CN109171964B - 包括光学传感器和非光学传感器的导航系统 - Google Patents

包括光学传感器和非光学传感器的导航系统 Download PDF

Info

Publication number
CN109171964B
CN109171964B CN201811105300.0A CN201811105300A CN109171964B CN 109171964 B CN109171964 B CN 109171964B CN 201811105300 A CN201811105300 A CN 201811105300A CN 109171964 B CN109171964 B CN 109171964B
Authority
CN
China
Prior art keywords
coordinate system
tracker
markers
navigation system
navigation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201811105300.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN109171964A (zh
Inventor
吴春武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stryker Corp
Original Assignee
Stryker Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stryker Corp filed Critical Stryker Corp
Publication of CN109171964A publication Critical patent/CN109171964A/zh
Application granted granted Critical
Publication of CN109171964B publication Critical patent/CN109171964B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A61B2034/2053—Tracking an applied voltage gradient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
CN201811105300.0A 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统 Active CN109171964B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261705804P 2012-09-26 2012-09-26
US61/705,804 2012-09-26
US14/035,207 US9008757B2 (en) 2012-09-26 2013-09-24 Navigation system including optical and non-optical sensors
US14/035,207 2013-09-24
CN201380050199.2A CN104684502B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201380050199.2A Division CN104684502B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

Publications (2)

Publication Number Publication Date
CN109171964A CN109171964A (zh) 2019-01-11
CN109171964B true CN109171964B (zh) 2021-08-06

Family

ID=50339531

Family Applications (4)

Application Number Title Priority Date Filing Date
CN201811105300.0A Active CN109171964B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202110822755.XA Active CN113545854B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202411397155.3A Pending CN119279782A (zh) 2012-09-26 2013-09-25 机器人控制的器械的光学和非光学传感器跟踪
CN201380050199.2A Active CN104684502B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

Family Applications After (3)

Application Number Title Priority Date Filing Date
CN202110822755.XA Active CN113545854B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202411397155.3A Pending CN119279782A (zh) 2012-09-26 2013-09-25 机器人控制的器械的光学和非光学传感器跟踪
CN201380050199.2A Active CN104684502B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

Country Status (8)

Country Link
US (7) US9008757B2 (OSRAM)
EP (2) EP3884900B1 (OSRAM)
JP (3) JP6370789B2 (OSRAM)
KR (3) KR101974102B1 (OSRAM)
CN (4) CN109171964B (OSRAM)
AU (3) AU2013323646B2 (OSRAM)
CA (1) CA2883508A1 (OSRAM)
WO (1) WO2014052428A1 (OSRAM)

