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1. 发明授权

US06298262B1 Instrument guidance for stereotactic surgery 失效
公开(公告)号：US06298262B1
公开(公告)日：2001-10-02
申请号：US09846640
申请日：2001-05-01
申请人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin , Kevin J. Frank , John B. Clayton , Jaimie Henderson , Richard D. Bucholz , Kurt R. Smith , Catalina J. Carroll
发明人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin , Kevin J. Frank , John B. Clayton , Jaimie Henderson , Richard D. Bucholz , Kurt R. Smith , Catalina J. Carroll
IPC分类号： A61B500
CPC分类号： A61B34/20 , A61B90/11 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2090/363
摘要： A method and apparatus for positioning a surgical instrument during stereotactic surgery using a guidance fixture. The guidance fixture includes an upper portion, which includes an instrument guide for moving the surgical instrument along a constrained trajectory relative to the upper portion, and includes an adjustable base supporting the upper portion, which includes a mounting base and an adjustment mechanism. The adjustable base can include a rotating collar attached to the mounting base and a pivoting collar coupling the rotating collar to the upper portion. A remote sensing device, such as a camera array sensing LEDs on the fixture, is used to determine the orientation of the upper portion of the guidance assembly in relation to the body.

2. 发明授权

US06529765B1 Instrumented and actuated guidance fixture for sterotactic surgery 有权
标题翻译：仪器和驱动的定向手术导向夹具
公开(公告)号：US06529765B1
公开(公告)日：2003-03-04
申请号：US09317794
申请日：1999-05-24
申请人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
发明人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
IPC分类号： A61B500
CPC分类号： A61B90/10 , A61B34/20 , A61B90/11 , A61B2034/107 , A61B2034/2055 , A61B2034/2057 , A61B2034/2068 , A61B2034/2072 , A61B2090/363 , A61B2090/3945 , A61B2090/3979 , A61B2090/3983
摘要： A method and apparatus for stereotactic surgery on a body, such as surgery on the brain or spine. A guidance fixture is used that includes a mounting base having a central axis, a controllable instrument drive for moving a surgical instrument along a constrained trajectory in response to a drive control signal, an actuated adjustment mechanism coupled between the mounting base and the controllable instrument drive, and a sensor system coupled to the adjustment mechanism. The mounting base of the guidance fixture is attached to the body and a location of the mounting base in a three-dimensional image of the body is determined, for example, using a remote sensing device, such as a camera, and tracking markers, such as LEDs, attached to the guidance fixture. Sensor signals encoding the orientation of the constrained trajectory and encoding a position of the surgical instrument along the constrained trajectory are generated and transmitted from the guidance fixture. An adjustment control signal is received and the orientation of the constrained trajectory relative to the mounting base is adjusted in response to the received adjustment control signal.
摘要翻译：用于身体立体定向手术的方法和装置，例如在大脑或脊柱上的手术。使用引导夹具，其包括具有中心轴线的安装基座，用于响应于驱动控制信号沿受约束的轨迹移动外科器械的可控仪器驱动器，联接在安装基座和可控仪器驱动器之间的致动调节机构以及耦合到调节机构的传感器系统。引导夹具的安装基座安装在主体上，并且例如使用诸如相机的遥感装置和跟踪标记来确定主体的三维图像中的安装基座的位置，例如作为LED，连接到引导夹具。编码受约束轨迹的取向并沿着受约束的轨迹编码外科器械的位置的传感器信号被产生并从引导夹具传送。接收到调节控制信号，并且响应于接收到的调节控制信号调整受限轨迹相对于安装基座的取向。

