美国专利US20010010004A1 Fiducial matching using fiducial implants

专利PDF首页>>美国专利

专利附录

专利说明

权利要求

类似技术

同族专利

引用文献

法律状态

优先权

专利摘要:
The invention relates to a device and method for referencing reference points of a fiducial implant. The fiducial implant and pointer are configured to removably and reproducibly mate to provide a known spatial relationship between the reference points and the pointer. A position finder is used to determine the position of the pointer in three-dimensional space to allow the position of each reference point in three dimensional space to be determined.
公开号:US20010010004A1
申请号:US09/741,198
申请日:2000-12-21
公开日:2001-07-26
发明作者:Doris Traxel；Roger Berger
申请人:Synthes USA LLC；
IPC主号:A61B90-39

专利说明:
[0001] This application is a continuation of the U.S. National stage designation of co-pending International Patent Application No. PCT/CH98/00269, filed Jun. 22, 1998, the entire content of which is expressly incorporated herein by reference thereto. [0001] FIELD OF THE INVENTION
[0002] The present invention relates to a device and method for referencing reference points of a fiducial implant. [0002] BACKGROUND
[0003] In Computer Assisted Surgery (“CAS”), a computer tomogram comprising an image of a portion of a body, such as a bone, is generally used to assist the surgical intervention. For example, to determine the relative positions of a bone and one or more surgical instruments, the positions of the bone and surgical instrument in a coordinate system of the operating room can be compared with their positions as displayed in a computer tomogram. [0003]
[0004] To reduce soft tissue injury, minimally invasive surgical techniques involving CAS can be used to operate on bones, such as, for example, vertebrae, without exposing large bone surfaces. In CAS, a coordinate system corresponding to a patient in the operating room, as determined by a dynamic reference base of a position finding system, is registered with a coordinate system of a previously recorded tomographic image. This process, called matching involves a transformation between the coordinate systems. [0004]
[0005] A more comprehensive description of computer assisted surgery including a matching algorithm suitable for such coordinate transformations is given in L. P. Nolte et al, Clinical Evaluation of a System for Precision Enhancement in Spine Surgery, Clinical Biomechanics, 1995, Vol. 10, No. 6, PP 293-303, which is hereby incorporated by reference in its entirety. [0005]
[0006] One way to match the coordinate system of the patient in the operating room to the coordinate system of the image is to use mechanical scanning devices, such as those described in U.S. Pat. No. 5,383,454 to Buchholz. However, these known procedures are exceedingly time-consuming and presently only of obsolete accuracy. [0006]
[0007] German Application No. DE 29 704 393 to AESCULAP discloses a process for the preoperative determination of positioning data of endoprosthesis parts of a central joint relative to the bones that form the central joint. A device for determining the outer articulation point of a joint as the bones are displaced is also disclosed. [0007]
[0008] Another way of matching the patient's system of coordinates in the operating room with the image coordinate system consists of identifying predetermined points using anatomical reference points. Where the body parts are only partly exposed, however, this method is complicated by the restricted visual access. Frequently an endoscope must be used. [0008]
[0009] In another method to register the systems of coordinates, so-called fiducial implants are used to unequivocally identify the reference points. Such a method and appropriate apparatus are described in US Pat. No. 4,945,914 to Allen. This method includes the implantation of at least 4 spatially related fiducial implants. [0009]
[0010] All these known methods share the drawback of being fairly time-consuming. [0010] SUMMARY OF THE INVENTION
[0011] The present invention relates to a device for referencing reference points of a fiducial implant. The device preferably comprises at least one fiducial implant, such as a fiducial screw, suitable for insertion into a bone. The fiducial implant includes at least first and second reference points that have a known spatial relationship with respect to a head of the implant. The device also includes a pointer having a distal pointer end and at least three emitters or detectors that have a known spatial relationship with respect to the distal pointer end. Preferably, the emitters or detectors are arranged in a plane perpendicular to the longitudinal axis of the pointer. Each emitter or detector is configured to emit or detect radiation. The radiation preferably comprises electromagnetic radiation or acoustic waves. Preferably, the pointer includes emitters of electromagnetic radiation, such as light emitting diodes. [0011]
[0012] In one embodiment of the present invention, the pointer includes emitters and the device further includes a position finder comprising at least two detectors configured to detect the radiation emitted by the emitters of the pointer, whereby the positions of the emitters of the pointer and the pointer in three-dimensional space can be determined. Preferably, the detectors detect electromagnetic radiation or acoustic waves. [0012]
[0013] In another embodiment of the present invention, the pointer includes detectors and the device further includes a position finder comprising at least two emitters configured to emit radiation able to be detected by the detectors of the pointer, whereby the position of the detectors of the pointer and the pointer in three-dimensional space can be determined. Preferably, the emitters emit electromagnetic radiation or acoustic waves. [0013]
[0014] The head of the implant and the distal pointer end are preferably configured to removably and reproducibly mate to provide a known spatial relationship between the reference points and the distal pointer end to allow the position of each reference point in three dimensional space to be determined upon determining the position of the emitters or detectors of the pointer. The device of the present invention preferably includes a processor configured to perform a coordinate transformation to match the position of each reference point in three-dimensional space with a corresponding position of the respective reference point in a stored image of the bone. [0014]
[0015] In a preferred embodiment, the device comprises a second fiducial implant able to be inserted in a bone at a preferably spaced apart position from the first fiducial implant. The second fiducial implant is preferably configured with a head and reference points identical to the distal fiducial implant. The head of the second implant and the distal pointer end can preferably removably and reproducibly mate to provide a known spatial relationship between the reference points of the second fiducial and the distal pointer end to allow the positions of the reference points in three dimensional space to be determined. [0015]
[0016] In the preferred embodiment, the processor is configured to match the positions in three-dimensional space of the reference points of the second fiducial with the corresponding positions of the respective reference points in the stored image of the bone. The processor is also configured to perform a coordinate transformation between coordinates of points in three-dimensional space with the corresponding coordinates of the points in the stored image. Thus, the position of a selected point of the bone can be matched with the corresponding position of the selected point in the image of the bone and a selected point of an image of the bone can be matched with the corresponding point of the bone in physical space. [0016]
[0017] The head of the implant of the invention preferably comprises a cavity and the first end of the pointer preferably comprises a pin configured to be received within the cavity to provide the known spatial relationship between the reference points of the implant and the distal end of the pointer by means of the known dimensions of the implant and pointer and the reproducible mating between the implant and the pointer. Preferably, the distal end of the pointer comprises a shoulder adjoining the pin with the diameter of the shoulder being larger than the diameter of the pin. The shoulder is configured to abut the head of the implant when the pin is received within the cavity. Preferably, the pointer can be used to screw in or screw out the fiducial screw when the pin is received within the cavity. [0017]
[0018] Another embodiment of the invention comprises a method for creating a spatial relationship between reference points associated with a body. The method comprises inserting at least two fiducial implants in the body, each fiducial implant comprising at least two reference points. An image of the body showing at least two of the inserted fiducial implants is preferably obtained. The position in three-dimensional space of the reference points of at least two of the fiducial implants shown in the image is determined. A coordinate transformation is preferably performed to match the positions of the reference points in three-dimensional space with corresponding positions of the reference points in the image. [0018]
[0019] Preferably the step of determining the position of the reference points in three-dimensional space comprises mating a distal end of a pointer to a head of the implant and determining the position of the pointer using a position finder. Upon determining the position of the pointer, the position of the reference points can be found by means of the known dimensions of the implant and pointer and the reproducible mating between the implant and the pointer. The image is preferably a three-dimensional computer tomogram or an x-ray. [0019] BRIEF DESCRIPTION OF THE FIGURES
[0020] FIG. 1 is a perspective of an embodiment of the device of the invention; and [0020]
[0021] FIG. 2 is a partly sectional side view of an embodiment of the device of the invention. [0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0022] The present invention relates to methods and apparatus for assisting surgical intervention. The invention allows a spatial relationship to be determined between reference points associated with the physical body's system of coordinates and the corresponding positions of the reference points in a coordinate system of an image of the body. Preferably, the body comprises at least a portion of a patient, such as a bone. The reference points associated with the body's system of coordinates are preferably reference points of at least one fiducial implant, such as a fiducial screw for insertion in a bone. Preferably two fiducial implants that each have two reference points are used so that only two implants are required to allow complete referencing of the coordinate systems. Thus, the present invention allows referencing of the coordinate systems while entailing minimal injury to the soft tissue around the site of intervention. [0022]
