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1. 发明申请

WO2016044934A1 TRACKING MARKER SUPPORT STRUCTURE AND SURFACE REGISTRATION METHODS EMPLOYING THE SAME FOR PERFORMING NAVIGATED SURGICAL PROCEDURES 审中-公开
标题翻译：跟踪标识符支持结构和表面注册方法，用于执行导航手术程序
公开(公告)号：WO2016044934A1
公开(公告)日：2016-03-31
申请号：PCT/CA2015/050939
申请日：2015-09-23
申请人： 7D SURGICAL INC.
发明人： SIEGLER, Peter , LEUNG, Michael , MARIAMPILLAI, Adrian , STANDISH, Beau Anthony , YANG, Victor X.D.
IPC分类号： A61B19/00 , A61B17/28 , A61B17/56
CPC分类号： A61B34/20 , A61B5/1127 , A61B5/6847 , A61B5/6878 , A61B17/28 , A61B17/2812 , A61B17/282 , A61B17/2833 , A61B17/88 , A61B17/8866 , A61B90/16 , A61B90/37 , A61B2017/00694 , A61B2017/2837 , A61B2017/303 , A61B2017/564 , A61B2017/90 , A61B2034/2046 , A61B2034/2055 , A61B2034/2057 , A61B2034/207 , A61B2090/371 , A61B2090/373 , A61B2090/3983 , A61B2090/3991 , A61B2560/0233
摘要： Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system. Example methods are also provided to detect whether or not a tracking marker support structure has moved from its initial position during a procedure.
摘要翻译：设备和方法用于促进表面成像系统的配准和校准。描述了跟踪标记支撑结构，其包括一个或多个基准参考标记，其中跟踪标记支撑结构被配置为可移除地且牢固地附接到患者的骨骼区域。提供了一种方法，其中跟踪标记支撑结构以预先选择的方向连接到骨骼区域，从而建立与患者的术中位置相关联的术中参考方向，其用于引导在术中获得的表面数据和体积图像数据。在其他示例实施例中，跟踪标记支撑结构可用于评估跟踪系统和表面成像系统之间的校准变换的有效性。还提供了示例性方法以检测跟踪标记支撑结构在过程期间是否从其初始位置移动。

2. 发明申请

WO2017214735A1 SYSTEMS AND METHODS FOR OBTAINING A STRUCTURED LIGHT RECONSTRUCTION OF A 3D SURFACE 审中-公开
标题翻译：用于获得3D表面的结构化光重建的系统和方法
公开(公告)号：WO2017214735A1
公开(公告)日：2017-12-21
申请号：PCT/CA2017/050743
申请日：2017-06-16
申请人： 7D SURGICAL INC.
发明人： MARIAMPILLAI, Adrian , LEE, Kenneth Kuei-Ching , LEUNG, Michael , SIEGLER, Peter , STANDISH, Beau Anthony , YANG, Victor X.D.
IPC分类号： G01B11/25 , G01B11/245 , A61B34/10
CPC分类号： A61B34/10 , A61B90/30 , A61B90/37 , A61B2034/2055 , A61B2090/373 , G01B11/245 , G01B11/25
摘要： Disclosed are systems and methods for obtaining a structured light reconstruction using a hybrid spatio-temporal pattern sequence projected on a surface. The method includes projecting a structured light pattern, such as a binary de Bruijn sequence, onto a 3D surface and acquiring an image set of at least a portion of this projected sequence with a camera system, and projecting a binary edge detection pattern onto the portion of the surface and acquiring an image set of the same portion of the projected binary pattern. The acquired image set of the binary pattern is processed to determine edge locations therein, and then employed to identify the locations of pattern edges within the acquired image set of the structured light pattern. The detected edges of the structured light pattern images are employed to decode the structured light pattern and calculate a disparity map, which is used to reconstruct the 3D surface.
摘要翻译：公开了使用投影在表面上的混合时空模式序列获得结构光重建的系统和方法。该方法包括将诸如二元de Bruijn序列的结构化光图案投影到3D表面上，并且利用相机系统获取该投影序列的至少一部分的图像集合，并将二值边缘检测图案投影到该部分并且获取投影的二元图案的相同部分的图像集合。对所获取的二值图案的图像集进行处理以确定其中的边缘位置，然后用于识别所获取的结构化光图案的图像集内的图案边缘的位置。采用结构化光图案图像的检测边缘来解码结构化光图案并计算用于重建3D表面的视差图。

