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1. 发明授权

US07213598B2 Navigation-calibrating rotationally asymmetrical medical instruments or implants 有权
标题翻译：导航校准旋转不对称医疗器械或植入物
公开(公告)号：US07213598B2
公开(公告)日：2007-05-08
申请号：US10446649
申请日：2003-05-28
申请人： Mario Zeiss , Arno Blau , Rainer Birkenbach , Falko Seifferth
发明人： Mario Zeiss , Arno Blau , Rainer Birkenbach , Falko Seifferth
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B2017/00725 , A61B2034/2055 , A61B2034/2068
摘要： A method for calibrating or registering a medical instrument or implant includes determining a spatial position of the instrument or implant and determining a relative position of the instrument or implant with respect to anatomical data. A spatial orientation of a multi-dimensionally formed, functional section of the instrument or implant is determined. A device for calibrating or registering a medical instrument or implant using a medical navigation system includes calibration aid, where the calibration aid includes a calibration section whose spatial orientation in said navigation system is known and on which a multi-dimensionally formed, functional section of the instrument or implant can be oriented.
摘要翻译：用于校准或登记医疗器械或植入物的方法包括确定所述器械或植入物的空间位置并且确定所述器械或植入物相对于解剖数据的相对位置。确定仪器或植入物的多维形成的功能部分的空间取向。一种用于使用医疗导航系统校准或登记医疗器械或植入物的装置包括校准辅助装置，其中校准辅助装置包括校准部分，其校准部分在所述导航系统中的空间取向是已知的，并且其上具有多维形成的功能部分仪器或植入物可以定向。

2. 发明申请

US20120235909A1 CONTROLLING AND/OR OPERATING A MEDICAL DEVICE BY MEANS OF A LIGHT POINTER 有权
标题翻译：通过指示灯控制和/或操作医疗设备
公开(公告)号：US20120235909A1
公开(公告)日：2012-09-20
申请号：US13511412
申请日：2010-01-14
申请人： Rainer Birkenbach , Alexander Urban , Alexander Druse , Elmar Schlereth
发明人： Rainer Birkenbach , Alexander Urban , Alexander Druse , Elmar Schlereth
IPC分类号： G06F3/033
CPC分类号： G06F3/0386 , A61B34/74 , A61B2017/00207 , A61B2090/372 , A61B2090/373 , G06F3/03542
摘要： The invention relates to a system for controlling and/or operating a medical device (30) associated with a display (20; 50) on which medical images (24) and/or control and/or operating elements (21, 22, 25) are displayed, wherein the system comprises: —a light pointer (10; 40) which projects a delimited light cursor (14; 44); —a light detection device which is associated with the display and comprises a sensor (23) for determining the presence and location of the light cursor (14; 44) projected by the light pointer (10; 40); and—a converter (26) which converts the captured presence and location information into control and/or operating commands for the medical device. The invention also relates to a method for controlling and/or operating a medical device (30) associated with a display (20; 50) on which medical images (24) and/or control and/or operating elements (21, 22, 25) are displayed, wherein a delimited light cursor (14; 44) is projected onto the display (20; 50) by means of a light pointer (10; 40), wherein the presence and location on the display (20; 50) of the light cursor (14; 44) projected by the light pointer (10; 40) is detected by means of a sensor (23), and wherein the captured presence and location information is converted into control and/or operating commands for the medical device (30).
摘要翻译：本发明涉及一种用于控制和/或操作与显示器（20; 50）相关联的医疗设备（30）的系统，医疗图像（24）和/或控制和/或操作元件（21,22,25），其中所述系统包括： - 光标（10; 40），其突出界定的光标（14; 44）; - 与所述显示器相关联的光检测装置，并且包括用于确定由所述光指针（10; 40）投影的所述光标（14; 44）的存在和位置的传感器（23）。和转换器（26），其将捕获的存在和位置信息转换为用于医疗装置的控制和/或操作命令。本发明还涉及一种用于控制和/或操作与显示器（20; 50）相关联的医疗设备（30）的方法，医疗图像（24）和/或控制和/或操作元件（21,22,25）），其中通过光指针（10; 40）将限定的光标（14; 44）投射到显示器（20; 50）上，其中显示器（20; 50）上的存在和位置通过传感器（23）检测由光指针（10; 40）投影的光标（14; 44），并且其中所捕获的存在和位置信息被转换成医疗装置的控制和/或操作命令（30）。

