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公开(公告)号：US11883105B2
公开(公告)日：2024-01-30
申请号：US17094747
申请日：2020-11-10
发明人： Arun Victor Jagga , Cameron Piron
CPC分类号： A61B34/00 , A61B34/20 , A61B90/10 , A61B90/39 , A61B2034/2046 , A61B2034/2055 , A61B2034/2057 , A61B2090/3945 , A61B2090/3983
摘要： A system for tracking a piece of medical equipment intraoperatively using a collinear array of fiducial markers positioned at known fixed distances relative to each other on the medical equipment and a camera capturing an image on a single image plane. Representations of the fiducial markers are segmented from a captured image, 3D orientation and position of the medical equipment are calculated using the segmented representations, and the orientation and position of the medical equipment are tracked relative to the camera. The orientation and position of the medical equipment may be registered within a 3D virtual space. The system may be used as part of a surgical navigation system.
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公开(公告)号：US20220079442A1
公开(公告)日：2022-03-17
申请号：US17190897
申请日：2021-03-03
发明人： Cameron Piron , Michael Wood , Murugathas Yuwaraj , Alex Panther , Nishanthan Shanmugaratnam , William Lau , Monroe M. Thomas , Gal Sela , Joshua Richmond , Wes Hodges , Simon Alexander , David Gallop
摘要： Insertable imaging devices, and methods of use thereof in minimally invasive medical procedures, are described. In some embodiments, insertable imaging devices are described that can be introduced and removed from an access port without disturbing or risking damage to internal tissue. In some embodiments, imaging devices are integrated into an access port, thereby allowing imaging of internal tissues within the vicinity of the access port, while, for example, enabling manipulation of surgical tools in the surgical field of interest. In other embodiments, imaging devices are integrated into an imaging sleeve that is insertable into an access port. Several example embodiments described herein provide imaging devices for performing imaging within an access port, where the imaging may be based one or more imaging modalities that may include, but are not limited to, magnetic resonance imaging, ultrasound, optical imaging such as hyperspectral imaging and optical coherence tomography, and electrically conductive measurements.
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公开(公告)号：US20210153943A1
公开(公告)日：2021-05-27
申请号：US17160511
申请日：2021-01-28
发明人： Cameron Piron , Gal SELA , Monroe M. THOMAS , Simon ALEXANDER , Murugathas YUWARAJ , Michael WOOD , Alex PANTHER , Joshua RICHMOND , Wes HODGES , David GALLOP
IPC分类号： A61B34/10 , G06T7/30 , A61B34/00 , A61B17/34 , A61B5/00 , G06T7/00 , G16H50/70 , G16H50/20 , G16H10/40 , G16H20/40 , G16H40/20 , G16H30/20 , A61B34/20
摘要： Systems and methods are provided in which local tissue diagnostic measurements are correlated with archival local tissue diagnostic data from prior tissue analyses to supplement diagnostic measurements with tissue analysis data from prior tissue analyses having similar local tissue diagnostic data. The tissue analysis data may include information such as pathology data, outcome data, and diagnosis data. The archived local tissue diagnostic data and the tissue analysis data may be stored in a database, and employed for a wide variety of methods, involving preoperative, intraoperative, and/or postoperative phases of a medical procedure. Methods and systems are also provided for displaying, on a medical image shown in a user interface, hyperlinked reference markers associated with tissue analyses, where the reference markers are shown at locations corresponding to local tissue analyses, and where associated diagnostic data and/or tissue analysis may be viewed by selecting a given reference marker.
