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1. 发明授权

US08657809B2 Surgical navigation system 有权
标题翻译：手术导航系统
公开(公告)号：US08657809B2
公开(公告)日：2014-02-25
申请号：US12893821
申请日：2010-09-29
申请人： Hans Schoepp
发明人： Hans Schoepp
IPC分类号： A61B19/00
CPC分类号： A61B90/361 , A61B5/061 , A61B5/6832 , A61B34/20 , A61B2017/0023 , A61B2017/00738 , A61B2034/2055 , A61B2034/2057 , A61B2034/207 , A61B2034/2072 , A61B2090/364 , A61B2090/3983
摘要： A surgical navigation system is disclosed including a camera that is fixedly attached to a patient. The camera space merges with the patient space and thereby eliminates the need for a separate patient tracker. The surgical navigation system calculates the position of a surgical tool with a tracking device in view of the camera and shows on a display device the position of the surgical tool with respect to the patient superimposed and in correlation with a scan image of the patient.
摘要翻译：公开了一种手术导航系统，其包括固定地附接到患者的照相机。相机空间与患者空间合并，从而消除了对单独的患者跟踪器的需要。手术导航系统根据相机计算具有跟踪装置的外科手术工具的位置，并且在显示装置上显示外科手术工具相对于病人的位置，并与患者的扫描图像相关联。

2. 发明申请

US20110069867A1 TECHNIQUE FOR REGISTERING IMAGE DATA OF AN OBJECT 有权
标题翻译：用于注册对象的图像数据的技术
公开(公告)号：US20110069867A1
公开(公告)日：2011-03-24
申请号：US12886823
申请日：2010-09-21
申请人： Ulrich Buehner , Lars Metz , Amir Sarvestani , Hans Schoepp
发明人： Ulrich Buehner , Lars Metz , Amir Sarvestani , Hans Schoepp
IPC分类号： G06K9/00 , G06K9/32
CPC分类号： A61B34/20 , A61B90/39 , A61B2017/00221 , A61B2017/00951 , A61B2034/2055 , A61B2034/2065 , A61B2034/2068 , A61B2034/2072 , A61B2090/0818 , A61B2090/363 , A61B2090/374 , A61B2090/3762 , A61B2090/3983 , A61B2090/3995
摘要： A technique of registering image data of an object 112 with at least one of a location and an orientation of the object 112 is provided. A method embodiment of this technique comprises the step of providing three-dimensional image data generated for the object 112, the image data being representative of at least a portion of the object 112 and of reference markings 130 associated with the object 112. The reference markings 130 have a known spatial relationship with a registration tracker 122 adapted to be tracked by a navigation system 100. The method further comprises providing registration tracking data representative of at least one of a spatial location and a spatial orientation of the registration tracker 122 and providing object tracking data representative of at least one of a spatial location and a spatial orientation of an object tracker adapted to be tracked by the navigation system. The object tracker 124 has a fixed spatial relationship with the object 112. In a next step, the method calculates from the registration tracking data and the object tracking data for a given point in time the relative position between the registration tracker 122 and the object tracker 124. Than, registered image data is generated representative of at least one of the location and the orientation of the object 112 taking into account the spatial relationship between the reference markings 130 and the registration tracker 122 on the one hand and the relative position between the registration tracker 122 and the object tracker 124 on the other.
摘要翻译：提供了用对象112的位置和取向中的至少一个来登记对象112的图像数据的技术。该技术的方法实施例包括提供为对象112生成的三维图像数据的步骤，图像数据表示对象112的至少一部分以及与对象112相关联的参考标记130.参考标记 130具有与适于由导航系统100跟踪的注册跟踪器122的已知的空间关系。该方法还包括提供表示注册跟踪器122的空间位置和空间取向和提供对象中的至少一个的注册跟踪数据跟踪表示适于由导航系统跟踪的对象跟踪器的空间位置和空间取向中的至少一个的数据。对象跟踪器124与对象112具有固定的空间关系。在下一步骤中，该方法针对给定时间点的注册跟踪数据和对象跟踪数据计算注册跟踪器122和对象跟踪器之间的相对位置考虑到参考标记130和注册跟踪器122之间的空间关系以及一方面的相对位置之间的相对位置，生成表示对象112的位置和取向中的至少一个的登记图像数据。注册跟踪器122和对象跟踪器124。