[0023] To reference the reference points, a pointer fitted with markers is positioned in a precisely defined spatial relationship relative a fiducial implant having fixed reference points. One reference point of the implant preferably corresponds to the tip of the implant and the other reference point preferably corresponds to the head of the implant. The implant head preferably includes a cavity which is concentric with the longitudinal axis of the implant. A distal end of the pointer preferably includes a pin, which is preferably concentric with the longitudinal axis of the pointer. The shapes of the cavity and pin are preferably complementary to one another so that the pin can be inserted into the cavity. Once the pin is received within the cavity, a portion of the pointer adjoining the pin, which has a larger diameter than the pin itself, preferably abuts the implant head adjacent the cavity. Accordingly the pointer and the fiducial implant are aligned along an axis defined by the implant reference points. [0023]
[0024] Using the markers of the pointer, the position of the pointer can be determined in three-dimensional space using a position detector, as described below. As used herein, determining the position of an object, such as a pointer or implant, includes determining its orientation. Thus, if the position of an object is known or determined, its orientation is also known or determined. Preferably the marker means include emitters/detectors that emit or detect electromagnetic or acoustic waves. The type of position detector depends on the type of marker means used, as discussed below. [0024]
[0025] Once the position of the marker means within a coordinate system is known, the position of the reference points of the fiducial implants can be determined based on the known dimensions of the pointer and of the fiducial implant. The pin preferably fits sufficiently securely within the cavity to provide a precise, reproducible spatial relationship between the pointer and the reference points. [0025]
[0026] The device and method for determining a spatial relation between reference points is based on the concept that a fiducial implant, such as a fiducial screw implanted in bone, can be visualized in an image, such as a three-dimensional computer tomogram or x-ray, of at least a portion of a body. Subsequently, the positions of the references points in the image can be determined in a coordinate system of the image. The present invention allows the positions of the reference points to be determined with respect to a three-dimensional coordinate system of the body having the implants. [0026]
[0027] Upon associating the positions of the reference points in the image with the positions of the reference points in the coordinate system of the body, any point in the image can be related by a coordinate transformation to the corresponding point in the physical body, and vice-versa. Fiduciary matching or registration thus relates to the determination of the spatial relationship of reference points in the coordinate system of the image to the reference point positions in the coordinate system of the physical body. Because the fiducial implant of the invention comprises at least two reference points, two fiducial implants inserted in the body provide a sufficient number of reference points to allow the registration or matching of the systems of the two coordinate systems. Thus, only the portion of the body receiving the implant need be exposed allowing for a minimally invasive registration of the coordinate systems. [0027]
[0028] The embodiment of the device of the invention shown in FIGS. 1 and 2 comprises at least one fiducial implant, such as a fiducial screw [0028] 2, having a longitudinal axis 9, a head 22, and distal tip 14. A distance (x) between distal tip 14 and head 22 of fiducial screw 2 is known precisely. Head 22 includes an aperture or cavity 12, which is preferably concentric with longitudinal axis 9. Cavity 12 is preferably cylindrical and can be configured with internal threads. Alternatively, cavity 12 can comprise other shapes, such as a hexagon or other polygon, suitable for receiving a drive tool to screw in or out fiducial screw 2.
[0029] The device of the invention also includes a pointer [0029] 3 having a distal end 15, a proximal end 16, a cylindrical stem 4, and a grip 5. Distal end 15, which is opposite grip 5, preferably includes a pin 7, which is preferably complementary in shape to cavity 12 allowing pin 7 to be concentrically and snugly inserted into cavity 12. Pin 7 is preferably cylindrical and can include external threads to provide a threaded engagement with cavity 12, whereby a rigid, detachable connection is be formed between the pointer 3 and the fiducial screw 2.
[0030] Pointer [0030] 3 preferably includes markers to allow the position of pointer 3 to be determined in three dimensional space. Preferably, the pointer includes at least three markers, which emit or detect electromagnetic radiation. Preferably, the markers are light emitting diodes (LED's) 6. Alternatively, the markers can be ultrasound transducers that emit or detect acoustic waves. Because diodes 6 are not collinear with one another, they define a plane 18, which is preferably oriented perpendicular to the longitudinal axis 9 of pointer 3. Diodes 6 and plane 18 are preferably disposed at rear end 16 of pointer 3.
[0031] The diameter of pin [0031] 7 is smaller than the diameter of the adjacent portion of stem 4. Therefore, when pin 7 is received within cavity 12, a shoulder of pointer 3 abuts or rests against a proximal portion 13 of fiducial screw 2. Preferably, proximal portion 13 of fiducial screw 2 and shoulder 17 are perpendicular to longitudinal axis 9 of the fiducial screw 2. Because of the cooperation between pin 7 and cavity 12 and between shoulder 17 and proximal portion 13 of the screw 2, the longitudinal axes of pointer 3 and fiducial screw 2 are coaxial when pin 7 is received within cavity 12. Therefore, the position and orientation of pointer 3 and screw 2 are defined with respect to one another.
[0032] A distance y between shoulder [0032] 17 and plane 18 of pointer 3 is known precisely. Because distance x of fiducial screw 2 and distance y of pointer 3 are known precisely and because screw 2 and pointer 3 are coaxially and concentrically aligned when pin 7 is received within cavity 12, the positions of distal tip 14 and head 22 are known precisely with respect to LED's 6. Therefore, if the position of LED's 6 are determined with respect to a given system of coordinates, such as a three-dimensional system of coordinates within a room, the positions of distal tip 14 and head 22 can be determined with respect to the same system of coordinates. Thus, distal tip 14 and head 22 of screw 2 comprise reference points, the positions of which can be determined precisely in three-dimensional space.
[0033] A position finder [0033] 24, which is preferably placed inside the room, can be used to determine and track the position of LED's 6 in three-dimensional space. Position finder 24 preferably includes at least two sensors 23 to detect the electromagnetic or acoustic waves emitted by the position determining means. Alternatively, the position finder may include emitters, to emit electromagnetic radiation or acoustic waves, suitable for detection by emitters associated with the pointer. In either case, the cooperation between the position finder and the markers of the pointer allow the position of the pointer in three-dimensional space to be determined. The position finder can be part of a CAS system and may include an image processing computer software. A suitable optical position finder includes one marketed under the name OPTOTRAK, Northern Digital Inc., Ontario, Canada.
[0034] A fiducial screw [0034] 2, which has been implanted into a bone 1, can be referenced to determine the positions in three dimensional space of the reference points defined by distal tip 14 and head 22. The referencing includes mating distal end 15 of pointer 3 with a fiducial implant to removably and reproducibly provide a known spatial relationship between the reference points and the distal end 15. The mating preferably includes inserting pin 7 into cavity 12 to provide a coaxial relationship between the fiducial implant and the pointer 3. In the preferred embodiment, upon mating the implant and the pointer, electromagnetic radiation emitted by LED's 6 of pointer 3 is detected to determine the position of the emitters in three-dimensional space. Because the spatial relationship between the emitters and pointer 3 are known, the position of the pointer in three dimensional space can determined. Because the spatial relationship between each reference point and proximal pointer end 15 is known when pointer 3 and the fiducial implant 2 are mated, the three-dimensional position of each reference point can be found from the position of the emitters.
[0035] The steps of mating and position determining can be repeated for each of the fiducial implants to be referenced. Subsequently, the positions of the reference points can be registered or matched with the corresponding coordinates of the reference points in an image showing the reference points. Suitable images can be recorded prior to the position determining and include, for example, 3-dimensional images formed by computer tomography. If the positions of the reference points of at least two implanted fiducial implants are matched with the corresponding positions of the reference points in an image of the body showing the implants, a coordinate transformation can be determined to allow the positions of points of the body and the corresponding positions of the body points in the image to be related to one another. [0035]
[0036] As an alternative to using a pointer configured with LED's emitting electromagnetic radiation, pointer [0036] 3 may be configured with markers to detect electromagnetic radiation or with acoustic transducers to emit or detect acoustic waves. In each of the alternative cases a position finder cooperates with the markers or acoustic transducers to allow the position of the pointer in three-dimensional space to be determined.
[0037] Although preferred embodiments of the invention have been illustrated in the foregoing description, it will be understood that the invention is not limited to the embodiments disclosed, but is capable of numerous rearrangements and modifications of parts and elements without departing from the spirit of the invention. [0037]

