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公开(公告)号：US20190223704A1
公开(公告)日：2019-07-25
申请号：US16326349
申请日：2016-08-17
摘要： A flexible high resolution endoscope is provided herein. The endoscope comprises: a plurality of optical fiber bundles; a plurality of lenses in a one-to-one relationship with the plurality of optical fiber bundles; and, a plurality of cameras in a one-to-one relationship with the plurality of optical fiber bundles, each respective optical fiber bundle, of the plurality of optical fiber bundles, having a respective lens, of the plurality of lenses, located at a respective distal end, and a camera, of the plurality of cameras, located at a respective proximal end, the plurality of optical fiber bundles being coupled together at a common distal end, and otherwise being uncoupled from one another, a bending radius of the endoscope defined by a largest respective bending radius of each of the plurality of optical fiber bundles.
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2.发明授权公开(公告)号：US10543045B2
公开(公告)日：2020-01-28
申请号：US15575552
申请日：2015-07-13
IPC分类号： A61B34/20 , H04N13/246 , H04N13/254 , G06T19/00 , A61B90/00 , A61B90/10
摘要： A medical navigation system for displaying a three dimensional (3D) surface video of a target is provided. The medical navigation system comprises a 3D imaging device, a camera, a display, and a controller electrically coupled to the 3D imaging device, the camera, and the display. The controller has a processor coupled to a memory. The controller is configured to perform calibration of input devices; acquire 3D depth data of the target from a signal generated by the 3D imaging device; construct a 3D surface contour of the target based on the 3D depth data; acquire a video stream of the target from a signal generated by the camera; generate a 3D surface video based on the 3D surface contour and the video stream; and display the 3D surface video on the display.
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公开(公告)号：US10188468B2
公开(公告)日：2019-01-29
申请号：US15506228
申请日：2016-02-25
IPC分类号： A61B1/00 , G06T7/00 , A61B34/20 , A61B90/30 , A61B34/00 , G06T7/521 , A61B34/10 , H04N13/271 , H04N5/272 , A61B90/00 , A61B17/34
摘要： A medical navigation system is provided for acquiring a depth map of a surgical site of interest in a patient. The medical navigation system comprises a camera, a light projecting device, a display, and a controller. The controller has a processor coupled to a memory. The controller is configured to generate a signal provided to the light projecting device to project an edge indicator on the surgical site of interest, generate a signal to operate the camera to perform a focus sweep and capture a plurality of images during the focus sweep where the plurality of images includes the projected edge indicator, receive from the camera data representing the plurality of images captured during the focus sweep, and generate a depth map of the surgical site of interest using the data representing the plurality of images.
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公开(公告)号：US20210228283A1
公开(公告)日：2021-07-29
申请号：US17094777
申请日：2020-11-10
申请人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
发明人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
摘要： Methods and systems for outputting depth data during a medical procedure on a patient. Depth data is outputted, representing at least one of relative depth data and general depth data. Tracking information about the position and orientation of a medical instrument and depth information about variations in depth over a site of interest are used. Relative depth data represents the depth information relative to the position and orientation of the instrument. General depth data represents the depth information over the site of interest independently of the position and orientation of the instrument.
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公开(公告)号：US10828114B2
公开(公告)日：2020-11-10
申请号：US16343248
申请日：2016-10-21
申请人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
发明人： Kamyar Abhari , Gal Sela , Michael Frank Gunter Wood , Kai Michael Hynna , Kelly Noel Dyer , Tammy Kee-wai Lee
摘要： Methods and systems for outputting depth data during a medical procedure on a patient. Depth data is outputted, representing at least one of relative depth data and general depth data. Tracking information about the position and orientation of a medical instrument and depth information about variations in depth over a site of interest are used. Relative depth data represents the depth information relative to the position and orientation of the instrument. General depth data represents the depth information over the site of interest independently of the position and orientation of the instrument.
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公开(公告)号：US10098564B2
公开(公告)日：2018-10-16
申请号：US15107280
申请日：2015-08-21
申请人： Gal Sela , Sean Jy-shyang Chen
发明人： Gal Sela , Sean Jy-shyang Chen
摘要： A method comprises: storing, in a memory of a computing device, (i) a preoperative image of patient tissue obtained using a first imaging modality and registered to a first frame of reference, and (ii) anatomical data defining a plurality of neural tracts in the patient tissue; receiving, at a processor connected with the memory, a location in the first frame of reference for application of a cortical stimulator pad to the patient tissue; receiving, at the processor, a range of influence of the cortical stimulator pad; based on the location and the range of influence, selecting, at the processor, an intersected neural tract from the plurality of neural tracts, a portion of the intersected neural tract being located within the range of influence; and controlling, at the processor, the display to render the preoperative image, the location and the intersected neural tract according to the first frame of reference.
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公开(公告)号：US10265854B2
公开(公告)日：2019-04-23
申请号：US15228853
申请日：2016-08-04
申请人： Synaptive Medical (Barbados) Inc. , Sean Jy-Shyang Chen , Kirusha Srimohanarajah , Gal Sela , Joshua Richmond , Kelly Dyer
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.发明授权公开(公告)号：US10102681B2
公开(公告)日：2018-10-16
申请号：US15107015
申请日：2015-07-29
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：US10441365B2
公开(公告)日：2019-10-15
申请号：US15403629
申请日：2017-01-11
申请人： Stewart David McLachlin , Gal Sela , Kamyar Abhari , Kai Michael Hynna , Jared Rowland Shoup , Aidan Alan Thompson
发明人： Stewart David McLachlin , Gal Sela , Kamyar Abhari , Kai Michael Hynna , Jared Rowland Shoup , Aidan Alan Thompson
摘要： Methods and devices to track patient anatomy during a surgical operation. A patient reference device is attached to an anatomical feature of a patient and it includes an attachment base and an optically-trackable array detectable by an optical navigation system and having a longitudinally-extending arm to space apart the fixed geometric pattern from the anatomical feature. The arm includes a connector to be detachably secured to the attachment base. An inertial measurement unit within the attachment base enables determining, based on comparing a threshold level to a motion signal, that the attachment base has changed position, wherein the motion signal represents the change in position and its magnitude. Based on determining that the attachment base has changed position an alarm signal is generated an and an output device in the attachment base outputs an alarm in response to the alarm signal.
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公开(公告)号：US11071593B2
公开(公告)日：2021-07-27
申请号：US15650253
申请日：2017-07-14
申请人： Kamyar Abhari , Stewart David McLachlin , Kai Michael Hynna , Gal Sela , Jared Rowland Shoup , Michael Peter Bulk , Kelly Noel Dyer
发明人： Kamyar Abhari , Stewart David McLachlin , Kai Michael Hynna , Gal Sela , Jared Rowland Shoup , Michael Peter Bulk , Kelly Noel Dyer
摘要： Methods and systems for providing feedback during a medical procedure. The 3D position and orientation of a tracked tool are determined, relative to a site of the medical procedure, based on tracking information received from a tracking system. The 3D position and orientation are mapped to a common coordinate space, to determine the 3D position and orientation relative to a field-of-view (FOV) of an optical camera that is capturing an optical image of the site. Navigational information associated with the 3D position and orientation is determined. A virtual representation of the navigational information overlaid on the FOV and displayed. The displayed virtual representation is updated when the 3D position and orientation of the tracked tool changes or when the FOV changes, in accordance with the change.
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