3. 发明授权

US09387008B2 Axial surgical trajectory guide, and method of guiding a medical device 有权
标题翻译：轴向手术轨迹指南，以及引导医疗器械的方法
公开(公告)号：US09387008B2
公开(公告)日：2016-07-12
申请号：US13228083
申请日：2011-09-08
申请人： Amir Sarvestani , Hans Schoepp , Klaus Welte
发明人： Amir Sarvestani , Hans Schoepp , Klaus Welte
IPC分类号： A61B5/05 , A61B17/34 , A61B19/00 , A61B17/00
CPC分类号： A61B17/3403 , A61B5/05 , A61B90/11 , A61B2017/00221 , A61B2017/3407 , A61B2090/067
摘要： A surgical trajectory guide to guide a medical device to a pivot point has a base that can be attached to a patient, an axial guide member connected with the base and aligned with a pivot point along a first axis in fixed relation to the base and a second axis perpendicular to the first axis. The guide member has a longitudinal axis, and is connected to the base such that the longitudinal axis always passes through the pivot point, and the axial guide member is prevented from rotating around the longitudinal axis. The guide further has at least one electronic angle sensor that can automatically sense a first angle of the axial guide member relative to the local gravity vector about the first axis and a second angle of the axial guide member relative to the local gravity vector about the second axis without having to level the base.
摘要翻译：用于将医疗装置引导到枢转点的手术轨迹引导件具有可以附接到患者的基部，与基部连接的轴向引导构件并且与第一轴线的枢轴点以固定的关系对准，并且第二轴垂直于第一轴。引导构件具有纵向轴线，并且连接到基座，使得纵向轴线总是通过枢转点，并且防止轴向引导构件围绕纵向轴线旋转。引导件还具有至少一个电子角度传感器，其能够相对于围绕第一轴线的局部重力矢量自动感测轴向引导构件的第一角度，并且轴向引导构件相对于围绕第二轴线的局部重力矢量的第二角度而不必对基座进行调平。

4. 发明授权

US07736371B2 Trajectory guide 失效
标题翻译：轨迹指南
公开(公告)号：US07736371B2
公开(公告)日：2010-06-15
申请号：US11698445
申请日：2007-01-26
申请人： Hans Schoepp
发明人： Hans Schoepp
IPC分类号： A61B19/00
CPC分类号： A61B17/3403 , A61B17/3462 , A61B17/3472 , A61B90/11 , A61B2017/3407 , A61B2017/347 , A61B2017/3484 , A61B2017/349 , A61B2017/3492 , A61B2090/103
摘要： A trajectory guide includes a guide body defining a selected trajectory through an entry aperture or opening, engagement surfaces for insertion into the entry aperture, and a fixing mechanism coupling the guide body with the engagement surfaces. The engagement surfaces may be easily fixed within an entry aperture and the guide body positioned in a selected orientation using the fixing mechanism to provide simple mounting of the trajectory guide. In some instances, the engagement surfaces may be fixed within the entry aperture and the guide body fixed in a selected orientation with a single fixation motion.
摘要翻译：轨迹引导件包括通过入口孔或开口限定所选轨迹的引导体，用于插入进入孔的接合表面以及将引导体与接合表面联接的固定机构。接合表面可以容易地固定在入口孔内，并且引导体使用固定机构定位在选定的方向，以提供轨迹引导件的简单安装。在一些情况下，接合表面可以固定在入口孔内，并且引导体以单一的固定运动固定在选定的方位。

5. 发明申请

US20100039506A1 System for and method of visualizing an interior of body 有权
标题翻译：身体内部可视化的系统和方法
公开(公告)号：US20100039506A1
公开(公告)日：2010-02-18
申请号：US12583148
申请日：2009-08-14
申请人： Amir Sarvestani , Hans Schoepp , Klaus Welte
发明人： Amir Sarvestani , Hans Schoepp , Klaus Welte
IPC分类号： H04N7/18 , G09G5/00 , G06K9/46 , G06K9/00
CPC分类号： A61B34/20 , A61B90/361 , A61B2034/2055 , A61B2090/365 , A61B2090/372 , A61B2090/3937 , A61B2090/3983 , A61B2090/3995
摘要： A navigation system includes a display monitor, a CPU, and a camera, wherein the camera is mounted to a back side of the display monitor to form a monitor unit. One or more reference units are placed on a body while acquiring an image data set, and are tracked during a surgical operation by the monitor unit to register and correlate a position of a visual image of an exterior surface of the body with the image data set including information concerning internal structures of the body. The image data set is displayed on the display monitor superimposed in registration over the visible image of the exterior of the body with an angle of view and aperture in accordance with the actual position of the camera, whereby the display monitor displays the internal structures corresponding to the line-of-sight of the camera and the observer.
摘要翻译：导航系统包括显示监视器，CPU和照相机，其中相机被安装到显示监视器的背面以形成监视器单元。一个或多个参考单元被放置在身体上，同时获取图像数据集，并且在外科手术期间由监视器单元跟踪身体的外部表面的视觉图像的位置与图像数据集包括有关身体内部结构的信息。根据照相机的实际位置，将图像数据组显示在显示监视器上，该显示监视器重叠地按照摄像机的实际位置以对角度和光圈对准在身体外观的可视图像上，由此显示监视器显示对应于摄像机和观察者的视线。