权利要求:
Claims (20)
[1" id="US-20010010004-A1-CLM-00001] 1. A device for referencing a fiducial implant, comprising:
a fiducial implant for insertion into a portion of a body, the implant having first and second reference points and a head, the head and the reference points having a known spatial relationship;
a pointer having a distal pointer end and at least three emitters configured to emit radiation, the distal pointer end and the emitters having a known spatial relationship;
a position finder comprising at least two detectors configured to detect the radiation whereby the position of the emitters in three-dimensional space can be determined; and
wherein the head of the implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the reference points and the distal pointer end to allow the position of the first and second reference points in three dimensional space to be determined.
[2" id="US-20010010004-A1-CLM-00002] 2. The device of
claim 1 , wherein the body is a bone, and further comprising a processor configured to perform a coordinate transformation to match the position of each reference point in three-dimensional space with a corresponding position of the respective reference point in a stored image of the bone.
[3" id="US-20010010004-A1-CLM-00003] 3. The device of
claim 2 , further comprising at least a second fiducial implant for insertion in the bone, the second implant having a head and at least third and fourth reference points, wherein the head of the second implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the third and fourth reference points and the distal pointer end to allow the position of the third and fourth reference points in three dimensional space to be determined.
[4" id="US-20010010004-A1-CLM-00004] 4. The device of
claim 3 , wherein the processor is configured to match the positions in three-dimensional space of the third and fourth reference points with the positions of the respective reference points in the stored image of the bone and further wherein the processor is configured to perform a coordinate transformation whereby the position of a selected point on the bone can be matched with the corresponding position of the selected point in the image of the bone.
[5" id="US-20010010004-A1-CLM-00005] 5. The device of
claim 1 , wherein the head of the fiducial implant comprises a cavity and the first end of the pointer comprises a pin configured to be received within the cavity to provide the known spatial relationship between the reference points and the first end of the pointer.
[6" id="US-20010010004-A1-CLM-00006] 6. The device of
claim 5 , wherein the first end of the pointer comprises a shoulder adjoining the pin, the shoulder having a diameter larger than a diameter of the pin and being configured to abut the head of the implant when the pin is received within the cavity.
[7" id="US-20010010004-A1-CLM-00007] 7. The device of
claim 6 , wherein the fiducial implant is a fiducial screw and the pointer can be used to screw in or screw out the fiducial screw when the pin is received within the cavity.
[8" id="US-20010010004-A1-CLM-00008] 8. The device of
claim 1 , wherein the radiation comprises electromagnetic radiation or acoustic waves.
[9" id="US-20010010004-A1-CLM-00009] 9. The device of
claim 1 , wherein the fiducial implant and pointer are arranged along a longitudinal axis and the emitters are arranged in a plane perpendicular the longitudinal axis.
[10" id="US-20010010004-A1-CLM-00010] 10. A method for determining a spatial relationship between reference points associated with a body, comprising:
inserting at least two fiducial implants in the body, each fiducial implant providing at least two reference points; and
determining the position in three-dimensional space of the at least two reference points of each of at least two of the fiducial implants and determining the spatial relationship between the reference points.
[11" id="US-20010010004-A1-CLM-00011] 11. The method of
claim 10 , wherein the body is a bone.
[12" id="US-20010010004-A1-CLM-00012] 12. The method of
claim 11 , further comprising obtaining at least one image showing the bone and at least two of the inserted fiducial implants.
[13" id="US-20010010004-A1-CLM-00013] 13. The method of
claim 12 , further comprising performing a coordinate transformation to match the positions of the reference points in three-dimensional space with corresponding positions of the reference points in the image.
[14" id="US-20010010004-A1-CLM-00014] 14. The method of
claim 10 , wherein the step of determining the position comprises:
providing a pointer having a distal end and at least three emitters configured to emit radiation, the distal end and the emitters having a known spatial relationship;
associating the distal end with one of the fiducial implants to removably and reproducibly provide a known spatial relationship between the reference points and the distal end;
detecting the radiation to determine the position of the emitters in three-dimensional space to allow the position of each reference point in three dimensional space to be determined; and
repeating the associating step for each of the fiducial implants to be referenced.
[15" id="US-20010010004-A1-CLM-00015] 15. The method of
claim 10 , wherein the image is a digitally recorded computer three-dimensional computer tomogram.
[16" id="US-20010010004-A1-CLM-00016] 16. A method for determining a spatial relationship between reference points associated with a body, comprising:
inserting at least one fiducial implant into the body;
associating with the fiducial implant a pointer having at least three emitters configured to emit radiation, wherein the emitters have a known spatial relationship and the fiducial implant and pointer are oriented along a longitudinal axis; and
determining the position in three-dimensional space of the at least two reference points of each of a least two of the implants.
[17" id="US-20010010004-A1-CLM-00017] 17. The method of
claim 16 , wherein the step of determining the position comprises:
providing a pointer having a distal end and at least three emitters configured to emit radiation, the distal end and the emitters having a known spatial relationship;
associating the distal end with one of the fiducial implants to removably and reproducibly provide a known spatial relationship between the reference points and the distal end;
detecting the radiation to determine the position of the emitters in three-dimensional space to allow the position of each reference point in three dimensional space to be determined; and
repeating the associating step for each of the fiducial implants to be referenced.
[18" id="US-20010010004-A1-CLM-00018] 18. The method of
claim 16 , wherein the body is a bone.
[19" id="US-20010010004-A1-CLM-00019] 19. The method of
claim 18 , further comprising obtaining at least one image showing the bone and at least two of the inserted fiducial implants.
[20" id="US-20010010004-A1-CLM-00020] 20. The method of
claim 19 , further comprising performing a coordinate transformation to match the positions of the reference points in three-dimensional space with corresponding positions of the reference points in the image.

