公开(公告)号：US11737696B2

公开(公告)日：2023-08-29

申请号：US17737599

申请日：2022-05-05

申请人： GLOBUS MEDICAL, INC.

发明人： Neil R. Crawford ,  Francisco Ponce

IPC分类号： A61B5/24 ,  A61B5/00 ,  A61B90/14 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B90/00

CPC分类号： A61B5/24 ,  A61B5/6868 ,  A61B34/76 ,  A61B90/14 ,  A61B2034/107 ,  A61B2034/2072 ,  A61B2034/302 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3983 ,  A61B2560/063 ,  A61B2562/0209

摘要： A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.

公开(公告)号：US11730547B2

公开(公告)日：2023-08-22

申请号：US17024037

申请日：2020-09-17

申请人： KOH YOUNG TECHNOLOGY INC. ,  KYUNGPOOK NATIONAL UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION

发明人： Hyun Ki Lee ,  Hyun Min Oh ,  Min Young Kim

IPC分类号： A61B34/20 ,  A61B90/00

CPC分类号： A61B34/20 ,  A61B90/39 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2090/0818 ,  A61B2090/3983

摘要： A tracking system and a tracking method using the same are disclosed. The tracking system includes a marker, a camera unit, a first inertial measuring unit, a second inertial measuring unit and a tracking processing unit. The marker is fixed on the measurement object, and the camera unit outputs a marker image by photographing the marker. The first inertial measuring unit is fixed on the camera unit, and measures and outputs first inertia comprising first accelerated velocity and first angular velocity. The second inertial measuring unit is fixed to one of the measurement object and the marker, and measures and outputs second inertia comprising second accelerated velocity and second angular velocity. The tracking processing unit primarily extracts the position and the posture of the measurement object using the marker image, and secondarily extracts the position and the posture of the measurement object using the first and second inertias.

公开(公告)号：US11717376B2

公开(公告)日：2023-08-08

申请号：US17015186

申请日：2020-09-09

申请人： SYNAPTIVE MEDICAL INC.

发明人： Gal Sela ,  Cameron Piron ,  Michael Wood ,  Joshua Richmond ,  Murugathas Yuwaraj ,  Stephen McFadyen ,  Monroe M. Thomas ,  Wes Hodges ,  Simon Alexander ,  David Gallop

IPC分类号： A61B90/00 ,  A61B34/20 ,  A61B34/10 ,  G06T7/33 ,  A61B90/50 ,  G06T7/246 ,  G06T7/73

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.

公开(公告)号：US11717173B2

公开(公告)日：2023-08-08

申请号：US16850284

申请日：2020-04-16

申请人： Warsaw Orthopedic, Inc.

发明人： Robert A. Fields

IPC分类号： A61B5/0205 ,  A61B5/00 ,  A61B5/11 ,  A61B5/316 ,  A61B90/00 ,  A61B6/12 ,  A61B6/00

CPC分类号： A61B5/0205 ,  A61B5/1123 ,  A61B5/316 ,  A61B90/39 ,  A61B5/1126 ,  A61B5/4824 ,  A61B6/12 ,  A61B6/505 ,  A61B6/5217 ,  A61B2090/3966 ,  A61B2090/3983

摘要： A coordinate locating device comprising a support structure removably connectable to a wearable sensor device being worn by an individual. The support structure comprising a planar surface. The device includes a plurality of different fiducial marker components connected to the planar surface. The plurality of different fiducial marker components includes a set of fiducial markers connected to the planar surface in a non-collinear configuration relative to each other to define a three-dimensional (3D) space of pixels in an image. The plurality of different fiducial marker components includes a distance calibration fiducial marker connected to the planar surface and being configured to define a distance calibration length of pixels in the image, the distance calibration fiducial marker being perpendicular to the planar surface and defining a calibration length to locate a point of origin of motion sensing by the wearable sensor device. A system and method are also provided.