3. 发明授权

US06282437B1 Body-mounted sensing system for stereotactic surgery 有权
标题翻译：用于立体定向手术的身体感测系统
公开(公告)号：US06282437B1
公开(公告)日：2001-08-28
申请号：US09317677
申请日：1999-05-24
申请人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
发明人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
IPC分类号： A61B505
CPC分类号： A61B34/20 , A61B90/11 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2090/3945 , A61B2090/3979 , A61B2090/3983
摘要： A method for tracking an instrument during image-guided stereotactic surgery on a body, for instance during stereotactic brain surgery. The method includes attaching multiple bone anchors to the body, attaching scanning markers to each of the bone anchors, and scanning the body to form a three-dimensional image of the body. Images of the scanning markers are formed in the three-dimensional image and the locations of the images of the scanning markers in the three-dimensional image are determined, for example, by a human operator identifying the locations on a computer display of the image. The method then involves attaching a number of sensing devices, such as cameras, or microphones, to the bone anchors. For example, a mounting rod is attached to each of the bone anchors and each mounting rod supports one of the sensing devices. The mounted sensing devices are in a predetermined geometric relationship with the bone anchors. The instrument, which includes a tracking marker, is positioned in the field of view of the sensing devices. The location of the tracking marker in relation to the bone anchors is determined using signal provided by the sensing devices, such as camera images, and using the known geometric relationship between the cameras and the bone anchors, and can be continuously displaying the location of the instrument in conjunction with a view of three-dimensional image.
摘要翻译：用于在身体的图像引导立体定向手术期间跟踪仪器的方法，例如在立体定向脑手术期间。该方法包括将多个骨锚附接到身体，将扫描标记附接到每个骨锚，并扫描身体以形成身体的三维图像。扫描标记的图像形成在三维图像中，并且例如由操作者识别图像的计算机显示器上的位置来确定三维图像中的扫描标记的图像的位置。该方法然后涉及将多个感测装置（例如照相机或麦克风）附接到骨锚。例如，安装杆附接到每个骨锚，并且每个安装杆支撑感测装置中的一个。安装的感测装置与骨锚固件处于预定的几何关系。包括跟踪标记的仪器位于感测装置的视场中。使用由感测装置提供的信号（例如相机图像）以及使用相机和骨锚之间的已知几何关系来确定跟踪标记相对于骨锚的位置，并且可以连续地显示位置仪器结合三维图像的视图。

4. 发明授权

US06327491B1 Customized surgical fixture 失效
标题翻译：定制手术夹具
公开(公告)号：US06327491B1
公开(公告)日：2001-12-04
申请号：US09110070
申请日：1998-07-06
申请人： Ronald J. Franklin , Joel I. Franck , Frederick C. Haer
发明人： Ronald J. Franklin , Joel I. Franck , Frederick C. Haer
IPC分类号： A61B505
CPC分类号： A61B34/20 , A61B90/11 , A61B90/14 , A61B90/39 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/256 , A61B2090/363 , A61B2090/3983 , B33Y10/00 , B33Y50/02 , B33Y80/00
摘要： A surgical fixture is formed by scanning a body to form a three-dimensional image of the body, and then identifying in the image a target point in the body, and mounting structures on the body. A model, such as a computer solid model, of the fixture is specified in accordance with the locations of the target point and mounting structures. The fixture is formed in accordance with the model of the fixture, for example using a rapid prototyping and tooling machine.
摘要翻译：手术夹具通过扫描身体以形成身体的三维图像，然后在图像中识别身体中的目标点，以及将身体结构安装在身体上而形成。根据目标点和安装结构的位置指定夹具的模型，如计算机实体模型。夹具根据夹具的型号形成，例如使用快速成型和加工机。

5. 发明授权

US06738657B1 Customized surgical fixture 有权
标题翻译：定制手术夹具
公开(公告)号：US06738657B1
公开(公告)日：2004-05-18
申请号：US09869551
申请日：2002-12-04
申请人： Ronald J. Franklin , Joel I. Franck , Frederick C. Haer
发明人： Ronald J. Franklin , Joel I. Franck , Frederick C. Haer
IPC分类号： A61B505
CPC分类号： A61B34/20 , A61B90/11 , A61B90/14 , A61B90/39 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/256 , A61B2090/363 , A61B2090/3983 , B33Y10/00 , B33Y50/02 , B33Y80/00
摘要： A customized surgical fixture (400) is formed by scanning a body to form a three-dimensional image of the body, and then identifying in the image a target (310) in the body, and mounting points or structures (330) on the body. A model, such as a computer solid model, of the fixture (400) is specified in accordance with the locations of the target (310) and mounting structures (330) or points. The fixture (400) is formed in accordance with the model of the fixture (400), for example using a rapid prototyping and tooling machine. When attached to the body, the fixture (400) can be used to guide a surgical instrument (610) into the body, for example, by using a mechanical guide (600) attached to the fixture (400) or using a remote sensing device (1300) that tracks the relative position of the customized fixture (400) and the surgical instrument.
摘要翻译：通过扫描身体以形成身体的三维图像，然后在图像中识别身体中的目标（310），以及身体上的安装点或结构（330）来形成定制的手术夹具（400）。根据目标（310）和安装结构（330）或点的位置来指定固定装置（400）的模型（例如计算机实体模型）。固定装置（400）根据夹具（400）的型号形成，例如使用快速成型和加工机。当附接到身体时，固定装置（400）可以用于将外科器械（610）引导到体内，例如通过使用附接到固定装置（400）的机械引导件（600）或使用遥感装置（1300），其跟踪定制夹具（400）和外科器械的相对位置。