类似技术:

公开号 | 公开日 | 专利标题

US6694168B2|2004-02-17|Fiducial matching using fiducial implants

USRE45509E1|2015-05-05|Percutaneous registration apparatus and method for use in computer-assisted surgical navigation

EP1430841B1|2008-04-30|Surgical instrument

JP2004237101A|2004-08-26|System and method for recording implants in orthopaedic surgery in computerized navigation system, and assembly used for computerized navigation system

US7237556B2|2007-07-03|Image-guided fracture reduction

JP2005253969A|2005-09-22|Surgical instrument and method of positioning same

US8320992B2|2012-11-27|Method and system for superimposing three dimensional medical information on a three dimensional image

US7657300B2|2010-02-02|Registration of human anatomy integrated for electromagnetic localization

EP1201199B1|2006-03-15|Surgical navigation systems including reference and localization frames

US8682413B2|2014-03-25|Systems and methods for automated tracker-driven image selection

US6585412B2|2003-07-01|X-ray calibration dummy, a method for non-marker-based registration for use in navigation-guided operations employing said x-ray calibration dummy, and a medical system having such an x-ray calibration dummy

EP1442729A1|2004-08-04|Adjustable reamer with tip tracker linkage

US20050149050A1|2005-07-07|Arrangement and method for the intra-operative determination of the position of a joint replacement implant

US20040181149A1|2004-09-16|Device and method for intraoperative navigation

WO2002000093A2|2002-01-03|Registration of target object images to stored image data

WO2014176207A1|2014-10-30|Patient-specific guides to improve point registration accuracy in surgical navigation

US20080119724A1|2008-05-22|Systems and methods for intraoperative implant placement analysis

JP4709996B2|2011-06-29|Bone tracking device fixation member

KR101154100B1|2012-06-11|Bone marker apparatus for navigation surgery and navigation method using the same

MXPA00011403A|2001-07-31|Fiducial matching by means of fiducial screws

同族专利:

公开号 | 公开日

ES2304794T3|2008-10-16|

AU742207B2|2001-12-20|

EP1089669B1|2008-03-19|

JP4132009B2|2008-08-13|

CA2335867A1|1999-12-29|

DE59814196D1|2008-04-30|

AU7755298A|2000-01-10|

PT1089669E|2008-06-30|

ZA994101B|2000-01-10|

WO1999066853A1|1999-12-29|

CA2335867C|2008-12-30|

EP1089669A1|2001-04-11|

US6694168B2|2004-02-17|

JP2002518127A|2002-06-25|

AT389364T|2008-04-15|

DK1089669T3|2008-06-30|

引用文献:

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

FR2828801A1|2001-08-27|2003-02-28|Surgiview Sa|Position locator for orthopaedic surgery has emitter fixed to bone and three dimensional locator to determine movements|

US20040030236A1|2002-07-29|2004-02-12|Mazzocchi Rudy A.|Fiducial marker devices, tools, and methods|

US20040030237A1|2002-07-29|2004-02-12|Lee David M.|Fiducial marker devices and methods|

US20040167391A1|2003-02-25|2004-08-26|Solar Matthew S.|Fiducial marker devices, tools, and methods|

WO2004070655A3|2003-02-04|2004-12-02|Univ Vanderbilt|Apparatus and methods of determining marker orientation in fiducial registration|

WO2004107959A2|2003-05-30|2004-12-16|Schaerer Mayfield Usa, Inc.|Stylus for surgical navigation system|

WO2004075768A3|2003-02-25|2005-01-06|Image Guided Neurologics Inc|Fiducial marker devices, tools, and methods|

US20050124988A1|2003-10-06|2005-06-09|Lauralan Terrill-Grisoni|Modular navigated portal|

WO2005063139A1|2003-12-30|2005-07-14|Depuy International Ltd|An instrument system for use in a surgical procedure|

EP1565099A2|2002-11-07|2005-08-24|TRIG Medical Ltd.|Method and apparatus for monitoring the progress of labor|

GB2423369A|2005-02-22|2006-08-23|Depuy Int Ltd|A position sensing probe for computer assisted surgery|

US20100010506A1|2004-01-16|2010-01-14|Murphy Stephen B|Method of Computer-Assisted Ligament Balancing and Component Placement in Total Knee Arthroplasty|

US7764985B2|2003-10-20|2010-07-27|Smith & Nephew, Inc.|Surgical navigation system component fault interfaces and related processes|

US7862570B2|2003-10-03|2011-01-04|Smith & Nephew, Inc.|Surgical positioners|

US8109942B2|2004-04-21|2012-02-07|Smith & Nephew, Inc.|Computer-aided methods, systems, and apparatuses for shoulder arthroplasty|US3821469A|1972-05-15|1974-06-28|Amperex Electronic Corp|Graphical data device|

DE2443558C3|1974-09-11|1979-08-30|Siemens Ag, 1000 Berlin Und 8000 Muenchen||

US3983474A|1975-02-21|1976-09-28|Polhemus Navigation Sciences, Inc.|Tracking and determining orientation of object using coordinate transformation means, system and process|

