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1. 发明申请

WO2016139149A1 SURGICAL LOCATION MONITORING SYSTEM AND METHOD WITH SURGICAL GUIDANCE GRAPHIC USER INTERFACE 审中-公开
标题翻译：手术位置监测系统和手术指导用户界面的方法
公开(公告)号：WO2016139149A1
公开(公告)日：2016-09-09
申请号：PCT/EP2016/054110
申请日：2016-02-26
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , WALTERS, Adam
发明人： DAON, Ehud Udi , WALTERS, Adam
IPC分类号： A61B34/00 , A61C1/08 , A61B34/20 , A61B34/10
CPC分类号： A61B34/20 , A61B34/25 , A61B2034/107 , A61B2034/2055 , A61B2034/2065 , A61C1/082
摘要： A position monitoring system comprises a fiducial reference, a tracker for obtaining image information of surgical site, and a computer system with processor, memory, a software program, and access to a database with scan data of the surgical site with the fiducial reference fixed to the site. Uniquely identifiable tracking markers are fixed to the fiducial reference and to a surgical implement. The computer determines the relative positions and orientations of the markers based on live image information from the tracker, relates and displays on one or more display systems the current position and orientation of the fiducial reference and the surgical implement. The computer renders on the one or more display systems a surgical guidance graphic user interface (700) showing planned and actual locations for the surgical implement to impinge on the area of surgical patient, an allowed range of angles of incidence for the surgical implement, and an actual instantaneous angle of incidence of the surgical implement. When the implement is a drill, the graphic user interface may display the drilling depth (740).
摘要翻译：位置监测系统包括基准参考，用于获取外科手术部位的图像信息的跟踪器，以及具有处理器，存储器，软件程序的计算机系统，以及具有将基准参考的扫描数据固定到数据库的数据库网站。唯一可识别的跟踪标记固定为基准参考和手术器械。计算机基于来自跟踪器的实况图像信息来确定标记的相对位置和取向，在一个或多个显示系统上显示基准参考和手术工具的当前位置和方向。计算机在一个或多个显示系统上呈现外科指导图形用户界面（700），其显示外科手术器械的冲击在外科手术患者的区域上的计划和实际位置，外科手术器具的入射角范围和手术器具的实际瞬间入射角。当工具是钻头时，图形用户界面可以显示钻孔深度（740）。

2. 发明申请

WO2014174052A1 SYSTEM AND METHOD FOR TRACKING A NON-VISIBLE STRUCTURE OF A BODY 审中-公开
标题翻译：跟踪身体不可见结构的系统和方法
公开(公告)号：WO2014174052A1
公开(公告)日：2014-10-30
申请号：PCT/EP2014/058406
申请日：2014-04-24
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud (Udi) , BECKETT, Martin, Gregory
发明人： DAON, Ehud (Udi) , BECKETT, Martin, Gregory
IPC分类号： A61B19/00
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 (508) obtains image information of the object and instruments (506) in its vicinity, all bearing 3D tracking markers (504). A controller spatially relates the image information with previously obtained scan data of the object revealing a non- visible structure (612') 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 the instruments and the non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track the 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（508）获取其附近的物体和仪器（506）的图像信息，全部具有3D跟踪标记（504）。控制器在空间上将图像信息与先前获得的物体的扫描数据相关联，从而显示对象的不可见结构（612'）。对于扫描，扫描中可检测的基准参考可移除地附接到物体上的位置。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。

3. 发明申请

WO2017016947A1 SURGICAL SYSTEMS AND ASSOCIATED METHODS USING GESTURE CONTROL 审中-公开
标题翻译：手术系统及使用手术控制的相关方法
公开(公告)号：WO2017016947A1
公开(公告)日：2017-02-02
申请号：PCT/EP2016/067258
申请日：2016-07-20
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin Gregory
发明人： DAON, Ehud Udi , BECKETT, Martin Gregory
IPC分类号： A61B34/20 , A61B34/00 , A61B90/00
CPC分类号： A61B34/20 , A61B34/25 , A61B90/39 , A61B2017/00207 , A61B2017/00477 , A61B2034/2055 , A61B2034/2057 , A61B2034/2065 , A61B2034/256 , A61B2090/3937 , A61B2090/3983
摘要： A position monitoring system comprises a fiducial reference, a tracker for obtaining image information of surgical site (600), and a computer system with processor, memory, a software program, and access to a database with scan data of the surgical site with the fiducial reference fixed to the site. Uniquely identifiable tracking markers are fixed to the fiducial reference and to a surgical instrument (606, 608). The computer determines the relative positions and orientations of the markers based on live image information from the tracker (610), relates and displays on one or more display systems the current position and orientation of the fiducial reference and the surgical implement. The computer further has a database of instrument gestures and corresponding executable functions. When a user manipulates the surgical implement to form a recognizable predetermined instrument gesture, the computer recognizes the gesture in the live image information and automatically executes the corresponding function.
摘要翻译：位置监测系统包括基准参考，用于获取手术部位（600）的图像信息的跟踪器，以及具有处理器，存储器，软件程序的计算机系统以及具有与基准的外科手术部位的扫描数据的数据库的访问参考固定在网站上。唯一可识别的跟踪标记固定在基准参照和手术器械（606,608）上。计算机基于来自跟踪器（610）的实时图像信息来确定标记的相对位置和取向，在一个或多个显示系统上显示基准参考和外科手术器具的当前位置和取向。计算机还具有仪器手势数据库和相应的可执行功能。当用户操纵手术器具以形成可识别的预定仪器手势时，计算机识别实况图像信息中的手势并自动执行相应的功能。

