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1. 发明授权

US09125669B2 Haptic volumes for reaming during arthroplasty 有权
标题翻译：关节成形术期间铰链的触角体积
公开(公告)号：US09125669B2
公开(公告)日：2015-09-08
申请号：US13173868
申请日：2011-06-30
申请人： Amar Ranawat , Mark Pagnano , Lawrence Dorr , Richard Jones , Danielle Landeck , Matt Thompson , Radu Iorgulescu , Renen Bassik , Daniel Odermatt
发明人： Amar Ranawat , Mark Pagnano , Lawrence Dorr , Richard Jones , Danielle Landeck , Matt Thompson , Radu Iorgulescu , Renen Bassik , Daniel Odermatt
IPC分类号： A61F2/46 , A61B17/00 , A61B17/16 , A61B19/00
CPC分类号： A61B17/1666 , A61B17/1626 , A61B34/30 , A61B34/76
摘要： A haptic robotic system for reaming an acetabulum prior to inserting an acetabular cup is more accurate than conventional instruments and may reduce the risk of dislocation and improve durability of a hip implant. Disclosed is a three-dimensional tool path, referred to as a haptic volume. Once the haptic volume is implemented into the software of a haptically constrained surgical robotic system, the cutting tool or reamer can only be utilized within the haptic volume. The haptic volume guides the surgeon in preparing the final reamed bone surface with a greatly reduced chance of the reaming unintended bone and greatly increases the chance that the reaming procedure may be carried out using one reaming tool, or using a single-stage reaming process.
摘要翻译：在插入髋臼杯之前用于铰链髋臼的触觉机器人系统比常规仪器更准确，并且可以降低脱位的风险并改善髋关节植入物的耐久性。公开了一种三维工具路径，称为触觉体积。一旦触觉体积被实现到高度受限的手术机器人系统的软件中，则切割工具或扩孔器只能在触觉体积内使用。触觉体积引导外科医生准备最终的扩张骨表面，大大减少了铰接非预期骨骼的机会，并大大增加了可以使用一种铰孔工具或使用单级铰孔工艺进行扩孔过程的机会。

2. 发明申请

US20130072821A1 SYSTEMS AND METHODS FOR MEASURING PARAMETERS IN JOINT REPLACEMENT SURGERY 有权
标题翻译：用于在联合替代手术中测量参数的系统和方法
公开(公告)号：US20130072821A1
公开(公告)日：2013-03-21
申请号：US13234190
申请日：2011-09-16
申请人： Daniel ODERMATT , Matthew THOMPSON
发明人： Daniel ODERMATT , Matthew THOMPSON
IPC分类号： A61B5/103
CPC分类号： A61B5/06 , A61B5/107 , A61B5/4528 , A61B5/4571 , A61B5/4851 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/76 , A61B90/37 , A61B2034/107 , A61B2505/05 , G06F19/00 , G16H50/50
摘要： A computer-implemented method for determining changes in parameters of a hip joint due to modification of the hip joint comprises establishing a first position of a pre-operative center of rotation of the joint in a first coordinate space. The method further comprises estimating a second position of the pre-operative center of rotation of the joint in the first coordinate space, when the estimated pre-operative center of rotation is maintained in a constant position in a second coordinate space. A change in a parameter associated with the joint is determined based on the first and second positions of the pre-operative center of rotation of the joint.
摘要翻译：用于确定由于髋关节修改的髋关节的参数变化的计算机实现的方法包括在第一坐标空间中建立关节的手术前旋转中心的第一位置。该方法进一步包括当估计的手术前旋转中心保持在第二坐标空间中的恒定位置时，估计第一坐标空间中关节的手术前旋转中心的第二位置。基于关节的手术前旋转中心的第一和第二位置确定与关节相关联的参数的变化。

3. 发明授权

US10219865B2 Computer-assisted hip replacement surgery 有权
公开(公告)号：US10219865B2
公开(公告)日：2019-03-05
申请号：US15131552
申请日：2016-04-18
申请人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
发明人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
IPC分类号： A61F2/34 , A61B34/10 , A61B5/06 , A61B5/103 , A61B17/15 , A61B17/16 , A61B17/17 , G09B23/28 , G09B23/30 , A61F2/32 , A61B5/00 , A61F2/46 , A61F2/30 , A61F2/36 , A61B90/00 , A61B34/20 , A61B34/00
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.

