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1. 发明授权

US5880976A Apparatus and method for facilitating the implantation of artificial components in joints 失效
标题翻译：用于促进人造组件植入关节的装置和方法
公开(公告)号：US5880976A
公开(公告)日：1999-03-09
申请号：US803993
申请日：1997-02-21
申请人： Anthony M. DiGioia III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
发明人： Anthony M. DiGioia III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
IPC分类号： A61B5/06 , A61B5/107 , A61B17/00 , A61B17/15 , A61B19/00 , A61F2/30 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/38 , A61F2/40 , A61F2/42 , A61F2/46
CPC分类号： A61F2/46 , A61B17/15 , A61B17/155 , A61B34/20 , A61F2/4657 , A61B2017/00716 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/254 , A61B2090/378 , A61B34/10 , A61B5/06 , A61B5/1075 , A61B5/4528 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/38 , A61F2/3804 , A61F2/40 , A61F2/4202 , A61F2/4225 , A61F2/4241 , A61F2/4261 , A61F2/468 , A61F2002/30945 , A61F2002/30948 , A61F2002/30952 , A61F2002/3611 , A61F2002/3625 , A61F2002/3631 , A61F2002/4633 , A61F2002/4668 , G05B2219/45166 , G05B2219/45168 , Y10S623/914
摘要： Apparatuses and methods are disclosed for determining an implant position for at least one artificial component in a joint and facilitating the implantation thereof. The apparatuses and methods include creating a joint model of a patient's joint into which an artificial component is to be implanted and creating a component model of the artificial component. The joint and artificial component models are used to simulate movement in the patient's joint with the artificial component in a test position. The component model and the joint model are used to calculate a range of motion in the joint for at least one test position based on the simulated motion. An implant position, including angular orientation, in the patient's joint is determined based on a predetermined range of motion and the calculated range of motion. In a preferred embodiment, the implant position can be identified in the joint model and the joint model aligned with the joint by registering positional data from discrete points on the joint with the joint model. Such registration also allows for tracking of the joint during surgical procedures. A current preferred application of the invention is for determining the implant position and sizing of an acetabular cup and femoral implant for use in total hip replacement surgery.
摘要翻译：公开了用于确定关节中的至少一个人造部件的植入位置并且便于其植入的装置和方法。所述装置和方法包括创建要植入人造部件的患者关节的关节模型并创建人造部件的部件模型。关节和人造部件模型用于模拟患者关节中与人造部件在测试位置的运动。组件模型和联合模型用于基于模拟运动计算关节中关于至少一个测试位置的运动范围。基于预定的运动范围和计算的运动范围来确定患者关节中的角度定位的植入位置。在优选实施例中，通过将关节上的离散点的位置数据登记在关节模型上，可以在关节模型中识别植入位置，并且将关节模型与关节对准。这种记录还允许在外科手术期间跟踪关节。本发明的当前优选应用是用于确定用于全髋关节置换手术的髋臼杯和股骨植入物的植入位置和尺寸。

2. 发明授权

US5995738A Apparatus and method for facilitating the implantation of artificial components in joints 失效
公开(公告)号：US5995738A
公开(公告)日：1999-11-30
申请号：US190740
申请日：1998-11-12
申请人： Anthony M. DiGioia, III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
发明人： Anthony M. DiGioia, III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
IPC分类号： A61B5/06 , A61B5/107 , A61B17/00 , A61B17/15 , A61B19/00 , A61F2/30 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/38 , A61F2/40 , A61F2/42 , A61F2/46
CPC分类号： A61F2/46 , A61B17/15 , A61B17/155 , A61B34/20 , A61F2/4657 , A61B2017/00716 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/254 , A61B2090/378 , A61B34/10 , A61B5/06 , A61B5/1075 , A61B5/4528 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/38 , A61F2/3804 , A61F2/40 , A61F2/4202 , A61F2/4225 , A61F2/4241 , A61F2/4261 , A61F2/468 , A61F2002/30945 , A61F2002/30948 , A61F2002/30952 , A61F2002/3611 , A61F2002/3625 , A61F2002/3631 , A61F2002/4633 , A61F2002/4668 , G05B2219/45166 , G05B2219/45168 , Y10S623/914
摘要： Apparatuses and methods are disclosed for determining an implant position for at least one artificial component in a joint and facilitating the implantation thereof. The apparatuses and methods include creating a joint model of a patient's joint into which an artificial component is to be implanted and creating a component model of the artificial component. The joint and artificial component models are used to simulate movement in the patient's joint with the artificial component in a test position. The component model and the joint model are used to calculate a range of motion in the joint for at least one test position based on the simulated motion. An implant position, including angular orientation, in the patient's joint is determined based on a predetermined range of motion and the calculated range of motion. In a preferred embodiment, the implant position can be identified in the joint model and the joint model aligned with the joint by registering positional data from discrete points on the joint with the joint model. Such registration also allows for tracking of the joint during surgical procedures. A current preferred application of the invention is for determining the implant position and sizing of an acetabular cup and femoral implant for use in total hip replacement surgery.