Families Citing this family (244)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7635390B1 (en) 2000-01-14 2009-12-22 Marctec, Llc Joint replacement component having a modular articulating surface
US7708741B1 (en) 2001-08-28 2010-05-04 Marctec, Llc Method of preparing bones for knee replacement surgery
US9155544B2 (en) 2002-03-20 2015-10-13 P Tech, Llc Robotic systems and methods
WO2007136745A2 (en) 2006-05-19 2007-11-29 University Of Hawaii Motion tracking system for real time adaptive imaging and spectroscopy
US9492237B2 (en) * 2006-05-19 2016-11-15 Mako Surgical Corp. Method and apparatus for controlling a haptic device
WO2013032933A2 (en) 2011-08-26 2013-03-07 Kinecticor, Inc. Methods, systems, and devices for intra-scan motion correction
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US20190380794A1 (en) * 2012-06-21 2019-12-19 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10799298B2 (en) 2012-06-21 2020-10-13 Globus Medical Inc. Robotic fluoroscopic navigation
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US12133699B2 (en) 2012-06-21 2024-11-05 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US12220120B2 (en) 2012-06-21 2025-02-11 Globus Medical, Inc. Surgical robotic system with retractor
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US12465433B2 (en) 2012-06-21 2025-11-11 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10874466B2 (en) 2012-06-21 2020-12-29 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US12262954B2 (en) 2012-06-21 2025-04-01 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US12472008B2 (en) 2012-06-21 2025-11-18 Globus Medical, Inc. Robotic fluoroscopic navigation
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US12484990B2 (en) 2012-06-21 2025-12-02 Globus Medical, Inc. Method and system for improving 2D-3D registration convergence
US9008757B2 (en) * 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US9993273B2 (en) 2013-01-16 2018-06-12 Mako Surgical Corp. Bone plate and tracking device using a bone plate for attaching to a patient's anatomy
AU2014207502B2 (en) 2013-01-16 2018-10-18 Stryker Corporation Navigation systems and methods for indicating line-of-sight errors
US10327708B2 (en) 2013-01-24 2019-06-25 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
US9305365B2 (en) 2013-01-24 2016-04-05 Kineticor, Inc. Systems, devices, and methods for tracking moving targets
US9717461B2 (en) * 2013-01-24 2017-08-01 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
EP2950714A4 (en) 2013-02-01 2017-08-16 Kineticor, Inc. Motion tracking system for real time adaptive motion compensation in biomedical imaging
CN105431102B (zh) 2013-06-11 2018-01-30 迷你麦克斯医疗 用于身体部分的计划量的处理的系统
US10390737B2 (en) 2013-09-30 2019-08-27 Stryker Corporation System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure
US9763741B2 (en) 2013-10-24 2017-09-19 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
EP3228254B1 (en) 2014-02-21 2020-01-01 3DIntegrated ApS A set comprising a surgical instrument
WO2015148391A1 (en) 2014-03-24 2015-10-01 Thomas Michael Ernst Systems, methods, and devices for removing prospective motion correction from medical imaging scans
WO2015163943A1 (en) 2014-04-24 2015-10-29 Covidien Lp Robotic interface positioning determination systems and methods
EP3443925B1 (en) 2014-05-14 2021-02-24 Stryker European Holdings I, LLC Processor arrangement for tracking the position of a work target
JP6205387B2 (ja) * 2014-06-04 2017-09-27 アニマ株式会社 仮想マーカーの位置情報の取得方法及び装置、動作計測方法
CN106714681A (zh) 2014-07-23 2017-05-24 凯内蒂科尔股份有限公司 用于在医学成像扫描期间追踪和补偿患者运动的系统、设备和方法
KR102652836B1 (ko) 2014-08-12 2024-04-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 비제어 이동 검출
KR101645392B1 (ko) 2014-08-13 2016-08-02 주식회사 고영테크놀러지 트랙킹 시스템 및 이를 이용한 트랙킹 방법
US10675097B2 (en) * 2014-08-28 2020-06-09 Waldemar Link Gmbh & Co. Kg Handheld surgical tool with autonomous navigation
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
CN111317560B (zh) 2014-10-31 2023-09-22 美敦力先进能量有限公司 用于减少rf发生器中的泄漏电流的功率监测电路与方法
KR20220166880A (ko) * 2014-11-21 2022-12-19 씽크 써지컬, 인크. 시각 추적 시스템과 추적 마커 간에 데이터를 전송하기 위한 가시광 통신 시스템
WO2016082018A1 (en) 2014-11-25 2016-06-02 Synaptive Medical (Barbados) Inc. Sensor based tracking tool for medical components
DE102015201460B4 (de) * 2015-01-28 2023-05-17 Siemens Healthcare Gmbh Positionsbestimmung eines medizinischen Instruments
CN104658393A (zh) * 2015-02-10 2015-05-27 上海理工大学 腹腔镜模拟手术训练评价系统及方法
WO2016131903A1 (en) * 2015-02-18 2016-08-25 KB Medical SA Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
EP4197479B1 (en) 2015-02-25 2025-06-18 MAKO Surgical Corp. Navigation systems and methods for reducing tracking interruptions during a surgical procedure
KR102491909B1 (ko) * 2015-04-10 2023-01-26 마코 서지컬 코포레이션 수술 도구의 자율 이동 중에 수술 도구를 제어하는 시스템 및 방법
US10470724B2 (en) 2015-04-13 2019-11-12 Precisionrad Llc Laser and accelerometer guided medical device
CN118576327A (zh) 2015-05-19 2024-09-03 马科外科公司 操纵解剖体的系统和方法
DE102015109371A1 (de) * 2015-06-12 2016-12-15 avateramedical GmBH Vorrichtung und Verfahren zur robotergestützten Chirurgie
