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1. 发明授权

US10070869B2 Bone and tool tracking with MEMS in computer-assisted surgery 有权
公开(公告)号：US10070869B2
公开(公告)日：2018-09-11
申请号：US13035264
申请日：2011-02-25
申请人： Louis-Philippe Amiot , Pierre Couture , Catherine Proulx , Trong Tin Nguyen , Myriam Valin
发明人： Louis-Philippe Amiot , Pierre Couture , Catherine Proulx , Trong Tin Nguyen , Myriam Valin
IPC分类号： A61B5/06 , A61B17/15 , A61B17/00 , A61B34/20
CPC分类号： A61B17/157 , A61B34/20 , A61B2017/00725 , A61B2034/2048
摘要： A method tracks a tool with respect to a bone in computer-assisted surgery. A reference tracker with a MEMS unit is secured to the bone. The tracker outputs data relating to its orientation. A tool provided with a MEMS unit and secured to the bone is preset with an initial orientation. The tool outputs tracking data related to orientation of the tool once initialized. A trackable frame of reference relating the bone to the orientation of the tracker is created. The MEMS unit of the tool is initialized. A relation between the initial orientation of the tool and the orientation of the tracker at initialization of the MEMS unit of the tool is recorded. Orientational data of the tool relative to the frame of reference of the bone calculated using the relation is displayed. A computer-assisted surgery system for tracking a tool with respect to a bone after an initialization of a MEMS unit is also described.

2. 发明申请

US20120220859A1 BONE AND TOOL TRACKING WITH MEMS IN COMPUTER-ASSISTED SURGERY 审中-公开
标题翻译：骨骼和工具跟踪与计算机辅助手术中的MEMS
公开(公告)号：US20120220859A1
公开(公告)日：2012-08-30
申请号：US13035264
申请日：2011-02-25
申请人： Louis-Philippe Amiot , Pierre Couture , Catherine Proulx , Trong Tin Nguyen , Myriam Valin
发明人： Louis-Philippe Amiot , Pierre Couture , Catherine Proulx , Trong Tin Nguyen , Myriam Valin
IPC分类号： A61B5/00 , A61B17/56
CPC分类号： A61B17/157 , A61B34/20 , A61B2017/00725 , A61B2034/2048
摘要： A method tracks a tool with respect to a bone in computer-assisted surgery. A reference tracker with a MEMS unit is secured to the bone. The tracker outputs data relating to its orientation. A tool provided with a MEMS unit and secured to the bone is preset with an initial orientation. The tool outputs tracking data related to orientation of the tool once initialized. A trackable frame of reference relating the bone to the orientation of the tracker is created. The MEMS unit of the tool is initialized. A relation between the initial orientation of the tool and the orientation of the tracker at initialization of the MEMS unit of the tool is recorded. Orientational data of the tool relative to the frame of reference of the bone calculated using the relation is displayed. A computer-assisted surgery system for tracking a tool with respect to a bone after an initialization of a MEMS unit is also described.
摘要翻译：一种方法在计算机辅助手术中跟踪骨骼的工具。具有MEMS单元的参考跟踪器固定到骨骼上。跟踪器输出与其方向有关的数据。具有MEMS单元并固定到骨头上的工具预先设置有初始取向。一旦初始化，该工具将输出与刀具取向相关的跟踪数据。创建将骨骼与跟踪器的取向相关联的可跟踪的参考框架。该工具的MEMS单元被初始化。记录工具的初始取向与工具的MEMS单元初始化时的跟踪器取向的关系。显示相对于使用该关系计算的骨骼的参照系的工具的定向数据。还描述了在MEMS单元的初始化之后用于跟踪相对于骨骼的工具的计算机辅助手术系统。

