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公开(公告)号：US12201383B2
公开(公告)日：2025-01-21
申请号：US18525948
申请日：2023-12-01
Applicant: ORTHOSOFT ULC
Inventor： Louis-Philippe Amiot , Pierre Couture
Abstract: A system for tracking at least one bone in robotized computer-assisted surgery, comprises a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of the at least one bone in the coordinate system to a robot driver controlling a robot arm supporting a surgical tool in the coordinate system for altering the bone.
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公开(公告)号：US11602358B2
公开(公告)日：2023-03-14
申请号：US17091015
申请日：2020-11-06
Applicant: ORTHOSOFT ULC
Inventor： Pierre Couture , Louis-Philippe Amiot
Abstract: Examples of robotically controlled planar cutting systems and methods for controlling cutting systems to prepare bone tissue in surgical procedures, are generally described herein. Applicable surgical procedures for the robotically controlled cutting systems and methods include procedures involving the preparation (e.g., removal, surfacing) of bone tissue, such as is performed in knee arthroplasties.
In an example, a robotically controlled planar cutting system can include a housing, a cutting element disposed in the housing, and a cutting control mechanism in communication with a robotic controller to control operation of the cutting element to machine a planar surface. The cutting element can be exposed and retracted relative to the housing and can include a plurality of cutting implements arranged to machine the planar surface.-
公开(公告)号：US11583224B2
公开(公告)日：2023-02-21
申请号：US16944313
申请日：2020-07-31
Applicant: ORTHOSOFT ULC
Inventor： Pierre Couture , Sebastien Jutras
Abstract: A system for tracking a bone-altering tool in computer-assisted surgery, comprising a first trackable reference secured to a first bone, with a first frame of reference being associated with the first trackable reference. A bone-altering tool is securable to the first bone in a secured configuration. Sensors track the trackable reference for position and orientation. A position/orientation calculator is connected to the sensor device to calculate a position and orientation of the first frame of reference. An alteration parameter calculator is associated with the position/orientation calculator to determine a position and orientation of the bone-altering tool in the secured configuration as a function of the position and orientation of the first frame of reference and of the secured configuration. A method for tracking tools using the tracking of a bone is provided.
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公开(公告)号：US20220020219A1
公开(公告)日：2022-01-20
申请号：US17376676
申请日：2021-07-15
Applicant: Orthosoft ULC
Inventor： Ramnada Chav , Pierre Couture
Abstract: A method or system for using an augmented reality device may include displaying information in a surgical field. A method may include receiving an indication of a location of a landmark on a bone of a patient, retrieving a planned location of the landmark on the bone of the patient and receiving information corresponding to the location or the planned location. The location or the planned location may be displayed as a virtual indication using an augmented reality display of the augmented reality device, for example while permitting the surgical field to be viewed through the augmented reality display.
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公开(公告)号：US10725566B2
公开(公告)日：2020-07-28
申请号：US16547125
申请日：2019-08-21
Applicant: Orthosoft ULC
Inventor： Emily Gogarty , Pierre Couture
IPC: G06F3/0354 , A61B34/20 , G06F3/03 , A61B90/00
Abstract: Embodiments of a system and method for digitizing locations within a coordinate system are generally described herein. A device may include a sleeve including a sleeve tracking marker and a tracked probe portion including an array of tracking markers and a probe tip. Movement of the probe tip relative to the sleeve between at least a first position and a second position may be monitored by tracking the sleeve tracking marker relative to at least one tracking marker of the array of tracking markers.
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Patent Agency Ranking
公开(公告)号：US12213686B2
公开(公告)日：2025-02-04
申请号：US17552492
申请日：2021-12-16
Applicant: Orthosoft ULC
Inventor： Emily Gogarty , Pierre Couture , Adam H. Sanford , Frederique DesbiensBlais , Marc-Antoine Dufour , Vincent Pelletier , Yann Facchinello
Abstract: To address technical problems facing knee arthroplasty resection validation, the present subject matter provides a tracked knee arthroplasty instrument for objective measurement of resection depth. By performing a precise comparison between the location of the tracked knee arthroplasty instrument and a reference location, the knee arthroplasty instrument measures and validates each tibial and femoral resection. To address technical problems facing validation of joint laxity following knee arthroplasty, the tracked knee arthroplasty instrument is shaped to validate the flexion gap and extension gap. When the tracked knee arthroplasty instrument is inserted between the resected tibial plateau and femoral head, the instrument shape validates whether the desired flexion gap and extension gap have been achieved.
