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

IPC分类号： A61B5/05 ,  A61B5/107 ,  A61B6/00 ,  A61B6/12 ,  A61B8/00 ,  A61B8/08 ,  A61B8/14 ,  A61N5/10

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。

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

IPC分类号： A61B17/56 ,  A61B17/17 ,  A61B19/00 ,  A61F2/08 ,  A61F2/36 ,  A61F2/46 ,  G01B11/02 ,  A61B5/103

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。

公开(公告)号：US08771188B2

公开(公告)日：2014-07-08

申请号：US12143225

申请日：2008-06-20

申请人： Jonathan Schers ,  Christopher Plaskos ,  Stephane Lavallee ,  Jocelyne Troccaz

发明人： Jonathan Schers ,  Christopher Plaskos ,  Stephane Lavallee ,  Jocelyne Troccaz

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。

公开(公告)号：US20060173290A1

公开(公告)日：2006-08-03

申请号：US10548556

申请日：2004-03-10

申请人： Stephane Lavallee ,  Jocelyne Troccaz

发明人： Stephane Lavallee ,  Jocelyne Troccaz

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。

公开(公告)号：US5399951A

公开(公告)日：1995-03-21

申请号：US59407

申请日：1993-05-11

申请人： Stephane Lavallee ,  Jocelyne Troccaz

发明人： Stephane Lavallee ,  Jocelyne Troccaz

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。

公开(公告)号：US20060149277A1

公开(公告)日：2006-07-06

申请号：US10546937

申请日：2004-02-27

申请人： Philippe Cinquin ,  Christophe Marmignon ,  Stephane Lavallee

发明人： Philippe Cinquin ,  Christophe Marmignon ,  Stephane Lavallee

IPC分类号： A61B17/58

CPC分类号： A61B17/025 ,  A61B17/155 ,  A61B2017/00557 ,  A61B2017/0268

摘要： The invention relates to a medical instrument (20) comprising a lower plate (22); at least one upper plate (24A, 24B) opposite the lower plate; a spacer means (26) which is disposed between the upper plate and the lower plate and used to permanently hold the upper plate is a substantially parallel position in relation to the lower plate and to move the upper plate away from the lower plate, said means being fully contained between the upper and lower plate, the minimal spacing between the outer surfaces of the upper plate and lower plate being less than 10 millimetres; and flexible control means connected to the spacing means

摘要翻译： 本发明涉及一种包括下板（22）的医疗器械（20）。 与所述下板相对的至少一个上板（24A，24B）; 设置在上板和下板之间用于永久保持上板的间隔装置（26）是相对于下板大致平行的位置，并使上板远离下板移动，所述装置 完全容纳在上板和下板之间，上板和下板的外表面之间的最小间距小于10毫米; 以及连接到间隔装置的柔性控制装置

公开(公告)号：US20050113720A1

公开(公告)日：2005-05-26

申请号：US11032740

申请日：2005-01-11

申请人： Philippe Cinquin ,  Laurent Desbat ,  Stephane Lavallee

发明人： Philippe Cinquin ,  Laurent Desbat ,  Stephane Lavallee

IPC分类号： A61B5/103 ,  A61B5/107 ,  A61B19/00 ,  A61B5/117

CPC分类号： A61B5/1071 ,  A61B5/107 ,  A61B5/4528 ,  A61B5/6828 ,  A61B5/6878 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072

摘要： A method for determining the center of rotation of a bone in a revolute joint, for example, a femur in the iliac bone, including the steps of displacing said bone, locating several ones of its positions, and memorizing them, imposing a constraint to the displacement of said center of rotation without for all this immobilizing it, and searching a point linked to the referential of said bone for which an optimization criterion taking into account said constraint is reached.

摘要翻译： 一种用于确定旋转关节中的骨骼的旋转中心的方法，例如髂骨中的股骨，包括以下步骤：移位所述骨骼，定位其几个位置并记忆它们，对 移动所述旋转中心，而不需要将其固定，并且搜索与所述骨的参考点相关联的点，其中达到考虑到所述约束的优化标准。

公开(公告)号：US07033360B2

公开(公告)日：2006-04-25

申请号：US10805565

申请日：2004-03-19

申请人： Philippe Cinquin ,  Stephane Lavallee ,  Francois Leitner ,  Richard Minfelde ,  Frederic Picard ,  Dominique Saragaglia ,  Hans-Joachim Schulz

发明人： Philippe Cinquin ,  Stephane Lavallee ,  Francois Leitner ,  Richard Minfelde ,  Frederic Picard ,  Dominique Saragaglia ,  Hans-Joachim Schulz

IPC分类号： A61B17/56

CPC分类号： A61B5/107 ,  A61B5/4528 ,  A61B5/6878 ,  A61B17/15 ,  A61B17/154 ,  A61B17/155 ,  A61B17/157 ,  A61B34/10 ,  A61B34/20 ,  A61B90/06 ,  A61B90/10 ,  A61B90/36 ,  A61B90/39 ,  A61B2017/00115 ,  A61B2017/00725 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2090/363 ,  A61B2090/3929 ,  A61B2090/3945 ,  A61B2090/3979 ,  A61B2090/3983 ,  A61F2/38 ,  A61F2/4657 ,  A61F2002/4632 ,  A61F2002/4633 ,  G01S5/163 ,  G01S5/186 ,  G01S15/872 ,  G01S17/87 ,  Y10S128/92 ,  Y10S623/901

摘要： In order to be able to ascertain the position of the bone in the body without complicated procedures in a process for the preoperative determination of the positioning data of endoprosthetic parts of a central joint relative to the bones forming the central joint, a respective outer articular point is determined by way or movement of the bones about a respective outer joint which is located at the end of the two bones facing away from the central joint. An articular point is determined for each of the two bones in the area of the central joint, and a direction characteristic for each of these bones is determined by way of a straight-line connection of the two articular points obtained in this manner for the two bones. The orientation of the endoprosthetic parts relative to this characteristic direction is then determined. Apparatus for carrying out the process is also provided.