3. 发明申请

US20090248044A1 METHOD AND SYSTEM FOR PLANNING/GUIDING ALTERATIONS TO A BONE 有权
标题翻译：用于对骨骼进行计划/引导改变的方法和系统
公开(公告)号：US20090248044A1
公开(公告)日：2009-10-01
申请号：US12410884
申请日：2009-03-25
申请人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoit Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
发明人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoit Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
IPC分类号： A61B19/00 , A61F5/00
CPC分类号： A61B17/155 , A61B17/157 , A61B34/20 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048 , G01C21/16 , G06F17/5086
摘要： A computer-assisted surgery system for planning/guiding alterations to a bone in surgery, comprises a trackable member adapted to be secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the trackable member A positioning block is adapted to be secured to the bone, with at least an orientation of the positioning block being adjustable once the positioning block is secured to the bone to reach a selected orientation at which the positioning block is used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the positioning block. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block from the orientation-based data. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone as a function of the orientation reference and of the orientation of the positioning block.
摘要翻译：用于规划/指导对手术中的骨骼的改变的计算机辅助手术系统包括适于固定到骨骼上的可跟踪构件。可跟踪构件具有第一惯性传感器单元，其产生用于可追踪构件的取向的至少两个自由度的基于定向的数据。定位块适于固定到骨骼，至少定位块的取向可调节一旦定位块被固定到骨头上以达到选定的方位，在该方向上定位块用于引导改变骨骼的工具。该定位块具有第二惯性传感器单元，该第二惯性传感器单元产生用于定位块的取向的至少两个自由度的基于取向的数据。提供将骨骼与可跟踪构件相关联的定向参考的处理系统包括信号解释器，用于根据基于取向的数据确定可跟踪构件和定位块的取向。参数计算器计算与定位块相对于骨骼的实际方向相关的改变参数作为定位参考的方向参考和定位块的取向的函数。

4. 发明授权

US08718820B2 Method and system for planning/guiding alterations to a bone 有权
标题翻译：规划/指导骨骼改变的方法和系统
公开(公告)号：US08718820B2
公开(公告)日：2014-05-06
申请号：US13588543
申请日：2012-08-17
申请人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoît Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
发明人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoît Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
IPC分类号： A61B17/17 , A61B17/15 , A61B17/56 , A61B17/16 , A61B17/14 , G01B5/02
CPC分类号： A61B17/155 , A61B17/157 , A61B34/20 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048 , G01C21/16 , G06F17/5086
摘要： A computer-assisted surgery system for guiding alterations to a bone, comprises a trackable member secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data. A positioning block is secured to the bone, and is adjustable once the positioning block is secured to the bone to be used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone.
摘要翻译：一种用于引导骨骼改变的计算机辅助手术系统，包括固定到骨骼上的可跟踪构件。可跟踪构件具有产生基于定向的数据的第一惯性传感器单元。定位块被固定到骨头上，并且一旦定位块被固定到骨头上就可调节，以用于引导改变骨骼的工具。定位块具有产生基于定向的数据的第二惯性传感器单元。提供将骨骼与可跟踪构件相关联的定向参考的处理系统包括用于确定可跟踪构件和定位块的取向的信号解释器。参数计算器计算与定位块相对于骨骼的实际方向相关的改变参数。

5. 发明申请

US20110218458A1 MEMS-BASED METHOD AND SYSTEM FOR TRACKING A FEMORAL FRAME OF REFERENCE 有权
标题翻译：用于跟踪参考的有限元框架的基于MEMS的方法和系统
公开(公告)号：US20110218458A1
公开(公告)日：2011-09-08
申请号：US12843375
申请日：2010-07-26
申请人： Myriam Valin , Catherine Proulx , Louis-Philippe Amiot , Bruno Falardeau , Julie Deslongchamps
发明人： Myriam Valin , Catherine Proulx , Louis-Philippe Amiot , Bruno Falardeau , Julie Deslongchamps
IPC分类号： A61B5/11 , G01M19/00
CPC分类号： A61B34/20 , A61B2034/2048
摘要： A system for tracking a femoral frame of reference in computer-assisted surgery comprises a sensor unit. The sensor unit is adapted to be secured to the femur. The sensor unit comprises accelerometer and gyroscope sensors that produce orientation data. A processing unit receives gyroscope and accelerometer data. The processing unit comprises a gyroscope-data calculator to provide calculated acceleration data resulting from movements of the femur, an accelerometer-data calculator to calculate measured acceleration data resulting from movements of the femur, and an acceleration comparator to relate an orientation of the sensor unit to the femur to define a femoral frame of reference. The femoral frame of reference is defined from the comparison between the calculated and the measured acceleration data. A sensor orientation interface provides orientation data for the femur from a tracking of the femoral frame of reference. A method for tracking a femoral frame of reference is also provided.
摘要翻译：用于在计算机辅助手术中跟踪股骨架的系统包括传感器单元。传感器单元适于固定在股骨上。传感器单元包括产生取向数据的加速度计和陀螺仪传感器。处理单元接收陀螺仪和加速度计数据。处理单元包括陀螺仪数据计算器，用于提供由股骨运动产生的计算加速度数据，加速度计数据计算器，用于计算由股骨运动产生的测量加速度数据;以及加速度比较器，用于将传感器单元给股骨定义股骨参照系。参考的股骨框架是根据计算出的和测量的加速度数据之间的比较来定义的。传感器定位界面提供股骨从股骨参考框架的跟踪方向数据。还提供了一种跟踪股骨参考框架的方法。

