume Champlebaux
CPC分类号： G01B11/02 , A61B17/1764 , A61B90/06 , A61B17/1714 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B34/20 , A61F2/0805 , Y10S623/914
摘要： A method for determining the position of a point F1 of a femur with respect to a point T1 of a tibia such that the distance between F1 and T1 is substantially invariant. The method uses a three-dimensional locating system including triplets of emitting elements especially including a pointer that can be located by the system, and includes the steps of linking a first triplet to the first organ; pointing with the pointer at the position of point T1 and locating this position with respect to the position of the first triplet; pointing with the pointer at the positions of an assembly of second points that are positioned within an area of the femur where the invariant point is likely to be found; calculating the distances separating point from each of points Fi; moving the tibia with respect to the femur add calculating the variations in the distances; and selecting point F1 for which the distance is invariant.
摘要翻译： 用于确定股骨点F1相对于胫骨的点T1的位置的方法，使得F1和T1之间的距离基本上是不变的。 该方法使用三维定位系统，其包括发射元件的三元组，特别地包括可由系统定位的指针，并且包括将第一三元组连接到第一器官的步骤; 将指针指向点T1的位置，并相对于第一三元组的位置定位该位置; 将指针指向位于可能被发现不变点的股骨区域内的第二点的组合的位置; 计算分离点与每个点Fi的距离; 相对于股骨移动胫骨增加计算距离的变化; 并选择距离不变的点F1。
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3.发明授权Remotely controllable system for positioning on a patient an observation/intervention device 失效用于在患者上定位观察/干预装置的远程可控系统公开(公告)号：US06932089B1
公开(公告)日：2005-08-23
申请号：US10031053
申请日：1999-07-15
申请人： Philippe Cinquin , Jocelyne Troccaz
发明人： Philippe Cinquin , Jocelyne Troccaz
CPC分类号： A61B8/4227 , A61B8/00 , A61B8/4218 , A61B34/70 , A61B90/50
摘要： A remotely controllable system for positioning on a patient an observation and/or intervention device, including a frame to which the device is bound with a number of degrees of freedom; flexible connection means, each of which is arranged between the frame and a point attached to the patient's support or to the patient himself; remotely controlled means for modifying the length/tension of the binding means; and means for remotely observing the device behavior.
摘要翻译： 一种用于在患者上定位观察和/或干预装置的远程可控系统，包括装置以多个自由度结合的框架; 柔性连接装置，每个装置布置在框架与附接到患者支架或患者本人之间的点之间; 用于修改装订装置的长度/张力的远程控制装置; 以及用于远程观察设备行为的方法。
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公开(公告)号：US06796918B1
公开(公告)日：2004-09-28
申请号：US10031052
申请日：2002-06-05
申请人： Philippe Cinquin , Jocelyne Troccaz
发明人： Philippe Cinquin , Jocelyne Troccaz
IPC分类号： F16H700
CPC分类号： F16H19/06 , F15B15/02 , F15B15/084 , F15B15/103 , F16H2019/0695
摘要： The invention concerns a pneumatic system for displacing a cable (1) stretched in a loop between at least two pulleys (2, 3). Said system comprises at least an artificial muscle (5) inserted over a portion of the loop, the length of said artificial muscle varying depending on whether or not it is under pressure, means for pressurizing or not the artificial muscle, and means for alternately blocking two of said pulleys in a least one rotating direction.