公开(公告)号：US11712464B2

公开(公告)日：2023-08-01

申请号：US16933481

申请日：2020-07-20

申请人： Norwegian University of Science and Technology (NTNU)

发明人： Daniel Fossum Bratbak ,  Ståle Nordgård

IPC分类号： A61B5/00 ,  A61K38/48 ,  A61B10/02 ,  A61B17/34 ,  A61P27/02 ,  A61N1/372 ,  A61P25/06 ,  A61M5/20 ,  A61M5/24 ,  A61K9/00 ,  A61M5/28 ,  A61M5/32 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

CPC分类号： A61K38/4893 ,  A61B10/0233 ,  A61B17/3403 ,  A61K9/0019 ,  A61M5/20 ,  A61M5/24 ,  A61M5/28 ,  A61M5/3286 ,  A61N1/372 ,  A61P25/06 ,  A61P27/02 ,  A61B2010/0208 ,  A61B2017/00199 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/372 ,  A61B2090/397 ,  A61B2090/3937 ,  A61B2090/3983 ,  A61M2005/206 ,  A61M2209/01 ,  A61M2210/0687

摘要： A device for interventions within the body, the device comprising: an end piece 6 for insertion into the body at a distal end thereof, the end piece 6 including a rigid lumen for holding an instrument 10 and guiding the instrument 10 to the distal end of the end piece; and a body section 4 supporting the lumen and being rigidly connected thereto, the body section including a navigation array 14 for guidance of the device using a surgical navigation system and/or including an anchor point 20 for a standard navigation array.

公开(公告)号：US11684431B2

公开(公告)日：2023-06-27

申请号：US15467005

申请日：2017-03-23

申请人： GLOBUS MEDICAL, INC.

发明人： Neil R. Crawford ,  Nicholas Theodore ,  Mitchell A. Foster

IPC分类号： A61B34/30 ,  A61B5/06 ,  A61B10/02 ,  A61N1/05 ,  A61B34/00 ,  A61B90/14 ,  A61B90/00 ,  B25J9/10 ,  A61B90/96 ,  A61B90/98 ,  A61B17/02 ,  A61B17/16 ,  A61B34/32 ,  A61B34/20 ,  A61B46/20 ,  A61B50/13 ,  A61B17/88 ,  A61B17/17 ,  A61B34/10 ,  A61B17/70 ,  A61M5/172 ,  A61B90/11 ,  A61B17/00

CPC分类号： A61B34/30 ,  A61B5/061 ,  A61B5/062 ,  A61B5/066 ,  A61B10/02 ,  A61B10/0233 ,  A61B10/0275 ,  A61B17/025 ,  A61B17/1615 ,  A61B17/1671 ,  A61B17/1703 ,  A61B17/1757 ,  A61B17/7082 ,  A61B17/8866 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/32 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B46/20 ,  A61B50/13 ,  A61B90/14 ,  A61B90/37 ,  A61B90/39 ,  A61B90/96 ,  A61B90/98 ,  A61M5/172 ,  A61N1/0529 ,  B25J9/1065 ,  A61B5/064 ,  A61B17/17 ,  A61B90/11 ,  A61B2010/0208 ,  A61B2017/00119 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2017/00876 ,  A61B2017/0256 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/034 ,  A61B2090/064 ,  A61B2090/0811 ,  A61B2090/365 ,  A61B2090/374 ,  A61B2090/378 ,  A61B2090/3762 ,  A61B2090/3764 ,  A61B2090/395 ,  A61B2090/3937 ,  A61B2090/3941 ,  A61B2090/3945 ,  A61B2090/3966 ,  A61B2090/3975 ,  A61B2090/3979 ,  A61B2090/3983

摘要： A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the transmitter; (ii) display the position of the at least one transmitter; and (iii) selectively control actuation of the motor assembly.

公开(公告)号：US11682483B2

公开(公告)日：2023-06-20

申请号：US17835356

申请日：2022-06-08

申请人： Alcon Inc.