6. 发明申请

US20090247863A1 TRACKING SYSTEM AND METHOD 有权
标题翻译：跟踪系统和方法
公开(公告)号：US20090247863A1
公开(公告)日：2009-10-01
申请号：US12410854
申请日：2009-03-25
申请人： Catherine Proulx , Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Benoit Pelletier , Alain Richard , Myriam Valin
发明人： Catherine Proulx , Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Benoit Pelletier , Alain Richard , Myriam Valin
IPC分类号： A61B5/05
CPC分类号： A61B19/5244 , A61B34/20 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048
摘要： A tracking system is provided for tracking an objects. A first and a second trackable member each have an inertial sensor unit producing at least orientation-based data. A processing unit receives the orientation-based data from the trackable members. The processing unit has an orientation calculator calculating an orientation of the second trackable member with respect to the first trackable member from the orientation-based data of both said trackable members, whereby the processing unit calculates an orientation of the objects. A method is also provided.
摘要翻译：提供跟踪系统来跟踪对象。第一和第二可跟踪构件各自具有产生至少基于取向的数据的惯性传感器单元。处理单元从可追踪成员接收基于定向的数据。所述处理单元具有姿态计算器，从所述可追踪构件的所述基于姿态的数据计算所述第二可追踪构件相对于所述第一可追踪构件的取向，由此所述处理单元计算所述物体的取向。还提供了一种方法。

7. 发明授权

US09901405B2 MEMS-based method and system for tracking a femoral frame of reference 有权
公开(公告)号：US09901405B2
公开(公告)日：2018-02-27
申请号：US12843375
申请日：2010-07-26
申请人： Myriam Valin , Catherine Proulx , Louis-Philippe Amiot , Bruno Falardeau , Julie Deslongchamps
发明人： Myriam Valin , Catherine Proulx , Louis-Philippe Amiot , Bruno Falardeau , Julie Deslongchamps
IPC分类号： A61B5/103 , A61B34/20
CPC分类号： A61B34/20 , A61B2034/2048
摘要： A system for tracking a femoral frame of reference in computer-assisted surgery comprises a sensor unit. The sensor unit is adapted to be secured to the femur. The sensor unit comprises accelerometer and gyroscope sensors that produce orientation data. A processing unit receives gyroscope and accelerometer data. The processing unit comprises a gyroscope-data calculator to provide calculated acceleration data resulting from movements of the femur, an accelerometer-data calculator to calculate measured acceleration data resulting from movements of the femur, and an acceleration comparator to relate an orientation of the sensor unit to the femur to define a femoral frame of reference. The femoral frame of reference is defined from the comparison between the calculated and the measured acceleration data. A sensor orientation interface provides orientation data for the femur from a tracking of the femoral frame of reference. A method for tracking a femoral frame of reference is also provided.