3. 发明申请

WO2018006168A1 SYSTEMS AND METHODS FOR PERFORMING INTRAOPERATIVE IMAGE REGISTRATION 审中-公开
标题翻译：用于执行图像内登记的系统和方法
公开(公告)号：WO2018006168A1
公开(公告)日：2018-01-11
申请号：PCT/CA2017/050807
申请日：2017-07-04
申请人： 7D SURGICAL INC.
发明人： YANG, Victor X.D. , MARIAMPILLLAI, Adrian , LEUNG, Michael , SIEGLER, Peter , STANDISH, Beau Anthony
IPC分类号： A61B34/20 , A61B34/00 , A61B5/055 , A61B6/03
摘要： Systems and methods are provided for performing intraoperative fusion of two or more volumetric image datasets via surface-based image registration. The volumetric image datasets are separately registered with intraoperatively acquired surface data, thereby fusing the two volumetric image datasets into a common frame of reference while avoiding the need for complex and time-consuming preoperative volumetric-to-volumetric image registration and fusion. The resulting fused image data may be processed to generate one or more images for use during surgical navigation.
摘要翻译：提供了用于通过基于表面的图像配准来执行两个或更多个体积图像数据集的术中融合的系统和方法。体积图像数据集与术中获取的表面数据分开登记，从而将两个体积图像数据集融合成共同的参照系，同时避免了对复杂和耗时的术前体积 - 体积图像配准和融合的需要。所得到的融合图像数据可以被处理以生成一个或多个图像以在手术导航期间使用。

4. 发明申请

WO2016154756A1 SYSTEMS, METHODS AND DEVICES FOR TRACKING AND CALIBRATION OF FLEXIBLE IMPLEMENTS 审中-公开
标题翻译：用于跟踪和校准柔性执行的系统，方法和装置
公开(公告)号：WO2016154756A1
公开(公告)日：2016-10-06
申请号：PCT/CA2016/050374
申请日：2016-03-31
申请人： 7D SURGICAL INC.
发明人： MARIAMPILLAI, Adrian , SIEGLER, Peter , LEUNG, Michael , STANDISH, Beau Anthony , YANG, Victor X.D.
IPC分类号： G01B11/16 , G01B11/24 , A61B34/20
CPC分类号： A61B34/20 , A61B2017/00725 , A61B2034/2055 , A61B2034/2061 , A61B2090/3983
摘要： Systems, methods and devices are provided for calibrating a flexible implement that employs fiber Bragg gratings (FBGs) for shape sensing. In some embodiments, methods and devices are provided for determining the longitudinal location of a FBG within an optical fiber that is employed for shape sensing. In other embodiments, methods and devices are employed for the determination of calibration parameters that relate the measured wavelength shift of a set of FBGs to the curvature at the location within the flexible implement where the set of FBGs resides. Various calibration devices are disclosed that employ guiding features for bending the flexible portion of the flexible implement along known curved profiles. In some embodiments, keyed features are incorporated into the flexible implement and the calibration device, such that the flexible implement is inserted into the device in a known orientation. In some embodiments, the flexible implement may incorporate a strain isolation mechanism.
摘要翻译：提供了系统，方法和设备，用于校准采用光纤布拉格光栅（FBG）进行形状检测的柔性工具。在一些实施例中，提供了用于确定用于形状感测的光纤内的FBG的纵向位置的方法和装置。在其他实施例中，采用方法和装置来确定将一组FBG的测量的波长偏移与在该组FBG所在的柔性工具内的位置处的曲率相关联的校准参数。公开了各种校准装置，其采用引导特征，以沿着已知的弯曲轮廓弯曲柔性工具的柔性部分。在一些实施例中，键入的特征被并入到柔性工具和校准装置中，使得柔性工具以已知的方向插入到装置中。在一些实施例中，柔性工具可以包括应变隔离机构。

