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公开(公告)号:US20170202628A1
公开(公告)日:2017-07-20
申请号:US14995826
申请日:2016-01-14
发明人: Trevor James DELL , Adam Keith WHITE , David Bruce MCFADZEAN , Monroe Milas THOMAS , Oleg Valerievitch RAKITINE , Mark Leon UNGER , Kirusha SRIMOHANARAJAH , Gal SELA , Kamyar ABHARI , Bradley Allan FERNALD , William Dennis BABBY
CPC分类号: A61B34/32 , A61B34/20 , A61B34/25 , A61B34/30 , A61B90/11 , A61B90/25 , A61B90/361 , A61B2034/2055 , A61B2034/2059 , A61B2034/2074 , A61B2090/363 , A61B2090/3735
摘要: A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device. The controller has a processor coupled to a memory and the controller is configured to perform the following during the medical procedure: position the robotic arm in a first position by providing a first positioning signal to the robotic arm; save the first position in the memory as a first saved position in response to a signal received from the input device; position the robotic arm in a second position by providing a second positioning signal to the robotic arm; and return the robotic arm to the first position by loading the first saved position from the memory and providing the first positioning signal to the robotic arm when an input is received from the input device corresponding to a command to return to the first saved position.
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公开(公告)号:US20190388160A1
公开(公告)日:2019-12-26
申请号:US16516496
申请日:2019-07-19
发明人: Michael WOOD , Cameron PIRON , Murugathas YUWARAJ , Gal SELA , Joshua RICHMOND , Stephen MCFADYEN
IPC分类号: A61B34/20 , A61B17/00 , A61B6/00 , A61B6/03 , A61B5/02 , A61B1/313 , A61B34/10 , A61B1/04 , A61B90/00 , A61B1/06 , A61B5/00 , G01J3/02 , G01J3/42 , G01J3/28
摘要: Systems, methods, and devices for intraoperatively confirming location of tissue structures during medical procedures. Preoperative image data of a patient's skeletal structure in a vicinity of an anatomical part undergoing a medical procedure is acquired. During the procedure, after exposing tissue intraoperative image data is acquired by scanning a selected region of tissue, in a vicinity of the skeletal structure using Polarization Sensitive-Optical Coherence Tomography (PS-OCT). Regions of tissue exhibiting structural organization in the vicinity of the skeletal structure are identified from the intraoperative (PS-OCT) image data. Geometrically correlating and registering the intraoperative (PS-OCT) image data with the preoperative image data of the skeletal structure in the vicinity of the anatomical part is then performed using a priori known anatomical information about the regions of tissue exhibiting structural information.
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公开(公告)号:US20180325621A1
公开(公告)日:2018-11-15
申请号:US15543803
申请日:2016-08-17
CPC分类号: A61B34/00 , A61B34/20 , A61B2017/00115 , A61B2017/00154 , A61B2017/00734 , A61B2034/2055 , A61B2034/2068 , A61B2090/3945 , A61B2090/3979
摘要: A fiducial marker to be tracked by a surgical navigation system. The fiducial marker is to be affixed to an object during a surgical procedure. The fiducial marker including a casing for attachment to the object; a light emitting component attached to the casing; a power source within the casing; a signal receiver to receive a signal from the surgical navigation system; and control logic to control the light emitting component in response to the signal from the surgical navigation system. The object to-be-tracked may include a plurality of the fiducial markers arranged in geometric pattern, and the markers may include a first active fiducial marker having a first light emitting component that emits light having a first spectral bandwidth, and a second active fiducial marker having a second light emitting component that emits light having a second spectral bandwidth different from the first spectral bandwidth.
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公开(公告)号:US20180289428A1
公开(公告)日:2018-10-11
申请号:US15570904
申请日:2015-09-24
发明人: Tammy Kee-Wai LEE , Michael Frank Gunter WOOD , Cameron Anthony PIRON , Brent Andrew BAILEY , Sagar SAXENA , Sean Adrian CONROY , Kamyar ABHARI , Kai Michael HYNNA , Gal SELA , Kelly Noel DYER , Joshua Lee RICHMOND
IPC分类号: A61B34/20 , A61B90/25 , A61B90/00 , G02B21/00 , G02B21/36 , G02B21/02 , G02B7/09 , G02B21/06 , H04N5/232
摘要: An optical imaging system for imaging a target during a medical procedure. The imaging system includes an optical assembly including moveable zoom optics and moveable focus optics. The system includes a zoom actuator and a focus actuator for positioning the zoom and focus optics, respectively. The system includes a controller for controlling the zoom and focus actuators independently in response to received control input. The system includes a camera for capturing an image of the target from the optical assembly. The system may be capable of performing autofocus during a medical procedure.
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5.
公开(公告)号:US20180235714A1
公开(公告)日:2018-08-23
申请号:US15899753
申请日:2018-02-20
发明人: Yu-Ching Audrey KUO , Kirusha SRIMOHANARAJAH , Gal SELA , Alexander Gyles PANTHER , Kelly Noel DYER
CPC分类号: A61B34/20 , A61B5/0037 , A61B5/0064 , A61B5/055 , A61B5/0555 , A61B5/1114 , A61B5/706 , A61B90/39 , A61B2034/2051 , A61B2034/2065 , A61B2090/363 , A61B2090/364 , A61B2090/3954 , G01R33/283
摘要: A method of maintaining patient registration in surgical navigation includes: obtaining a patient position in a tracking system frame of reference, based on a fiducial marker array affixed in a first position relative to the patient; receiving an initial surface scan depicting the patient and the fiducial array; responsive to receiving an intraoperative image depicting the patient: obtaining a position, in the tracking system frame of reference, of the fiducial array affixed in a second position relative to the patient; receiving a secondary surface scan depicting the patient and the fiducial array; detecting a deviation in a position of the fiducial marker array relative to the patient between the initial and secondary surface scans; and applying the deviation to the position of the patient to generate an updated position of the patient in the tracking system frame of reference, based on the fiducial array affixed in the second position.
