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1.发明授权公开(公告)号：US11416995B2
公开(公告)日：2022-08-16
申请号：US17091920
申请日：2020-11-06
发明人： Kirusha Srimohanarajah , Dorothy Lui , Gal Sela , Kai Hynna , Shysta Ismaili , Samson Ng , Jakub Jankowski
IPC分类号： G06T7/00 , G06T7/246 , G06T11/00 , A61B34/20 , G16H20/40 , G06T7/80 , G16H40/60 , G16H30/40 , G16H40/40
摘要： Methods and apparatuses for performing patient registration. 3D scan data from a 3D scanner, preoperative image data, first tracking data from a first tracking system, and second tracking data from a second tracking system are mapped to a common coordinate space. The 3D scan data and the first tracking data are mapped to each other using a transformation that is determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space. The 3D scan data and the preoperative image data are mapped to each other using a surface matching algorithm. The first tracking data and the second tracking data are mapped to each other based on tracking of the patient reference device.
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公开(公告)号：US11103314B2
公开(公告)日：2021-08-31
申请号：US15821985
申请日：2017-11-24
IPC分类号： A61B34/20 , G16H20/40 , G16H30/40 , G16H30/20 , A61B90/00 , A61B90/50 , A61B34/30 , A61B17/00
摘要： A method and device for tracking objects by surgical navigation systems. The method includes: capturing an image of the tracked object; determining whether a unique identifiable feature associated with at least one totem pattern is discernible in the image; when the unique identifiable feature is discernible: determining a position or an orientation of the tracked object based on the at least one totem pattern; and registering the at least one totem pattern in the surgical coordinate space; and when the unique identifiable feature is indiscernible: determining a position of each totem pattern relative to other totem patterns such that a combination of totem patterns within the captured image is a marker group detectable as a composite totem pattern; determining a position or an orientation of the tracked object based on the composite totem pattern associated with the tracked object; and registering the composite totem pattern in the surgical coordinate space.
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公开(公告)号：US11523871B2
公开(公告)日：2022-12-13
申请号：US16468191
申请日：2016-12-08
摘要： A system for adjusting an operating state of a medical electronic device is described. In an aspect, the system includes an optical tracking system configured to detect three or more tracking markers. The system also includes a processor coupled with the optical tracking system. The processor is programmed with instructions which, when executed, configure the processor to: configure an input command by assigning at least one operating state of the medical electronic device to a particular state of at least one of the tracking markers; after receiving a priming command, identify a present state of the tracking markers based on data from the optical tracking system; compare the present state with the particular state assigned to the operating state; and based on the comparison, determine that an input command has been received and adjust the operating state of the medical electronic device to the assigned operating state.
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公开(公告)号：US11191595B2
公开(公告)日：2021-12-07
申请号：US16824145
申请日：2020-03-19
IPC分类号： G06K9/00 , A61B34/20 , G16H10/60 , G16H30/40 , G16H20/40 , A61B90/00 , A61B34/10 , A61B17/34
摘要： A method for updating a patient registration during a medical procedure is disclosed. The medical procedure uses an optical navigation system for optically tracking a patient reference object in a real-world space. The method includes: acquiring a first set of image data depicting a region of interest on the patient while a first patient registration is intact; detecting that the first patient registration has been lost; obtaining a second set of image data depicting the region of interest; and applying a transform to data points of the first region to obtain data points for an updated patient registration, the transform obtained based on the first and second sets of image data.
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公开(公告)号：US11045257B2
公开(公告)日：2021-06-29
申请号：US15506627
申请日：2015-06-22
发明人： Kirusha Srimohanarajah , Dorothy Lui , Gal Sela
摘要： An apparatus is provided that is visible by both a three dimensional (3D) scanner system of a medical navigation system and a camera of the medical navigation system. The apparatus comprises a rigid member and a plurality of markers attached to the rigid member. Each of the plurality of markers includes a reflective surface portion visible by the camera and a distinct identifiable portion visible by the 3D scanner system. The apparatus further includes a connector mechanism to connect the apparatus to a reference location. The apparatus is in a field of view of the 3D scanner system and the camera within a timeframe of the 3D scan.
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公开(公告)号：US20210186628A1
公开(公告)日：2021-06-24
申请号：US17195842
申请日：2021-03-09
发明人： Kelly Noel DYER , Gal Sela , Kirusha Srimohanarajah , Sean Jy-Shyang Chen , Joshua Lee Richmond , Fergal Kerins
IPC分类号： A61B34/20
摘要： A medical navigation system is provided for detecting movement of a subject, the system having an optical tracking system including a camera, a display, and a controller electrically coupled with the optical tracking system and the display. The controller has a processor coupled with a memory and is configured to receive a data signal from the optical tracking system and recognize and continuously monitor optical tracking markers on the subject within a field of view of the camera, and provide an alert on the display when movement of the optical tracking markers on the subject falls within predefined parameters.
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公开(公告)号：US11026753B2
公开(公告)日：2021-06-08
申请号：US16068807
申请日：2016-02-25
发明人： Kelly Noel Dyer , Gal Sela , Kirusha Srimohanarajah , Sean Jy-shyang Chen , Joshua Lee Richmond , Fergal Kerins
摘要： A medical navigation system is provided for detecting movement of a subject, the system having an optical tracking system including a camera, a display, and a controller electrically coupled to the optical tracking system and the display. The controller has a processor coupled to a memory and is configured to receive a data signal from the optical tracking system and recognize and continuously monitor optical tracking markers on the subject within a field of view of the camera, and provide an alert on the display when movement of the optical tracking markers on the subject falls within predefined parameters.
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公开(公告)号：US10993771B2
公开(公告)日：2021-05-04
申请号：US15262560
申请日：2016-09-12
IPC分类号： A61B34/20 , A41D13/11 , A61B46/00 , A61B46/10 , A61B34/10 , A41D13/12 , A61B34/30 , A61B90/00
摘要： Trackable apparatuses and methods involving at least one arrangement of at least one trackable feature configured for disposition in relation to at least one substrate, each arrangement of the at least one arrangement having a distinct pattern of trackable features configured to facilitate determining at least one of: an identity of at least one object and at least one subject, a disposition of at least one object and at least one subject, a disposition between at least one object and at least one subject, and a disposition among at least one object and at least one subject, and each arrangement of the at least one arrangement configured to optimize tracking by a navigation tracking system, whereby at least one spatial relationship among the at least one object and the at least one subject is optimizable. The navigation tracking system is optionally multi-modal.
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