6. 发明申请

US20090088630A1 Surgical navigation tracker, system and method 审中-公开
标题翻译：手术导航跟踪器，系统和方法
公开(公告)号：US20090088630A1
公开(公告)日：2009-04-02
申请号：US11978262
申请日：2008-01-07
申请人： Jose Luis Moctezuma de la Barrera , Amir Sarvestani , Markus Jan Boehringer , Hans Schoepp , Ulrich Buehner
发明人： Jose Luis Moctezuma de la Barrera , Amir Sarvestani , Markus Jan Boehringer , Hans Schoepp , Ulrich Buehner
IPC分类号： A61B5/05
CPC分类号： A61B90/36 , A61B34/20 , A61B34/25 , A61B2017/00477 , A61B2034/2055 , A61B2034/256 , A61B2090/3983
摘要： An adapter can be easily used to assist a surgical navigation system to determine the effector axis or the effector plane of a surgical device. The adapter has a body with a geometrical feature, the geometrical feature has a known relation with a navigation tracker device that can be attached to the adapter. When the adapter is held against a surgical device in a non-fixed manner, the effector axis or the effector plane of the device can be tracked by the surgical navigation system. The method includes a calibration method to determine the known relation between the effector axis or the effector plane and the location of the navigation tracker.
摘要翻译：适配器可以容易地用于辅助手术导航系统来确定外科手术装置的效应器轴或效应器平面。适配器具有具有几何特征的主体，几何特征与可以附接到适配器的导航跟踪器设备具有已知关系。当适配器以非固定的方式固定在手术装置上时，该装置的效应器轴或效应平面可由外科导航系统跟踪。该方法包括用于确定效应器轴线或效应器平面之间的已知关系和导航跟踪器的位置的校准方法。

7. 发明申请

US20050288575A1 Surgical navigation tracker, system and method 有权
标题翻译：手术导航跟踪器，系统和方法
公开(公告)号：US20050288575A1
公开(公告)日：2005-12-29
申请号：US11148520
申请日：2005-06-09
申请人： Jose Luis de la Barrera , Amir Sarvestani , Markus Boehringer , Hans Schoepp , Ulrich Buehner
发明人： Jose Luis de la Barrera , Amir Sarvestani , Markus Boehringer , Hans Schoepp , Ulrich Buehner
IPC分类号： A61B19/00 , A61B5/05
CPC分类号： A61B90/36 , A61B34/20 , A61B34/25 , A61B2017/00477 , A61B2034/2055 , A61B2034/256 , A61B2090/3983
摘要： An adapter can be easily used to assist a surgical navigation system to determine the effector axis or the effector plane of a surgical device. The adapter has a body with a geometrical feature, the geometrical feature has a known relation with a navigation tracker device that can be attached to the adapter. When the adapter is held against a surgical device in a non-fixed manner, the effector axis or the effector plane of the device can be tracked by the surgical navigation system. The method includes a calibration method to determine the known relation between the effector axis or the effector plane and the location of the navigation tracker.
摘要翻译：适配器可以容易地用于辅助手术导航系统来确定外科手术装置的效应器轴或效应器平面。适配器具有具有几何特征的主体，几何特征与可以附接到适配器的导航跟踪器设备具有已知关系。当适配器以非固定的方式固定在手术装置上时，该装置的效应器轴或效应平面可由外科导航系统跟踪。该方法包括用于确定效应器轴线或效应器平面之间的已知关系和导航跟踪器的位置的校准方法。