6. 发明授权

US06459927B1 Customizable fixture for patient positioning 有权
标题翻译：可定制的夹具用于患者定位
公开(公告)号：US06459927B1
公开(公告)日：2002-10-01
申请号：US09698294
申请日：2000-10-27
申请人： Ronald J. Franklin , Joel I. Franck , Frederick C. Haer
发明人： Ronald J. Franklin , Joel I. Franck , Frederick C. Haer
IPC分类号： A61B5055
CPC分类号： A61B5/055 , A61B5/05 , A61B6/0421 , A61B6/12 , A61B34/20 , A61B90/11 , A61B90/14 , A61B90/39 , A61B2090/363 , A61B2090/3983 , A61B2090/3995 , B33Y50/02 , B33Y70/00 , B33Y80/00 , G06F19/00
摘要： A customized positioning fixture is fabricated specifically for a patient the purpose of positioning a portion, or all, of the patient's body relative to a medical apparatus. The customized positioning fixture is fabricated such that the relative position of the patent to the medical apparatus is predetermined before a procedure is performed on the patient using the apparatus. The positioning fixture is fabricated using a computer-aided or an automated computer-controlled process according to data determined for that patient, for example, using a rapid prototyping and tooling (RPT) technique. In some embodiments, the positioning fixture is designed to be repeatedly removed and reattached to the patient, thereby allowing the patient to be repeatedly precisely re-positioned in the medical device is separated sessions. A second positioning fixture can also be fabricated so that the patient can be positioned relative to a second apparatus in a way that the patient's position in the two different apparatuses is related in a desired manner.
摘要翻译：针对患者专门制造定制定位夹具的目的是相对于医疗装置定位患者身体的一部分或全部。制造定制定位夹具，使得在使用该装置对患者进行手术之前，专利对医疗装置的相对位置是预先确定的。定位夹具使用计算机辅助或自动计算机控制的过程根据为该患者确定的数据（例如使用快速成型和加工（RPT）技术）制造。在一些实施例中，定位夹具被设计为被重复地移除并重新附接到患者，从而允许患者被重复地精确地重新定位在医疗设备中是分离的会话。也可以制造第二定位夹具，使得患者能够相对于第二装置定位，使得患者在两个不同装置中的位置以期望的方式相关。

7. 发明授权

US06546277B1 Instrument guidance system for spinal and other surgery 有权
标题翻译：脊柱和其他手术仪器指导系统
公开(公告)号：US06546277B1
公开(公告)日：2003-04-08
申请号：US09317676
申请日：1999-05-24
申请人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
发明人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
IPC分类号： A61B600
CPC分类号： A61B90/10 , A61B34/20 , A61B90/11 , A61B2034/107 , A61B2034/2055 , A61B2034/2057 , A61B2034/2068 , A61B2034/2072 , A61B2090/363 , A61B2090/3945 , A61B2090/3979 , A61B2090/3983
摘要： A method and apparatus for positioning a surgical instrument during stereotactic surgery on a body, for example, during spinal surgery or general surgery. A mounting device is attached to a bone structure of the body, for example, by attaching a rail to the spine for spinal surgery. In spinal surgery, the rail is attached to the spine by clamping the rail to two spinous processes and adjusting the separation of the two spinous processes to match the separation of the two processes in three-dimensional scanned image, thereby matching a curvature of the spine with a corresponding curvature of the spine in the image. Multiple of fiducial points are located on the body in relation to the mounting device. An adjustable guidance fixture that includes an instrument guide for guiding the surgical instrument along a constrained trajectory relative to the instrument guide is attached to the mounting device.
摘要翻译：一种在立体定向手术期间将外科器械定位在身体上的方法和装置，例如在脊柱外科手术或普通手术期间。例如，通过将轨道附接到脊椎进行脊柱手术，将安装装置附接到身体的骨骼结构。在脊柱手术中，轨道通过将轨道夹紧到两个棘突上并调整两个棘突的分离以匹配三维扫描图像中的两个过程的分离，从而匹配脊柱的曲率在图像中具有脊柱的相应曲率。多个基准点相对于安装装置位于主体上。包括用于沿着相对于仪器引导件的约束轨迹引导外科器械的仪器引导件的可调节引导夹具附接到安装装置。