摘要翻译： 本发明涉及一种用于移动在至少两个滑轮（2,3）之间的环路中拉伸的电缆（1）的气动系统。 所述系统包括至少插入在环的一部分上的人造肌肉（5），所述人造肌肉的长度根据其是否处于压力而变化，用于对人造肌肉进行加压或不是手段 两个所述滑轮在至少一个旋转方向上。
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公开(公告)号：US10820922B2
公开(公告)日：2020-11-03
申请号：US13056235
申请日：2009-07-28
申请人： Philippe Cinquin , Juan Carlos Avila Vilchis , Adriana Herlinda Vilchis Gonzalez , Angel Mariano Cruz Abud , Jocelyne Troccaz
发明人： Philippe Cinquin , Juan Carlos Avila Vilchis , Adriana Herlinda Vilchis Gonzalez , Angel Mariano Cruz Abud , Jocelyne Troccaz
摘要： A device positions and/or orients in the body of a patient, a surgical tool carried by a tool-holder, including a platform capable of being placed on the body of the patient, an orientable carrier, at least one part of which is rigidly connected to the tool-holder, means for guiding the orientable carrier rotationally relative to the platform in two directions of a plane parallel to the platform, at least 2 pneumatic actuators which engage with the orientable carrier such that a variation in pressure of at least one of the pneumatic actuators causes the orientable carrier to rotate in the first direction and/or the second direction, in which the pneumatic actuators are volumes that can deform in a predetermined direction as a function of the internal pressure.
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公开(公告)号：US08771188B2
公开(公告)日：2014-07-08
申请号：US12143225
申请日：2008-06-20
IPC分类号： A61B8/14
CPC分类号： A61B8/0875 , A61B8/14 , A61B8/4227 , A61B8/4245 , A61B8/483 , A61B8/5207 , A61B8/5223 , A61B8/5238
摘要： A computerized bone motion tracking system according to one exemplary embodiment is configured to: provide a non-invasive means for accurate measurement and tracking of the motion of a bone using a volumetric ultrasound transducer and a three dimensional position measurement system; provide relative measurements of one bone relative to another bone of a joint; decompose relative joint motion into specific components; and measure joint instability and range of motion.
摘要翻译： 根据一个示例性实施例的计算机骨骼运动跟踪系统被配置为：使用体积超声换能器和三维位置测量系统来提供用于精确测量和跟踪骨骼运动的非侵入性装置; 提供一个骨相对于关节另一个骨的相对测量; 将相对关节运动分解为特定组件; 并测量关节不稳定性和运动范围。
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公开(公告)号：US20060173290A1
公开(公告)日：2006-08-03
申请号：US10548556
申请日：2004-03-10
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B34/25 , A61B46/10 , A61B90/37 , A61B90/40 , A61B90/50 , A61B2017/00902 , A61B2017/3405 , A61B2034/107 , A61B2034/2055 , A61B2050/3015 , A61B2090/372 , A61B2090/3983
摘要： The invention relates to a medical instrument comprising a medical tool intended, while a medical act is being performed, to be maintained by a user and/or by a robot and the position of which is intended to be determined by a tracking system, and comprising a display system having a visual control screen, a connection element connecting the display system to the tool and maintaining the minimum distance between the visual control screen and the tool under 15 centimeters and being capable of orienting the visual control screen with respect to the tool, means for transmitting to the display system data to be displayed on the visual control screen which depend on the determined position of the tool, means for supplying the display system, and a sterile enclosure containing the visual control screen, the transmission means, and the supply means.
摘要翻译： 本发明涉及一种包括医疗工具的医疗器具，该医疗工具旨在在执行医疗行为时由用户和/或机器人维护并且其位置由追踪系统确定，并且包括 具有视觉控制屏幕的显示系统，将显示系统连接到工具并将视觉控制画面和工具之间的最小距离保持在15厘米以下并且能够相对于工具定向视觉控制画面的连接元件， 用于向显示系统发送要显示在视觉控制屏幕上的数据的装置，其依赖于确定的工具位置，用于提供显示系统的装置，以及包含可视控制屏幕，传输装置和电源的无菌外壳 手段。
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公开(公告)号：US5399951A
公开(公告)日：1995-03-21
申请号：US59407
申请日：1993-05-11
IPC分类号： B25J9/18 , G05B19/423 , G05B19/10 , G06F15/00
CPC分类号： G05B19/423 , G05B2219/49137 , G05B2219/49141
摘要： A robot for guiding movements has its power provided by an operator who handles a tool integral with the robot. Like a conventional robot, the guiding robot has several axes respectively associated with rotation sensors that are connected to a computer system memorizing a path to be followed. When the operator moves the tool beyond the stored path, blocking devices, controlled by the computer system and replacing the robot's motors, prevent the tool from continuing to depart from the path. Thus, at any time, the operator can move the tool within the stored path only. The blocking devices are passive, that is, they are such that they can only resist to a movement but cannot generate a movement, which prevents the occurrence of any uncontrolled movement.
