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1. 发明申请

WO2022033656A1 MICROSCOPE CAMERA CALIBRATION 审中-公开
公开(公告)号：WO2022033656A1
公开(公告)日：2022-02-17
申请号：PCT/EP2020/072391
申请日：2020-08-10
申请人： BRAINLAB AG
发明人： STOPP, Sebastian , MANUS, Johannes
IPC分类号： G06T7/80 , G06T7/73 , A61B90/00
摘要： The present invention relates to a computer-implemented medical method, a computer program and a medical system for determining the spatial position of an object to be tracked not only via the surgical microscope, but also via a separate detection system. In case a deviation between the detected spatial positions is recognised, the optical system of the surgical microscope is re- calibrated.

2. 发明申请

WO2020094277A1 HYPERSURFACE RECONSTRUCTION OF MICROSCOPE VIEW 审中-公开
公开(公告)号：WO2020094277A1
公开(公告)日：2020-05-14
申请号：PCT/EP2019/074353
申请日：2019-09-12
申请人： BRAINLAB AG
发明人： MANUS, Johannes
IPC分类号： G06T7/50
摘要： Disclosed is a computer-implemented method of determining a hypersurface image from a tomographic image data set describing a tomographic image of an anatomical body part. The method encompasses a locally depth-of-view-corrected reconstruction of a volumetric data set (pre-operative image data, like CT or MRI image data), in order to e.g. augment volumetric image data onto e.g. a microscope view, or in the head-up display of the microscope. For the depth correction, a surface model of the actual anatomical surface of the anatomical body part is used which encompasses a hypersurface reconstruction pf the volumetric data set. Thus,the correct information related to the tissue at the current visible surface is overlaid.

3. 发明申请

WO2011113483A1 FLOW CONTROL IN COMPUTER-ASSISTED SURGERY BASED ON MARKER POSITIONS 审中-公开
标题翻译：基于标记位置的计算机辅助手术中的流量控制
公开(公告)号：WO2011113483A1
公开(公告)日：2011-09-22
申请号：PCT/EP2010/053440
申请日：2010-03-17
申请人： BRAINLAB AG , SCHAAL, Alexander , BESINGER, Axel , MANUS, Johannes , SCHMOLL, Rainer , FLOSSMANN, Sven
发明人： SCHAAL, Alexander , BESINGER, Axel , MANUS, Johannes , SCHMOLL, Rainer , FLOSSMANN, Sven
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B34/10 , A61B34/25 , A61B2034/2055 , A61B2034/2068 , A61B2034/254 , A61B2034/256 , A61B2090/368
摘要： The invention is in particular directed to a data processing method for use in computer- assisted surgery, comprising the following steps: a) providing marker data which describe a spatial arrangement of at least one marker device and/or a change in a relative spatial arrangement of at least two marker devices (5, 6, 7); b) providing condition data which describe a condition for the spatial arrangement of at least one marker device and/or a condition for the change in the relative spatial arrangement of the at least two marker devices (5, 6, 7); and c) controlling a control flow of the data processing method on the basis of the marker data and the condition data.
摘要翻译：本发明特别涉及用于计算机辅助手术的数据处理方法，包括以下步骤：a）提供描述至少一个标记装置的空间排列和/或相对空间布置的变化的标记数据的至少两个标记装置（5,6,7）; b）提供描述至少一个标记装置的空间排列的条件和/或用于改变所述至少两个标记装置（5,6,7）的相对空间布置的条件的条件数据; 以及c）基于所述标记数据和所述条件数据来控制所述数据处理方法的控制流程。

4. 发明申请

WO2020053240A1 INTRA-OPERATIVE DETERMINATION OF A FOCAL LENGTH OF A CAMERA FOR MEDICAL APPLICATIONS 审中-公开
公开(公告)号：WO2020053240A1
公开(公告)日：2020-03-19
申请号：PCT/EP2019/074155
申请日：2019-09-11
申请人： BRAINLAB AG
发明人： STOPP, Sebastian , ZÜGNER, Johannes , MANUS, Johannes , GARDIAZABAL, José
IPC分类号： H04N5/232 , A61B90/00 , G06T7/80 , H04N17/00
摘要： A computer-implemented method of determining a focal length of a camera (12) and/or of adjusting a viewing direction in a graphical representation of a pre-operative image of at least a part of a patient is provided. The method comprises providing uncalibrated camera data of a camera (12), wherein the uncalibrated camera data comprise an image of at least a part of a tracking system (22; S1); specifying an initial value of a focal length of the camera (12; S2); specifying a working distance value of a distance between the camera (12) and the at least part of the tracking system (22; S3); calculating a distance value of the distance between the camera (12) and the at least part of the tracking system (22) based on the uncalibrated camera data and based on the specified initial value of the focal length of the camera (S4); calculating a change factor based on the specified working distance value and the calculated distance value (S5); and calculating an adapted value of the focal length of the camera (12) based on the initial value of the focal length and based on the change factor (S6).