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公开(公告)号:US20180177523A1
公开(公告)日:2018-06-28
申请号:US15861889
申请日:2018-01-04
发明人: Cameron PIRON , Michael WOOD , Gal SELA , Joshua RICHMOND , Murugathas YUWARAJ , Stephen MCFADYEN , Alex PANTHER , Nishanthan SHANMUGARATNAM , William LAU , Monroe M. THOMAS , Wes HODGES , Simon ALEXANDER , David GALLOP
CPC分类号: A61B17/3421 , A61B34/20 , A61B34/30 , A61B2017/00203 , A61B2017/00207 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2090/3735 , A61B2090/3983 , A61B2090/504 , G05B2219/45123
摘要: System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.
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公开(公告)号:US20180036884A1
公开(公告)日:2018-02-08
申请号:US15228853
申请日:2016-08-04
申请人: Sean Jy-Shyang CHEN , Kirusha SRIMOHANARAJAH , Gal SELA , Joshua RICHMOND , Kelly DYER , Synaptive Medical (Barbados) Inc.
CPC分类号: B25J9/1676 , A61B34/20 , A61B34/30 , A61B90/03 , A61B2034/2055 , G05B2219/36541 , Y10S901/02
摘要: Methods and devices for identifying and defining a safety zone for restricting movement of a robotic arm in an operating room during a medical procedure are disclosed. The disclosed method utilizes medical navigation system, which receives an initiation input indicating initiation of defining of the safety zone. In response to receiving the initiation input, the system tracks an instrument and determines the location of the tracked instrument relative to a reference point. The system detects changes in the location of the tracked instrument until a termination input is received at the medical navigation system. The termination input indicates the termination of the defining of the safety zone. The system stores, in memory, change data indicative of the changes in the location of the tracked instrument. The data identifies the safety zone relative to the reference point.
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8.
公开(公告)号:US20180197346A1
公开(公告)日:2018-07-12
申请号:US15107015
申请日:2015-07-29
CPC分类号: G06T19/20 , A61B5/0064 , A61B5/055 , A61B6/00 , A61B6/032 , A61B6/5247 , A61B8/5261 , A61B2576/00 , G06T7/344 , G06T15/08 , G06T2207/10081 , G06T2207/10088 , G06T2207/30016
摘要: A method of generating adjusted image data to compensate for modality-induced distortion includes, at a processor: receiving a three-dimensional image captured with a first imaging modality and including (i) distorted surface image data depicting a surface of an object and (ii) distorted volume image data depicting a volume of the object; extracting the distorted surface image data from the three-dimensional image; receiving reference surface image data captured with a second imaging modality and depicting the surface of the object; determining a surface transformation for registering the distorted surface image data with the reference surface image data; determining a volume transformation informed by the surface transformation; generating an adjusted three-dimensional image by applying the volume transformation to the three-dimensional image; and storing the adjusted three-dimensional image in the memory.
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公开(公告)号:US20170273715A1
公开(公告)日:2017-09-28
申请号:US15480648
申请日:2017-04-06
发明人: Cameron PIRON , Michael WOOD , Gal SELA , Joshua RICHMOND , Murugathas YUWARAJ , Stephen MCFADYEN , Alex PANTHER , Nishanthan SHANMUGARATNAM , William LAU , Monroe M. THOMAS , Wes HODGES , Simon ALEXANDER , David GALLOP
CPC分类号: A61B17/3421 , A61B34/20 , A61B34/30 , A61B2017/00203 , A61B2017/00207 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2090/3735 , A61B2090/3983 , A61B2090/504 , G05B2219/45123
摘要: System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.
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公开(公告)号:US20180168735A1
公开(公告)日:2018-06-21
申请号:US15553426
申请日:2016-05-02
申请人: Dorothy LUI , Gal SELA , Aisha SIAL , Sepide MOVAGHATI , Kirusha SRIMOHANARAJAH , Sean CHEN , Simon ALEXANDER , Neil WITCOMB , SYNAPTIVE MEDICAL (BARBADOS) INC.
发明人: Dorothy LUI , Gal SELA , Aisha SIAL , Sepide MOVAGHATI , Kirusha SRIMOHANARAJAH , Sean Jy-Shyang CHEN , Simon Kenley ALEXANDER , Neil Jeffrey WITCOMB
CPC分类号: A61B34/20 , A61B5/055 , A61B34/10 , A61B2034/101 , A61B2034/2068 , A61B2034/2074 , G06T7/30
摘要: The application as disclosed herein describes systems and methods for performing patient registration using a surgical navigation system. This application attempts to provide for improvements upon existing systems through the addition of refinement steps used to increase the accuracy of registration and streamline said process. In some cases the improvements generally involve the manipulation of spatial data in an iterative manner.
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