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1. 发明申请

WO2017029203A1 METHOD FOR MAKING A THREE-DIMENSIONALLY TRACKABLE APPARATUS 审中-公开
标题翻译：制造三维可追踪装置的方法
公开(公告)号：WO2017029203A1
公开(公告)日：2017-02-23
申请号：PCT/EP2016/069185
申请日：2016-08-11
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin Gregory , MEDINA RODRIGUEZ, Alvaro Andres
发明人： DAON, Ehud Udi , BECKETT, Martin Gregory , MEDINA RODRIGUEZ, Alvaro Andres
IPC分类号： A61B90/00 , A61B34/20 , A61B34/10 , A61B34/00
CPC分类号： A61B34/20 , A61B34/25 , A61B90/06 , A61B90/36 , A61B2034/102 , A61B2034/2055 , A61B2034/256 , A61B2090/061
摘要： A method for determining the 3D location and orientation of a fiducial reference comprises disposing the fiducial reference so as to render a part of the fiducial reference observable by a tracker; obtaining from the tracker scan data of the part of the fiducial reference that is observable by the tracker; obtaining predetermined geometric information about location points on the fiducial reference, the geometric information containing three-dimensional coordinates of the location points relative to the structure of the fiducial reference; identifying within the scan data at least three location points having coordinates in the predetermined geometric information; and determining from the scan data and the coordinates of the three identified location points in the predetermined geometric information the 3D location and orientation of the fiducial reference. A method is further provided for making a three-dimensionally trackable apparatus by monolithically integrating a vectorized passive tracking marker with the apparatus.
摘要翻译：用于确定基准参考的3D位置和取向的方法包括布置基准参考以便使跟踪器可观察到基准参考的一部分; 从跟踪器获取可由跟踪器观察到的基准参考部分的数据; 获取关于基准参考上的位置点的预定几何信息，该几何信息包含相对于基准参考的结构的位置点的三维坐标; 在所述扫描数据内识别具有所述预定几何信息中的坐标的至少三个位置点; 并根据所述扫描数据和所述预定几何信息中的所述三个识别的位置点的坐标来确定所述基准参考的3D位置和方位。进一步提供一种用于通过将矢量化的被动跟踪标记与该装置整体集成来制造三维跟踪装置的方法。

2. 发明申请

WO2014147601A2 METHOD FOR DETERMINING THE LOCATION AND ORIENTATION OF A FIDUCIAL REFERENCE 审中-公开
标题翻译：用于确定FIDUCAL参考的位置和方向的方法
公开(公告)号：WO2014147601A2
公开(公告)日：2014-09-25
申请号：PCT/IB2014060403
申请日：2014-04-03
申请人： NAVIGATE SURGICAL TECHNOLOGIES INC , DAON EHUD UDI , BECKETT MARTIN GREGORY , MEDINA RODRIGUEZ ALVARO ANDRES
发明人： DAON EHUD UDI , BECKETT MARTIN GREGORY , MEDINA RODRIGUEZ ALVARO ANDRES
IPC分类号： A61B19/00
CPC分类号： A61C1/082 , A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983
摘要： A rigid positioning and orienting portion of a handheld surgical apparatus has a 3D tracking marker monolithically integrated within its structure, and is thereby trackable using a suitable a tracker. The tracker may be a 2D imaging tracker and may be a non- stereo optical tracker. The tracking marker may be monolithically integrated during the manufacture of the apparatus. A surgical monitoring system employing the surgical apparatus, further comprises the tracker, and a single fiducial reference bearing at least three identifiable location points disposed along at least two non-parallel lines. Based on prior scan data of the fiducial reference, the location and orientation of the fiducial reference are determined using the location points despite only a portion of the fiducial being observable by a scanner during the prior scan. An associated method is provided for determining the location and orientation of the tracking marker based on predetermined locations points and image information from a tracker.
摘要翻译：手持式外科手术装置的刚性定位和定向部分具有一体地集成在其结构内的3D跟踪标记，因此可以使用合适的跟踪器进行跟踪。跟踪器可以是2D成像跟踪器，并且可以是非立体声光学跟踪器。跟踪标记可以在装置的制造过程中单片集成。采用外科手术装置的手术监测系统还包括跟踪器，以及沿着至少两条不平行线路布置的至少三个可识别位置点的单个基准参考轴承。基于基准参考的先前扫描数据，使用位置点确定基准参考的位置和取向，尽管在先前扫描期间只有扫描仪可观察到基准的一部分。提供了一种相关联的方法，用于基于来自跟踪器的预定位置点和图像信息来确定跟踪标记的位置和方位。