8. 发明授权

US08483434B2 Technique for registering image data of an object 有权
标题翻译：用于注册对象的图像数据的技术
公开(公告)号：US08483434B2
公开(公告)日：2013-07-09
申请号：US12886823
申请日：2010-09-21
申请人： Ulrich Buehner , Lars Metz , Amir Sarvestani , Hans Schoepp
发明人： Ulrich Buehner , Lars Metz , Amir Sarvestani , Hans Schoepp
IPC分类号： G06K9/00 , G06K9/32
CPC分类号： A61B34/20 , A61B90/39 , A61B2017/00221 , A61B2017/00951 , A61B2034/2055 , A61B2034/2065 , A61B2034/2068 , A61B2034/2072 , A61B2090/0818 , A61B2090/363 , A61B2090/374 , A61B2090/3762 , A61B2090/3983 , A61B2090/3995
摘要： Three-dimensional image data generated for an object is representative of at least a portion of the object and of reference markings associated with the object. The reference markings have a known spatial relationship with a registration tracker tracked by a navigation system. Registration tracking data/object tracking data, each representative of at least one of a spatial location and a spatial orientation of the registration tracker/object tracker respectively, are provided. The object tracker has a fixed spatial relationship with the object. The relative position between the registration tracker and the object tracker is calculated from the registration tracking data and the object tracking data for a given point in time. Registered image data is generated representative of the location or the orientation of the object, taking into account the spatial relationship between the reference markings and the registration tracker, and the relative position between the registration tracker and the object tracker.
摘要翻译：为对象生成的三维图像数据代表与对象相关联的对象和参考标记的至少一部分。参考标记与由导航系统跟踪的注册跟踪器具有已知的空间关系。提供了分别代表注册跟踪器/对象跟踪器的空间位置和空间取向中的至少一个的注册跟踪数据/对象跟踪数据。对象跟踪器与对象具有固定的空间关系。从注册跟踪数据和给定时间点的对象跟踪数据计算注册跟踪器和对象跟踪器之间的相对位置。考虑到参考标记和注册跟踪器之间的空间关系以及注册跟踪器和对象跟踪器之间的相对位置，生成表示对象的位置或取向的注册图像数据。

9. 发明申请

US20120078236A1 Surgical Navigation System 有权
标题翻译：手术导航系统
公开(公告)号：US20120078236A1
公开(公告)日：2012-03-29
申请号：US12893821
申请日：2010-09-29
申请人： Hans Schoepp
发明人： Hans Schoepp
IPC分类号： A61B19/00
CPC分类号： A61B90/361 , A61B5/061 , A61B5/6832 , A61B34/20 , A61B2017/0023 , A61B2017/00738 , A61B2034/2055 , A61B2034/2057 , A61B2034/207 , A61B2034/2072 , A61B2090/364 , A61B2090/3983
摘要： A surgical navigation system is disclosed including a camera that is fixedly attached to a patient. The camera space merges with the patient space and thereby eliminates the need for a separate patient tracker. The surgical navigation system calculates the position of a surgical tool with a tracking device in view of the camera and shows on a display device the position of the surgical tool with respect to the patient superimposed and in correlation with a scan image of the patient.
摘要翻译：公开了一种手术导航系统，其包括固定地附接到患者的照相机。相机空间与患者空间合并，从而消除了对单独的患者跟踪器的需要。手术导航系统根据相机计算具有跟踪装置的外科手术工具的位置，并且在显示装置上显示外科手术工具相对于病人的位置，并与患者的扫描图像相关联。

10. 发明授权

US09248000B2 System for and method of visualizing an interior of body 有权
标题翻译：身体内部可视化的系统和方法
公开(公告)号：US09248000B2
公开(公告)日：2016-02-02
申请号：US12583148
申请日：2009-08-14
申请人： Amir Sarvestani , Hans Schoepp , Klaus Welte
发明人： Amir Sarvestani , Hans Schoepp , Klaus Welte
IPC分类号： A62B1/04 , A61B19/00
CPC分类号： A61B34/20 , A61B90/361 , A61B2034/2055 , A61B2090/365 , A61B2090/372 , A61B2090/3937 , A61B2090/3983 , A61B2090/3995
摘要： A navigation system includes a display monitor, a CPU, and a camera, wherein the camera is mounted to a back side of the display monitor to form a monitor unit. One or more reference units are placed on a body while acquiring an image data set, and are tracked during a surgical operation by the monitor unit to register and correlate a position of a visual image of an exterior surface of the body with the image data set including information concerning internal structures of the body. The image data set is displayed on the display monitor superimposed in registration over the visible image of the exterior of the body with an angle of view and aperture in accordance with the actual position of the camera, whereby the display monitor displays the internal structures corresponding to the line-of-sight of the camera and the observer.
摘要翻译：导航系统包括显示监视器，CPU和照相机，其中相机被安装到显示监视器的背面以形成监视器单元。一个或多个参考单元被放置在身体上，同时获取图像数据集，并且在外科手术期间由监视器单元跟踪身体的外部表面的视觉图像的位置与图像数据集包括有关身体内部结构的信息。根据照相机的实际位置，将图像数据组显示在显示监视器上，该显示监视器重叠地按照摄像机的实际位置以对角度和光圈对准在身体外观的可视图像上，由此显示监视器显示对应于摄像机和观察者的视线。

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