WO2017004056A1 (en) 2015-07-01 2017-01-05 Mako Surgical Corp. Robotic systems and methods for controlling a tool removing material from a workpiece
JP6776327B2 (ja) 2015-07-21 2020-10-28 スリーディインテグレイテッド アーペーエス３Ｄｉｎｔｅｇｒａｔｅｄ Ａｐｓ カニューレアセンブリキット、套管針アセンブリキット、スリーブアセンブリ、低侵襲性手術システム及び方法
US11020144B2 (en) 2015-07-21 2021-06-01 3Dintegrated Aps Minimally invasive surgery system
US9943247B2 (en) 2015-07-28 2018-04-17 The University Of Hawai'i Systems, devices, and methods for detecting false movements for motion correction during a medical imaging scan
DK178899B1 (en) 2015-10-09 2017-05-08 3Dintegrated Aps A depiction system
US10058393B2 (en) 2015-10-21 2018-08-28 P Tech, Llc Systems and methods for navigation and visualization
GB2559090B (en) 2015-11-03 2020-10-07 Synaptive Medical Barbados Inc Dual zoom and dual field-of-view microscope
EP3380007A4 (en) 2015-11-23 2019-09-04 Kineticor, Inc. SYSTEMS, APPARATUS AND METHOD FOR TRACKING AND COMPENSATING THE PATIENT MOVEMENT DURING IMAGING MEDICAL TRACING
KR102430277B1 (ko) * 2015-11-27 2022-08-09 큐렉소 주식회사 정형외과 수술용 마커 위치 확인 시스템 및 그 확인 방법
KR102794946B1 (ko) 2015-12-31 2025-04-14 스트리커 코포레이션 가상 객체에 의해 정의된 타깃 부위에서 환자에게 수술을 수행하기 위한 시스템 및 방법
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11064904B2 (en) 2016-02-29 2021-07-20 Extremity Development Company, Llc Smart drill, jig, and method of orthopedic surgery
EP3249427B1 (en) * 2016-04-22 2019-06-12 Globus Medical, Inc. A device for regenerating an infrared signal
KR102488295B1 (ko) 2016-05-23 2023-01-16 마코 서지컬 코포레이션 로봇 수술 절차 동안 물리적 오브젝트를 식별하고 추적하기 위한 시스템 및 방법
US10537395B2 (en) 2016-05-26 2020-01-21 MAKO Surgical Group Navigation tracker with kinematic connector assembly
EP3463154B1 (en) * 2016-06-02 2023-07-05 Atracsys Sàrl Mobile surgical navigation system
US11229489B2 (en) 2016-06-16 2022-01-25 Zimmer, Inc. Soft tissue balancing in articular surgery
US10136952B2 (en) * 2016-06-16 2018-11-27 Zimmer, Inc. Soft tissue balancing in articular surgery
BR112018076566A2 (pt) * 2016-06-20 2019-07-16 Avra Medical Robotics Inc sistema robótico para tratar a pele de um paciente, método para tratar uma região de pele de um paciente, e, unidade de navegação
KR101848027B1 (ko) * 2016-08-16 2018-04-12 주식회사 고영테크놀러지 정위수술용 수술로봇 시스템 및 정위수술용 로봇의 제어방법
WO2018049196A1 (en) 2016-09-09 2018-03-15 GYS Tech, LLC d/b/a Cardan Robotics Methods and systems for display of patient data in computer-assisted surgery
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
US10318024B2 (en) * 2016-10-14 2019-06-11 Orthosoft, Inc. Mechanical optical pointer
CN111417352B (zh) * 2016-10-21 2024-05-24 莫比乌斯成像公司 用于设定图像引导式外科手术的轨迹和目标位置的方法和系统
WO2018075935A1 (en) 2016-10-21 2018-04-26 Mako Surgical Corp. Systems and tools for use with surgical robotic manipulators
EP3541270A4 (en) 2016-11-18 2020-06-10 Stryker Corp. METHOD AND APPARATUS FOR TREATMENT OF A JOINT, INCLUDING THE TREATMENT OF A FEMORO-ACETABULAR CONFLICT IN A HIP JOINT AND A FEMORO-ACETABULAR CONFLICT OF A CLIP TYPE IN A HIP JOINT
EP3503833B1 (en) 2016-11-21 2021-01-20 St. Jude Medical International Holding S.à r.l. Fluorolucent magnetic field generator
EP3545675A4 (en) 2016-11-24 2020-07-01 The University of Washington CAPTURE AND RESTITUTION OF LIGHT FIELD FOR HEADSETS
US11607229B2 (en) 2016-12-08 2023-03-21 Orthotaxy S.A.S. Surgical system for cutting an anatomical structure according to at least one target plane
EP3551098B1 (en) 2016-12-08 2024-03-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target cutting plane
US11974761B2 (en) 2016-12-08 2024-05-07 Orthotaxy S.A.S. Surgical system for cutting an anatomical structure according to at least one target plane
EP3554414A1 (en) 2016-12-16 2019-10-23 MAKO Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
WO2018112028A1 (en) 2016-12-16 2018-06-21 Mako Surgical Corp. Techniques for detecting errors or loss of accuracy in a surgical robotic system
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
EP4643804A2 (en) 2017-04-14 2025-11-05 Stryker Corporation Surgical systems for facilitating ad-hoc intraoperative planning of surgical procedures
US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
JP7677608B2 (ja) 2017-05-12 2025-05-15 オーリス ヘルス インコーポレイテッド 生検装置およびシステム
AU2018282197A1 (en) 2017-06-09 2019-12-19 Mako Surgical Corp. Robotic system and method for producing reactive forces to implement virtual boundaries
WO2018227095A2 (en) 2017-06-09 2018-12-13 Mako Surgical Corp. Systems and tools for positioning workpieces with surgical robots
CN107149722B (zh) * 2017-06-20 2020-10-09 深圳市瀚翔生物医疗电子股份有限公司 一种经颅磁刺激治疗设备
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10806529B2 (en) * 2017-07-20 2020-10-20 Mako Surgical Corp. System and method for robotically assisting a surgical procedure
US11027432B2 (en) 2017-09-06 2021-06-08 Stryker Corporation Techniques for controlling position of an end effector of a robotic device relative to a virtual constraint
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
KR20170123305A (ko) * 2017-10-30 2017-11-07 이일권 내비게이터를 가진 인체 시술 장치 및 그에 의한 인체 시술 위치 표시 방법