摘要翻译： 为了能够在用于术前确定中心关节相对于形成中心关节的骨骼的内侧假体部分的位置数据的过程中没有复杂程序的情况下确定骨骼的位置，则相应的外侧关节点 由关于相对于位于两个骨头的远离中心关节的末端处的相应外部关节的骨骼的方式或移动来确定。 确定中心关节区域中的两个骨骼的关节点，并且通过以这种方式获得的两个关节点的直线连接来确定这些骨骼中的每一个的方向特征 骨头 然后确定内用假体部件相对于该特征方向的取向。 还提供了用于执行该过程的装置。

公开(公告)号：US06915150B2

公开(公告)日：2005-07-05

申请号：US10094298

申请日：2002-03-08

申请人： Philippe Cinquin ,  Stephane Lavallee ,  Francois Leitner ,  Richard Minfelde ,  Frederic Picard ,  Dominique Saragaglia ,  Hans-Joachim Schulz

发明人： Philippe Cinquin ,  Stephane Lavallee ,  Francois Leitner ,  Richard Minfelde ,  Frederic Picard ,  Dominique Saragaglia ,  Hans-Joachim Schulz

IPC分类号： A61B5/107 ,  A61B17/00 ,  A61B17/15 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  A61B90/10 ,  A61F2/30 ,  A61F2/38 ,  A61F2/46 ,  G01S5/16 ,  G01S5/18 ,  G01S15/87 ,  G01S17/87 ,  A61B5/00

CPC分类号： A61B5/107 ,  A61B5/4528 ,  A61B5/6878 ,  A61B17/15 ,  A61B17/154 ,  A61B17/155 ,  A61B17/157 ,  A61B34/10 ,  A61B34/20 ,  A61B90/06 ,  A61B90/10 ,  A61B90/36 ,  A61B90/39 ,  A61B2017/00115 ,  A61B2017/00725 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2090/363 ,  A61B2090/3929 ,  A61B2090/3945 ,  A61B2090/3979 ,  A61B2090/3983 ,  A61F2/38 ,  A61F2/4657 ,  A61F2002/4632 ,  A61F2002/4633 ,  G01S5/163 ,  G01S5/186 ,  G01S15/872 ,  G01S17/87 ,  Y10S128/92 ,  Y10S623/901

摘要： In order to be able to ascertain the position of the bone in the body without complicated procedures in a process for the preoperative determination of the positioning data of endoprosthetic parts of a central joint relative to the bones forming the central joint, a respective outer articular point is determined by way of movement of the bones about a respective outer joint which is located at the end of the two bones facing away from the central joint. An articular point is determined for each of the two bones in the area of the central joint, and a direction characteristic for each of these bones is determined by way of a straight-line connection of the two articular points obtained in this manner for the two bones. The orientation of the endoprosthetic parts relative to this characteristic direction is then determined. Apparatus for carrying out the process is also provided.

摘要翻译： 为了能够在用于术前确定中心关节相对于形成中心关节的骨骼的内侧假体部分的位置数据的过程中没有复杂程序的情况下确定骨骼的位置，则相应的外侧关节点 通过骨骼围绕位于两个骨头的远离中心关节的端部的相应的外部关节的移动来确定。 确定中心关节区域中的两个骨骼的关节点，并且通过以这种方式获得的两个关节点的直线连接来确定这些骨骼中的每一个的方向特征 骨头 然后确定内用假体部件相对于该特征方向的取向。 还提供了用于执行该过程的装置。

公开(公告)号：US06385475B1

公开(公告)日：2002-05-07

申请号：US09389315

申请日：1999-09-02

申请人： Philippe Cinquin ,  Stephane Lavallee ,  Francois Leitner ,  Richard Minfelde ,  Frederic Picard ,  Dominique Saragaglia ,  Hans-Joachim Schulz

发明人： Philippe Cinquin ,  Stephane Lavallee ,  Francois Leitner ,  Richard Minfelde ,  Frederic Picard ,  Dominique Saragaglia ,  Hans-Joachim Schulz

IPC分类号： A61B500

CPC分类号： A61B5/107 ,  A61B5/4528 ,  A61B5/6878 ,  A61B17/15 ,  A61B17/154 ,  A61B17/155 ,  A61B17/157 ,  A61B34/10 ,  A61B34/20 ,  A61B90/06 ,  A61B90/10 ,  A61B90/36 ,  A61B90/39 ,  A61B2017/00115 ,  A61B2017/00725 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2090/363 ,  A61B2090/3929 ,  A61B2090/3945 ,  A61B2090/3979 ,  A61B2090/3983 ,  A61F2/38 ,  A61F2/4657 ,  A61F2002/4632 ,  A61F2002/4633 ,  G01S5/163 ,  G01S5/186 ,  G01S15/872 ,  G01S17/87 ,  Y10S128/92 ,  Y10S623/901

摘要： In order to be able to ascertain the position of the bone in the body without complicated procedures in a process for the preoperative determination of the positioning data of endoprosthetic parts of a central joint relative to the bones forming the central joint, a respective outer articular point is determined by way of movement of the bones about a respective outer joint which is located at the end of the two bones facing away from the central joint. An articular point is determined for each of the two bones in the area of the central joint, and a direction characteristic for each of these bones is determined by way of a straight-line connection of the two articular points obtained in this manner for the two bones. The orientation of the endoprosthetic parts relative to this characteristic direction is then determined. Apparatus for carrying out the process is also provided.