US4146924A|1975-09-22|1979-03-27|Board Of Regents For Education Of The State Of Rhode Island|System for visually determining position in space and/or orientation in space and apparatus employing same|

DE2718804C3|1977-04-27|1979-10-31|Karlheinz Prof. Dr. 3000 Hannover Renner|Device for positioning control of patients and / or radiation sources|

US4182312A|1977-05-20|1980-01-08|Mushabac David R|Dental probe|

FR2416480B1|1978-02-03|1982-02-26|Thomson Csf||

DE7805301U1|1978-02-22|1978-07-06|Howmedica International, Inc. Zweigniederlassung Kiel, 2300 Kiel|Distal aiming device for locking nailing|

US4204225A|1978-05-16|1980-05-20|Wisconsin Alumni Research Foundation|Real-time digital X-ray subtraction imaging|

US4341220A|1979-04-13|1982-07-27|Pfizer Inc.|Stereotactic surgery apparatus and method|

US4419012A|1979-09-11|1983-12-06|Elliott Brothers Limited|Position measuring system|

DE2948986C2|1979-12-05|1982-10-28|Siemens AG, 1000 Berlin und 8000 München|Medical examination facility|

US4638798A|1980-09-10|1987-01-27|Shelden C Hunter|Stereotactic method and apparatus for locating and treating or removing lesions|

US4358856A|1980-10-31|1982-11-09|General Electric Company|Multiaxial x-ray apparatus|

AU7986682A|1981-02-12|1982-08-19|New York University|Apparatus for stereotactic surgery|

NL8101722A|1981-04-08|1982-11-01|Philips Nv|CONTOUR METER.|

US4465069A|1981-06-04|1984-08-14|Barbier Jean Y|Cranial insertion of surgical needle utilizing computer-assisted tomography|

FI64282C|1981-06-04|1983-11-10|Instrumentarium Oy|DIAGNOSISPARATUR FOER BESTAEMMANDE AV VAEVNADERNAS STRUKTUR OC SAMMANSAETTNING|

US4437161A|1981-06-29|1984-03-13|Siemens Gammasonics Inc.|Medical imaging apparatus|

US4396945A|1981-08-19|1983-08-02|Solid Photography Inc.|Method of sensing the position and orientation of elements in space|

US4473074A|1981-09-28|1984-09-25|Xanar, Inc.|Microsurgical laser device|

US4613942A|1982-02-19|1986-09-23|Chen Richard M|Orientation and control system for robots|

US4485815A|1982-08-30|1984-12-04|Kurt Amplatz|Device and method for fluoroscope-monitored percutaneous puncture treatment|

US4457311A|1982-09-03|1984-07-03|Medtronic, Inc.|Ultrasound imaging system for scanning the human back|

US4598368A|1982-12-27|1986-07-01|Tokyo Shibaura Denki Kabushiki Kaisha|Superposed image display device|

US4651732A|1983-03-17|1987-03-24|Frederick Philip R|Three-dimensional light guidance system for invasive procedures|

US4613866A|1983-05-13|1986-09-23|Mcdonnell Douglas Corporation|Three dimensional digitizer with electromagnetic coupling|

US4618978A|1983-10-21|1986-10-21|Cosman Eric R|Means for localizing target coordinates in a body relative to a guidance system reference frame in any arbitrary plane as viewed by a tomographic image through the body|

US4753528A|1983-12-13|1988-06-28|Quantime, Inc.|Laser archery distance device|

US4841967A|1984-01-30|1989-06-27|Chang Ming Z|Positioning device for percutaneous needle insertion|

US4674057A|1984-02-14|1987-06-16|Lockheed Corporation|Ultrasonic ranging control system for industrial robots|

US4571834A|1984-02-17|1986-02-25|Orthotronics Limited Partnership|Knee laxity evaluator and motion module/digitizer arrangement|

US4583538A|1984-05-04|1986-04-22|Onik Gary M|Method and apparatus for stereotaxic placement of probes in the body utilizing CT scanner localization|

US4649504A|1984-05-22|1987-03-10|Cae Electronics, Ltd.|Optical position and orientation measurement techniques|

FR2565481B1|1984-06-06|1988-11-18|Oreal|PROCESS FOR ASSESSING VARIATIONS, OVER TIME, IN THE CHARACTERISTICS OF A ZONE OR OF AN ENTIRE PERSON, INSTALLATION FOR IMPLEMENTING THE METHOD AND APPLICATIONS OF SUCH A PROCESS|

US4672564A|1984-11-15|1987-06-09|Honeywell Inc.|Method and apparatus for determining location and orientation of objects|

US4821206A|1984-11-27|1989-04-11|Photo Acoustic Technology, Inc.|Ultrasonic apparatus for positioning a robot hand|

US4592352A|1984-11-30|1986-06-03|Patil Arun A|Computer-assisted tomography stereotactic system|

US4782239A|1985-04-05|1988-11-01|Nippon Kogaku K. K.|Optical position measuring apparatus|

US4729098A|1985-06-05|1988-03-01|General Electric Company|System and method employing nonlinear interpolation for the display of surface structures contained within the interior region of a solid body|

SE447848B|1985-06-14|1986-12-15|Anders Bengtsson|INSTRUMENTS FOR SEATING SURFACE TOPOGRAPHY|

US4743771A|1985-06-17|1988-05-10|View Engineering, Inc.|Z-axis height measurement system|

US4805615A|1985-07-02|1989-02-21|Carol Mark P|Method and apparatus for performing stereotactic surgery|

US4737032A|1985-08-26|1988-04-12|Cyberware Laboratory, Inc.|Surface mensuration sensor|

IL76517A|1985-09-27|1989-02-28|Nessim Igal Levy|Distance measuring device|

CH671873A5|1985-10-03|1989-10-13|Synthes Ag||

US4794262A|1985-12-03|1988-12-27|Yukio Sato|Method and apparatus for measuring profile of three-dimensional object|

US4742815A|1986-01-02|1988-05-10|Ninan Champil A|Computer monitoring of endoscope|

US4776749A|1986-03-25|1988-10-11|Northrop Corporation|Robotic device|

EP0239409A1|1986-03-28|1987-09-30|Life Technology Research Foundation|Robot for surgical operation|

US4760851A|1986-03-31|1988-08-02|Faro Medical Technologies Inc.|3-dimensional digitizer for skeletal analysis|

SE469321B|1986-04-14|1993-06-21|Joenkoepings Laens Landsting|SET AND DEVICE TO MAKE A MODIFIED THREE-DIMENSIONAL IMAGE OF AN ELASTIC DEFORMABLE PURPOSE|

US4763652A|1986-04-16|1988-08-16|Northgate Research, Inc.|Aiming system for kidney stone disintegrator|

US5078140A|1986-05-08|1992-01-07|Kwoh Yik S|Imaging device - aided robotic stereotaxis system|

US4822163A|1986-06-26|1989-04-18|Robotic Vision Systems, Inc.|Tracking vision sensor|

