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1. 发明授权

US09844413B2 System and method for tracking non-visible structure of a body with multi-element fiducial 有权
公开(公告)号：US09844413B2
公开(公告)日：2017-12-19
申请号：US15278213
申请日：2016-09-28
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon , Martin Gregory Beckett
IPC分类号： A61B34/20 , H04N13/02 , A61C1/08 , G06T7/73 , G06T7/00 , A61B90/00
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/363 , A61B2090/364 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/082 , G06T7/0014 , G06T7/74 , G06T2207/30036 , G06T2207/30204 , H04N13/20
摘要： A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers with at least one pattern segment. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. Scan data and image information is used by the controller to provide the user with real time information on relative 3D locations and orientations of instruments and the non-visible structure of the body. The monitoring system may be used to model and track changes in the body itself. A model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.

2. 发明申请

US20140228675A1 SURGICAL LOCATION MONITORING SYSTEM AND METHOD 审中-公开
标题翻译：手术位置监测系统及方法
公开(公告)号：US20140228675A1
公开(公告)日：2014-08-14
申请号：US13822358
申请日：2012-10-21
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC.
发明人： Ehud (Udi) Daon
IPC分类号： A61B5/06
CPC分类号： A61B5/064 , A61B5/055 , A61B6/032 , A61B6/12 , A61B6/14 , A61B10/0233 , A61B34/20 , A61B90/16 , A61B2017/00477 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082
摘要： A surgical hardware and software monitoring system and method allows for surgical planning while the patient is available for surgery, for example while the patient is being prepared for surgery so that the system may model the surgical site. Tracker obtains image information, with controller configured to spatially relate image information with previously obtained scan data. Fiducial reference is configured for removably attaching to a location proximate a surgical site. The fiducial reference is observable by the tracker so that software of the controller determines three-dimensional location and orientation based on scan data and image data of the surgical site, spatially relating the image information to the scan data to determine the three-dimensional location and the orientation of the fiducial reference. In one embodiment, the model may be used to track contemplated surgical procedures and warn the physician regarding possible boundary violations that would indicate an inappropriate location in a surgical procedure. In another embodiment, the monitoring system may track the movement of instruments during the procedure and in reference to the model to enhance observation of the procedure. In a further embodiment the monitoring system can be used to model and track the changes in the surgical site itself.
摘要翻译：手术硬件和软件监测系统和方法允许在患者可用于手术时进行手术计划，例如当患者准备手术时，使得系统可以建模手术部位。跟踪器获取图像信息，控制器配置为将图像信息与先前获得的扫描数据空间相关。基准参考构造用于可移除地附接到手术部位附近的位置。跟踪器可观察到基准参考，使得控制器的软件基于手术部位的扫描数据和图像数据来确定三维位置和取向，将图像信息与扫描数据空间相关以确定三维位置，并且基准的方向。在一个实施例中，该模型可以用于跟踪预期的手术过程并且警告医师关于在外科手术中指示不适当位置的可能的边界违规。在另一个实施例中，监视系统可以在程序期间和参考模型跟踪仪器的移动，以增强对程序的观察。在另一实施例中，监测系统可用于建模和跟踪手术部位本身的变化。

3. 发明授权

US09585721B2 System and method for real time tracking and modeling of surgical site 有权
标题翻译：手术部位实时跟踪和建模的系统和方法
公开(公告)号：US09585721B2
公开(公告)日：2017-03-07
申请号：US14645927
申请日：2015-03-12
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon
IPC分类号： A61B5/055 , A61B19/00 , A61B6/12 , A61B6/03 , A61B8/08 , A61B5/06 , A61B17/3211 , A61C1/08 , A61B5/00 , A61B6/14 , A61B10/02 , A61C1/00 , A61B17/00
CPC分类号： A61B90/39 , A61B5/0088 , A61B5/055 , A61B5/064 , A61B6/032 , A61B6/12 , A61B6/14 , A61B8/0841 , A61B10/0233 , A61B17/3211 , A61B34/20 , A61B90/16 , A61B2017/00477 , A61B2034/2065 , A61B2090/363 , A61B2090/3925 , A61B2090/3937 , A61B2090/3954 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082
摘要： The present invention involves a surgical site monitoring system and associated method of use employing vectorized 3D-tracking markers attached to a single vectorized fiducial reference and to a surgical site imaging sensor. A tracker obtains image information about both tracking markers and uses either the markings on or shapes of the tracking markers to determine from the image information the 3D locations and orientations of the imaging sensor and of the fiducial reference fixed to the surgical site. A scan taken of the surgical site prior to a surgical procedure with the fiducial reference attached allows live images of the surgery site to be sourced from the imaging sensor and to be overlaid in real time on a 3D model of the surgical site.
摘要翻译：本发明涉及一种外科手术部位监测系统及其相关联的使用方法，其使用附接到单个矢量化基准参考的矢量化3D跟踪标记和手术部位成像传感器。跟踪器获取关于两个跟踪标记的图像信息，并且使用跟踪标记上的标记或者跟踪标记的形状从图像信息中确定成像传感器的3D位置和取向以及固定到手术部位的基准参考。在外科手术之前使用基准参考进行的外科手术部位的扫描允许手术部位的实时图像来自成像传感器，并且实时覆盖在手术部位的3D模型上。