5. 发明申请

WO2014005225A1 ATTACHMENTS FOR TRACKING HANDHELD IMPLEMENTS 审中-公开
标题翻译：跟踪手持操作的附件
公开(公告)号：WO2014005225A1
公开(公告)日：2014-01-09
申请号：PCT/CA2013/050512
申请日：2013-07-03
申请人： 7D SURGICAL INC.
发明人： YANG, Victor X.D. , SIEGLER, Peter , MARIAMPILLAI, Adrian , STANDISH, Beau Anthony , LEUNG, Michael
IPC分类号： A61B19/00 , A61B17/70 , A61B17/88 , A61B5/06
CPC分类号： A61B34/20 , A61B5/064 , A61B17/1703 , A61B17/1757 , A61B90/39 , A61B2017/00477 , A61B2034/2055 , A61B2034/2065 , A61B2090/364 , A61B2090/3937 , A61B2090/3941 , A61B2090/3983
摘要： Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.
摘要翻译：提供了用于跟踪手持式工具的位置和方位的设备和系统，使得手持式工具可以使用架空跟踪系统来跟踪。支撑构件相对于手持式工具的纵向部分固定一个或多个标记，并且包含标记的标记平面相对于纵向部分的纵向轴线取向成一角度。标记组件可以包括用于支撑标记的支撑构件，以及用于将标记组件可移除地附接到一个或多个手持式工具的连接器。标记组件可以被配置为可移除地附接到多个连接适配器，其中每个连接适配器还可连接到手持式工具，可选地在校准位置，使得可以任选地使用单个连接适配器来跟踪多个手持工具。手持式工具可以是医疗器械。

6. 发明申请

WO2015074158A1 SYSTEM AND METHOD FOR GENERATING PARTIAL SURFACE FROM VOLUMETRIC DATA FOR REGISTRATION TO SURFACE TOPOLOGY IMAGE DATA 审中-公开
标题翻译：用于从体积数据生成局部表面的系统和方法，用于注册到表面拓扑图像数据
公开(公告)号：WO2015074158A1
公开(公告)日：2015-05-28
申请号：PCT/CA2014/051120
申请日：2014-11-25
申请人： 7D SURGICAL INC.
发明人： MARIAMPILLAI, Adrian Linus Dinesh , SIEGLER, Peter , LEUNG, Michael , STANDISH, Beau Anthony , YANG, Victor X.D.
IPC分类号： G06T7/00 , G06T17/10 , A61B6/03 , A61B5/055
CPC分类号： G06T11/005 , A61B5/055 , A61B5/1077 , A61B6/03 , A61B6/032 , A61B6/0492 , A61B6/505 , A61B6/5241 , G06T3/0068 , G06T7/33 , G06T2207/10028 , G06T2207/10072 , G06T2207/10081 , G06T2207/30012
摘要： The present disclosure relates to the generation of partial surface models from volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.
摘要翻译：本公开涉及从体积数据集生成部分表面模型，用于随后将这种部分表面模型注册到表面拓扑数据集。具体地，给定使用表面拓扑成像和另一体积模态成像的对象，将体积数据集与进场视点相结合进行处理，以生成对于表面拓扑成像系统可见的物体的一个或多个部分表面。该过程可以消除从体积数据集产生的表面的内部结构，从而增加了两种不同模态之间数据集的相似性，从而能够改进和更快的注册。

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