3. 发明授权

US08160743B2 Anthropomorphic medical robot arm with movement restrictions 有权
标题翻译：拟人医疗机器人手臂具有运动限制
公开(公告)号：US08160743B2
公开(公告)日：2012-04-17
申请号：US11464940
申请日：2006-08-16
申请人： Rainer Birkenbach , Andreas Hartlep , Richard Wohlgemuth , Michael Bertram , Alin Albu-Schäffer , Markus Grebenstein , Ulrich Hagn , Klaus Jöhl , Mathias Nickl , Tobias Ortmaier , Franz Hacker , Rainer Konietschke , Stefan Jörg
发明人： Rainer Birkenbach , Andreas Hartlep , Richard Wohlgemuth , Michael Bertram , Alin Albu-Schäffer , Markus Grebenstein , Ulrich Hagn , Klaus Jöhl , Mathias Nickl , Tobias Ortmaier , Franz Hacker , Rainer Konietschke , Stefan Jörg
IPC分类号： G06F19/00 , B25J1/00 , B25J3/00 , B25J19/00 , H02P23/00
CPC分类号： A61B34/70 , A61B34/30 , A61B90/50 , A61B2034/2072 , A61B2034/305
摘要： An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.
摘要翻译：人造医疗机器人臂包括基端，第一臂元件，将基端连接到第一臂元件的基座接头，第二臂元件，将第二臂元件联接到第一臂元件的中间接头，远端功能末端，将远端功能端连接到第二臂元件的远端接头以及可操作在基部接头，中间接头和/或远端接头上的至少一个可选择性操作的运动抑制器，以便限制机器人的功能上可能的移动范围手臂到人类手臂的运动范围。

4. 发明授权

US07744605B2 Medical instrument with a touch-sensitive tip 有权
标题翻译：医疗仪器带有触敏提示
公开(公告)号：US07744605B2
公开(公告)日：2010-06-29
申请号：US10134974
申请日：2002-04-29
申请人： Stefan Vilsmeier , Michael Bertram , Rainer Birkenbach
发明人： Stefan Vilsmeier , Michael Bertram , Rainer Birkenbach
IPC分类号： A61B19/00
CPC分类号： A61B90/36 , A61B2034/2051 , A61B2034/2055 , A61B2034/2068 , A61B2090/065 , A61B2090/3958
摘要： The invention relates to a medical instrument comprising an instrument body (8), an instrument tip (5) and a tracking means (1,2, 4), characterized in that said instrument tip (5) is fitted with a touch-sensor (3) which detects a contact between said tip (5) and an object, for example a patient. It is preferably realized as an indicator device or pointer, in particular as a registering pointer for instrument tracking systems.
摘要翻译：本发明涉及一种包括仪器主体（8），仪器尖端（5）和跟踪装置（1,2,4）的医疗器械，其特征在于，所述仪器尖端（5）装配有触摸传感器 3），其检测所述尖端（5）和物体（例如患者）之间的接触。其优选地被实现为指示器装置或指针，特别是作为仪器跟踪系统的记录指示器。

5. 发明授权

US06947582B1 Three-dimensional shape detection by means of camera images 有权
标题翻译：通过相机图像进行三维形状检测
公开(公告)号：US06947582B1
公开(公告)日：2005-09-20
申请号：US09662045
申请日：2000-09-15
申请人： Stefan Vilsmeier , Rainer Birkenbach
发明人： Stefan Vilsmeier , Rainer Birkenbach
IPC分类号： G01B11/24 , G06K9/00
CPC分类号： G01B11/24
摘要： A method of detecting the shape of an object comprises the following steps: a) producing a camera image of the object; b) mapping an outline of the object, which appears sharp in the camera image, in a first plane by means of an analyzer connected to the camera; c) altering the focusing distance of the camera; d) mapping a sharp outline of the object in a second plane by means of the analyzer; e) repeating steps b) to d) until a sufficient number of outlines has been mapped so that the three-dimensional shape of the object can be established. Also disclosed is an apparatus for implementing the method.
摘要翻译：检测物体形状的方法包括以下步骤：a）产生物体的相机图像; b）通过连接到摄像机的分析仪在第一平面中映射在相机图像中显得清晰的对象的轮廓; c）改变相机的对焦距离; d）通过分析仪在第二平面中映射对象的锐利轮廓; e）重复步骤b）至d），直到已经映射了足够数量的轮廓，使得可以建立对象的三维形状。还公开了一种用于实现该方法的装置。