4. 发明申请

US20150132720A1 SURGICAL LOCATION MONITORING SYSTEM AND METHOD 有权
标题翻译：手术位置监测系统及方法
公开(公告)号：US20150132720A1
公开(公告)日：2015-05-14
申请号：US14599149
申请日：2015-01-16
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon
IPC分类号： A61B19/00 , A61C19/04 , A61B8/08 , A61B6/12 , A61B5/06 , A61B5/055 , A61B6/03
CPC分类号： A61B90/39 , A61B1/00 , A61B1/24 , A61B5/055 , A61B5/06 , A61B5/062 , A61B5/064 , A61B5/72 , A61B6/032 , A61B6/12 , A61B6/14 , A61B6/145 , A61B6/52 , A61B8/0841 , A61B10/0233 , A61B17/3211 , A61B34/20 , A61B90/16 , A61B2017/00477 , A61B2090/3925 , A61B2090/3954 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082 , A61C3/02 , A61C19/04
摘要： The present invention involves a surgical hardware and software monitoring system and method which allows for surgical planning while the patient is available for surgery, for example while the patient is being prepared for surgery so that the system may model the surgical site. In one embodiment, the model may be used to track contemplated surgical procedures and warn the physician regarding possible boundary violations that would indicate an inappropriate location in a surgical procedure. In another embodiment, the hardware may track the movement of instruments during the procedure and in reference to the model to enhance observation of the procedure.
摘要翻译：本发明涉及一种手术硬件和软件监测系统和方法，其允许在患者可用于手术的情况下进行手术计划，例如当患者正在准备手术时，使得系统可以对外科手术部位进行建模。在一个实施例中，该模型可以用于跟踪预期的手术过程并且警告医师关于在外科手术中指示不适当位置的可能的边界违规。在另一个实施例中，硬件可以在过程期间和参考模型跟踪仪器的运动，以增强对过程的观察。

5. 发明申请

US20140309523A1 THREE-DIMENSIONAL EXTRACTION TRACKING FOR IMPLANT MODELING 审中-公开
标题翻译：用于植入建模的三维提取跟踪
公开(公告)号：US20140309523A1
公开(公告)日：2014-10-16
申请号：US14252340
申请日：2014-04-14
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon , Martin Gregory Beckett
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B2034/104 , A61B2034/105 , A61B2034/108 , A61B2034/2055 , A61B2034/2065 , A61B2090/3966 , A61B2090/3983 , G16H50/50 , Y10T29/49764
摘要： A method for making an insert for a bone structure located within a surgical site comprises operating on the bone structure with a materials removing tool to remove materials from the bone structure; tracking in three dimensions the location and orientation of the bone structure; tracking in three dimensions the location and orientation of the working tip of the materials removing tool; creating a software model of the materials volume removed from the bone structure; and making the insert based on model data within the software model. An associated system comprises a controller and a tracker for tracking a 3-D tracking marker rigidly attached to the bone structure and a 3-D tracking marker rigidly attached to the materials removing tool. A manufacturing device is used to manufacture the insert based on the model data from the controller.
摘要翻译：一种用于制造位于外科手术部位内的骨骼结构的插入物的方法包括用骨料结构用骨料结构去除材料去除工具，以从骨结构中去除材料; 三维跟踪骨骼结构的位置和方向; 三维跟踪材料去除工具工作尖端的位置和方向; 创建从骨骼结构中移除的材料体积的软件模型; 并根据软件模型中的模型数据进行插入。相关联的系统包括用于跟踪刚性地附接到骨结构的3-D跟踪标记的控制器和跟踪器，以及刚性地附接到材料移除工具的3-D跟踪标记。基于来自控制器的型号数据，制造装置用于制造插入件。