US11173048B2 (en) 2017-11-07 2021-11-16 Howmedica Osteonics Corp. Robotic system for shoulder arthroplasty using stemless implant components
US11241285B2 (en) 2017-11-07 2022-02-08 Mako Surgical Corp. Robotic system for shoulder arthroplasty using stemless implant components
US11432945B2 (en) 2017-11-07 2022-09-06 Howmedica Osteonics Corp. Robotic system for shoulder arthroplasty using stemless implant components
US10555781B2 (en) 2017-11-15 2020-02-11 Stryker Corporation High bandwidth and low latency hybrid communication techniques for a navigation system
WO2019113249A1 (en) 2017-12-06 2019-06-13 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
US11234775B2 (en) 2018-01-26 2022-02-01 Mako Surgical Corp. End effectors, systems, and methods for impacting prosthetics guided by surgical robots
KR102680406B1 (ko) 2018-01-26 2024-07-03 마코 서지컬 코포레이션 수술 로봇 시스템에 의해 가이드되는 구동 도구를 위한 엔드 이펙터 및 방법
US11464569B2 (en) 2018-01-29 2022-10-11 Stryker Corporation Systems and methods for pre-operative visualization of a joint
KR102690164B1 (ko) 2018-02-13 2024-08-02 아우리스 헬스, 인코포레이티드 의료 기구를 구동시키기 위한 시스템 및 방법
EP3755259A1 (en) 2018-02-19 2020-12-30 Mako Surgical Corp. Surgical systems and methods for identifying tools guided by surgical robots
US10881472B2 (en) * 2018-02-20 2021-01-05 Verb Surgical Inc. Correcting a robotic surgery user interface device tracking input
US11464577B2 (en) 2018-03-02 2022-10-11 Mako Surgical Corp. Tool assembly, systems, and methods for manipulating tissue
CN108324373B (zh) * 2018-03-19 2020-11-27 南开大学 一种基于电磁定位系统的穿刺手术机器人精确定位实现方法
US10933526B2 (en) * 2018-04-23 2021-03-02 General Electric Company Method and robotic system for manipulating instruments
TWI678181B (zh) * 2018-04-30 2019-12-01 長庚大學 手術導引系統
EP3569159A1 (en) * 2018-05-14 2019-11-20 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
US11191594B2 (en) 2018-05-25 2021-12-07 Mako Surgical Corp. Versatile tracking arrays for a navigation system and methods of recovering registration using the same
US11292135B2 (en) 2018-05-31 2022-04-05 Mako Surgical Corp. Rotating switch sensor for a robotic system
EP3581121A1 (en) 2018-06-15 2019-12-18 MAKO Surgical Corp. Techniques for patient-specific milling path generation
DE102019004233B4 (de) 2018-06-15 2022-09-22 Mako Surgical Corp. Systeme und verfahren zum verfolgen von objekten
US11510737B2 (en) 2018-06-21 2022-11-29 Mako Surgical Corp. Patella tracking
DE102018211185A1 (de) * 2018-07-06 2020-01-09 Neuroloop GmbH Vorrichtung zur transkutanen Lokalisation eines intrakorporal, subkutan verorteten medizinischen Implantats
US11291507B2 (en) * 2018-07-16 2022-04-05 Mako Surgical Corp. System and method for image based registration and calibration
CN109009438B (zh) * 2018-09-13 2021-06-01 上海逸动医学科技有限公司 柔性无创定位装置及其在术中手术路径规划的应用及系统
US11253330B2 (en) 2018-09-26 2022-02-22 Mako Surgical Corp. Systems and tools for use with surgical robotic manipulators
US10623660B1 (en) 2018-09-27 2020-04-14 Eloupes, Inc. Camera array for a mediated-reality system
CN119924988A (zh) 2018-09-28 2025-05-06 奥瑞斯健康公司 用于伴随内窥镜和经皮医学规程的机器人系统和方法
AU2019347767B2 (en) 2018-09-28 2025-04-24 Auris Health, Inc. Systems and methods for docking medical instruments
US11707259B2 (en) 2018-10-19 2023-07-25 Canon U.S.A., Inc. Wireless needle guidance using encoder sensor and encoder scale to achieve positional sensing between movable components
US11684489B2 (en) 2018-10-29 2023-06-27 Mako Surgical Corp. Robotic system for ankle arthroplasty
AU2019374890B9 (en) 2018-11-08 2024-08-29 Mako Surgical Corp. Robotic spine surgery system and methods
US11123142B2 (en) * 2018-12-06 2021-09-21 Biosense Webster (Israel) Ltd. Quick registration of coordinate systems for robotic surgery
US11547482B2 (en) 2018-12-13 2023-01-10 Mako Surgical Corp. Techniques for patient-specific morphing of virtual boundaries
US11819287B2 (en) 2018-12-17 2023-11-21 Zimmer Biomet Spine, Inc. Universal navigation instrument adapter
JP6701438B1 (ja) * 2019-02-01 2020-05-27 ＴＣＣ Ｍｅｄｉａ Ｌａｂ株式会社 合成画像生成システム及び初期条件リセットシステム
EP3692939B1 (en) 2019-02-07 2021-07-14 Stryker European Operations Limited Surgical systems for facilitating tissue treatment
US12502218B2 (en) 2019-02-08 2025-12-23 Stryker Corporation Systems and methods for treating a joint
CN109758234B (zh) * 2019-02-15 2020-07-31 哈尔滨工业大学 用于微创手术移动腹腔镜自动控制系统及其控制方法
WO2020172397A1 (en) 2019-02-21 2020-08-27 Extremity Development Company, Llc Instrument bourne optical time of flight kinematic position sensing system for precision targeting and methods of surgery
EP3705074A1 (en) 2019-03-08 2020-09-09 MAKO Surgical Corp. Systems and methods for controlling movement of a surgical tool along a predefined path
EP4606337A3 (en) 2019-03-15 2025-11-19 MAKO Surgical Corp. Robotic surgical system utilizing a cutting bur for bone penetration and cannulation
JP7260877B2 (ja) * 2019-05-21 2023-04-19 国立大学法人 東京大学 ロボットハンド、ロボットハンドの制御装置、およびロボットシステム
US12059804B2 (en) 2019-05-22 2024-08-13 Mako Surgical Corp. Bidirectional kinematic mount
EP3747389A1 (en) * 2019-06-05 2020-12-09 Globus Medical, Inc. Surgical robotic automation with tracking markers