6. 发明授权

US09622832B2 Surgical instrument, in particular pointer instrument, comprising tip sensor 有权
公开(公告)号：US09622832B2
公开(公告)日：2017-04-18
申请号：US12562163
申请日：2009-09-18
申请人： Rainer Birkenbach , Stefan Vilsmeier
发明人： Rainer Birkenbach , Stefan Vilsmeier
IPC分类号： A61B19/00 , A61B90/96 , A61B90/98 , A61B17/00 , A61B90/00 , A61B34/20
CPC分类号： A61B90/96 , A61B34/20 , A61B90/98 , A61B2017/00411 , A61B2017/00464 , A61B2017/00482 , A61B2017/00734 , A61B2034/2051 , A61B2034/2068 , A61B2090/064 , A61B2090/065 , A61B2090/0806
摘要： The invention relates to a surgical instrument comprising a handle portion and a tip, wherein a tip sensor is provided on the handle portion. The tip sensor enables detection of when a tip is inserted into and/or removed from the handle. In addition, the tip sensor enables a navigation system to be notified when landmarks are probed with the surgical instrument, thereby ensuring accurate capture of the location of the landmark.

7. 发明申请

US20140235999A1 METHOD FOR DETERMINING THE SHAPE OF A SURGICAL INSTRUMENT AND SURGICAL INSTRUMENT HAVING A DEFORMABLE BODY 审中-公开
标题翻译：用于确定具有可变体的手术仪器和外科仪器的形状的方法
公开(公告)号：US20140235999A1
公开(公告)日：2014-08-21
申请号：US14238767
申请日：2011-08-26
申请人： Rainer Birkenbach , Johannes Manus
发明人： Rainer Birkenbach , Johannes Manus
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B2034/2051 , A61B2034/2061 , A61B2090/061 , A61B2090/064
摘要： The present invention relates to a method for determining the spatial position and the shape of a surgical instrument (1) having a deformable body (2), said method comprising the steps of: providing an elasticity model of the surgical instrument (1); defining at least one parameter which influences the shape of the instrument (1); determining the spatial position and/or orientation of at least one tracking sensor (3) of the surgical instrument (1); determining the value of the at least one parameter; calculating the position and/or orientation of at least one part of the surgical instrument (1) with the aid of the elasticity model together with the determined value of the at least one parameter and the determined spatial position and/or orientation of the at least one tracking sensor (3). The present invention also relates to a surgical instrument (1) having a deformable body (2) comprising at least two sensors (3, 4), wherein at least one sensor is a tracking sensor (3) and at least one other sensor is a sensor (4) which allows the value of a predetermined parameter influences the shape of the instrument (1) to be determined.
摘要翻译：本发明涉及一种用于确定具有变形体（2）的外科器械（1）的空间位置和形状的方法，所述方法包括以下步骤：提供外科器械（1）的弹性模型; 限定影响所述仪器（1）的形状的至少一个参数; 确定所述外科器械（1）的至少一个跟踪传感器（3）的空间位置和/或取向; 确定所述至少一个参数的值; 借助弹性模型计算外科器械（1）的至少一部分的位置和/或取向以及所确定的至少一个参数的值以及至少确定的至少一个参数的空间位置和/或取向一个跟踪传感器（3）。本发明还涉及具有包括至少两个传感器（3,4）的变形体（2）的外科器械（1），其中至少一个传感器是跟踪传感器（3），并且至少一个其它传感器是传感器（4），其允许预定参数的值影响待确定的仪器（1）的形状。

8. 发明授权

US08014848B2 Visualization of procedural guidelines for a medical procedure 有权
标题翻译：可视化医疗程序的程序指南
公开(公告)号：US08014848B2
公开(公告)日：2011-09-06
申请号：US11115093
申请日：2005-04-26
申请人： Rainer Birkenbach , Christoph Pedain , Andreas Hartlep , Raghu Raghavan , Martin Brady
发明人： Rainer Birkenbach , Christoph Pedain , Andreas Hartlep , Raghu Raghavan , Martin Brady
IPC分类号： A61B5/05
CPC分类号： A61B90/36 , A61B34/10 , A61B34/20 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072
摘要： The visualization of procedural guidelines for a medical procedure, in which a medical instrument is shown in an image representation of a body portion including an area in which a medical procedure is to be carried out, wherein, in the vicinity of the functional portion of the instrument, regions or locations are indicated which are of special relevance to the procedure according to established guidelines for said procedure.
摘要翻译：可视化的医疗程序的程序指南，其中医疗器械被显示在包括要执行医疗程序的区域的身体部位的图像表示中，其中在该功能部分的附近指示与所述程序的既定指导方针相关的手段，区域或位置。