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公开(公告)号：US11717376B2
公开(公告)日：2023-08-08
申请号：US17015186
申请日：2020-09-09
发明人： Gal Sela , Cameron Piron , Michael Wood , Joshua Richmond , Murugathas Yuwaraj , Stephen McFadyen , Monroe M. Thomas , Wes Hodges , Simon Alexander , David Gallop
CPC分类号： A61B90/39 , A61B34/10 , A61B34/20 , G06T7/248 , G06T7/33 , G06T7/337 , G06T7/74 , A61B90/50 , A61B2034/104 , A61B2034/107 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2090/364 , A61B2090/373 , A61B2090/3929 , A61B2090/3937 , A61B2090/3983 , G06T2207/10021 , G06T2207/10048 , G06T2207/10076 , G06T2207/10081 , G06T2207/10088 , G06T2207/10104 , G06T2207/10136 , G06T2207/30016 , G06T2207/30096 , G06T2207/30101 , G06T2207/30204
摘要： A system and method for dynamic validation, registration correction for surgical navigation during medical procedures involving confirmation of registration between previously registered virtual objects, in a common coordinate frame of a surgical navigation system and an operating room, and intra-operatively acquired imaging during the medical procedure in the common coordinate frame. The method involves displaying intra-operatively acquired imaging of the surgical field, containing the real objects corresponding to the previously registered virtual objects, with the real objects being tracked by a tracking system. The method involves overlaying a virtual image containing the previously registered virtual objects onto the intra-operatively acquired imaging, from the point of view of the intra-operatively acquired imaging, and detecting any misalignment between any the previously registered virtual objects contained in the virtual image and its corresponding real object contained in the intra-operatively acquired imaging.
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公开(公告)号：US11412951B2
公开(公告)日：2022-08-16
申请号：US16449265
申请日：2019-06-21
发明人： Cameron Piron , Michael Wood , Gal Sela , Joshua Richmond , Murugathas Yuwaraj , Monroe M. Thomas , Wes Hodges , Simon Alexander , David Gallop , Alex Panther , Nishanthan Shanmugaratnam , William Lau
IPC分类号： A61B5/06 , A61B5/00 , A61B17/34 , A61B34/20 , A61B90/90 , A61B5/145 , A61B5/055 , A61B34/10 , A61B90/00 , A61B90/57 , A61B90/50 , A61N1/05 , A61B90/10
摘要： Navigation and simulation systems and methods for minimally invasive therapy in which the navigation system imports a planning method using patient specific pre-operative images. The navigation system uses intraoperative imaging during the medical procedure to update the preoperative images and provides images of tracked surgical tools along the surgical path prepared from the preoperative images.
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公开(公告)号：US11931140B2
公开(公告)日：2024-03-19
申请号：US17819653
申请日：2022-08-15
发明人： Cameron Piron , Michael Wood , Gal Sela , Joshua Richmond , Murugathas Yuwaraj , Monroe M. Thomas , Wes Hodges , Simon Alexander , David Gallop , Alex Panther , Nishanthan Shanmugaratnam , William Lau
IPC分类号： A61B5/06 , A61B5/00 , A61B5/055 , A61B5/145 , A61B17/34 , A61B34/10 , A61B34/20 , A61B90/00 , A61B90/10 , A61B90/50 , A61B90/57 , A61B90/90 , A61N1/05
CPC分类号： A61B5/065 , A61B5/0042 , A61B5/0095 , A61B5/055 , A61B5/14539 , A61B17/3421 , A61B34/20 , A61B90/90 , A61B2034/107 , A61B2034/2051 , A61B2034/2053 , A61B2034/2055 , A61B2034/2063 , A61B2090/103 , A61B2090/365 , A61B2090/3735 , A61B2090/3762 , A61B2090/3782 , A61B2090/3983 , A61B90/50 , A61B2090/571 , A61B2562/0247 , A61N1/0534
摘要： Navigation and simulation systems and methods for minimally invasive therapy in which the navigation system imports a planning method using patient specific preoperative images. The navigation system uses intraoperative imaging during the medical procedure to update the preoperative images and provides images of tracked surgical tools along the surgical path prepared from the preoperative images.