3. 发明授权

US6002859A Apparatus and method facilitating the implantation of artificial components in joints 失效
标题翻译：用于促进人造组件植入关节的装置和方法
公开(公告)号：US6002859A
公开(公告)日：1999-12-14
申请号：US190893
申请日：1998-11-12
申请人： Anthony M. DiGioia, III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
发明人： Anthony M. DiGioia, III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
IPC分类号： A61B5/06 , A61B5/107 , A61B17/00 , A61B17/15 , A61B19/00 , A61F2/30 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/38 , A61F2/40 , A61F2/42 , A61F2/46
CPC分类号： A61F2/46 , A61B17/15 , A61B17/155 , A61B34/20 , A61F2/4657 , A61B2017/00716 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/254 , A61B2090/378 , A61B34/10 , A61B5/06 , A61B5/1075 , A61B5/4528 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/38 , A61F2/3804 , A61F2/40 , A61F2/4202 , A61F2/4225 , A61F2/4241 , A61F2/4261 , A61F2/468 , A61F2002/30945 , A61F2002/30948 , A61F2002/30952 , A61F2002/3611 , A61F2002/3625 , A61F2002/3631 , A61F2002/4633 , A61F2002/4668 , G05B2219/45166 , G05B2219/45168 , Y10S623/914
摘要： Apparatuses and methods are disclosed for determining an implant position for at least one artificial component in a joint and facilitating the implantation thereof. The apparatuses and methods include creating a joint model of a patient's joint into which an artificial component is to be implanted and creating a component model of the artificial component. The joint and artificial component models are used to stimulate movement in the patient's joint with the artificial component in a test position. The component model and the joint model are used to calculate a range of motion in the joint for at least one test position based on the simulated motion. An implant position, including angular orientation, in the patient's joint is determined based on a predetermined range of motion and the calculated range of motion. In a preferred embodiment, the implant position can be identified in the joint model and the joint model aligned with the joint by registering positional data from discrete points on the joint with the joint model. Such registration also allows for tracking of the joint during surgical procedures. A current preferred application of the invention is for determining the implant position and sizing of an acetabular cup and femoral implant for use in total hip replacement surgery.
摘要翻译：公开了用于确定关节中的至少一个人造部件的植入位置并且便于其植入的装置和方法。所述装置和方法包括创建要植入人造部件的患者关节的关节模型并创建人造部件的部件模型。关节和人造部件模型用于在测试位置刺激患者关节中的人造部件的运动。组件模型和联合模型用于基于模拟运动计算关节中关于至少一个测试位置的运动范围。基于预定的运动范围和计算的运动范围来确定患者关节中的角度定位的植入位置。在优选实施例中，通过将关节上的离散点的位置数据登记在关节模型上，可以在关节模型中识别植入位置，并且将关节模型与关节对准。这种记录还允许在外科手术期间跟踪关节。本发明的当前优选应用是用于确定用于全髋关节置换手术的髋臼杯和股骨植入物的植入位置和尺寸。