8. 发明授权

US09144470B2 Tracking system and method 有权
标题翻译：跟踪系统和方法
公开(公告)号：US09144470B2
公开(公告)日：2015-09-29
申请号：US12410854
申请日：2009-03-25
申请人： Catherine Proulx , Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Benoît Pelletier , Alain Richard , Myriam Valin
发明人： Catherine Proulx , Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Benoît Pelletier , Alain Richard , Myriam Valin
IPC分类号： A61B19/00 , A61B17/00
CPC分类号： A61B19/5244 , A61B34/20 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048
摘要： A tracking system is provided for tracking an objects. A first and a second trackable member each have an inertial sensor unit producing at least orientation-based data. A processing unit receives the orientation-based data from the trackable members. The processing unit has an orientation calculator calculating an orientation of the second trackable member with respect to the first trackable member from the orientation-based data of both said trackable members, whereby the processing unit calculates an orientation of the objects. A method is also provided.
摘要翻译：提供跟踪系统来跟踪对象。第一和第二可跟踪构件各自具有产生至少基于取向的数据的惯性传感器单元。处理单元从可追踪成员接收基于定向的数据。所述处理单元具有姿态计算器，从所述可追踪构件的所述基于姿态的数据计算所述第二可追踪构件相对于所述第一可追踪构件的取向，由此所述处理单元计算所述物体的取向。还提供了一种方法。

9. 发明申请

US20130073067A1 METHOD AND SYSTEM FOR PLANNING/GUIDING ALTERATIONS TO A BONE 有权
标题翻译：用于对骨骼进行计划/引导改变的方法和系统
公开(公告)号：US20130073067A1
公开(公告)日：2013-03-21
申请号：US13588543
申请日：2012-08-17
申请人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoît Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
发明人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoît Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
IPC分类号： G06F17/50
CPC分类号： A61B17/155 , A61B17/157 , A61B34/20 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048 , G01C21/16 , G06F17/5086
摘要： A computer-assisted surgery system for guiding alterations to a bone, comprises a trackable member secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data. A positioning block is secured to the bone, and is adjustable once the positioning block is secured to the bone to be used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone.
摘要翻译：一种用于引导骨骼改变的计算机辅助手术系统，包括固定到骨骼上的可跟踪构件。可跟踪构件具有产生基于定向的数据的第一惯性传感器单元。定位块被固定到骨头上，并且一旦定位块被固定到骨头上就可调节，以用于引导改变骨骼的工具。定位块具有产生基于定向的数据的第二惯性传感器单元。提供将骨骼与可跟踪构件相关联的定向参考的处理系统包括用于确定可跟踪构件和定位块的取向的信号解释器。参数计算器计算与定位块相对于骨骼的实际方向相关的改变参数。

10. 发明授权

US08265790B2 Method and system for planning/guiding alterations to a bone 有权
标题翻译：规划/指导骨骼改变的方法和系统
公开(公告)号：US08265790B2
公开(公告)日：2012-09-11
申请号：US12410884
申请日：2009-03-25
申请人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoît Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
发明人： Louis-Philippe Amiot , Yannick Boutin , Yonik Breton , Karine Duval , Herbert Andre Jansen , Benoît Pelletier , Catherine Proulx , Alain Richard , Myriam Valin , Joel Zuhars
IPC分类号： A61B17/17 , A61B17/15 , A61B17/56 , A61B17/16 , A61B17/14 , G01B5/02
CPC分类号： A61B17/155 , A61B17/157 , A61B34/20 , A61B2017/00115 , A61B2017/00725 , A61B2034/2048 , G01C21/16 , G06F17/5086
摘要： A computer-assisted surgery system for planning/guiding alterations to a bone in surgery, comprises a trackable member adapted to be secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the trackable member A positioning block is adapted to be secured to the bone, with at least an orientation of the positioning block being adjustable once the positioning block is secured to the bone to reach a selected orientation at which the positioning block is used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the positioning block. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block from the orientation-based data. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone as a function of the orientation reference and of the orientation of the positioning block.
摘要翻译：用于规划/指导对手术中的骨骼的改变的计算机辅助手术系统包括适于固定到骨骼上的可跟踪构件。可跟踪构件具有第一惯性传感器单元，其产生用于可追踪构件的取向的至少两个自由度的基于定向的数据。定位块适于固定到骨骼，至少定位块的取向可调节一旦定位块被固定到骨头上以达到选定的方位，在该方向上定位块用于引导改变骨骼的工具。该定位块具有第二惯性传感器单元，该第二惯性传感器单元产生用于定位块的取向的至少两个自由度的基于取向的数据。提供将骨骼与可跟踪构件相关联的定向参考的处理系统包括信号解释器，用于根据基于取向的数据确定可跟踪构件和定位块的取向。参数计算器计算与定位块相对于骨骼的实际方向相关的改变参数作为定位参考的方向参考和定位块的取向的函数。

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