5. 发明申请

WO2013104420A1 METHOD AND SYSTEM FOR MEDICAL TRACKING USING A PLURALITY OF CAMERA POSITIONS 审中-公开
标题翻译：使用多个摄像机位置进行医疗跟踪的方法和系统
公开(公告)号：WO2013104420A1
公开(公告)日：2013-07-18
申请号：PCT/EP2012/050398
申请日：2012-01-12
申请人： BRAINLAB AG , SCHMIDT, Robert , MANUS, Johannes , VOLLMER, Fritz
发明人： SCHMIDT, Robert , MANUS, Johannes , VOLLMER, Fritz
IPC分类号： G01S5/16 , A61B19/00
CPC分类号： G06T7/0042 , A61B34/20 , A61B34/30 , A61B90/361 , A61B2034/2051 , A61B2034/2057 , A61B2034/254 , F04C2270/041 , G01S5/02 , G01S5/0247 , G01S5/16 , G01S5/163 , G06T7/73 , G06T2207/10028 , G06T2207/30004 , G06T2207/30204 , G06T2207/30244 , H04N5/23296
摘要： A method for tracking trackable objects using a medical tracking device, the tracking device being a camera or an EM transmitter, during a medical workflow comprising a plurality of workflow steps, wherein each trackable object has at least one marker and the method comprises the steps of: - acquiring a set of camera positions, wherein each tracking device position is associated with at least one workflow step; - identifying a workflow; - sequentially and automatically moving the tracking device to the camera positions associated with the workflow steps; and - performing a tracking step only when the tracking device is in a fixed position.
摘要翻译：一种用于在包括多个工作流步骤的医疗工作流程期间使用医疗跟踪装置跟踪可跟踪对象的跟踪装置，所述跟踪装置是照相机或EM发射器，其中每个可跟踪对象具有至少一个标记，并且所述方法包括以下步骤：： - 获取一组相机位置，其中每个跟踪装置位置与至少一个工作流步骤相关联; - 识别工作流程; - 顺序地且自动地将跟踪装置移动到与工作流步骤相关联的相机位置; 以及 - 仅当所述跟踪装置处于固定位置时才执行跟踪步骤。

6. 发明申请

WO2013044944A1 SELF-LOCALIZING MEDICAL DEVICE 审中-公开
标题翻译：自我定位医疗器械
公开(公告)号：WO2013044944A1
公开(公告)日：2013-04-04
申请号：PCT/EP2011/066802
申请日：2011-09-28
申请人： BRAINLAB AG , WOERLEIN, Swen , MANUS, Johannes
发明人： WOERLEIN, Swen , MANUS, Johannes
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B5/061 , A61B2034/2055 , A61B2034/2068 , A61B2034/2074
摘要： A method of determining the position of a medical device to be localized, comprising: a) acquiring main position data comprising reference structure position information which describes the position of a reference structure in a global coordinate system, the main position data having been gathered by a main detection device; b) acquiring supplement position data comprising relative position information which describes the position of the medical device relative to the position of the reference structure in a reference coordinate system, the supplement position data having been gathered by a supplement detection device; c) determining, based on the relative position information and the reference structure position information, medical device position data comprising medical device position information which describes the position of the medical device in the global coordinate system.
摘要翻译：一种确定要定位的医疗装置的位置的方法，包括：a）获取包括参考结构位置信息的主位置数据，所述参考结构位置信息描述全局坐标系中参考结构的位置，所述主位置数据已被主检测装置; b）获取包括相对位置信息的补充位置数据，所述相对位置信息描述所述医疗装置相对于参考坐标系中所述参考结构的位置的位置，所述补充位置数据已由补充检测装置收集; c）基于所述相对位置信息和所述参考结构位置信息确定医疗装置位置数据，所述医疗装置位置数据包括描述所述医疗装置在所述全局坐标系中的位置的医疗装置位置信息。

