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11. 发明申请

US20050267354A1 System and method for providing computer assistance with spinal fixation procedures 审中-公开
标题翻译：用于提供脊柱固定程序的计算机辅助的系统和方法
公开(公告)号：US20050267354A1
公开(公告)日：2005-12-01
申请号：US11006503
申请日：2004-12-06
申请人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Richard Dickerson
发明人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Richard Dickerson
IPC分类号： A61B5/05 , A61B17/16 , A61B19/00 , G06G7/48
CPC分类号： A61B90/36 , A61B17/1671 , A61B34/10 , A61B2017/00207
摘要： A system and method for providing computer assistance for performing a medical procedure, for example spinal fixation, provides a graphical user interface to guide and/or assist a user, for example a surgeon, performing the medical procedure, whether surgical or non-surgical. The computer-assisted system comprises a software application, for example a spinal fixation application, that may be used for a medical procedure, for example spine linking, etc.
摘要翻译：用于提供用于执行医疗程序（例如脊柱固定）的计算机辅助的系统和方法提供图形用户界面以引导和/或辅助用户，例如外科医生，执行医疗程序，无论是手术还是非外科手术。计算机辅助系统包括可用于医疗程序（例如脊柱连接等）的软件应用程序，例如脊柱固定应用程序。

12. 发明申请

US20060241416A1 Method and apparatus for computer assistance with intramedullary nail procedure 审中-公开
公开(公告)号：US20060241416A1
公开(公告)日：2006-10-26
申请号：US11391799
申请日：2006-03-29
申请人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , David Dybala , Robert Brumback , Ryan Schoenefeld
发明人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , David Dybala , Robert Brumback , Ryan Schoenefeld
IPC分类号： A61M5/00
CPC分类号： A61B90/36 , A61B90/10 , A61B2017/00207 , A61B2090/376
摘要： A specially-programmed, computer-assisted surgery system is used to reduce the number of fluoroscopic images required to be taken during the course of a intramedullary nail procedure, eliminates the need for a Steinman pin, and assists the surgeon in properly aligning and securing the nail during insertion.

13. 发明申请

US20050281465A1 Method and apparatus for computer assistance with total hip replacement procedure 审中-公开
标题翻译：全髋关节置换手术的计算机辅助方法和装置
公开(公告)号：US20050281465A1
公开(公告)日：2005-12-22
申请号：US11006459
申请日：2004-12-06
申请人： Joel Marquart , Marwan Sati , Peter Tate , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Ryan Lakin
发明人： Joel Marquart , Marwan Sati , Peter Tate , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Ryan Lakin
IPC分类号： A61B17/15 , A61B17/17 , A61B19/00 , A61F2/00 , A61F2/30 , A61F2/32 , A61F2/34 , A61F2/36 , G06K9/46
CPC分类号： A61B90/36 , A61B17/15 , A61B17/1742 , A61B34/10 , A61B34/20 , A61B34/25 , A61B2017/00207 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2034/256 , A61B2090/363 , A61F2/32 , A61F2/34 , A61F2/36 , A61F2/367 , A61F2002/30604 , A61F2002/30616 , A61F2002/30708 , A61F2002/3611 , A61F2250/0084
摘要： Hip replacement surgery involves replacing the head and neck of the femur with an artificial component having a ball-shaped head and neck similar to that of a replaced femoral head and neck and inserting a cup-shaped component into the acetabulum to act as a liner to receive the ball of the femoral component. During this procedure, a surgeon encounters or has to overcome several problems. These problems include establishing the correct inclination, version and medialization for the acetabular component of the artificial hip; the correct version or angle of the femoral component; and maintaining correct leg length.
摘要翻译：髋关节置换手术包括用具有类似于替换的股骨头和颈部的球形头部和颈部的人造部件来替换股骨的头部和颈部，并将杯形部件插入髋臼以充当衬垫接受股骨组件的球。在此过程中，外科医生遇到或必须克服若干问题。这些问题包括建立人造髋关节髋臼部件的正确倾斜度，版本和中间化; 股骨组件的正确版本或角度; 并保持正确的腿部长度。

14. 发明授权

US08287522B2 Method and apparatus for controlling a haptic device 有权
标题翻译：用于控制触觉装置的方法和装置
公开(公告)号：US08287522B2
公开(公告)日：2012-10-16
申请号：US11750845
申请日：2007-05-18
申请人： Dennis Moses , Arthur Quaid , Hyosig Kang
发明人： Dennis Moses , Arthur Quaid , Hyosig Kang
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.
摘要翻译：提供了一种用于控制外科手术装置的方法。该方法包括操纵手术装置以对患者执行手术; 确定患者的解剖结构与外科手术器械的手术工具的位置，取向，速度和/或加速度之间的关系是否对应于解剖学和位置之间的期望关系，取向，速度，和/或外科手术工具的加速度; 并且如果所述关系不对应于期望的关系和/或检测装置不能检测到所述解剖结构的位置和/或所述外科手术工具的位置，则对所述手术装置施加约束。