4. 发明授权

US06205411B1 Computer-assisted surgery planner and intra-operative guidance system 有权
标题翻译：计算机辅助手术计划员和术中指导系统
公开(公告)号：US06205411B1
公开(公告)日：2001-03-20
申请号：US09189914
申请日：1998-11-12
申请人： Anthony M. DiGioia, III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
发明人： Anthony M. DiGioia, III , David A. Simon , Branislav Jaramaz , Michael K. Blackwell , Frederick M. Morgan , Robert V. O'Toole , Takeo Kanade
IPC分类号： A61F232
CPC分类号： A61B17/15 , A61B5/06 , A61B5/1075 , A61B5/4528 , A61B17/155 , A61B34/10 , A61B34/20 , A61B2017/00716 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/254 , A61B2090/378 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/38 , A61F2/3804 , A61F2/40 , A61F2/4202 , A61F2/4225 , A61F2/4241 , A61F2/4261 , A61F2/46 , A61F2/4657 , A61F2/468 , A61F2002/30945 , A61F2002/30948 , A61F2002/30952 , A61F2002/3611 , A61F2002/3625 , A61F2002/3631 , A61F2002/4633 , A61F2002/4668 , G05B2219/45166 , G05B2219/45168 , G06F19/00 , Y10S623/901
摘要： An apparatus for facilitating the implantation of an artificial component in one of a hip joint, a knee joint, a hand and wrist joint, an elbow joint, a shoulder joint, and a foot and ankle joint. The apparatus includes a pre-operative geometric planner and a pre-operative kinematic biomechanical simulator in communication with the pre-operative geometric planner.
摘要翻译：一种便于在髋关节，膝关节，手和腕关节，肘关节，肩关节和脚踝关节之一植入人造部件的装置。该装置包括与术前几何计划器通信的术前几何计划器和手术前运动生物力学模拟器。

5. 发明申请

US20050119783A1 Methods and systems to control a cutting tool 审中-公开
标题翻译：控制切割工具的方法和系统
公开(公告)号：US20050119783A1
公开(公告)日：2005-06-02
申请号：US10876204
申请日：2004-06-24
申请人： Gabriel Brisson , Takeo Kanade , Anthony DiGioia , Branislav Jaramaz
发明人： Gabriel Brisson , Takeo Kanade , Anthony DiGioia , Branislav Jaramaz
IPC分类号： A61B17/15 , A61B17/16 , A61B17/32 , A61B19/00 , G06T20060101 , G06F19/00
CPC分类号： A61B90/10 , A61B17/155 , A61B17/157 , A61B17/1675 , A61B17/32 , A61B17/32002 , A61B17/3203 , A61B17/3211 , A61B34/20 , A61B90/37 , A61B2017/320052 , A61B2017/32007 , A61B2034/2055 , B33Y50/02 , B33Y80/00 , G05B2219/35217 , G05B2219/37097 , G05B2219/39219 , G05B2219/42338 , G05B2219/45118 , G16H50/50 , Y10T83/698
摘要： A method and system for providing control that include providing a workpiece that includes a target shape, providing a cutting tool, providing a 3-D image associated with the workpiece, identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece with the workpiece image, registering the cutting tool with the cutting tool image, tracking at least one of the workpiece and the cutting tool, transforming the tracking data based on image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool. In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and/or workpiece.
摘要翻译：一种用于提供控制的方法和系统，包括提供包括目标形状的工件，提供切割工具，提供与工件相关联的3-D图像，识别工件图像内的目标形状，提供与3D相关联的3D图像利用切割工具，将工件与工件图像对准，将切割工具与切割工具图像对准，跟踪至少一个工件和切割工具，基于图像坐标转换跟踪数据，以确定工件之间的关系和切割工具，并且基于该关系向切割工具提供控制。在一个实施例中，工件图像可以表示为可以基于目标形状，废物和/或工件分类和/或重新分类的体积像素（体素）。