CN113993477A (zh) * 2019-07-01 2022-01-28 史密夫和内修有限公司 手术辅助装置
KR102729989B1 (ko) 2019-07-03 2024-11-15 스트리커 코포레이션 수술 내비게이션을 위한 장애물 회피 기술
US11832892B2 (en) 2019-07-10 2023-12-05 Mako Surgical Corp. Navigation systems for communicating tracker status conditions
CN114375183A (zh) 2019-07-15 2022-04-19 史赛克公司 机器人手持式外科器械系统和方法
FR3100884B1 (fr) * 2019-09-17 2021-10-22 Safran Electronics & Defense Procédé et système de positionnement de véhicule mettant en œuvre un dispositif de capture d’image
CN110695993B (zh) * 2019-09-27 2021-02-02 哈尔滨工业大学（深圳） 一种柔性机械臂同步测量方法、系统及装置
CN114449969B (zh) 2019-09-30 2025-08-12 马科外科公司 用于引导工具的移动的系统和方法
WO2021067597A1 (en) 2019-10-01 2021-04-08 Mako Surgical Corp. Surgical systems for guiding robotic manipulators
DE102019007290A1 (de) * 2019-10-21 2021-04-22 Karl Storz Se & Co. Kg Sensorbasiertes Chirurgie-Set und Verfahren
FI20196022A1 (en) * 2019-11-27 2021-05-28 Novatron Oy Method and positioning system for determining the position and orientation of a machine
KR20220123087A (ko) 2019-12-31 2022-09-05 아우리스 헬스, 인코포레이티드 경피 접근을 위한 정렬 인터페이스
WO2021137072A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Anatomical feature identification and targeting
US11660147B2 (en) 2019-12-31 2023-05-30 Auris Health, Inc. Alignment techniques for percutaneous access
WO2021158367A1 (en) 2020-02-04 2021-08-12 Mako Surgical Corp. Robotic hand-held surgical instrument systems with a visual indicator and methods of controlling the same
EP4103074B1 (en) * 2020-02-13 2025-07-16 Smith & Nephew, Inc. Systems for robotic-assisted insertion of medical fasteners
CN111281541B (zh) * 2020-03-09 2021-06-15 中国人民解放军总医院 检测手术中导航标志物移动的方法和装置
US11793574B2 (en) 2020-03-16 2023-10-24 Stryker Australia Pty Ltd Automated cut planning for removal of diseased regions
AU2021241699A1 (en) 2020-03-27 2022-11-03 Mako Surgical Corp. Robotic spine surgery system and methods with haptic interface
CN115379814A (zh) 2020-03-27 2022-11-22 马科外科公司 用于基于虚拟边界控制工具的机器人移动的系统和方法
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
US10949986B1 (en) 2020-05-12 2021-03-16 Proprio, Inc. Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene
WO2021231994A1 (en) * 2020-05-15 2021-11-18 Jeffrey Wilde Joint implant extraction and placement system and localization device used therewith
US12070276B2 (en) * 2020-06-09 2024-08-27 Globus Medical Inc. Surgical object tracking in visible light via fiducial seeding and synthetic image registration
US12419686B2 (en) 2020-06-09 2025-09-23 Stryker Leibinger Gmbh & Co. Kg Spatially-aware displays for computer-assisted interventions
CN115803153A (zh) 2020-06-30 2023-03-14 马佐尔机器人有限公司 时间间隔的机器人参考系
CN111956325B (zh) * 2020-07-01 2021-08-20 北京和华瑞博医疗科技有限公司 一种医用器械的精准定位装置、方法和系统
US11980426B2 (en) 2020-08-03 2024-05-14 Warsaw Orthopedic, Inc. System and method for preliminary registration
US12433686B2 (en) 2020-08-04 2025-10-07 Stryker Corporation Systems and methods for visualizing a trajectory with a surgical instrument
US20220039898A1 (en) 2020-08-05 2022-02-10 Mako Surgical Corp. Robotic surgical system including a coupler for connecting a tool to a manipulator and methods of using the coupler
US11844697B2 (en) 2020-09-03 2023-12-19 Globus Medical, Inc. Systems and methods for knee arthroplasty
AU2021342049A1 (en) 2020-09-08 2023-01-19 Mako Surgical Corp. Systems and methods for guiding movement of a handheld medical robotic instrument
WO2022066710A1 (en) 2020-09-22 2022-03-31 Mobius Imaging, Llc Mount assemblies for use with navigated surgical systems
AU2021350005A1 (en) 2020-09-24 2023-04-27 Mako Surgical Corp. Interlocking collet system for a surgical device
US20240008910A1 (en) 2020-11-06 2024-01-11 Stryker Corporation Robotic Hand-Held Surgical Instrument Systems And Methods
US12369987B2 (en) 2020-12-09 2025-07-29 Pacific Medical Device Consulting LLC Self-locating, active markers for navigated, augmented reality, or robotic surgery
US12256996B2 (en) 2020-12-15 2025-03-25 Stryker Corporation Systems and methods for generating a three-dimensional model of a joint from two-dimensional images
CN112641510B (zh) * 2020-12-18 2021-08-17 北京长木谷医疗科技有限公司 关节置换手术机器人导航定位系统及方法
CN112641511B (zh) 2020-12-18 2021-09-10 北京长木谷医疗科技有限公司 关节置换手术导航系统及方法
WO2022147001A1 (en) 2020-12-31 2022-07-07 Mako Surgical Corp. Robotic systems and methods for mitigating undesired orientational motion of kinematic components
US11295460B1 (en) 2021-01-04 2022-04-05 Proprio, Inc. Methods and systems for registering preoperative image data to intraoperative image data of a scene, such as a surgical scene
AU2022210582A1 (en) 2021-01-20 2023-08-03 Mako Surgical Corp. Robotic hand-held surgical instrument systems and methods
JP7772805B2 (ja) 2021-01-20 2025-11-18 マコ サージカル コーポレーション ロボットハンドヘルド手術器具システムおよび方法
AU2022218950A1 (en) 2021-02-11 2023-08-31 Mako Surgical Corp. Robotic manipulator comprising isolation mechanism for force/torque sensor
US12178667B2 (en) 2021-02-16 2024-12-31 Mako Surgical Corp. Clamp assembly for fixing a navigation tracker to a portion of bone