6. 发明授权

US12070365B2 System and method for determining the three-dimensional location and orientation of identification markers 有权
公开(公告)号：US12070365B2
公开(公告)日：2024-08-27
申请号：US17692437
申请日：2022-03-11
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon , Martin Gregory Beckett
IPC分类号： A61B90/94 , A61B90/00 , A61C1/08
CPC分类号： A61B90/94 , A61B90/39 , A61C1/082 , A61B2090/3937 , A61B2090/3983 , A61C2204/005
摘要： The present invention relates to a tool system comprising a handheld implement having a passive vectorized tracking marker permanently integrated with the implement at a predetermined location on the implement in a predetermined orientation with respect to the implement; and a database comprising geometric information describing the at least one of a rotationally asymmetric shape of the tracking marker and a rotationally asymmetric pattern disposed on the tracking marker. The system may further comprise: a tracker configured for obtaining image information about the tracking marker when the tracking marker is in a field of view of the tracker; and a controller having a processor and memory, the controller in communication with the database and the tracker, the processor programmable for receiving and processing image information from the tracker; accessing the database to retrieve the geometric information; and comparing the image information with the geometric information. The handheld implement may be three-dimensionally tracked by the tracker.

7. 发明授权

US09456122B2 System and method for focusing imaging devices 有权
标题翻译：用于聚焦成像设备的系统和方法
公开(公告)号：US09456122B2
公开(公告)日：2016-09-27
申请号：US14458186
申请日：2014-08-12
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon , Martin Gregory Beckett , Christopher Black
IPC分类号： H04N5/222 , H04N5/232 , H04N5/225 , H04N1/00 , G06K9/00
CPC分类号： H04N5/23212 , G06K9/00624 , G06T7/20 , G06T7/579 , G06T7/60 , G06T2207/30204 , H04N1/00339 , H04N1/00342 , H04N5/2224 , H04N5/2254
摘要： A system and method for automatically focusing imaging devices on an imaging set employs at least one tracker and two or more tracking markers, each tracking marker having an identification means and a tracking pattern. The tracking markers are configured for attaching to the imaging devices and to corresponding subjects to be imaged. A tracker gathers image information of the imaging set and provides it to a controller, which compares the image information to predetermined stored information about the tracking patterns of the various tracking markers. The tracking markers are identified and their three-dimensional positions determined. The distances between the imaging devices and the subjects are determined and the distances between the imaging devices and the subjects are calculated. This provides the focus setting information for communication to the imaging devices. The tracking patterns may have no rotational symmetry, allowing the orientation of subjects to be determined.
摘要翻译：用于将成像装置自动聚焦在成像组上的系统和方法采用至少一个跟踪器和两个或更多个跟踪标记，每个跟踪标记具有识别装置和跟踪图案。跟踪标记被配置为附接到成像装置和要被成像的相应对象。跟踪器收集成像集合的图像信息并将其提供给控制器，其将图像信息与预定存储的关于各种跟踪标记的跟踪图案的信息进行比较。识别跟踪标记并确定其三维位置。确定成像装置与受试者之间的距离，并且计算成像装置和受试者之间的距离。这提供了用于与成像装置的通信的聚焦设置信息。跟踪图案可以不具有旋转对称性，允许确定受试者的取向。

8. 发明申请

US20160078627A1 SYSTEM AND METHOD FOR DETERMINING THE THREE-DIMENSIONAL LOCATION AND ORIENATION OF IDENTIFICATION MARKERS 有权
标题翻译：用于确定三维位置的系统和方法以及识别标记的定位
公开(公告)号：US20160078627A1
公开(公告)日：2016-03-17
申请号：US14953385
申请日：2015-11-29
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon , Martin Gregory Beckett
IPC分类号： G06T7/00 , A61B6/00 , G06T7/60 , A61B6/14 , G06K9/32 , G06T7/20
CPC分类号： A61B6/563 , A61B6/14 , A61B34/20 , A61B90/39 , A61B90/94 , A61B2034/2065 , A61B2090/367 , A61B2090/378 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983 , A61B2560/0475 , G06T7/11 , G06T7/20 , G06T7/60 , G06T7/74 , G06T2200/04 , G06T2207/30036 , G06T2207/30052 , Y10S128/922 , Y10S128/923
摘要： A three-dimensional position and orientation tracking system comprises one or more pattern tags, each comprising a plurality of contrasting portions, a tracker for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information with the geometric information. The contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag comprising a perimeter with a polygonal shape. The pattern tags may be borne on tracking markers that have a three-dimensional shaped surface. The tracking system can be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. A method associated with the system employs the rotationally asymmetric patterns on the tags to determine the three-dimensional locations and orientations of items bearing the tags using non-stereo image information.
摘要翻译：三维位置和方向跟踪系统包括一个或多个图案标签，每个图案标签包括多个对比部分，用于获取关于图案标签的图像信息的跟踪器，具有描述图案标签上的图案的几何信息的数据库; 以及控制器，用于从跟踪器接收和处理图像信息，访问数据库以检索几何信息，以及将图像信息与几何信息进行比较。对比部分以旋转非对称图案布置，并且图案标签上的至少一个对比部分包括具有多边形形状的周边。模式标签可以承载在具有三维形状表面的跟踪标记上。跟踪系统可以在手术监视系统中实现，其中模式标签附接到跟踪标记或本身是跟踪标记。与系统相关联的方法使用标签上的旋转非对称图案来确定使用非立体图像信息的带有标签的物品的三维位置和取向。