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公开(公告)号：US11986250B2
公开(公告)日：2024-05-21
申请号：US17819380
申请日：2022-08-12
Applicant: ORTHOSOFT ULC
Inventor： Di Li , Louis-Philippe Amiot , Pierre Couture
IPC: A61B34/10 , A61B5/00 , A61B5/107 , A61B5/11 , A61B8/00 , A61B8/08 , A61B34/00 , A61B34/20 , A61B90/00
CPC classification number: A61B34/10 , A61B5/1072 , A61B5/1075 , A61B5/1127 , A61B5/6828 , A61B8/0875 , A61B8/4227 , A61B8/4245 , A61B34/20 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2063 , A61B2034/2068 , A61B2034/256 , A61B90/361 , A61B2090/378 , A61B90/39 , A61B2090/3983 , A61B2090/3991
Abstract: Systems and methods for determining position and orientation of a bone of an anatomical feature are described. These include the use of a wearable holder configured to be mounted about an outer-skin surface of the anatomical feature, such that the anatomical feature and the bone are positioned in fixed relation with respect to the wearable holder when the wearable holder is mounted about the anatomical feature. Reference marker arrays are fixedly mounted to the wearable holder, each being positioned on the wearable holder to identify a landmark of the bone within the wearable holder when the wearable holder is mounted to the anatomical feature. The position and orientation of the reference markers are trackable to determine position and orientation of the wearable holder in a reference coordinate system, thereby enabling position and orientation of the landmarks on the bone to be determined.
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公开(公告)号：US11903652B2
公开(公告)日：2024-02-20
申请号：US17085345
申请日：2020-10-30
Applicant: ORTHOSOFT ULC
Inventor： Pierre Couture , Ramnada Chav , Sebastien Parratte , Kevin Unger
CPC classification number: A61B34/10 , A61B34/20 , A61B34/37 , G06N20/00 , A61B2034/102 , A61B2034/105
Abstract: A surgical assistance system includes a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining a video feed of a surgical procedure and monitoring the surgical procedure from the video feed; detecting, from an image processing of the video feed, a condition requiring a deviation from the surgical procedure, the deviation being defined as being outside of a standard surgical flow; and outputting a recommendation of deviation by intra-operatively providing the recommendation to an operator of the surgical procedure.
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公开(公告)号：US20220183701A1
公开(公告)日：2022-06-16
申请号：US17552492
申请日：2021-12-16
Applicant: Orthosoft ULC
Inventor： Emily Gogarty , Pierre Couture , Adam H. Sanford , Frederique DesbiensBlais , Marc-Antoine Dufour , Vincent Pelletier , Yann Facchinello
Abstract: To address technical problems facing knee arthroplasty resection validation, the present subject matter provides a tracked knee arthroplasty instrument for objective measurement of resection depth. By performing a precise comparison between the location of the tracked knee arthroplasty instrument and a reference location, the knee arthroplasty instrument measures and validates each tibial and femoral resection. To address technical problems facing validation of joint laxity following knee arthroplasty, the tracked knee arthroplasty instrument is shaped to validate the flexion gap and extension gap. When the tracked knee arthroplasty instrument is inserted between the resected tibial plateau and femoral head, the instrument shape validates whether the desired flexion gap and extension gap have been achieved.
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公开(公告)号：US20220079693A1
公开(公告)日：2022-03-17
申请号：US17486561
申请日：2021-09-27
Applicant: Orthosoft ULC
Inventor： Emily Gogarty , Olivier Boisvert , Pierre Couture , Di Li , Benoit Pelletier , Jean-Sebastien Merette , Suntara Ly
Abstract: Embodiments of a system and method for surgical tracking and control are generally described herein. A system may include a robotic arm configured to allow interactive movement and controlled autonomous movement of an end effector, a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane, a tracking system to determine a position and an orientation of the cut guide, and a control system to permit or prevent interactive movement or autonomous movement of the end effector.
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