WO2022182963A2 (en) 2021-02-26 2022-09-01 Mobius Imaging Llc Rotational tracker adapter with biasing mechanism
US20240225775A9 (en) 2021-02-26 2024-07-11 Stryker European Operations Limited Tracker And Related Accessories For A Surgical Navigation System
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
JP2024519923A (ja) * 2021-05-20 2024-05-21 マコ サージカル コーポレーション トラッカーベースの手術ナビゲーションの最適化
CN115525046A (zh) * 2021-06-24 2022-12-27 深圳乐动机器人股份有限公司 机器人及其沿边控制方法
CA3164828C (en) 2021-06-24 2025-07-08 Northern Digital Inc. RETROREFLECTIVE TARGET DISC
US20230013867A1 (en) 2021-07-19 2023-01-19 Mako Surgical Corp. Surgical Tool Guard
WO2023018650A1 (en) 2021-08-10 2023-02-16 Mako Surgical Corp. Tracking apparatus for tracking a patient limb
US12016642B2 (en) 2021-09-08 2024-06-25 Proprio, Inc. Constellations for tracking instruments, such as surgical instruments, and associated systems and methods
US12261988B2 (en) 2021-11-08 2025-03-25 Proprio, Inc. Methods for generating stereoscopic views in multicamera systems, and associated devices and systems
EP4452116A1 (en) 2021-12-20 2024-10-30 MAKO Surgical Corp. Robotic systems, methods and software programs for modifying tool operation based on tissue parameters
CN114288021B (zh) * 2021-12-31 2025-06-27 上海霖晏医疗科技有限公司 一种单游离追踪球的监测系统及方法
EP4463094A2 (en) 2022-01-12 2024-11-20 MAKO Surgical Corp. Systems and methods for guiding movement of a hand-held medical robotic instrument
AU2023209815A1 (en) 2022-01-20 2024-08-08 Mako Surgical Corp. Robotic hand-held surgical system
EP4475784A2 (en) 2022-02-08 2024-12-18 Mobius Imaging, LLC Resilient drape assemblies with guides for use with surgical robots
WO2023154432A1 (en) 2022-02-10 2023-08-17 Mobius Imaging, Llc Medical imaging system and methods
CN114683279B (zh) * 2022-02-17 2023-05-23 广东博智林机器人有限公司 导航精度的确定方法、装置和电子设备
US12484978B2 (en) 2022-03-02 2025-12-02 Mako Surgical Corp. Robotic system including a link tracker
WO2023205072A1 (en) 2022-04-18 2023-10-26 Mako Surgical Corp. Systems and methods for guided placement of a robotic manipulator
US12357397B2 (en) 2022-05-09 2025-07-15 Proprio, Inc. Methods and systems for calibrating instruments within an imaging system, such as a surgical imaging system
US20250339115A1 (en) 2022-05-25 2025-11-06 Mobius Imaging, Llc Medical Imaging System And Methods
US12440281B2 (en) 2022-06-02 2025-10-14 Mobius Imaging, Llc Robotic surgical system with end effector marker diffusers
AU2023278867A1 (en) 2022-06-03 2025-01-09 Mako Surgical Corp. Surgical robotic system with compliance mechanism
EP4543322A1 (en) 2022-06-22 2025-04-30 Stryker European Operations Limited Surgical sagittal blade cartridge
WO2024006413A1 (en) 2022-06-29 2024-01-04 Mobius Imaging, Llc Mount assemblies with anchors for use with navigated surgical systems
CN119816264A (zh) 2022-07-20 2025-04-11 马科外科手术公司 机器人手持式手术器械系统和方法
WO2024054392A1 (en) 2022-09-09 2024-03-14 Mako Surgical Corp. Robotic surgical systems for guiding a tool along a path using hybrid automated/manual control
WO2024081388A1 (en) 2022-10-13 2024-04-18 Howmedica Osteonics Corp. System and method for implantable sensor registration
WO2024129671A1 (en) 2022-12-12 2024-06-20 Mobius Imaging, Llc Stabilization assembly for a mobile medical system
WO2024137963A1 (en) 2022-12-21 2024-06-27 Mako Surgical Corp. Surgical clamp assembly for fixing a navigation tracker to a portion of bone
EP4643162A1 (en) 2022-12-30 2025-11-05 Mobius Imaging, LLC Reference detector arrangement for computed tomography imaging system
US20240315710A1 (en) 2023-03-24 2024-09-26 Mako Surgical Corp. Anti-Skiving Guide Tube And Surgical System Including The Same
CN116585004A (zh) * 2023-06-01 2023-08-15 浙江大学 一种光捕与惯捕结合的碎石系统
CN116585005A (zh) * 2023-06-01 2023-08-15 浙江大学 一种光捕与惯捕结合的结石定位系统
WO2025006539A1 (en) 2023-06-30 2025-01-02 Mako Surgical Corp. Motorized orthopedic tensor and methods of using the same
US20250017666A1 (en) 2023-07-14 2025-01-16 Mako Surgical Corp. Surgical Tracker Assemblies With Optimized Size, Weight, And Accuracy
US20250152266A1 (en) 2023-11-09 2025-05-15 Mako Surgical Corp. System And Method For Generating A Patient-Specific Milling Path
US20250195159A1 (en) * 2023-12-18 2025-06-19 Mako Surgical Corp. Hybrid Optical-Inertial Bone Tracking
US20250195151A1 (en) 2023-12-19 2025-06-19 Mako Surgical Corp. Tracker For Magnetically Coupling To Robotic Guide Tube
US20250235269A1 (en) 2024-01-19 2025-07-24 Stryker European Operations Limited Surgical Navigation Systems And Methods For Multi-Modality Tracking And Object Detection
US20250256396A1 (en) 2024-02-13 2025-08-14 Mako Surgical Corp. System And Method For Performing Robot Registration Using Free-Form Path
US20250302572A1 (en) 2024-03-28 2025-10-02 Mako Surgical Corp. Evaluation Of Surgical Instrument Usage Using Sensed Magnetism
US20250331937A1 (en) 2024-04-25 2025-10-30 Mako Surgical Corp. System And Method For Aligning An End Effector To A Haptic Object
US20250339204A1 (en) 2024-05-02 2025-11-06 Stryker European Operations Limited Techniques For Generating Foreign Object Extraction Plans