9. 发明授权

US09198737B2 System and method for determining the three-dimensional location and orientation of identification markers 有权
标题翻译：用于确定识别标记的三维位置和方向的系统和方法
公开(公告)号：US09198737B2
公开(公告)日：2015-12-01
申请号：US14562691
申请日：2014-12-06
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon , Martin Gregory Beckett
IPC分类号： G06K9/00 , A61B19/00
CPC分类号： A61B19/54 , A61B34/20 , A61B90/39 , A61B2090/3937 , A61B2090/3983 , G06K9/00201 , G06K9/00624 , G06K2209/057 , Y10S128/922 , Y10S128/923
摘要： A three-dimensional position and orientation tracking system comprises one or more pattern tags, each comprising a plurality of contrasting portions, a tracker for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information with the geometric information. The contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section. The pattern tags may be borne on tracking markers that have a three-dimensional shaped surface. The tracking system can be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. A method associated with the system employs the rotationally asymmetric patterns on the tags to determine the three-dimensional locations and orientations of items bearing the tags using non-stereo image information.
摘要翻译：三维位置和方向跟踪系统包括一个或多个图案标签，每个图案标签包括多个对比部分，用于获取关于图案标签的图像信息的跟踪器，具有描述图案标签上的图案的几何信息的数据库; 以及控制器，用于从跟踪器接收和处理图像信息，访问数据库以检索几何信息，以及将图像信息与几何信息进行比较。对比部分以旋转非对称图案布置，并且图案标签上的对比部分中的至少一个具有具有数学上可描述的弯曲部分的周边。模式标签可以承载在具有三维形状表面的跟踪标记上。跟踪系统可以在手术监视系统中实现，其中模式标签附接到跟踪标记或本身是跟踪标记。与系统相关联的方法使用标签上的旋转非对称图案来确定使用非立体图像信息的带有标签的物品的三维位置和取向。

10. 发明授权

US09489738B2 System and method for tracking non-visible structure of a body with multi-element fiducial 有权
标题翻译：用于跟踪具有多元素基准的身体的不可见结构的系统和方法
公开(公告)号：US09489738B2
公开(公告)日：2016-11-08
申请号：US14257024
申请日：2014-04-21
申请人： Navigate Surgical Technologies, Inc.
发明人： Ehud (Udi) Daon , Martin Gregory Beckett
IPC分类号： H04N13/00 , G06T7/00 , H04N13/02 , A61C1/08
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/363 , A61B2090/364 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/082 , G06T7/0014 , G06T7/74 , G06T2207/30036 , G06T2207/30204 , H04N13/20
摘要： A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information is used by the controller to provide the user with real time information on the relative 3D locations and orientations of instruments and non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track changes in the body itself. In other embodiments, a model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
摘要翻译：监控系统在三个维度上跟踪身体的不可见结构。跟踪器获取其附近的物体和仪器的图像信息，所有这些都具有3D跟踪标记。控制器在空间上将图像信息与先前获得的显示对象的不可见结构的对象的扫描数据相关联。对于扫描，扫描中可检测的基准参考可移除地附着到物体上的位置。控制器使用扫描数据和图像信息来向用户提供关于仪器的相对3D位置和取向以及身体的不可见结构的实时信息。在另一实施例中，监视系统可用于对身体本身的变化进行建模和跟踪。在其他实施例中，使用身体和器械的模型来跟踪预期的动作并警告可能不适当的仪器过程。

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