发明人： Ashok Burton Tripathi ,  George Charles Polchin ,  Yen Ting Ng

IPC分类号： G06K9/00 ,  G16H30/40 ,  H04N13/204 ,  G06T7/33 ,  G06T19/00 ,  A61B5/00 ,  A61B90/20 ,  A61B90/00 ,  H04N13/30 ,  G16H20/40 ,  A61B5/055 ,  A61B6/03 ,  G06T7/00 ,  G06T11/00 ,  G06T19/20 ,  G06T5/00 ,  G16H30/20

CPC分类号： G16H30/40 ,  A61B5/0077 ,  A61B5/055 ,  A61B5/743 ,  A61B5/745 ,  A61B5/7425 ,  A61B6/03 ,  A61B6/032 ,  A61B6/037 ,  A61B90/20 ,  A61B90/37 ,  G06T5/002 ,  G06T7/0014 ,  G06T7/337 ,  G06T11/008 ,  G06T19/00 ,  G06T19/20 ,  G16H20/40 ,  G16H30/20 ,  H04N13/204 ,  H04N13/30 ,  A61B2090/365 ,  A61B2090/3983 ,  A61B2576/00 ,  G06T2200/24 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/10088 ,  G06T2207/20104 ,  G06T2207/20221 ,  G06T2207/30016 ,  G06T2207/30196 ,  G06T2207/30204 ,  G06T2210/41 ,  G06T2210/62 ,  G06T2211/40 ,  G06T2219/028 ,  G06T2219/2004

摘要： A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

公开(公告)号：US11672562B2

公开(公告)日：2023-06-13

申请号：US17089695

申请日：2020-11-04

申请人： Medos International Sarl

发明人： Daniel Thommen ,  Joern Richter ,  Michael Wang ,  Richard Assaker ,  Richard Fessler ,  Christoph Mehren ,  Seang Beng Tan ,  William Taylor ,  Eric Buehlmann ,  Michael White

IPC分类号： A61B17/02 ,  A61B17/34 ,  A61B17/56 ,  A61B1/31 ,  A61B1/32 ,  A61F2/44 ,  A61B90/00 ,  A61B90/50 ,  A61B90/57 ,  A61B1/00 ,  A61B1/012 ,  A61B1/018 ,  A61B1/05 ,  A61B1/055 ,  A61B1/07 ,  A61B1/12 ,  A61B1/233 ,  A61B1/267 ,  A61B1/313 ,  A61B1/317 ,  A61B5/06 ,  A61B5/00 ,  A61B17/00 ,  A61B17/32 ,  A61B17/60 ,  A61B17/70 ,  A61B18/18 ,  A61F2/46 ,  A61B5/24 ,  A61B34/20 ,  A61B34/00 ,  A61B90/30 ,  A61B17/16 ,  A61B17/17 ,  A61B18/00 ,  A61B34/30