US4791934A|1986-08-07|1988-12-20|Picker International, Inc.|Computer tomography assisted stereotactic surgery system and method|

US4733969A|1986-09-08|1988-03-29|Cyberoptics Corporation|Laser probe for determining distance|

US4743770A|1986-09-22|1988-05-10|Mitutoyo Mfg. Co., Ltd.|Profile-measuring light probe using a change in reflection factor in the proximity of a critical angle of light|

US4761072A|1986-09-30|1988-08-02|Diffracto Ltd.|Electro-optical sensors for manual control|

US4750487A|1986-11-24|1988-06-14|Zanetti Paul H|Stereotactic frame|

DE3703422A1|1987-02-05|1988-08-18|Zeiss Carl Fa|OPTOELECTRONIC DISTANCE SENSOR|

US4745290A|1987-03-19|1988-05-17|David Frankel|Method and apparatus for use in making custom shoes|

US4762016A|1987-03-27|1988-08-09|The Regents Of The University Of California|Robotic manipulator having three degrees of freedom|

US4875478A|1987-04-10|1989-10-24|Chen Harry H|Portable compression grid & needle holder|

US4793355A|1987-04-17|1988-12-27|Biomagnetic Technologies, Inc.|Apparatus for process for making biomagnetic measurements|

US4733661A|1987-04-27|1988-03-29|Palestrant Aubrey M|Guidance device for C.T. guided drainage and biopsy procedures|

US4836778A|1987-05-26|1989-06-06|Vexcel Corporation|Mandibular motion monitoring system|

DE3717871C3|1987-05-27|1995-05-04|Georg Prof Dr Schloendorff|Method and device for reproducible visual representation of a surgical intervention|

JPH02503519A|1987-05-27|1990-10-25|||

US4835710A|1987-07-17|1989-05-30|Cincinnati Milacron Inc.|Method of moving and orienting a tool along a curved path|

US4829373A|1987-08-03|1989-05-09|Vexcel Corporation|Stereo mensuration apparatus|

US4991579A|1987-11-10|1991-02-12|Allen George S|Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants|

US5027818A|1987-12-03|1991-07-02|University Of Florida|Dosimetric technique for stereotactic radiosurgery same|

US5251127A|1988-02-01|1993-10-05|Faro Medical Technologies Inc.|Computer-aided surgery apparatus|

EP0326768A3|1988-02-01|1991-01-23|Faro Medical Technologies Inc.|Computer-aided surgery apparatus|

US4987488A|1988-03-07|1991-01-22|George Berci|Video system for visualizing microsurgical images with enhanced depth of field|

US4869247A|1988-03-11|1989-09-26|The University Of Virginia Alumni Patents Foundation|Video tumor fighting system|

US4970666A|1988-03-30|1990-11-13|Land Development Laboratory, Inc.|Computerized video imaging system for creating a realistic depiction of a simulated object in an actual environment|

DE3814246A1|1988-04-27|1989-11-09|Siemens Ag|MEDICAL EXAMINATION SYSTEM WITH AN IMAGING DEVICE|

US5050608A|1988-07-12|1991-09-24|Medirand, Inc.|System for indicating a position to be operated in a patient's body|

US4896673A|1988-07-15|1990-01-30|Medstone International, Inc.|Method and apparatus for stone localization using ultrasound imaging|

US5099846A|1988-12-23|1992-03-31|Hardy Tyrone L|Method and apparatus for video presentation from a variety of scanner imaging sources|

CA2045588A1|1989-01-24|1990-07-25|Marc Stuart Lemchen|Method and apparatus for generating cephalometric images|

US5197476A|1989-03-16|1993-03-30|Christopher Nowacki|Locating target in human body|

US5257998A|1989-09-20|1993-11-02|Mitaka Kohki Co., Ltd.|Medical three-dimensional locating apparatus|

EP0647428A3|1989-11-08|1995-07-12|George S Allen|Interactive image-guided surgical system.|

US5047036A|1989-11-17|1991-09-10|Koutrouvelis Panos G|Stereotactic device|

US5080662A|1989-11-27|1992-01-14|Paul Kamaljit S|Spinal stereotaxic device and method|

US5107839A|1990-05-04|1992-04-28|Pavel V. Houdek|Computer controlled stereotaxic radiotherapy system and method|

US5295483A|1990-05-11|1994-03-22|Christopher Nowacki|Locating target in human body|

US5086401A|1990-05-11|1992-02-04|International Business Machines Corporation|Image-directed robotic system for precise robotic surgery including redundant consistency checking|

US5198877A|1990-10-15|1993-03-30|Pixsys, Inc.|Method and apparatus for three-dimensional non-contact shape sensing|

US5207223A|1990-10-19|1993-05-04|Accuray, Inc.|Apparatus for and method of performing stereotaxic surgery|

DE69132412T2|1990-10-19|2001-03-01|Univ St Louis|LOCALIZATION SYSTEM FOR A SURGICAL PROBE FOR USE ON THE HEAD|

US5059789A|1990-10-22|1991-10-22|International Business Machines Corp.|Optical position and orientation sensor|

US5662111A|1991-01-28|1997-09-02|Cosman; Eric R.|Process of stereotactic optical navigation|

US6167295A|1991-01-28|2000-12-26|Radionics, Inc.|Optical and computer graphic stereotactic localizer|

FR2675977B1|1991-04-26|1997-09-12|Inst Nat Audiovisuel|METHOD FOR MODELING A SHOOTING SYSTEM AND METHOD AND SYSTEM FOR PRODUCING COMBINATIONS OF REAL IMAGES AND SYNTHESIS IMAGES.|

US5279309A|1991-06-13|1994-01-18|International Business Machines Corporation|Signaling device and method for monitoring positions in a surgical operation|

US5249581A|1991-07-15|1993-10-05|Horbal Mark T|Precision bone alignment|

US5211165A|1991-09-03|1993-05-18|General Electric Company|Tracking system to follow the position and orientation of a device with radiofrequency field gradients|

US5300080A|1991-11-01|1994-04-05|David Clayman|Stereotactic instrument guided placement|

US5274551A|1991-11-29|1993-12-28|General Electric Company|Method and apparatus for real-time navigation assist in interventional radiological procedures|

US5230623A|1991-12-10|1993-07-27|Radionics, Inc.|Operating pointer with interactive computergraphics|

DE4211274C1|1992-04-03|1993-04-15|Siemens Ag, 8000 Muenchen, De|Medical treatment unit e.g. for bone fractures - produces marking on monitor to indicate different positions of radiation beam in region to be treated|

US5603318A|1992-04-21|1997-02-18|University Of Utah Research Foundation|Apparatus and method for photogrammetric surgical localization|

US5389101A|1992-04-21|1995-02-14|University Of Utah|Apparatus and method for photogrammetric surgical localization|

US6122341A|1992-06-12|2000-09-19|Butler; William E.|System for determining target positions in the body observed in CT image data|

