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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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公开(公告)号:US20180256264A1
公开(公告)日:2018-09-13
申请号:US15911874
申请日:2018-03-05
CPC分类号: A61B34/20 , A61B5/0035 , A61B5/0059 , A61B5/0064 , A61B5/0077 , A61B5/055 , A61B5/064 , A61B5/4566 , A61B6/12 , A61B34/30 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/3983 , A61B2090/3995 , A61B2505/05
摘要: Methods and systems of performing intraoperative image registration during a medical procedure are described. A depth-encoded marker is provided to an object of interest. The marker is imageable by at least two imaging systems. The marker has asymmetry in at least a depth dimension. First and second sets of image data are obtained. Tracking data is obtained. The first image coordinate space, the second image coordinate space and the tracking coordinate space are independent from each other. Transformation mapping is performed to register the first and second sets of image data and the tracking data to each other. The first and second sets of image data are mapped to each other based on the depth-encoded marker. The first or second set of image data and the tracking data are mapped to each other based the same or different marker.
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公开(公告)号:US10593052B2
公开(公告)日:2020-03-17
申请号:US15684433
申请日:2017-08-23
摘要: Methods and image-guided surgical navigation systems for updating an existing landmark registration of one or more landmark features in a common coordinate space are provided. The image-guided surgical navigation system includes a processor, an imaging device coupled to the processor, and a memory coupled to the processor. The image-guided surgical navigation system may be configured to capture a planar image of a region of interest, where the planar view image includes illustration of the one or more landmark features; generate a depth map from the planar view image; based on the depth map, identify a current location of the one or more landmark features in the common coordinate space; and transform the existing landmark registration to the current location of the one or more landmark features in the common coordinate space.
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公开(公告)号:US10251724B2
公开(公告)日:2019-04-09
申请号:US15584132
申请日:2017-05-02
摘要: A reference tie to be secured around a portion of a spine during a surgical procedure and to be tracked by a surgical navigation system is described. The reference tie includes an elongate strap having a first strap end and a second strap end. The reference tie also includes a fastener joined to the elongate strap at the first strap end, the fastener for securing the first strap end to a portion of the second strap end. The elongate strap is configured to form a secured loop around the portion of the spine. The reference tie also includes a fiducial marker joined to at least one of the elongate strap or the fastener. The fiducial marker is trackable by the surgical navigation system.
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公开(公告)号:US10166079B2
公开(公告)日:2019-01-01
申请号:US15911874
申请日:2018-03-05
摘要: Methods and systems of performing intraoperative image registration during a medical procedure are described. A depth-encoded marker is provided to an object of interest. The marker is imageable by at least two imaging systems. The marker has asymmetry in at least a depth dimension. First and second sets of image data are obtained. Tracking data is obtained. The first image coordinate space, the second image coordinate space and the tracking coordinate space are independent from each other. Transformation mapping is performed to register the first and second sets of image data and the tracking data to each other. The first and second sets of image data are mapped to each other based on the depth-encoded marker. The first or second set of image data and the tracking data are mapped to each other based the same or different marker.
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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:US20210128266A1
公开(公告)日:2021-05-06
申请号:US17094768
申请日:2020-11-10
申请人: Michael Frank Gunter WOOD , Cameron Anthony Piron , Tammy Kee-Wai Lee , Kamyar Abhari , Kai Michael Hynna
发明人: Michael Frank Gunter WOOD , Cameron Anthony Piron , Tammy Kee-Wai Lee , Kamyar Abhari , Kai Michael Hynna
摘要: A surgical imaging system is described. The system includes first and second optical assemblies. Each optical assembly defines a respective optical axis, and each includes a respective set of one or more optics for adjusting field-of-view (FOV) and focus and a respective camera for capturing an image. The system includes a controller for controlling the optical assemblies and for switching the surgical imaging system between a coupled configuration and an uncoupled configuration. In the coupled configuration, the first optical assemblies are controlled to adjust the respective sets of optics and/or the respective optical axes in dependence on each other. In the uncoupled configuration, the optical assemblies are controlled to adjust the respective sets of optics, and the respective optical axes independently of each other.
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