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公开(公告)号：US11504023B2
公开(公告)日：2022-11-22
申请号：US16716278
申请日：2019-12-16
发明人： Helen Wolfson , Avram Dan Montag , Meir Bar-Tal , Yoav Pinsky , Noam Racheli
摘要： A calibration method includes receiving magnetic field values, which are generated by a plurality of real magnetic transmitters and are measured at multiple positions on a grid in a region containing a magnetic field perturbing element. Approximate locations of the real magnetic transmitters are received. Using the approximate locations, a respective plurality of imaginary magnetic sources is characterized inside the field perturbing element. Using the measured magnetic field values, the approximate locations, and the characterized imaginary sources, there are iteratively calculated (i) actual locations of the real and imaginary magnetic sources in the region, and (ii) modeled magnetic field values that would result from the real and imaginary magnetic sources at the actual locations. Using the calculated locations, and the modeled magnetic field values at the multiple positions on the grid, a magnetic field calibration function is derived for the region.
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公开(公告)号：US20200242339A1
公开(公告)日：2020-07-30
申请号：US16748993
申请日：2020-01-22
发明人： Itamar Bustan , Ehsan Shameli , Moran Levi , Itzhak Fang , Uriel Hod , Babak Ebrahimi , Yoav Pinsky , Fatemeh Akbarian , Noam Racheli
摘要： Apparatus, including a patient tracker, attached to a subject, having magnetic field sensors and optical landmarks with known spatial relationships to each other. A camera acquires a 3D optical image, in a first frame of reference (FOR), of the subject's face. A magnetic radiator assembly generates magnetic fields at the subject's head, thereby defining a second FOR. A processor: processes field sensor signals to acquire location coordinates of the sensors in the second FOR; segments a tomographic image of the subject, having a third FOR, to identify the subject's face in the third FOR; computes a first transformation between the third and first FORs to map the tomographic face image to the 3D optical image; maps the optical landmarks to the third FOR; maps the respective location coordinates of the sensors to the first FOR; and computes a second transformation between the second FOR and the third FOR.
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公开(公告)号：US20210315636A1
公开(公告)日：2021-10-14
申请号：US17194466
申请日：2021-03-08
发明人： Fatemeh Akbarian , Athanasios Papadakis , Jordan R. Trott , Noam Racheli , Itamar Bustan , Jetmir Palushi
摘要： A virtual camera may be positioned relative to a 3-D model of a patient anatomy in order to provide a virtual camera view of the surrounding anatomy and tracked surgical instruments being deployed to the anatomy. Visual context provided by the virtual camera may be limited in some cases, such as where a surgical instrument is being used within a very narrow anatomical passageway or cavity. To provide more placement flexibility, an IGS system providing a virtual camera receives inputs defining variable visual characteristics for different segments or regions of the 3-D model, which may include hiding certain segments or making certain segments semi-transparent. With such a system, the view of the 3-D model provided by the virtual camera view may be modified to remove or deemphasize less relevant segments, to display or emphasize more relevant segments (e.g., critical patient anatomy), or both.
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公开(公告)号：US11123144B2
公开(公告)日：2021-09-21
申请号：US16748993
申请日：2020-01-22
发明人： Itamar Bustan , Ehsan Shameli , Moran Levi , Itzhak Fang , Uriel Hod , Babak Ebrahimi , Yoav Pinsky , Fatemeh Akbarian , Noam Racheli
摘要： Apparatus, including a patient tracker, attached to a subject, having magnetic field sensors and optical landmarks with known spatial relationships to each other. A camera acquires a 3D optical image, in a first frame of reference (FOR), of the subject's face. A magnetic radiator assembly generates magnetic fields at the subject's head, thereby defining a second FOR. A processor: processes field sensor signals to acquire location coordinates of the sensors in the second FOR; segments a tomographic image of the subject, having a third FOR, to identify the subject's face in the third FOR; computes a first transformation between the third and first FORs to map the tomographic face image to the 3D optical image; maps the optical landmarks to the third FOR; maps the respective location coordinates of the sensors to the first FOR; and computes a second transformation between the second FOR and the third FOR.
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公开(公告)号：US20190353471A1
公开(公告)日：2019-11-21
申请号：US15980625
申请日：2018-05-15
发明人： Noam Racheli , Itamar Bustan
摘要： An apparatus includes a calibration fixture, a calibration position sensor, and interface circuitry. The calibration fixture is sized and shaped to fit over a distal-end of a medical probe, such that the distal-end makes physical contact with a wall of the calibration fixture. The calibration position sensor is fixed in the calibration fixture at a known position relative to the wall, and configured, in response to sensing a magnetic field, to produce position signals indicative of a given position of the calibration position sensor. The interface circuitry is electrically coupled to the calibration position sensor, and is configured to output the position signals.