4. 发明申请

US20160228192A1 COMPUTER-ASSISTED HIP REPLACEMENT SURGERY 审中-公开
标题翻译：计算机辅助髋关节置换手术
公开(公告)号：US20160228192A1
公开(公告)日：2016-08-11
申请号：US15131552
申请日：2016-04-18
申请人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
发明人： Herbert Andre Jansen , Louis-Philippe Amiot , Isabelle Fontaine , Sebastien Jutras , Daniel Odermatt , Benoit Pelletier
IPC分类号： A61B34/10 , A61B34/20 , A61F2/32
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。

5. 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。

6. 发明申请

US20060287613A1 Device, method and system for digitizing position and orientation information of hip joint implant components 审中-公开
标题翻译：用于数字化髋关节植入部件的位置和方向信息的装置，方法和系统
公开(公告)号：US20060287613A1
公开(公告)日：2006-12-21
申请号：US10570630
申请日：2004-09-07
申请人： Louis-Phillippe Amiot , Herbert Jansen , Isabelle Fontaine , Daniel Odermatt
发明人： Louis-Phillippe Amiot , Herbert Jansen , Isabelle Fontaine , Daniel Odermatt
IPC分类号： A61B5/103
CPC分类号： A61F2/4657 , A61B34/20 , A61B90/36 , A61B2034/102 , A61B2034/105 , A61B2034/108 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/256 , A61B2090/3983 , A61F2/34 , A61F2/36 , A61F2/367 , A61F2/3676 , A61F2/4684 , A61F2002/30332 , A61F2002/3611 , A61F2002/3625 , A61F2002/365 , A61F2002/4631 , A61F2002/4632 , A61F2002/4658 , A61F2002/4668 , A61F2220/0033 , A61F2310/00011 , A61F2310/00023 , A61F2310/00179
摘要： A device for digitizing a center of rotation of a hip joint implant component with respect to a bone element in computer-assisted surgery. The device comprises a detectable member trackable for position and orientation by a computer-assisted surgery system. A body is connected to the detectable member in a known geometry. The body has a coupling portion adapted to be coupled to the hip joint implant component in a predetermined configuration. The center of rotation of the hip joint implant component is calculable in the predetermined configuration as a function of the known geometry and of the position and orientation of the detectable member.
摘要翻译：一种用于在计算机辅助手术中相对于骨元件数字化髋关节植入物部件的旋转中心的装置。该装置包括可通过计算机辅助手术系统追踪位置和取向的可检测构件。身体以已知的几何形状连接到可检测构件。主体具有适于以预定配置联接到髋关节植入部件的联接部分。髋关节植入物部件的旋转中心可以按照已知几何形状和可检测部件的位置和取向的函数在预定构型中计算。

7. 发明授权

US09167989B2 Systems and methods for measuring parameters in joint replacement surgery 有权
标题翻译：关节置换手术中参数测量的系统和方法
公开(公告)号：US09167989B2
公开(公告)日：2015-10-27
申请号：US13234190
申请日：2011-09-16
申请人： Daniel Odermatt , Matthew Thompson
发明人： Daniel Odermatt , Matthew Thompson
IPC分类号： A61B19/00 , A61B5/06 , A61B5/107 , A61B5/00
CPC分类号： A61B5/06 , A61B5/107 , A61B5/4528 , A61B5/4571 , A61B5/4851 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/76 , A61B90/37 , A61B2034/107 , A61B2505/05 , G06F19/00 , G16H50/50
摘要： A computer-implemented method for determining changes in parameters of a hip joint due to modification of the hip joint comprises establishing a first position of a pre-operative center of rotation of the joint in a first coordinate space. The method further comprises estimating a second position of the pre-operative center of rotation of the joint in the first coordinate space, when the estimated pre-operative center of rotation is maintained in a constant position in a second coordinate space. A change in a parameter associated with the joint is determined based on the first and second positions of the pre-operative center of rotation of the joint.
摘要翻译：用于确定由于髋关节修改的髋关节的参数变化的计算机实现的方法包括在第一坐标空间中建立关节的手术前旋转中心的第一位置。该方法进一步包括当估计的手术前旋转中心保持在第二坐标空间中的恒定位置时，估计第一坐标空间中关节的手术前旋转中心的第二位置。基于关节的手术前旋转中心的第一和第二位置确定与关节相关联的参数的变化。

8. 发明授权

US08790351B2 Hip replacement in computer-assisted surgery 有权
标题翻译：髋关节置换术在计算机辅助手术中
公开(公告)号：US08790351B2
公开(公告)日：2014-07-29
申请号：US12249393
申请日：2008-10-10
申请人： François Paradis , Louis-Philippe Amiot , Daniel Odermatt
发明人： François Paradis , Louis-Philippe Amiot , Daniel Odermatt
IPC分类号： A61B17/58 , A61B17/60 , A61F2/00
CPC分类号： A61B34/73 , A61B17/1666 , A61B34/10 , A61B34/20 , A61F2/4609
摘要： A system for calculating a position and orientation of an acetabular cup in computer-assisted surgery comprises a first trackable reference secured to a pelvis, with a frame of reference being associated with the first trackable reference. A device is positionable between a femoral neck and the acetabulum of the pelvis in a known relation, the device having a second trackable reference. Sensors track the trackable references for position and orientation. A position/orientation calculator calculates a position and orientation of the frame of reference and of the device and for determining an orientation of the neck axis with respect to the frame of reference from the known relation at a desired position of the femur. An implant position/orientation calculator provides cup implanting information with respect to the orientation of said neck axis as a function of the tracking for position and orientation of at least the first trackable reference.
摘要翻译：用于计算计算机辅助手术中的髋臼杯的位置和取向的系统包括固定到骨盆的第一可跟踪参考，其中参考系与第一可追踪参考相关联。一种装置可以以已知的关系定位在股骨颈与骨盆的髋臼之间，该装置具有第二可追踪参考。传感器跟踪可追踪的位置和方位。位置/姿态计算器计算参考系和装置的位置和方向，并且用于根据在股骨的期望位置处的已知关系来确定颈部轴线相对于参照系的取向。植入物位置/取向计算器提供相对于所述颈部轴线的取向的杯子注入信息，作为至少第一可追踪参考物的位置和取向的跟踪的函数。