15. 发明申请

US20070270685A1 METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 有权
标题翻译：用于控制一个设备的方法和装置
公开(公告)号：US20070270685A1
公开(公告)日：2007-11-22
申请号：US11750815
申请日：2007-05-18
申请人： Hyosig Kang , Dennis Moses , Arthur Quaid
发明人： Hyosig Kang , Dennis Moses , Arthur Quaid
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
摘要翻译：提供了一种用于校准外科装置的方法。该方法包括在第一位置获取包括设置在手术装置上的第一物体的位置和/或取向的第一数据; 在第二位置处获取包括设置在所述外科手术装置上的第二物体的位置和/或取向的第二数据; 确定包括所述第一对象相对于所述第二位置的位置和/或取向的第三数据; 以及至少部分地基于所述第一数据，所述第二数据和所述第三数据来确定所述第二对象相对于所述第二位置的位置和/或取向。

16. 发明申请

US20080010706A1 METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 有权
标题翻译：用于控制一个设备的方法和装置
公开(公告)号：US20080010706A1
公开(公告)日：2008-01-10
申请号：US11750845
申请日：2007-05-18
申请人： Dennis Moses , Arthur Quaid , Hyosig Kang
发明人： Dennis Moses , Arthur Quaid , Hyosig Kang
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.
摘要翻译：提供了一种用于控制外科手术装置的方法。该方法包括操纵手术装置以对患者执行手术; 确定患者的解剖结构与外科手术器械的手术工具的位置，取向，速度和/或加速度之间的关系是否对应于解剖学和位置之间的期望关系，取向，速度，和/或外科手术工具的加速度; 并且如果所述关系不对应于期望的关系和/或检测装置不能检测到所述解剖结构的位置和/或所述外科手术工具的位置，则对所述手术装置施加约束。

17. 发明申请

US20070296366A1 Method and apparatus for controlling a haptic device 有权
标题翻译：用于控制触觉装置的方法和装置
公开(公告)号：US20070296366A1
公开(公告)日：2007-12-27
申请号：US11804374
申请日：2007-05-18
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses
IPC分类号： B25J19/02
CPC分类号： B25J9/1638 , B25J13/025 , G06F3/016
摘要： A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
摘要翻译：一种用于控制触觉装置的方法和装置。在一个实施例中，触觉装置包括致动器; 致动器传感器，产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器，致动器传感器和致动器电连通的控制器。控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。在一个实施例中，用于控制触觉装置的致动器的方法包括以下步骤：产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器，以产生对用户的触觉响应。

18. 发明授权

US10028789B2 Method and apparatus for controlling a haptic device 有权
公开(公告)号：US10028789B2
公开(公告)日：2018-07-24
申请号：US11750840
申请日：2007-05-18
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses
IPC分类号： A61B34/20 , A61B17/17 , A61B34/00 , A61B34/30 , A61B17/00 , A61B90/00 , A61B34/10
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.

19. 发明申请

US20070142751A1 Apparatus and method for haptic rendering 有权
标题翻译：触觉渲染的装置和方法
公开(公告)号：US20070142751A1
公开(公告)日：2007-06-21
申请号：US11646204
申请日：2006-12-27
申请人： Hyosig Kang , Arthur Quaid , Dennis Moses
发明人： Hyosig Kang , Arthur Quaid , Dennis Moses
IPC分类号： A61B5/103
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.
摘要翻译：一方面，本发明涉及一种用于产生触觉惩罚力的方法，包括在一个实施例中的步骤：定义主代理位置; 定义副代理职位; 定义HIP位置; 响应于主代理位置和HIP位置产生第一力，并且响应于辅助代理位置和HIP位置产生第二力。

20. 发明授权

US09492237B2 Method and apparatus for controlling a haptic device 有权
标题翻译：用于控制触觉装置的方法和装置
公开(公告)号：US09492237B2
公开(公告)日：2016-11-15
申请号：US11750815
申请日：2007-05-18
申请人： Hyosig Kang , Dennis Moses , Arthur Quaid
发明人： Hyosig Kang , Dennis Moses , Arthur Quaid
IPC分类号： G01C9/00 , G01C17/00 , G01C19/00 , A61B19/00 , A61B17/17 , A61B17/00
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
摘要翻译：提供了一种用于校准外科装置的方法。该方法包括在第一位置获取包括设置在手术装置上的第一物体的位置和/或取向的第一数据; 在第二位置处获取包括设置在所述外科手术装置上的第二物体的位置和/或取向的第二数据; 确定包括所述第一对象相对于所述第二位置的位置和/或取向的第三数据; 以及至少部分地基于所述第一数据，所述第二数据和所述第三数据来确定所述第二对象相对于所述第二位置的位置和/或取向。

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