6. 发明授权

US06757582B2 Methods and systems to control a shaping tool 有权
标题翻译：控制整形工具的方法和系统
公开(公告)号：US06757582B2
公开(公告)日：2004-06-29
申请号：US10427093
申请日：2003-04-30
申请人： Gabriel Brisson , Takeo Kanade , Anthony DiGioia, III , Branislav Jaramaz
发明人： Gabriel Brisson , Takeo Kanade , Anthony DiGioia, III , Branislav Jaramaz
IPC分类号： G06F1900
CPC分类号： A61B90/10 , A61B17/155 , A61B17/157 , A61B17/1675 , A61B17/32 , A61B17/32002 , A61B17/320068 , A61B17/3203 , A61B17/3211 , A61B34/20 , A61B90/37 , A61B2017/320052 , A61B2034/2055 , B33Y50/02 , B33Y80/00 , G05B2219/35217 , G05B2219/37097 , G05B2219/39219 , G05B2219/42338 , G05B2219/45118 , G06F19/00 , G16H50/50 , Y10T83/698
摘要： A method and system for providing control that include providing a workpiece that includes a target shape, providing a cutting tool, providing a 3-D image associated with the workpiece, identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece with the workpiece image, registering the cutting tool with the cutting tool image, tracking at least one of the workpiece and the cutting tool, transforming the tracking data based on image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool. In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and/or workpiece.
摘要翻译：一种用于提供控制的方法和系统，包括提供包括目标形状的工件，提供切割工具，提供与工件相关联的3-D图像，识别工件图像内的目标形状，提供与3D相关联的3D图像利用切割工具，将工件与工件图像对准，将切割工具与切割工具图像对准，跟踪至少一个工件和切割工具，基于图像坐标转换跟踪数据，以确定工件之间的关系和切割工具，并且基于该关系向切割工具提供控制。在一个实施例中，工件图像可以表示为可以基于目标形状，废物和/或工件分类和/或重新分类的体积像素（体素）。

7. 发明授权

US06573912B1 Internet system for virtual telepresence 失效
标题翻译：用于虚拟远程呈现的互联网系统
公开(公告)号：US06573912B1
公开(公告)日：2003-06-03
申请号：US09708293
申请日：2000-11-07
申请人： Norihisa Suzuki , Takeo Kanade
发明人： Norihisa Suzuki , Takeo Kanade
IPC分类号： G06T1700
CPC分类号： H04N19/597 , G06T7/55 , G06T7/564 , G06T17/10 , G06T2207/10012 , H04N13/194 , H04N13/243 , H04N2013/0081 , H04N2013/0092
摘要： An interactive virtual telepresence system allows an Internet user to view three-dimensional objects from any perspective in a studio at a remote server. The system includes several video cameras trained on the three-dimensional objects and a computer that calculates the voxel-representation of the solid. The server broadcasts each camera view and voxel information. A user selects the viewing perspective desired, and the computer at the user's site receives the nearest camera views to the requested perspective and voxel information for the interpolation and renders the selected view.
摘要翻译：交互式虚拟远程呈现系统允许互联网用户从远程服务器的工作室中的任何角度查看三维对象。该系统包括在三维物体上训练的几个摄像机和计算固体的体素表示的计算机。服务器广播每个摄像机视图和体素信息。用户选择所需的观看透视图，并且用户站点处的计算机接收到所请求的透视的最近的摄像机视图和用于插值的体素信息，并呈现所选择的视图。