3. 发明申请

WO2015022339A1 SYSTEM AND METHOD FOR FOCUSING IMAGING DEVICES 审中-公开
标题翻译：用于聚焦成像装置的系统和方法
公开(公告)号：WO2015022339A1
公开(公告)日：2015-02-19
申请号：PCT/EP2014/067280
申请日：2014-08-12
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin, Gregory , MEDINA RODRIGUEZ, Alvaro, Andres , BLACK, Christopher
发明人： DAON, Ehud Udi , BECKETT, Martin, Gregory , MEDINA RODRIGUEZ, Alvaro, Andres , BLACK, Christopher
IPC分类号： H04N5/222
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，该控制器将图像信息与关于各种跟踪标记的跟踪模式的预定存储信息进行比较。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。

4. 发明申请

WO2015022338A1 METHOD FOR DETERMINING THE LOCATION AND ORIENTATION OF A FIDUCIAL REFERENCE 审中-公开
标题翻译：用于确定FIDUCAL参考的位置和方向的方法
公开(公告)号：WO2015022338A1
公开(公告)日：2015-02-19
申请号：PCT/EP2014/067279
申请日：2014-08-12
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin Gregory , MEDINA RODRIGUEZ, Alvaro Andres
发明人： DAON, Ehud Udi , BECKETT, Martin Gregory , MEDINA RODRIGUEZ, Alvaro Andres
IPC分类号： A61B19/00
CPC分类号： A61B5/055 , A61B6/032 , A61B8/14 , A61B19/52 , A61B19/54 , A61B34/20 , A61B90/98 , A61B2019/5287 , A61B2019/5483 , A61B2034/101 , A61B2034/2065 , A61B2090/363 , A61B2090/371 , A61B2090/3966 , A61B2090/3983 , A61C3/00 , A61C19/00
摘要： A method for determining the 3D location and orientation of a fiducial reference comprises disposing the fiducial reference so as to render a part of the fiducial reference observable by a tracker; obtaining from the tracker scan data of the part of the fiducial reference that is observable by the tracker; obtaining predetermined geometric information about location points on the fiducial reference, the geometric information containing three-dimensional coordinates of the location points relative to the structure of the fiducial reference; identifying within the scan data at least three location points having coordinates in the predetermined geometric information; and determining from the scan data and the coordinates of the three identified location points in the predetermined geometric information the 3D location and orientation of the fiducial reference.
摘要翻译：用于确定基准参考的3D位置和取向的方法包括布置基准参考以便使跟踪器可观察到基准参考的一部分; 从跟踪器获取可由跟踪器观察到的基准参考部分的数据; 获取关于基准参考上的位置点的预定几何信息，该几何信息包含相对于基准参考的结构的位置点的三维坐标; 在所述扫描数据内识别具有所述预定几何信息中的坐标的至少三个位置点; 并根据所述扫描数据和所述预定几何信息中的所述三个识别的位置点的坐标来确定所述基准参考的3D位置和方位。

5. 发明申请

WO2014147601A3 TRACKING MARKER MONOLITHICALLY INTEGRATED INTO A SURGICAL INSTRUMENT AND METHOD OF TRACKING SUCH AN INSTRUMENT 审中-公开
标题翻译：追踪标记单片集成到手术器械中的方法和追踪这种器械的方法
公开(公告)号：WO2014147601A3
公开(公告)日：2014-09-25
申请号：PCT/IB2014/060403
申请日：2014-04-03
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin Gregory , MEDINA RODRIGUEZ, Alvaro Andres
发明人： DAON, Ehud Udi , BECKETT, Martin Gregory , MEDINA RODRIGUEZ, Alvaro Andres
IPC分类号： A61B19/00
摘要： A rigid positioning and orienting portion of a handheld surgical apparatus has a 3D tracking marker (12, 12', 504, 604) monolithically integrated within its structure, and is thereby trackable using a suitable a tracker (508, 610). The tracker may be a 2D imaging tracker and may be a non-stereo optical tracker. The tracking marker may be monolithically integrated during the manufacture of the apparatus. A surgical monitoring system employing the surgical apparatus, further comprises the tracker (508, 610), and a single fiducial reference bearing at least three identifiable location points disposed along at least two non-parallel lines. Based on prior scan data of the fiducial reference, the location and orientation of the fiducial reference are determined using the location points despite only a portion of the fiducial being observable by a scanner during the prior scan. An associated method is provided for determining the location and orientation of the tracking marker based on predetermined locations points and image information from a tracker.
摘要翻译：手持式外科设备的刚性定位和定向部分具有单片集成在其结构内的3D跟踪标记（12,12'，504,604），并且因此可使用合适的跟踪器（例如， 508，610）。跟踪器可以是2D成像跟踪器并且可以是非立体光学跟踪器。跟踪标记可以在装置的制造期间单片集成。采用外科手术设备的外科手术监测系统还包括跟踪器（508,610）和单个基准参考，其具有至少三个沿至少两条非平行线设置的可识别位置点。基于先前的基准参考的扫描数据，尽管在先前的扫描期间只有一部分基准可由扫描仪观察，但使用位置点来确定基准参考的位置和取向。提供了一种相关方法，用于根据来自跟踪器的预定位置点和图像信息确定跟踪标记的位置和方向。

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