摘要翻译： 用于引导运动的机器人具有由处理与机器人一体的工具的操作者提供的动力。 像传统机器人一样，引导机器人具有分别与旋转传感器相关联的多个轴，其连接到记忆要遵循的路径的计算机系统。 当操作者将刀具移动超过存储路径时，由计算机系统控制并更换机器人电机的阻塞装置可防止工具继续离开路径。 因此，在任何时候，操作者只能在所存储的路径内移动工具。 阻塞装置是被动的，也就是说，它们使得它们只能抵抗运动，但不能产生运动，这防止发生任何不受控制的运动。
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公开(公告)号：US20110126844A1
公开(公告)日：2011-06-02
申请号：US13056235
申请日：2009-07-28
申请人： Philippe Cinquin , Juan Carlos Avila Vilchis , Adriana Herinda Vilchis Gonzalez , Angel Mariano Cruz Abud , Jocelyne Troccaz
发明人： Philippe Cinquin , Juan Carlos Avila Vilchis , Adriana Herinda Vilchis Gonzalez , Angel Mariano Cruz Abud , Jocelyne Troccaz
CPC分类号： A61B17/3403 , A61B90/11 , A61B2017/00544 , A61B2017/3407 , A61B2017/3409
摘要： The present disclosure relates to a device for positioning and/or orienting, in the body of a patient, a surgical tool carried by a tool-holder, including a platform capable of being placed on the body of the patient, an orientable carrier, at least one part of which is rigidly connected to the tool-holder, means for guiding the orientable carrier rotationally relative to the platform in two directions of a plane parallel to the platform, at least 2 pneumatic actuators which engage with the orientable carrier such that a variation in pressure of at least one of the pneumatic actuators causes the orientable carrier to rotate in the first direction and/or the second direction, in which the pneumatic actuators are volumes that can deform in a predetermined direction as a function of the internal pressure.
摘要翻译： 本公开涉及一种用于在患者体内定位和/或定向由工具架承载的手术工具的装置，包括能够放置在患者身体上的平台，可定向的载体 其至少一部分刚性地连接到工具架上，用于在平行于平台的平面的两个方向上相对于平台旋转地引导定向托架的装置，至少两个与可定向托架接合的气动执行器， 至少一个气动致动器的压力变化导致可取向载体在第一方向和/或第二方向上旋转，其中气动致动器是可根据内部压力在预定方向上变形的体积。
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10.发明申请Control System and Method for Precisely Guiding a Percutaneous Needle Toward the Prostate 有权精确引导经皮针向前列腺的控制系统和方法公开(公告)号：US20120245455A1
公开(公告)日：2012-09-27
申请号：US13393311
申请日：2010-08-27
IPC分类号： A61B8/12
CPC分类号： A61B17/3403 , A61B8/0833 , A61B10/0241 , A61B17/3468 , A61B34/10 , A61B2017/00274 , A61B2017/00694 , A61B2017/3405 , A61B2017/3407 , A61B2017/3409 , A61B2017/3413 , A61B2018/00547 , A61B2090/378
摘要： A needle holder device for treating the prostate, involving a series of steps of inserting a needle into the prostate, has a rectal probe for ultrasonic 3D imaging and a computer for processing the image acquired by the probe and for computing the position of the needle relative to the prostate. The computer is controlled so as to periodically output information on the movement of the prostate after each of the insertion steps in order to validate the insertion parameters relative to a treatment schedule and, if need be, modifying the insertion parameters relative to the schedule in the event the movement is greater than a threshold value.
摘要翻译： 用于治疗前列腺的针架装置涉及将针插入前列腺的一系列步骤，具有用于超声3D成像的直肠探针和用于处理由探针获取的图像并用于计算针相对位置的计算机 到前列腺。 控制计算机，以便在每个插入步骤之后周期性地输出关于前列腺运动的信息，以便相对于治疗计划验证插入参数，并且如果需要的话，修改插入参数相对于 事件运动大于阈值。
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