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1. 发明授权

US08386022B2 Multifaceted tracker device for computer-assisted surgery 有权
标题翻译：用于计算机辅助手术的多功能跟踪器
公开(公告)号：US08386022B2
公开(公告)日：2013-02-26
申请号：US11555947
申请日：2006-11-02
申请人： Sébastien Jutras , Louis-Philippe Amiot , Benoît Pelletier
发明人： Sébastien Jutras , Louis-Philippe Amiot , Benoît Pelletier
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/256 , A61B2090/3983
摘要： A tracker device of the type is associated with a surgical instrument and being trackable in space by a CAS system such that a position of the surgical instrument is calculable. A support is adapted to be connected to the surgical instrument. Optical elements are mounted to the support in a first pattern so as to be detectable by the CAS system along a first range of visibility. Other optical elements are mounted to the support in a second pattern so as to be detectable by the CAS system along a second range of visibility, with the first range of visibility and the second range of visibility having at most a common portion, whereby a position of the surgical instrument is tracked within the first and the second range of visibility as a function of the detection of any one of the patterns of the optical elements.
摘要翻译：该类型的跟踪器装置与外科器械相关联，并且可通过CAS系统在空间中跟踪，使得可计算手术器械的位置。支架适于与外科器械连接。光学元件以第一图案安装到支撑件上，以便沿着可见度的第一范围由CAS系统检测。其他光学元件以第二图案安装到支撑件上，以便沿着可见度的第二范围由CAS系统检测，第一可见度范围和第二可见度范围具有至多公共部分，由此位置作为检测光学元件的任何一种图案的函数，在第一和第二可见度范围内追踪外科器械。

2. 发明授权

US09339277B2 Computer-assisted hip replacement surgery 有权
标题翻译：电脑辅助髋关节置换手术
公开(公告)号：US09339277B2
公开(公告)日：2016-05-17
申请号：US10677432
申请日：2003-10-03
申请人： Herbert André Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sébastien Jutras , Daniel Odermatt , Benoît Pelletier
发明人： Herbert André Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sébastien Jutras , Daniel Odermatt , Benoît Pelletier
IPC分类号： A61B19/00 , A61B17/16 , A61B5/06 , A61B5/103 , A61B17/15 , A61B17/17 , G09B23/28 , G09B23/30 , A61B5/00 , A61F2/34 , A61F2/46 , A61F2/30 , A61F2/36
CPC分类号： A61B34/10 , A61B5/064 , A61B5/103 , A61B5/4528 , A61B5/6878 , A61B17/15 , A61B17/1666 , A61B17/1703 , A61B17/1717 , A61B17/1735 , A61B17/1746 , A61B17/175 , A61B34/20 , A61B34/25 , A61B34/70 , A61B90/36 , A61B2034/102 , A61B2034/104 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/252 , A61B2034/256 , A61B2090/062 , A61B2090/363 , A61B2090/3983 , A61F2/32 , A61F2/34 , A61F2/4607 , A61F2/4609 , A61F2/4657 , A61F2002/30952 , A61F2002/3611 , A61F2002/4632 , A61F2002/4658 , A61F2002/4668 , A61F2002/4681 , A61F2002/4697 , G06F19/00 , G09B23/28 , G09B23/30
摘要： A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus. A controller is connected to the sensing apparatus to: i) register a frame of reference of the femur by calculating surface information provided by the registration tool as a function of the position and orientation of the registration tool provided by the sensing apparatus, and/or retrieving in a database a model of the femur; ii) calculate a desired implant position with respect to the frame of reference as a function of the limb length; and iii) calculate a current implant position and orientation in relation to the desired implant position with respect to alterations being performed in the femur with the bone altering tool, as a function of the position and orientation of the bone altering tool provided by the sensing apparatus and of a digital model of a femoral implant provided by the database. The database is connected to the controller for the controller to store and retrieve information relating to an operation of the controller. The computer-assisted system may be used to guide an operator in inserting a pelvic implant in an acetabulum as a function of an orientation of the pelvic implant with respect to the pelvis.
摘要翻译：一种用于引导操作者将股骨植入物插入股骨中的CAS系统和方法，其作为股骨植入物相对于股骨的肢体长度和取向的函数，包括用于股骨的参考工具，配准工具，骨骼改变工具和感测装置。控制器连接到感测装置，以便：i）通过计算由对准工具提供的表面信息作为由感测装置提供的对准工具的位置和取向的函数来登记股骨的参考系，和/或在数据库中检索股骨的模型; ii）根据肢体长度计算相对于参考系的期望的植入位置; 以及iii）根据由所述感测装置提供的骨骼改变工具的位置和取向来计算与所述骨骼改变工具相对于在股骨中进行的改变相对于期望的植入位置的当前植入物位置和取向以及由数据库提供的股骨植入物的数字模型。数据库连接到控制器，用于控制器存储和检索与控制器的操作有关的信息。计算机辅助系统可以用于指导操作者将骨盆植入物插入髋臼中作为骨盆植入物相对于骨盆的取向的函数。

3. 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。

4. 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。

5. 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。

6. 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。

7. 发明授权

US07634374B2 Method for permanent calibration based on actual measurement 有权
标题翻译：基于实际测量的永久校准方法
公开(公告)号：US07634374B2
公开(公告)日：2009-12-15
申请号：US10593563
申请日：2005-04-26
申请人： Benoît Chouinard , Louis Brillon , Benoît Pelletier , Sébastien Jutras
发明人： Benoît Chouinard , Louis Brillon , Benoît Pelletier , Sébastien Jutras
IPC分类号： G06F19/00
CPC分类号： A61B90/36 , A61B34/20 , A61B90/94 , A61B90/96 , A61B90/98 , A61B2017/00526 , A61B2017/00725 , A61B2034/2055 , A61B2034/2065 , A61B2034/256 , A61B2090/3983 , G06F19/00
摘要： There is described a method of manufacturing a device to be used with a computer-aided surgery system, a method of calibrating the device, and the device itself. After fabrication, the device is measured to obtain true parameters thereof. The true parameters are stored on a storage medium associated with the device and include measurement data of high precision relating to dimensions of the device as well as to relative positioning of a tracker on the device with respect to the device. The true parameters are entered into the system and when the tracker is located in the 3D environment, the device can then be located in the 3D environment with a high degree of precision using the true parameters.
摘要翻译：描述了一种制造与计算机辅助手术系统一起使用的装置的方法，校准装置的方法和装置本身。在制造之后，测量该装置以获得其真实参数。真实参数存储在与设备相关联的存储介质上，并且包括与设备的尺寸相关的高精度的测量数据以及跟踪器相对于设备在设备上的相对定位。真实参数输入到系统中，并且当跟踪器位于3D环境中时，可以使用真实参数以高精确度将设备定位在3D环境中。

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