Family Cites Families (206)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5506682A (en) 1982-02-16 1996-04-09 Sensor Adaptive Machines Inc. Robot vision using targets
DE3884800D1 (de) 1987-05-27 1993-11-11 Schloendorff Georg Prof Dr Verfahren und vorrichtung zur reproduzierbaren optischen darstellung eines chirurgischen eingriffes.
AU642638B2 (en) * 1989-12-11 1993-10-28 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
US5569578A (en) 1990-04-10 1996-10-29 Mushabac; David R. Method and apparatus for effecting change in shape of pre-existing object
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US6675040B1 (en) 1991-01-28 2004-01-06 Sherwood Services Ag Optical object tracking system
US5662111A (en) 1991-01-28 1997-09-02 Cosman; Eric R. Process of stereotactic optical navigation
US6167295A (en) 1991-01-28 2000-12-26 Radionics, Inc. Optical and computer graphic stereotactic localizer
US6006126A (en) 1991-01-28 1999-12-21 Cosman; Eric R. System and method for stereotactic registration of image scan data
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5603318A (en) 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
DE4225112C1 (de) 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Einrichtung zum Messen der Position eines Instruments relativ zu einem Behandlungsobjekt
AT399647B (de) 1992-07-31 1995-06-26 Truppe Michael Anordnung zur darstellung des inneren von körpern
US5497061A (en) 1993-03-31 1996-03-05 Hitachi, Ltd. Method of controlling robot's compliance
DE69431875T2 (de) 1993-04-22 2003-05-28 Image Guided Technologies, Inc. Anordnung zur bestimmung der gegenseitigen lage von körpern
DE9422172U1 (de) 1993-04-26 1998-08-06 St. Louis University, St. Louis, Mo. Angabe der Position einer chirurgischen Sonde
US5829444A (en) 1994-09-15 1998-11-03 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
ATE252349T1 (de) 1994-09-15 2003-11-15 Visualization Technology Inc System zur positionserfassung mittels einer an einem patientenkopf angebrachten referenzeinheit zur anwendung im medizinischen gebiet
US5765561A (en) 1994-10-07 1998-06-16 Medical Media Systems Video-based surgical targeting system
JP3492697B2 (ja) 1994-10-07 2004-02-03 セントルイス ユニバーシティー 基準および局所化フレームを備える外科用案内装置
US5930741A (en) 1995-02-28 1999-07-27 Virtual Technologies, Inc. Accurate, rapid, reliable position sensing using multiple sensing technologies
US5592401A (en) 1995-02-28 1997-01-07 Virtual Technologies, Inc. Accurate, rapid, reliable position sensing using multiple sensing technologies
US6246898B1 (en) 1995-03-28 2001-06-12 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5577502A (en) 1995-04-03 1996-11-26 General Electric Company Imaging of interventional devices during medical procedures
US5730129A (en) 1995-04-03 1998-03-24 General Electric Company Imaging of interventional devices in a non-stationary subject
US5638819A (en) 1995-08-29 1997-06-17 Manwaring; Kim H. Method and apparatus for guiding an instrument to a target
US6351659B1 (en) 1995-09-28 2002-02-26 Brainlab Med. Computersysteme Gmbh Neuro-navigation system
US5682886A (en) 1995-12-26 1997-11-04 Musculographics Inc Computer-assisted surgical system
US5729475A (en) 1995-12-27 1998-03-17 Romanik, Jr.; Carl J. Optical system for accurate monitoring of the position and orientation of an object
US5828770A (en) 1996-02-20 1998-10-27 Northern Digital Inc. System for determining the spatial position and angular orientation of an object
US6122538A (en) 1997-01-16 2000-09-19 Acuson Corporation Motion--Monitoring method and system for medical devices
US6026315A (en) 1997-03-27 2000-02-15 Siemens Aktiengesellschaft Method and apparatus for calibrating a navigation system in relation to image data of a magnetic resonance apparatus
US6115128A (en) 1997-09-17 2000-09-05 The Regents Of The Univerity Of California Multi-dimensional position sensor using range detectors
US6226548B1 (en) 1997-09-24 2001-05-01 Surgical Navigation Technologies, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
US5923417A (en) 1997-09-26 1999-07-13 Northern Digital Incorporated System for determining the spatial position of a target
US5953683A (en) 1997-10-09 1999-09-14 Ascension Technology Corporation Sourceless orientation sensor
US20030163142A1 (en) 1997-11-27 2003-08-28 Yoav Paltieli System and method for guiding the movements of a device to a target particularly for medical applications
US6061644A (en) 1997-12-05 2000-05-09 Northern Digital Incorporated System for determining the spatial position and orientation of a body
US6228089B1 (en) 1997-12-19 2001-05-08 Depuy International Limited Device for positioning and guiding a surgical instrument during orthopaedic interventions
US6176837B1 (en) 1998-04-17 2001-01-23 Massachusetts Institute Of Technology Motion tracking system
DE19817039A1 (de) 1998-04-17 1999-10-21 Philips Patentverwaltung Anordnung für die bildgeführte Chirurgie
US6273896B1 (en) 1998-04-21 2001-08-14 Neutar, Llc Removable frames for stereotactic localization
ATE272365T1 (de) 1998-05-28 2004-08-15 Orthosoft Inc Interaktives und rechnerunterstüztes chirurgisches system
KR20010071602A (ko) 1998-06-26 2001-07-28 추후보정 추적 시스템 내에서의 대기 시간 감소를 위한 요청 응답방법
US6266142B1 (en) 1998-09-21 2001-07-24 The Texas A&M University System Noncontact position and orientation measurement system and method
US6322567B1 (en) 1998-12-14 2001-11-27 Integrated Surgical Systems, Inc. Bone motion tracking system
US6611141B1 (en) 1998-12-23 2003-08-26 Howmedica Leibinger Inc Hybrid 3-D probe tracked by multiple sensors
US6285902B1 (en) 1999-02-10 2001-09-04 Surgical Insights, Inc. Computer assisted targeting device for use in orthopaedic surgery
US6106464A (en) 1999-02-22 2000-08-22 Vanderbilt University Apparatus and method for bone surface-based registration of physical space with tomographic images and for guiding an instrument relative to anatomical sites in the image
US6665079B1 (en) 1999-03-24 2003-12-16 Science & Engineering Associates, Inc. Method and apparatus for locating electromagnetic imaging and detection systems/devices
US6466815B1 (en) 1999-03-30 2002-10-15 Olympus Optical Co., Ltd. Navigation apparatus and surgical operation image acquisition/display apparatus using the same
DE19914455B4 (de) 1999-03-30 2005-07-14 Siemens Ag Verfahren zur Bestimmung der Bewegung eines Organs oder Therapiegebiets eines Patienten sowie hierfür geeignetes System
EP1171752B1 (de) 1999-04-19 2005-07-06 Leica Geosystems AG Indirekte positionsbestimmung mit hilfe eines trackers
DE19917867B4 (de) 1999-04-20 2005-04-21 Brainlab Ag Verfahren und Vorrichtung zur Bildunterstützung bei der Behandlung von Behandlungszielen mit Integration von Röntgenerfassung und Navigationssystem
US6491699B1 (en) 1999-04-20 2002-12-10 Surgical Navigation Technologies, Inc. Instrument guidance method and system for image guided surgery