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公开(公告)号：US11786310B2
公开(公告)日：2023-10-17
申请号：US17160511
申请日：2021-01-28
发明人： Cameron Piron , Gal Sela , Monroe M. Thomas , Simon Alexander , Murugathas Yuwaraj , Michael Wood , Alex Panther , Joshua Richmond , Wes Hodges , David Gallop
IPC分类号： A61B34/10 , G06T7/30 , A61B34/00 , A61B17/34 , A61B5/00 , G06T7/00 , G16H50/70 , G16H50/20 , G16H10/40 , G16H20/40 , G16H40/20 , G16H30/20 , G16H50/50 , G16H30/40 , A61B34/20 , A61B90/50 , A61B90/57 , A61B90/00 , G16H10/60 , G16H70/20 , A61B90/10
CPC分类号： A61B34/10 , A61B5/0075 , A61B5/7246 , A61B17/3421 , A61B34/20 , A61B34/25 , G06T7/0014 , G06T7/30 , G16H10/40 , G16H20/40 , G16H30/20 , G16H30/40 , G16H40/20 , G16H50/20 , G16H50/50 , G16H50/70 , A61B90/50 , A61B2034/101 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/252 , A61B2034/256 , A61B2090/103 , A61B2090/365 , A61B2090/374 , A61B2090/378 , A61B2090/3762 , A61B2090/571 , A61B2576/026 , G06T2207/30016 , G16H10/60 , G16H70/20
摘要： Systems and methods are provided in which local tissue diagnostic measurements are correlated with archival local tissue diagnostic data from prior tissue analyses to supplement diagnostic measurements with tissue analysis data from prior tissue analyses having similar local tissue diagnostic data. The tissue analysis data may include information such as pathology data, outcome data, and diagnosis data. The archived local tissue diagnostic data and the tissue analysis data may be stored in a database, and employed for a wide variety of methods, involving preoperative, intraoperative, and/or postoperative phases of a medical procedure. Methods and systems are also provided for displaying, on a medical image shown in a user interface, hyperlinked reference markers associated with tissue analyses, where the reference markers are shown at locations corresponding to local tissue analyses, and where associated diagnostic data and/or tissue analysis may be viewed by selecting a given reference marker.
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公开(公告)号：US11272984B2
公开(公告)日：2022-03-15
申请号：US15644134
申请日：2017-07-07
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
IPC分类号： A61B34/10 , A61B6/00 , A61B90/30 , A61B90/00 , A61B34/00 , G06T7/70 , A61B1/00 , A61B1/045 , A61B90/96 , A61B90/90 , A61B90/94 , A61B90/98 , G06T7/00 , G06T11/00 , A61B34/20 , A61B6/03 , A61B8/13 , A61B18/14 , A61B8/08 , A61B90/50 , A61B34/30
摘要： Systems and methods are provided in which devices that are employed during a medical procedure are adaptively configured during the medical procedure, based on input or feedback that is associated with the current state, phase or context of the medical procedure. In some example embodiments, the input is obtained via the identification of one or more medical instruments present within a region of interest, and this input may be employed to determine configuration parameters for configuring the device. In other example embodiments, the input may be based on the image-based detection of a measure associated with the phase or context of the medical procedure, and this input may be employed to adaptively control the device based on the inferred context or phase of the medical procedure. In other embodiments, images from one imaging modality may be employed to adaptively switch to another imaging modality.
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公开(公告)号：US11253153B2
公开(公告)日：2022-02-22
申请号：US15786133
申请日：2017-10-17
发明人： Cameron Piron , Michael Wood , Murugathas Yuwaraj , Alex Panther , Nishanthan Shanmugaratnam , William Lau , Monroe M. Thomas , Gal Sela , Joshua Richmond , Wes Hodges , Simon Alexander , David Gallop
IPC分类号： A61B5/00 , A61B8/00 , A61B8/12 , A61B5/055 , G01R33/34 , G01R33/345 , A61B90/00 , A61B17/34 , A61B8/08 , A61B34/20
摘要： Insertable imaging devices and use methods thereof in minimally invasive medical procedures. Some insertable imaging devices are introduced and removed from an access port without disturbing or risking damage to internal tissue. Some insertable imaging devices are integrated with an access port, thereby allowing imaging of internal tissues within a vicinity of the access port, while enabling manipulation of surgical tools in the surgical field of interest. Some insertable imaging devices are integrated into an imaging sleeve that is insertable into an access port. Some insertable imaging devices perform imaging within an access port, wherein the imaging is based on one or more imaging modalities, including, but are not limited to, magnetic resonance imaging, ultrasound, optical imaging, such as hyperspectral imaging and optical coherence tomography, and electrical conductive measurements.
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公开(公告)号：US11103279B2
公开(公告)日：2021-08-31
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
IPC分类号： A61B17/34 , A61B34/20 , A61B34/30 , A61B5/00 , A61B5/06 , A61B34/10 , A61B17/00 , A61B90/00 , A61B90/50 , A61B90/10
摘要： System and methods are provided for adaptively and intraoperatively 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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