9. 发明授权

US07993353B2 Medical tracking system with universal interface 有权
标题翻译：具有通用接口的医疗跟踪系统
公开(公告)号：US07993353B2
公开(公告)日：2011-08-09
申请号：US10447458
申请日：2003-05-29
申请人： Holger-Claus Roβner , Frank Reimold , Robert Schmidt , Rainer Birkenbach
发明人： Holger-Claus Roβner , Frank Reimold , Robert Schmidt , Rainer Birkenbach
IPC分类号： A61B19/00 , A61F2/38
CPC分类号： A61B90/39 , A61B90/50 , A61B2017/00455 , A61B2090/3983 , A61B2090/571 , G06F19/00
摘要： An improved marker system, components and method for use with a medical navigation system, wherein the marker system includes interchangeable tracking marker holders and fastener bases for attaching the marker holders to instruments or body parts that are to be tracked during a medical procedure. A reference star (the marker holder and tracking marker(s)) and fastener base are removably attached to one another. This enables different reference stars to be interchangeably attached to a given fastener base, or vice versa, thereby to provide the best combination of reference star and fastener base for a given application. This preferably is accomplished by a standard interface between the fastener base and the holder for the tracking markers, e.g., reflective markers. In addition, surgical instruments may have integrally formed therein the standard interface, thereby eliminating the need for a fastener base.
摘要翻译：一种改进的标记系统，用于医疗导航系统的组件和方法，其中所述标记系统包括可互换的跟踪标记保持器和用于将标记器支架附接到在医疗过程期间被跟踪的器械或身体部位的紧固件基座。参考星（标记支架和跟踪标记）和紧固件基座可拆卸地相互连接。这使得不同的参考星可以互换地连接到给定的紧固件基座，反之亦然，从而为给定的应用提供参考星和紧固件基座的最佳组合。这优选地通过用于跟踪标记的紧固件基座和保持器之间的标准界面来实现，例如反射标记。此外，手术器械可以在其中一体形成标准界面，从而消除对紧固件基座的需要。

10. 发明授权

US07463823B2 Stereoscopic visualization device for patient image data and video images 有权
标题翻译：用于患者图像数据和视频图像的立体可视化设备
公开(公告)号：US07463823B2
公开(公告)日：2008-12-09
申请号：US11426176
申请日：2006-06-23
申请人： Rainer Birkenbach , Robert Schmidt , Richard Wohlgemuth , Holger-Claus Roβner , Nils Frielinghaus , Claus Schaffrath , Swen Wörlein
发明人： Rainer Birkenbach , Robert Schmidt , Richard Wohlgemuth , Holger-Claus Roβner , Nils Frielinghaus , Claus Schaffrath , Swen Wörlein
IPC分类号： G03B29/00
CPC分类号： G03B41/00 , A61B6/462 , A61B6/5235
摘要： A system for visually combining patient image data from transillumination and/or tomographic imaging methods and/or object image data with video images includes an image display device having an auto-stereoscopic monitor, at least one camera and a computer-assisted navigation system. The navigation system is operable to detect spatial positions of a part of the patient's body via a first tracking device attached to the body, and spatial positions of said image display device and/or said at least one camera via a second tracking device attached to the image display device or the camera, wherein the image display device and the at least one camera are assigned to each other and are formed as a portable unit.
摘要翻译：将来自透照和/或断层成像方法的患者图像数据和/或具有视频图像的对象图像数据可视化组合的系统包括具有自动立体监视器，至少一个照相机和计算机辅助导航系统的图像显示装置。导航系统可操作以经由附接到身体的第一跟踪装置来检测患者身体的一部分的空间位置，以及经由附接到所述身体的第二跟踪装置的所述图像显示装置和/或所述至少一个相机的空间位置图像显示装置或照相机，其中所述图像显示装置和所述至少一个相机彼此分配并形成为便携式单元。

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