US5325855A|1992-08-07|1994-07-05|Memorial Hospital For Cancer And Allied Diseases|Flexible intraoperative radiation imaging camera|

DE4233978C1|1992-10-08|1994-04-21|Leibinger Gmbh|Body marking device for medical examinations|

US5517990A|1992-11-30|1996-05-21|The Cleveland Clinic Foundation|Stereotaxy wand and tool guide|

US5309913A|1992-11-30|1994-05-10|The Cleveland Clinic Foundation|Frameless stereotaxy system|

US5732703A|1992-11-30|1998-03-31|The Cleveland Clinic Foundation|Stereotaxy wand and tool guide|

US5799099A|1993-02-12|1998-08-25|George S. Allen|Automatic technique for localizing externally attached fiducial markers in volume images of the head|

DE4304570A1|1993-02-16|1994-08-18|Mdc Med Diagnostic Computing|Device and method for preparing and supporting surgical procedures|

US5483961A|1993-03-19|1996-01-16|Kelly; Patrick J.|Magnetic field digitizer for stereotactic surgery|

EP0700269B1|1993-04-22|2002-12-11|Image Guided Technologies, Inc.|System for locating relative positions of objects|

FR2709656B1|1993-09-07|1995-12-01|Deemed Int Sa|Installation for computer-assisted microsurgery operation and methods implemented by said installation.|

CA2177140A1|1993-12-10|1995-06-15|Matthew Y. Wang|Automatic technique for localizing externally attached fiducial markers in volume images of the head|

US6120465A|1994-01-24|2000-09-19|Radionics Software Applications, Inc.|Virtual probe for a stereotactic digitizer for use in surgery|

US5631973A|1994-05-05|1997-05-20|Sri International|Method for telemanipulation with telepresence|

DE4417944A1|1994-05-21|1995-11-23|Zeiss Carl Fa|Process for correlating different coordinate systems in computer-assisted, stereotactic surgery|

EP0951874A3|1994-09-15|2000-06-14|Visualization Technology, Inc.|Position tracking and imaging system for use in medical applications using a reference unit secured to a patients head|

US5829444A|1994-09-15|1998-11-03|Visualization Technology, Inc.|Position tracking and imaging system for use in medical applications|

DE69534862T2|1994-10-07|2006-08-17|St. Louis University|Surgical navigation arrangement including reference and location systems|

US5588430A|1995-02-14|1996-12-31|University Of Florida Research Foundation, Inc.|Repeat fixation for frameless stereotactic procedure|

US6259943B1|1995-02-16|2001-07-10|Sherwood Services Ag|Frameless to frame-based registration system|

DE19506197A1|1995-02-23|1996-09-05|Aesculap Ag|Method and device for determining the location of a body part|

US6246898B1|1995-03-28|2001-06-12|Sonometrics Corporation|Method for carrying out a medical procedure using a three-dimensional tracking and imaging system|

US5617857A|1995-06-06|1997-04-08|Image Guided Technologies, Inc.|Imaging system having interactive medical instruments and methods|

US5729129A|1995-06-07|1998-03-17|Biosense, Inc.|Magnetic location system with feedback adjustment of magnetic field generator|

JP3568280B2|1995-07-12|2004-09-22|富士写真フイルム株式会社|Surgical operation support system|

KR19990029038A|1995-07-16|1999-04-15|요아브 빨띠에리|Free aiming of needle ceramic|

US6256529B1|1995-07-26|2001-07-03|Burdette Medical Systems, Inc.|Virtual reality 3D visualization for surgical procedures|

US6351659B1|1995-09-28|2002-02-26|Brainlab Med. Computersysteme Gmbh|Neuro-navigation system|

DE19536180C2|1995-09-28|2003-05-08|Brainlab Ag|Methods and devices for locating an instrument|

US5769861A|1995-09-28|1998-06-23|Brainlab Med. Computersysteme Gmbh|Method and devices for localizing an instrument|

US5682886A|1995-12-26|1997-11-04|Musculographics Inc|Computer-assisted surgical system|

US5711299A|1996-01-26|1998-01-27|Manwaring; Kim H.|Surgical guidance method and system for approaching a target within a body|

US5735278A|1996-03-15|1998-04-07|National Research Council Of Canada|Surgical procedure with magnetic resonance imaging|

US6167145A|1996-03-29|2000-12-26|Surgical Navigation Technologies, Inc.|Bone navigation system|

US5799055A|1996-05-15|1998-08-25|Northwestern University|Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy|

CH690707A5|1996-06-10|2000-12-29|Leica Mikroskopie Sys Ag|Markers for position detection with electrical or electronic light-transmitting elements|

US6167296A|1996-06-28|2000-12-26|The Board Of Trustees Of The Leland Stanford Junior University|Method for volumetric image navigation|

US5980535A|1996-09-30|1999-11-09|Picker International, Inc.|Apparatus for anatomical tracking|

US5810008A|1996-12-03|1998-09-22|Isg Technologies Inc.|Apparatus and method for visualizing ultrasonic images|

US6205411B1|1997-02-21|2001-03-20|Carnegie Mellon University|Computer-assisted surgery planner and intra-operative guidance system|

US5880976A|1997-02-21|1999-03-09|Carnegie Mellon University|Apparatus and method for facilitating the implantation of artificial components in joints|

DE29704393U1|1997-03-11|1997-07-17|Aesculap Ag|Device for preoperative determination of the position data of endoprosthesis parts|

JP4113591B2|1997-06-23|2008-07-09|コーニンクレッカフィリップスエレクトロニクスエヌヴィ|Image guided surgery system|

EP0929267B1|1997-07-03|2008-09-10|Koninklijke Philips Electronics N.V.|Image-guided surgery system|

US6226548B1|1997-09-24|2001-05-01|Surgical Navigation Technologies, Inc.|Percutaneous registration apparatus and method for use in computer-assisted surgical navigation|

JP2001522037A|1997-11-04|2001-11-13|ジンテーズアクチエンゲゼルシャフトクール|Device for associating coordinate systems|

US6021343A|1997-11-20|2000-02-01|Surgical Navigation Technologies|Image guided awl/tap/screwdriver|

US6149592A|1997-11-26|2000-11-21|Picker International, Inc.|Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data|

US6011987A|1997-12-08|2000-01-04|The Cleveland Clinic Foundation|Fiducial positioning cup|

US6298262B1|1998-04-21|2001-10-02|Neutar, Llc|Instrument guidance for stereotactic surgery|US8603095B2|1994-09-02|2013-12-10|Puget Bio Ventures LLC|Apparatuses for femoral and tibial resection|

US8062377B2|2001-03-05|2011-11-22|Hudson Surgical Design, Inc.|Methods and apparatus for knee arthroplasty|

US6695848B2|1994-09-02|2004-02-24|Hudson Surgical Design, Inc.|Methods for femoral and tibial resection|

US6923817B2|2001-02-27|2005-08-02|Smith & Nephew, Inc.|Total knee arthroplasty systems and processes|