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公开(公告)号：US11204677B2
公开(公告)日：2021-12-21
申请号：US16577019
申请日：2019-09-20
发明人： Jetmir Palushi , Henry F. Salazar , Jordan R. Trott , Moran Levi , Itamar Bustan , Yoav Pinsky , Noam Racheli , Athanasios Papadakis
IPC分类号： G06F3/0481 , G06F3/0346 , G06F3/0338 , G06F3/01 , G06T7/50 , G06T15/20 , G06F3/0484 , G16H30/20 , G16H20/40 , A61B34/20 , A61B34/00 , A61B90/00 , A61B34/10
摘要： A virtual endoscopic view shows a surgical area and surrounding anatomy and may also show a position of a surgical instrument in use during a surgical procedure, allowing a surgeon to virtually view the surgical area when direct viewing or actual endoscopic views are incomplete, obstructed, or otherwise unavailable or undesirable. In order to render the endoscopic view, an IGS navigation system may be configured with an observer point and an observer orientation within 3-D space based upon user inputs. A user interface for defining these points allows a user to view a virtual endoscopic preview in real-time while providing inputs, thus improving the likelihood that the resulting virtual endoscopic view is as desired by the user; and reducing time spent redefining and reconfiguring the virtual endoscopic view. The virtual endoscopic preview may provide combinations of static and dynamic images to illustrate the spatial relationship of the provided inputs.
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公开(公告)号：US10955657B2
公开(公告)日：2021-03-23
申请号：US16695500
申请日：2019-11-26
发明人： Ehsan Shameli , Yehuda Algawi , Assaf Govari , Babak Ebrahimi , Fatemeh Akbarian , Jetmir Palushi , Moran Levi , Noam Racheli
摘要： An endoscopic camera has two or more cameras positioned at a distal end, positioned to provide partially overlapping fields of view. The cameras communicate captured digital images the length of the flexible endoscope, where they may be saved and processed to provide additional imaging features. With partially overlapping images from two or more cameras, image processing can provide panoramic images, super resolution images, and three-dimensional images. One or more of these image modes may also be enhanced to provide a virtualization window that displays a portion of a larger or higher resolution image. The virtualization window displays the selected area of the image, and may be moved or zoomed around the image to provide a virtual endoscope repositioning experience, where the endoscope remains statically positioned but the virtualization window presents a sense of movement and navigation around the surgical area.
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公开(公告)号：US20200222007A1
公开(公告)日：2020-07-16
申请号：US16776955
申请日：2020-01-30
发明人： Henry F. Salazar , Jetmir Palushi , William J. Kane , Fatemeh Akbarian , Ika Dekel , Noam Racheli , Helen Wolfson , Nawid Mehrzai , Jephrey S. Rodriguez , Ketan P. Muni , Andrew Drake , David A. Smith, JR. , Scott A. Kirchner , Todd A. Veloni , Itamar Bustan
摘要： An apparatus includes a body, an upright member, a frame, and a plurality of field generating elements. The body is configured to be positioned between a patient's back and a backrest of a chair. The upright member extends upwardly from the body. The frame has a curved configuration configured to partially surround a patient's head. The field generating elements are configured to generate an electromagnetic field around a patient's head partially surrounded by the frame.
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公开(公告)号：US20210177298A1
公开(公告)日：2021-06-17
申请号：US16716278
申请日：2019-12-16
发明人： Helen Wolfson , Avram Dan Montag , Meir Bar-Tal , Yoav Pinsky , Noam Racheli
摘要： A calibration method includes receiving magnetic field values, which are generated by a plurality of real magnetic transmitters and are measured at multiple positions on a grid in a region containing a magnetic field perturbing element. Approximate locations of the real magnetic transmitters are received. Using the approximate locations, a respective plurality of imaginary magnetic sources is characterized inside the field perturbing element. Using the measured magnetic field values, the approximate locations, and the characterized imaginary sources, there are iteratively calculated (i) actual locations of the real and imaginary magnetic sources in the region, and (ii) modeled magnetic field values that would result from the real and imaginary magnetic sources at the actual locations. Using the calculated locations, and the modeled magnetic field values at the multiple positions on the grid, a magnetic field calibration function is derived for the region.
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公开(公告)号：US20210068855A1
公开(公告)日：2021-03-11
申请号：US17062966
申请日：2020-10-05
发明人： Zvi Dekel , Akram Zoabi , Yoav Pinsky , Noam Racheli , Itamar Bustan
摘要： Apparatus, including a probe having a distal end insertable into a nasal sinus of a human patient, and a location sensor positioned within the distal end. A sinuplasty balloon is positioned on the distal end at a selected opening of the nasal sinus. A processor receives first signals from the location sensor while the distal end is inserted into the nasal sinus and prior to positioning of the balloon at the selected opening, and generates a first map of the sinus. The processor inflates the balloon when it is at the selected opening, so as to enlarge the selected opening, and subsequently deflates the balloon. The processor then receives second signals from the location sensor and generates therefrom a second map of the sinus. The processor registers the first map with the second map and generates from the registered maps a numerical increase in size of the selected opening.
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