9. 发明授权

US08449551B2 Device, method and system for digitizing position and orientation information of hip joint implant components 有权
标题翻译：用于数字化髋关节植入部件的位置和方向信息的装置，方法和系统
公开(公告)号：US08449551B2
公开(公告)日：2013-05-28
申请号：US13165822
申请日：2011-06-22
申请人： Louis-Philippe Amiot , Herbert André Jansen , Isabelle Fontaine , Daniel Odermatt
发明人： Louis-Philippe Amiot , Herbert André Jansen , Isabelle Fontaine , Daniel Odermatt
IPC分类号： A61B17/58 , A61B17/60 , A61F2/00
CPC分类号： A61F2/4657 , A61B34/20 , A61B90/36 , A61B2034/102 , A61B2034/105 , A61B2034/108 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/256 , A61B2090/3983 , A61F2/34 , A61F2/36 , A61F2/367 , A61F2/3676 , A61F2/4684 , A61F2002/30332 , A61F2002/3611 , A61F2002/3625 , A61F2002/365 , A61F2002/4631 , A61F2002/4632 , A61F2002/4658 , A61F2002/4668 , A61F2220/0033 , A61F2310/00011 , A61F2310/00023 , A61F2310/00179
摘要： A device (10,10′,20,20′) for digitizing a center of rotation of a hip joint implant component (A,F) with respect to a bone element in computer-assisted surgery. The device (10,10′,20,20′) comprises a detectable member (12,22) trackable for position and orientation by a computer-assisted surgery system (30). A body (11,21) is connected to the detectable member (12,22) in a known geometry. The body (11,21) has a coupling portion (14,14′,24,25) adapted to be coupled to the hip joint implant component (A,F) in a predetermined configuration. The center of rotation of the hip joint implant component (A,F) is calculable in the predetermined configuration as a function of the known geometry and of the position and orientation of the detectable member (12,22).
摘要翻译：一种用于在计算机辅助手术中相对于骨元件数字化髋关节植入部件（A，F）的旋转中心的装置（10,10'，20,20'）。所述装置（10,10'，20,20'）包括可由计算机辅助手术系统（30）跟踪以用于位置和取向的可检测构件（12,22）。主体（11,21）以已知的几何形状连接到可检测构件（12,22）。主体（11,21）具有适于以预定配置联接到髋关节植入部件（A，F）的联接部分（14,14'，24,25）。髋关节植入物组件（A，F）的旋转中心可根据已知几何形状和可检测构件（12,22）的位置和取向的函数在预定构造中计算。

10. 发明申请

US20120209419A1 System and Method for Surgical Planning 审中-公开
标题翻译：手术计划系统与方法
公开(公告)号：US20120209419A1
公开(公告)日：2012-08-16
申请号：US13178148
申请日：2011-07-07
申请人： Hyosig Kang , Daniel Odermatt , Alon Mozes , Chunyan Wu , Miranda Jamieson
发明人： Hyosig Kang , Daniel Odermatt , Alon Mozes , Chunyan Wu , Miranda Jamieson
IPC分类号： G06F7/00 , G06K9/00
CPC分类号： A61B34/10 , A61B2034/107 , G06K2209/055
摘要： A system and method for determining inclination and version of a prosthetic acetabular cup relative to a coronal radiographic plane is provided. The system and method include the identification of a coronal radiographic plane in a three dimensional medical image. The system and method further include the identification of two symmetric landmarks on the pelvis to determine a mediolateral axis. The version and inclination can then be calculated based on the relationship between the axis of the acetabular cup, the coronal radiographic plan, and the mediolateral axis.
摘要翻译：提供了一种用于确定假体髋臼杯相对于冠状放射照相平面的倾斜度和形式的系统和方法。该系统和方法包括在三维医学图像中识别冠状放射线照相平面。该系统和方法还包括在骨盆上识别两个对称的地标以确定中间轴。然后可以基于髋臼杯的轴线，冠状放射照相计划和中间轴之间的关系来计算版本和倾斜度。

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