7. 发明申请

WO2013029644A1 METHOD OR DETERMINING THE SHAPE OF A SURGICAL INSTRUMENT AND SURGICAL INSTRUMENT HAVING A DEFORMABLE BODY 审中-公开
标题翻译：方法或确定手术仪器和具有可变体的手术仪器的形状
公开(公告)号：WO2013029644A1
公开(公告)日：2013-03-07
申请号：PCT/EP2011/064689
申请日：2011-08-26
申请人： BRAINLAB AG , BIRKENBACH, Rainer , MANUS, Johannes
发明人： BIRKENBACH, Rainer , MANUS, Johannes
IPC分类号： A61B19/00
CPC分类号： A61B19/5244 , A61B34/20 , A61B2034/2051 , A61B2034/2061 , A61B2090/061 , A61B2090/064
摘要： The present invention relates to a method for determining the spatial position and the shape of a surgical instrument (1) having a deformabie body (2), said method comprising the steps of: - providing an elasticity model of the surgical instrument (1); - defining at least one parameter which influences the shape of the instrument (1); - determining the spatial position and/or orientation of at least one tracking sensor (3) of the surgical instrument (1); - determining the value of the at least one parameter; - calculating the position and/or orientation of at least one part of the surgical instrument (1) with the aid of the elasticity model together with the determined value of the at least one parameter and the determined spatial position and/or orientation of the at least one tracking sensor (3). The present invention also relates to a surgical instrument (1) having a deformabie body (2) comprising at least two sensors (3, 4), wherein at least one sensor is a tracking sensor (3) and at least one other sensor is a sensor (4) which allows the value of a predetermined parameter influences the shape of the instrument (1) to be determined.
摘要翻译：本发明涉及一种用于确定具有变形体（2）的外科器械（1）的空间位置和形状的方法，所述方法包括以下步骤： - 提供所述外科器械（1）的弹性模型; - 限定影响所述仪器（1）的形状的至少一个参数; - 确定所述外科器械（1）的至少一个跟踪传感器（3）的空间位置和/或取向; - 确定所述至少一个参数的值; - 借助弹性模型计算外科器械（1）的至少一部分的位置和/或取向以及所确定的至少一个参数的值以及所确定的空间位置和/或取向的at 至少一个跟踪传感器（3）。本发明还涉及具有包括至少两个传感器（3,4））的可变形体（2）的手术器械（1），其中至少一个传感器是跟踪传感器（3），并且至少一个其它传感器是传感器（4），其允许预定参数的值影响待确定的仪器（1）的形状。

8. 发明申请

WO2019029936A1 VIDEO BASED MICROSCOPE ADJUSTMENT 审中-公开
公开(公告)号：WO2019029936A1
公开(公告)日：2019-02-14
申请号：PCT/EP2018/068818
申请日：2018-07-11
申请人： BRAINLAB AG
发明人： STOPP, Sebastian , MANUS, Johannes
IPC分类号： A61B90/20 , A61B90/25 , A61B34/20
摘要： The present invention relates to anoptical observation device which is controlled in a sterility preserving manner, and to a corresponding controlling program and/or program storage medium.

9. 发明申请

WO2019029934A1 VIDEO BASED PATIENT REGISTRATION AND TRACKING 审中-公开
公开(公告)号：WO2019029934A1
公开(公告)日：2019-02-14
申请号：PCT/EP2018/068792
申请日：2018-07-11
申请人： BRAINLAB AG
发明人： STOPP, Sebastian , MANUS, Johannes
IPC分类号： A61B34/20 , A61B90/20
摘要： The present invention relates to a computer implemented method and a system for registering and tracking an anatomical structure (1) of a patient. The method comprising the steps of: - acquiring a first stereoscopic image dataset comprising video images having different viewing angles and providing a first image content (2A) showing the anatomical structure (1); - registering said first image dataset to a 3D image dataset showing the anatomical structure (1); - acquiring a second stereoscopic image dataset comprising video images having different viewing angles and providing a second image content (2B) showing the anatomical structure (1), which differs from the first image content (2A); - track the anatomical structure (1) based on the second image dataset.

10. 发明申请

WO2017157763A1 OPTICAL TRACKING 审中-公开
标题翻译：光学追踪
公开(公告)号：WO2017157763A1
公开(公告)日：2017-09-21
申请号：PCT/EP2017/055584
申请日：2017-03-09
申请人： BRAINLAB AG
发明人： STOPP, Sebastian , MANUS, Johannes , FLOSSMANN, Sven , PREGLER, Martin , MEZGER, Uli
IPC分类号： A61B34/20 , A61B90/00 , G02B21/00
摘要： The present invention relates to a medical tracking method for tracking a spatial position of at least one medical instrument within a medical workspace including an anatomical structure of a patient, the method comprising executing, on a processor of a computer, the steps of: - acquiring, at the processor, instrument position data describing a spatial position of the at least one medical instrument with respect to a first camera, using the first camera which is targeted on the medical workspace; - acquiring, at the processor, camera position data describing a spatial position of the first camera with respect to the anatomical structure, using a second camera and at least one optical tracking marker adapted to be recognized by the second camera; - determining, by the processor and based on the instrument position data and the camera position data, tracking data describing the spatial position of the at least one medical instrument with respect to the anatomical structure. The present invention further relates to a corresponding tracking system, a corresponding non-transitory computer-readable storage medium and a corresponding computer.
摘要翻译：本发明涉及一种用于追踪包括患者的解剖结构的医疗工作空间内的至少一个医疗器械的空间位置的医疗追踪方法，所述方法包括在处理器计算机执行以下步骤：在处理器处使用目标在医疗工作空间上的第一照相机获取描述至少一个医疗仪器相对于第一照相机的空间位置的仪器位置数据; - 在处理器处使用第二相机和适于由第二相机识别的至少一个光学跟踪标记，获取描述第一相机相对于解剖结构的空间位置的相机位置数据; - 由处理器并基于器械位置数据和相机位置数据确定描述至少一个医疗器械相对于解剖结构的空间位置的追踪数据。本发明还涉及相应的跟踪系统，相应的非临时性计算机可读存储介质以及相应的计算机。

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