8. 发明授权

US06351662B1 Movable arm locator for stereotactic surgery 失效
标题翻译：用于立体定向手术的可移动臂定位器
公开(公告)号：US06351662B1
公开(公告)日：2002-02-26
申请号：US09317679
申请日：1999-05-24
申请人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
发明人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
IPC分类号： A61B505
CPC分类号： A61B34/20 , A61B90/11 , A61B2034/107 , A61B2034/2055 , A61B2034/2057 , A61B2034/2068 , A61B2034/2072 , A61B2090/3945 , A61B2090/3979 , A61B2090/3983
摘要： A method for determining a mapping between coordinates relative to a body and corresponding coordinates in a three-dimensional image of the body in stereotactic surgery. The method includes attaching an instrumented pointing device to the body, for example, attaching the pointing device directly to a skull. The pointing device includes an arm and an instrumented joint for coupling the arm to the body and for generating a position signal encoding a position of the arm relative to the joint. The method includes positioning the arm at each of a plurality of known points on the body, each of the known points corresponding to a known location in the three-dimensional image, and generating the position signal when the arm is positioned at each of the known points. The method then includes determining from the position signals and the known locations of the points in the three-dimensional image a mapping between a coordinate system that is fixed relative to the anchor and a coordinate system of the three-dimensional image.
摘要翻译：一种用于确定相对于身体的坐标与立体定向外科手术中身体三维图像中相应坐标之间的映射的方法。该方法包括将仪器化的定点装置附接到身体，例如将指示装置直接附接到头骨。指示装置包括一个臂和一个用于将手臂连接到身体上并用于产生编码臂相对于关节的位置的位置信号的仪表关节。该方法包括将臂定位在身体上的多个已知点中的每一个上，每个已知点对应于三维图像中的已知位置，并且当臂位于已知位置中时，产生位置信号积分该方法然后包括从位置信号和三维图像中的点的已知位置确定相对于锚点固定的坐标系与三维图像的坐标系之间的映射。

9. 发明授权

US06273896B1 Removable frames for stereotactic localization 失效
标题翻译：用于立体定向定位的可拆卸框架
公开(公告)号：US06273896B1
公开(公告)日：2001-08-14
申请号：US09063930
申请日：1998-04-21
申请人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
发明人： Joel I. Franck , Frederick C. Haer , Ronald J. Franklin
IPC分类号： A61B1900
CPC分类号： A61B90/10 , A61B34/20 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072
摘要： A marking and tracking apparatus for stereotactic surgery on a body. The apparatus includes a rigid scanning frame. The scanning frame includes a set of scanning markers for making corresponding images in a scanned image of the body, and multiple mounting points, such that when the scanning frame is attached to the body, each of the mounting points mates with a corresponding one of multiples anchors, such as threaded inserts, embedded in the body. The apparatus can also include a rigid tracking frame. The tracking frame includes a set of tracking markers for tracking a position of the frame using a remote sensing device, and multiple mounting points, such that when the tracking frame is attached to the body, each of the mounting points mates with a corresponding one of the anchors embedded in the body.
摘要翻译：身体立体定向手术的标记和跟踪装置。该装置包括刚性扫描框架。扫描框架包括一组扫描标记，用于在身体的扫描图像中形成相应的图像，以及多个安装点，使得当扫描框架附接到主体时，每个安装点与相应的一个倍数相配合固定器，如螺纹插入件，嵌入体内。该装置还可以包括刚性跟踪框架。跟踪框架包括一组跟踪标记，用于使用遥感装置跟踪框架的位置，以及多个安装点，使得当跟踪框架附接到主体时，每个安装点与相应的一个安装点相配合锚固体嵌入体内。

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