CPC分类号： A61B17/3421 ,  A61B1/00045 ,  A61B1/00091 ,  A61B1/00094 ,  A61B1/00096 ,  A61B1/00103 ,  A61B1/00128 ,  A61B1/00133 ,  A61B1/00135 ,  A61B1/00154 ,  A61B1/012 ,  A61B1/018 ,  A61B1/05 ,  A61B1/051 ,  A61B1/055 ,  A61B1/07 ,  A61B1/126 ,  A61B1/233 ,  A61B1/2676 ,  A61B1/317 ,  A61B1/3132 ,  A61B1/3135 ,  A61B1/32 ,  A61B5/068 ,  A61B5/24 ,  A61B5/407 ,  A61B5/4041 ,  A61B17/00234 ,  A61B17/025 ,  A61B17/0218 ,  A61B17/0293 ,  A61B17/320068 ,  A61B17/3423 ,  A61B17/3462 ,  A61B17/60 ,  A61B17/708 ,  A61B17/7032 ,  A61B17/7074 ,  A61B18/1815 ,  A61B90/03 ,  A61B90/361 ,  A61B90/50 ,  A61B90/57 ,  A61F2/4455 ,  A61F2/4611 ,  A61B1/00149 ,  A61B17/0206 ,  A61B17/1637 ,  A61B17/1671 ,  A61B17/1703 ,  A61B17/1757 ,  A61B17/3403 ,  A61B17/3439 ,  A61B17/70 ,  A61B17/7083 ,  A61B34/30 ,  A61B34/70 ,  A61B90/30 ,  A61B2017/0034 ,  A61B2017/00261 ,  A61B2017/00314 ,  A61B2017/00345 ,  A61B2017/00407 ,  A61B2017/00477 ,  A61B2017/00557 ,  A61B2017/00738 ,  A61B2017/00831 ,  A61B2017/00858 ,  A61B2017/00871 ,  A61B2017/00946 ,  A61B2017/00991 ,  A61B2017/0256 ,  A61B2017/0262 ,  A61B2017/320075 ,  A61B2017/345 ,  A61B2017/347 ,  A61B2017/3443 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3484 ,  A61B2017/564 ,  A61B2018/00339 ,  A61B2018/00565 ,  A61B2018/00577 ,  A61B2018/1861 ,  A61B2018/1869 ,  A61B2034/2055 ,  A61B2090/034 ,  A61B2090/036 ,  A61B2090/08021 ,  A61B2090/306 ,  A61B2090/371 ,  A61B2090/3983 ,  A61B2218/002 ,  A61B2218/007 ,  A61F2002/4635

摘要： An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

公开(公告)号：US11653982B2

公开(公告)日：2023-05-23

申请号：US16849146

申请日：2020-04-15

申请人： Suzhou MicroPort Orthobot Co., Ltd.

发明人： Jingyang Ma ,  Feng Sun ,  Hui Shao ,  Chao He ,  Pengfei Liu

IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B17/15

CPC分类号： A61B34/20 ,  A61B17/151 ,  A61B34/30 ,  A61B90/39 ,  A61B2034/2055 ,  A61B2090/3983

摘要： An osteotomy calibration method, calibration tools, a readable storage medium, and an orthopedic surgery system are provided. Firstly using the plane calibration tool to obtain the calculated position information of the current osteotomy plane, and then determining a position error between the calculated position information and a predetermined position information of a planned osteotomy plane, and if the position error exceeds a preset value, calculating and transmitting a relocation information to a robotic arm to control and relocate the robotic arm. By comparing and identifying the position error between the current osteotomy plane formed by the first osteotomy and the planned predetermined osteotomy plane, relocating the robotic arm, and performing a secondary correction of the osteotomy plane. In addition, by relocating the robotic arm and secondary correction of the osteotomy plane, additional bone nails which is to fix the navigation tool to the bone can be avoided.

公开(公告)号：US20190209212A1

公开(公告)日：2019-07-11

申请号：US16351107

申请日：2019-03-12

申请人： NuVasive, Inc.

发明人： Thomas Scholl ,  Patrick Miles ,  Roberto Bassani

IPC分类号： A61B17/70 ,  A61B17/88 ,  A61B34/20 ,  A61B5/107 ,  A61B34/10

CPC分类号： A61B17/7031 ,  A61B5/1071 ,  A61B17/7001 ,  A61B17/7011 ,  A61B17/8863 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2034/102 ,  A61B2034/108 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/2072 ,  A61B2090/3983

摘要： A system for use during a surgical procedure includes a control unit configured to obtain a horizontal pelvic line (HPL) and a central sacral vertical line (CSVL); obtain a horizontal shoulder line (HSL) and an orthogonal midline (OM); compare the HPL and the CSVL with the HSL and the OM; determine an angle between the HPL and the HSL; and convert the angle to a patient position.