4. 发明申请

WO2014184318A1 SYSTEM AND METHOD FOR TRACKING NON-VISIBLE STRUCTURES OF BODIES RELATIVE TO EACH OTHER 审中-公开
标题翻译：跟踪每个其他机构的不可见结构的系统和方法
公开(公告)号：WO2014184318A1
公开(公告)日：2014-11-20
申请号：PCT/EP2014/060018
申请日：2014-05-15
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin Gregory
发明人： DAON, Ehud Udi , BECKETT, Martin Gregory
IPC分类号： A61B19/00
CPC分类号： A61B5/064 , A61B5/0022 , A61B5/055 , A61B6/032 , A61B34/10 , A61B34/20 , A61B90/39 , A61B2034/105 , A61B2034/2055 , A61B2034/2065 , A61B2090/3966 , A61B2090/3983 , A61C1/082
摘要： A monitoring system tracks the non-visible structure of a body and relatable non-visible structures in real time in three dimensions. A tracker obtains image information of the body and its vicinity. A controller spatially relates the 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 are used by the controller to provide the user with real time information about the relative 3D locations and orientations of the relatable non-visible structures and the non-visible structure of the body. Using three-dimensional tracking markers attached to the fiducial reference on the body and to the relatable non-visible structures, the system and method may be employed to track in three dimensions in real time a plurality of bodies having non-visible structure. Three-dimensional tracking markers intergrated with surgical screws may be attached directly to the relatable non-visible structures.
摘要翻译：监控系统在三维实时跟踪身体的不可见结构和可关联的不可见结构。跟踪器获取身体及其附近的图像信息。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以可拆卸地连接到物体上的位置。控制器使用扫描数据和图像信息来向用户提供有关可相对的不可见结构和身体的不可见结构的相对3D位置和取向的实时信息。使用连接到身体上的基准参考的三维跟踪标记和可关联的不可见结构，可以采用系统和方法在三维实时跟踪具有不可见结构的多个体。与外科螺钉相结合的三维跟踪标记可以直接连接到可相关的不可视结构。

5. 发明申请

WO2014170340A1 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：WO2014170340A1
公开(公告)日：2014-10-23
申请号：PCT/EP2014/057656
申请日：2014-04-15
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin Gregory
发明人： DAON, Ehud Udi , BECKETT, Martin Gregory
IPC分类号： A61B19/00
CPC分类号： A61B19/50 , A61B34/20 , A61B2034/104 , A61B2034/105 , A61B2034/108 , A61B2034/2055 , A61B2034/2065 , A61B2090/3966 , A61B2090/3983 , G06F19/00 , 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：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，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. 发明申请

WO2013144939A1 METHOD FOR CREATION OF DYNAMIC PATIENT-SPECIFIC SURGICAL MONITORING SYSTEM 审中-公开
标题翻译：动态患者特异性手术监测系统的创建方法
公开(公告)号：WO2013144939A1
公开(公告)日：2013-10-03
申请号：PCT/IL2013/000031
申请日：2013-03-18
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud
发明人： DAON, Ehud
IPC分类号： A61B19/00
CPC分类号： G06F17/50 , A61B90/39 , A61B2034/102 , A61B2034/108 , A61B2090/3983 , B33Y50/00 , B33Y80/00 , Y10T29/49 , Y10T29/49567 , Y10T29/49826
摘要： A method, system and software are presented for making a trackable mount (10, 11, 12) for assisting with surgery within a surgical site, the trackable mount being trackable by a tracker disposed to obtain image information of the surgical site. A software model of the trackable mount is created based on scan data (510) of the surgical site, and the making of the trackable mount is based on model data (550) derived from the software model. The exterior shape of the trackable mount may incorporate a tracking marker (12, 12'), or tracking pole (11, 11'), or both. A system (500) for executing the method consists of scan data of the surgical site, a controller (520) with memory (540) and processor (530), and a manufacturing device (570). In one embodiment the manufacturing device is a rapid prototyping machine. Software (560) is presented for executing the method of embodiments of the invention.
摘要翻译：提出了一种方法，系统和软件，用于制造用于辅助外科手术部位手术的可跟踪安装件（10,11,12），所述可跟踪安装件可由设置为获得手术部位的图像信息的跟踪器跟踪。基于外科手术部位的扫描数据（510）创建可跟踪安装件的软件模型，并且可跟踪安装件的制造基于从软件模型导出的模型数据（550）。可跟踪安装座的外部形状可以包括跟踪标记（12,12'）或跟踪杆（11,11'），或两者。用于执行该方法的系统（500）包括手术部位的扫描数据，具有存储器（540）和处理器（530）的控制器（520）和制造装置（570）。在一个实施例中，制造装置是快速原型机。呈现软件（560）用于执行本发明的实施例的方法。