8. 发明授权

US4912336A Surface shape and reflectance extraction system 失效
标题翻译：表面形状和反射率提取系统
公开(公告)号：US4912336A
公开(公告)日：1990-03-27
申请号：US313212
申请日：1989-02-21
申请人： Shree K. Nayar , Katsushi Ikeuchi , Takeo Kanade
发明人： Shree K. Nayar , Katsushi Ikeuchi , Takeo Kanade
IPC分类号： G01B11/24 , G01B11/30
CPC分类号： G01B11/306 , G01B11/24
摘要： An photometric sampling apparatus for an object surface shape and reflectance extraction system includes an array of point light sources spaced apart from one another in an arcuate configuration about a common site at which an object is placed from inspection, an array of extended light sources spaced apart from one another in an arcuate configuration about and oriented in different directions toward the common site, and a viewing device for viewing the object from a single direction when placed at the common site in order to extract information corresponding to the image of the object viewed. The array of point light sources can be activated for emitting light therefrom along different orientation angles toward the object at the common site. The array of extended light sources are generated on the surface of a light-diffusing medium, such as a translucent globe, disposed between the array of point light sources and common site. Each extended source emits light from an area of points unlike each point source which emits light from a single point. A scanner device is connected to the point light sources for sequentially activating them to emit light therefrom. In response to the sequence of emitted light, the extended light sources are generated in a scanning fashion for producing a sequence of images of the object at the viewing device.
摘要翻译：一种用于物体表面形状和反射率提取系统的光度采样装置，包括一个点阵光源阵列，其围绕物体从检查位置放置的共同位置以弧形构造彼此间隔开;一组延伸光源间隔开在弓形配置中，朝向公共场所的方向相互不同，并且朝向公共场所朝向不同方向，以及观察装置，用于在放置在公共场所时从单一方向观看物体，以便提取与所观看的物体的图像相对应的信息。可以激活点光源阵列，以沿着在公共部位处朝向物体的不同取向角度从其发射光。扩散光源的阵列在位于点光源阵列和公共部位之间的光漫射介质（例如半透明球体）的表面上产生。每个扩展的源从与单个点发射光的每个点源不同的点的区域发射光。扫描器装置连接到点光源，用于顺序地激活它们以从其发光。响应于发射光的顺序，扩展的光源以扫描方式生成，用于在观察装置处产生对象的一系列图像。

9. 发明授权

US4526106A Three-wheeled adjustable vehicle 失效
标题翻译：三轮可调车
公开(公告)号：US4526106A
公开(公告)日：1985-07-02
申请号：US540179
申请日：1983-10-11
申请人： Tokuji Okada , Takeo Kanade
发明人： Tokuji Okada , Takeo Kanade
IPC分类号： G01M3/00 , B61B13/10
CPC分类号： G01M3/005
摘要： A motor driven vehicle for traversing the interior of a pipe or conduit comprises a pair of arms pivoted to each other at one pair of ends, a drive wheel the axle of which may coincide with the pivot, a swiveling wheel carried at the other end of each arm and a spring positioned to pull the arms toward each other so that the dimension of the vehicle across a pipe is automatically maximized. The vehicle thus tends to position itself on the longest axis of any cross section of the pipe. The drive wheel may be constructed with rim segments which rotate about axes tangent to the means circumference of the rim.
摘要翻译：用于横穿管道或导管内部的电机驱动车辆包括在一对端部处彼此枢转的一对臂，其轴与枢轴重合的驱动轮，在另一端承载的旋转轮每个臂和一个弹簧定位成将臂朝向彼此拉动，使得跨越管道的车辆的尺寸自动最大化。因此，车辆倾向于将自身定位在管道的任何横截面的最长轴线上。驱动轮可以构造有围绕与轮辋的平均周长相切的轴线的轮辋段。

10. 发明授权

US08480588B2 Sensor guided catheter navigation system 有权
公开(公告)号：US08480588B2
公开(公告)日：2013-07-09
申请号：US13167400
申请日：2011-06-23
申请人： Takeo Kanade , David Schwartzman , Hua Zhong
发明人： Takeo Kanade , David Schwartzman , Hua Zhong
IPC分类号： A61B8/00 , A61B5/05 , G06K9/00
CPC分类号： A61B8/0841 , A61B5/0402 , A61B5/06 , A61B5/062 , A61B5/065 , A61B6/032 , A61B6/5205 , A61B6/541 , A61B8/12 , A61B8/4254 , A61B8/461 , A61B8/5207 , A61B8/5238 , A61B8/543 , G06T7/344 , G06T2207/10016 , G06T2207/10081 , G06T2207/10136 , G06T2207/20076 , G06T2207/30021 , G06T2207/30048
摘要： A method and a system for producing images of a subject, such as the heart of a human being. The method may comprise acquiring ultrasound images of the subject with a catheter comprising a position sensor. The method may also comprise capturing a plurality of 4D surface registration points in the acquired ultrasound images corresponding to points on the subject. The method may also comprise registering, in space and time, a high-resolution 4D model of the subject with the plurality of 4D surface registration points. The method may also comprise displaying high resolution, real-time images of the subject during a medical procedure based on the registration of the high resolution 4D model to the 4D surface registration points. Embodiments of the present invention are especially useful in left atrium ablation procedures.

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