US7547307B2|2001-02-27|2009-06-16|Smith & Nephew, Inc.|Computer assisted knee arthroplasty instrumentation, systems, and processes|

US20050113846A1|2001-02-27|2005-05-26|Carson Christopher P.|Surgical navigation systems and processes for unicompartmental knee arthroplasty|

DE10202091B4|2002-01-21|2005-09-08|Siemens Ag|Device for determining a coordinate transformation|

AU2003217389B2|2002-02-11|2008-10-30|Smith & Nephew, Inc.|Image-guided fracture reduction|

US20040019265A1|2002-07-29|2004-01-29|Mazzocchi Rudy A.|Fiducial marker devices, tools, and methods|

US8114083B2|2004-01-14|2012-02-14|Hudson Surgical Design, Inc.|Methods and apparatus for improved drilling and milling tools for resection|

US8287545B2|2004-01-14|2012-10-16|Hudson Surgical Design, Inc.|Methods and apparatus for enhanced retention of prosthetic implants|

US7815645B2|2004-01-14|2010-10-19|Hudson Surgical Design, Inc.|Methods and apparatus for pinplasty bone resection|

US8021368B2|2004-01-14|2011-09-20|Hudson Surgical Design, Inc.|Methods and apparatus for improved cutting tools for resection|

US7857814B2|2004-01-14|2010-12-28|Hudson Surgical Design, Inc.|Methods and apparatus for minimally invasive arthroplasty|

US20060030854A1|2004-02-02|2006-02-09|Haines Timothy G|Methods and apparatus for wireplasty bone resection|

US7641660B2|2004-03-08|2010-01-05|Biomet Manufacturing Corporation|Method, apparatus, and system for image guided bone cutting|

US20070073306A1|2004-03-08|2007-03-29|Ryan Lakin|Cutting block for surgical navigation|

CA2588736A1|2004-12-02|2006-06-08|Smith & Nephew, Inc.|Systems, methods, and apparatus for automatic software flow using instrument detection during computer-aided surgery|

CA2588739A1|2004-12-02|2006-06-08|Smith & Nephew, Inc.|Systems for providing a reference plane for mounting an acetabular cup|

US20060161051A1|2005-01-18|2006-07-20|Lauralan Terrill-Grisoni|Method of computer-assisted ligament balancing and component placement in total knee arthroplasty|

US20070073136A1|2005-09-15|2007-03-29|Robert Metzger|Bone milling with image guided surgery|

US7835784B2|2005-09-21|2010-11-16|Medtronic Navigation, Inc.|Method and apparatus for positioning a reference frame|

US7662183B2|2006-01-24|2010-02-16|Timothy Haines|Dynamic spinal implants incorporating cartilage bearing graft material|

WO2007124338A1|2006-04-19|2007-11-01|Xoran Technologies, Inc.|Ct scanner with untracked markers|

US20080033286A1|2006-08-02|2008-02-07|Civco Medical Instruments Co., Inc.|Fiducial marker for imaging localization and method of using the same|

US8784425B2|2007-02-28|2014-07-22|Smith & Nephew, Inc.|Systems and methods for identifying landmarks on orthopedic implants|

US8739801B2|2007-02-28|2014-06-03|Smith & Nephew, Inc.|System and method for identifying a landmark|

US9031637B2|2009-04-27|2015-05-12|Smith & Nephew, Inc.|Targeting an orthopaedic implant landmark|

WO2008105874A1|2007-02-28|2008-09-04|Smith & Nephew, Inc.|Instrumented orthopaedic implant for identifying a landmark|

US8945147B2|2009-04-27|2015-02-03|Smith & Nephew, Inc.|System and method for identifying a landmark|

US9220514B2|2008-02-28|2015-12-29|Smith & Nephew, Inc.|System and method for identifying a landmark|

US20080234572A1|2007-03-23|2008-09-25|Civco Medical Instruments Co., Inc.|Fiducial marker with absorbable connecting sleeve and absorbable spacer for imaging localization|

FR2920084B1|2007-08-24|2010-08-20|Endocontrol|IMAGING SYSTEM FOR MONITORING A SURGICAL TOOL IN AN OPERATIVE FIELD|

US20090105584A1|2007-10-18|2009-04-23|Civco Medical Instruments Co., Inc.|Fiducial marker deployment system using single stick neeedle and method of use|

US8086734B2|2009-08-26|2011-12-27|International Business Machines Corporation|Method of autonomic representative selection in local area networks|

CA2801187C|2010-06-03|2018-10-09|Smith & Nephew, Inc.|Orthopaedic implants|

WO2012103169A2|2011-01-25|2012-08-02|Smith & Nephew, Inc.|Targeting operation sites|

DE102011100723A1|2011-05-06|2012-11-08|Eads Deutschland Gmbh|Marker element for referencing spatial position or orientation to structure in spatial position referencing system, has multiple indicator elements for determining defined point|

AU2012253862B2|2011-05-06|2016-09-29|Smith & Nephew, Inc.|Targeting landmarks of orthopaedic devices|

BR112013032144A2|2011-06-16|2016-12-13|Smith & Nephew Inc|surgical alignment using references|

US20140081659A1|2012-09-17|2014-03-20|Depuy Orthopaedics, Inc.|Systems and methods for surgical and interventional planning, support, post-operative follow-up, and functional recovery tracking|

US9161799B2|2013-01-28|2015-10-20|Warsaw Orthopedic, Inc.|Surgical implant system and method|

WO2015144246A1|2014-03-28|2015-10-01|Brainlab Ag|Instrument for creating an artificial landmark on a surface of a bone and medical navigation system|

US10492755B2|2016-07-13|2019-12-03|Carestream Health, Inc.|Calibration phantom comprising a reflectance calibration target and a plurality of radio-opaque markers|

US10799300B2|2018-10-18|2020-10-13|Warsaw Orthopedic, Inc.|Spinal implant system and method|

法律状态:
2000-12-21| AS| Assignment|Owner name: SYNTHES (U.S.A.), PENNSYLVANIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TRAXEL, DORIS;BERGER, ROGER;REEL/FRAME:011424/0623 Effective date: 20001106 |

2004-01-29| STCF| Information on status: patent grant|Free format text: PATENTED CASE |

2007-02-13| AS| Assignment|Owner name: AO TECHNOLOGY AG, SWITZERLAND Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SYNTHES (U.S.A.);REEL/FRAME:018883/0238 Effective date: 20061208 |

2007-08-06| FPAY| Fee payment|Year of fee payment: 4 |

2011-08-12| FPAY| Fee payment|Year of fee payment: 8 |

2015-08-03| FPAY| Fee payment|Year of fee payment: 12 |

优先权:

申请号 | 申请日 | 专利标题

PCT/CH1998/000269|WO1999066853A1|1998-06-22|1998-06-22|Fiducial matching by means of fiducial screws|

CHPCT/CH98/00269||1998-06-22||

[返回顶部]