7. 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。

8. 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。

9. 发明申请

WO2014072476A1 SURGICAL LOCATION MONITORING SYSTEM AND METHOD USING NATURAL MARKERS 审中-公开
标题翻译：手术位置监测系统和使用自然标记的方法
公开(公告)号：WO2014072476A1
公开(公告)日：2014-05-15
申请号：PCT/EP2013/073416
申请日：2013-11-08
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud Udi , BECKETT, Martin Gregory
发明人： DAON, Ehud Udi , BECKETT, Martin Gregory
IPC分类号： A61B19/00
CPC分类号： A61B5/064 , A61B1/00016 , A61B1/00022 , A61B1/00039 , A61B1/00045 , A61B1/00193 , A61B1/04 , A61B1/24 , A61B1/313 , A61B5/0013 , A61B5/0077 , A61B5/055 , A61B5/062 , A61B5/7225 , A61B5/7278 , A61B5/742 , A61B5/7475 , A61B6/032 , A61B6/145 , A61B6/4085 , A61B6/466 , A61B6/467 , A61B6/5217 , A61B6/563 , A61B8/0841 , A61B8/13 , A61B8/483 , A61B8/5223 , A61B8/565 , A61B10/0233 , A61B34/20 , A61B2034/2065 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/082
摘要： The present invention involves relating in real time the three-dimensional location and orientation of a surgical site (600, 720) to the location and orientation of the surgical site in a scan of the surgical site. By taking a scan of the surgical site to obtain scan data (820), the three-dimensional location and orientation of a natural fiducial reference (780) may be determined from the scan data (840). Real time image information of the surgical site (850) may then be obtained to determine in real time the three-dimensional location and orientation of the natural fiducial reference from the image information (860). This allows for deriving a spatial transformation matrix for expressing in real time the three-dimensional location and orientation of the natural fiducial reference as determined from the image information in terms of the three-dimensional location and orientation of the natural fiducial reference as determined from the scan data (870).
摘要翻译：本发明涉及在手术部位的扫描中实时地将外科手术部位（600,720）的三维位置和取向与外科手术部位的位置和取向相关联。通过对外科手术部位进行扫描以获得扫描数据（820），可以从扫描数据（840）确定自然基准参考（780）的三维位置和取向。然后可以获得外科手术部位（850）的实时图像信息，从而根据图像信息实时地确定自然基准参考的三维位置和方位（860）。这允许导出空间变换矩阵，用于实时地表达从图像信息确定的自然基准参考的三维位置和取向，就自然基准参考的三维位置和取向而言扫描数据（870）。

10. 发明申请

WO2013144940A1 HAFTIC SIMULATION AND SURGICAL LOCATION MONITORING SYSTEM AND METHOD 审中-公开
标题翻译： HAFTIC模拟和手术位置监测系统及方法
公开(公告)号：WO2013144940A1
公开(公告)日：2013-10-03
申请号：PCT/IL2013/000032
申请日：2013-03-18
申请人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud
发明人： NAVIGATE SURGICAL TECHNOLOGIES, INC. , DAON, Ehud
IPC分类号： A61B19/00 , A61C8/00
CPC分类号： A61B90/00 , A61B34/20 , A61B34/76 , A61B2034/105 , A61B2034/2055 , A61B2034/2065 , A61B2090/3983 , A61C1/00 , A61C2201/005
摘要： A system and method for monitoring a surgical site employs a fiducial reference (1160) with attached tracking marker (1170). The marker may be tracked by a tracker (1130). Image information about the surgical site is provided to a controller that updates a model of the surgical site derived from a prior scan of the surgical site. The system and method allow the user to select between monitoring the real surgery (1030) and performing virtual surgery (1040) using a digital manipulator device (910, 1110). The system may be operated with the user located remotely from the surgical site and operating a remotely operable surgical instrument controlled by the digital manipulator device. The system may select between employing a stationary model and a model that is updated in real time based on the real time image information from the surgical site. The manipulator device may be a haptic feedback device and the haptic feedback may be optionally employed.
摘要翻译：用于监测外科手术部位的系统和方法使用具有附加的跟踪标记（1170）的基准参考（1160）。跟踪器可跟踪标记（1130）。关于手术部位的图像信息被提供给控制器，该控制器更新来自外科手术部位的先前扫描的手术部位的模型。该系统和方法允许用户在使用数字机械手装置（910,1110）监测实际手术（1030）和执行虚拟手术（1040）之间进行选择。该系统可以与位于远离外科手术部位的用户一起操作，并操作由数字操纵器装置控制的可远程操作的手术器械。该系统可以在采用固定模型和基于来自外科手术部位的实时图像信息实时更新的模型之间进行选择。操纵器装置可以是触觉反馈装置，并且可以任选地使用触觉反馈。

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