AU766981B2 (en) 1999-04-20 2003-10-30 Ao Technology Ag Device for the percutaneous obtainment of 3D-coordinates on the surface of a human or animal organ
US6903721B2 (en) 1999-05-11 2005-06-07 Immersion Corporation Method and apparatus for compensating for position slip in interface devices
DE19946948A1 (de) 1999-09-30 2001-04-05 Philips Corp Intellectual Pty Verfahren und Anordnung zur Bestimmung der Position eines medizinischen Instruments
US6235038B1 (en) 1999-10-28 2001-05-22 Medtronic Surgical Navigation Technologies System for translation of electromagnetic and optical localization systems
US6499488B1 (en) 1999-10-28 2002-12-31 Winchester Development Associates Surgical sensor
US6288785B1 (en) * 1999-10-28 2001-09-11 Northern Digital, Inc. System for determining spatial position and/or orientation of one or more objects
SE515374C2 (sv) 1999-10-29 2001-07-23 Abb Flexible Automation As Förfarande och anordning för bestämning av ett objekts koordinater och orientering i ett referenskoordinatsystem
AU4305201A (en) 1999-11-29 2001-06-04 Board Of Trustees Of The Leland Stanford Junior University Method and apparatus for transforming view orientations in image-guided surgery
US7747312B2 (en) 2000-01-04 2010-06-29 George Mason Intellectual Properties, Inc. System and method for automatic shape registration and instrument tracking
US7104996B2 (en) 2000-01-14 2006-09-12 Marctec. Llc Method of performing surgery
US20010034530A1 (en) 2000-01-27 2001-10-25 Malackowski Donald W. Surgery system
US20010025183A1 (en) 2000-02-25 2001-09-27 Ramin Shahidi Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
US6400460B1 (en) 2000-04-10 2002-06-04 Honeywell International Inc. Multifunction optical sensor with variable detection threshold and noise suppression
US7000469B2 (en) 2000-04-21 2006-02-21 Intersense, Inc. Motion-tracking
DE10025285A1 (de) 2000-05-22 2001-12-06 Siemens Ag Vollautomatische, robotergestützte Kameraführung unter Verwendung von Positionssensoren für laparoskopische Eingriffe
GB0015683D0 (en) 2000-06-28 2000-08-16 Depuy Int Ltd Apparatus for positioning a surgical instrument
US7194296B2 (en) 2000-10-31 2007-03-20 Northern Digital Inc. Flexible instrument with optical sensors
US6581000B2 (en) 2001-01-04 2003-06-17 Carnegie Mellon University Position location system and method
US6691074B1 (en) 2001-02-08 2004-02-10 Netmore Ltd. System for three dimensional positioning and tracking
US6725079B2 (en) 2001-06-20 2004-04-20 Odin Medical Technologies, Ltd. Dual pointer device and method for surgical navigation
US6937033B2 (en) 2001-06-27 2005-08-30 Immersion Corporation Position sensor with resistive element
US6584339B2 (en) 2001-06-27 2003-06-24 Vanderbilt University Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery
ITMI20011635A1 (it) 2001-07-27 2003-01-27 G D S Giorgi Dynamic Stereotax Dispositivo e procedimento di microchirurgia assistita dall'elaboratore
JP2005515910A (ja) 2002-01-31 2005-06-02 ブレインテック カナダ インコーポレイテッド シングルカメラ３ｄビジョンガイドロボティクスの方法および装置
WO2003065891A2 (en) 2002-02-07 2003-08-14 Ecole Polytechnique Federale De Lausanne (Epfl) Body movement monitoring device
US6711431B2 (en) 2002-02-13 2004-03-23 Kinamed, Inc. Non-imaging, computer assisted navigation system for hip replacement surgery
AU2003218010A1 (en) 2002-03-06 2003-09-22 Z-Kat, Inc. System and method for using a haptic device in combination with a computer-assisted surgery system
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
DE10217726A1 (de) 2002-04-17 2003-11-27 Heidenhain Gmbh Dr Johannes Optische Positionsmesseinrichtung
US6757582B2 (en) 2002-05-03 2004-06-29 Carnegie Mellon University Methods and systems to control a shaping tool
US20060282873A1 (en) 2002-07-27 2006-12-14 Sony Computer Entertainment Inc. Hand-held controller having detectable elements for tracking purposes
JP2004061459A (ja) 2002-07-31 2004-02-26 Canon Inc 位置検出装置、これを備えたレンズおよび位置検出方法
US20040068178A1 (en) 2002-09-17 2004-04-08 Assaf Govari High-gradient recursive locating system
US7166114B2 (en) 2002-09-18 2007-01-23 Stryker Leibinger Gmbh & Co Kg Method and system for calibrating a surgical tool and adapter thereof
US6876926B2 (en) 2002-09-26 2005-04-05 Honeywell International Inc. Method and system for processing pulse signals within an inertial navigation system
US20040204646A1 (en) 2002-11-04 2004-10-14 V-Target Technologies Ltd. Intracorporeal-imaging head
DE10251600A1 (de) 2002-11-06 2004-05-27 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern von Bewegungen bei Handhabungsgeräten
AU2003287720A1 (en) 2002-11-14 2004-06-15 General Electric Medical Systems Global Technology Company, Llc Interchangeable localizing devices for use with tracking systems
US7135992B2 (en) 2002-12-17 2006-11-14 Evolution Robotics, Inc. Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system
US7505809B2 (en) 2003-01-13 2009-03-17 Mediguide Ltd. Method and system for registering a first image with a second image relative to the body of a patient
US7542791B2 (en) 2003-01-30 2009-06-02 Medtronic Navigation, Inc. Method and apparatus for preplanning a surgical procedure
US20040150560A1 (en) 2003-01-31 2004-08-05 Jun Feng Positioning system and method
US20040243148A1 (en) 2003-04-08 2004-12-02 Wasielewski Ray C. Use of micro- and miniature position sensing devices for use in TKA and THA
US6848304B2 (en) 2003-04-28 2005-02-01 Analog Devices, Inc. Six degree-of-freedom micro-machined multi-sensor
US7559931B2 (en) 2003-06-09 2009-07-14 OrthAlign, Inc. Surgical orientation system and method
US8057482B2 (en) 2003-06-09 2011-11-15 OrthAlign, Inc. Surgical orientation device and method
US20050049485A1 (en) 2003-08-27 2005-03-03 Harmon Kim R. Multiple configuration array for a surgical navigation system
US7862570B2 (en) 2003-10-03 2011-01-04 Smith & Nephew, Inc. Surgical positioners
US20050085717A1 (en) 2003-10-21 2005-04-21 Ramin Shahidi Systems and methods for intraoperative targetting
US20050085718A1 (en) 2003-10-21 2005-04-21 Ramin Shahidi Systems and methods for intraoperative targetting
US8337407B2 (en) 2003-12-30 2012-12-25 Liposonix, Inc. Articulating arm for medical procedures
DE102004005380A1 (de) 2004-02-03 2005-09-01 Isra Vision Systems Ag Verfahren zur Bestimmung der Lage eines Objekts im Raum
US20050267353A1 (en) 2004-02-04 2005-12-01 Joel Marquart Computer-assisted knee replacement apparatus and method
US7689321B2 (en) 2004-02-13 2010-03-30 Evolution Robotics, Inc. Robust sensor fusion for mapping and localization in a simultaneous localization and mapping (SLAM) system
US20050245820A1 (en) 2004-04-28 2005-11-03 Sarin Vineet K Method and apparatus for verifying and correcting tracking of an anatomical structure during surgery
US7702379B2 (en) 2004-08-25 2010-04-20 General Electric Company System and method for hybrid tracking in surgical navigation
DE102004047905A1 (de) 2004-09-29 2006-04-20 Augmented Solutions Gmbh System und Verfahren zur Kalibrierung optischer Sensoren, insbesondere für Augmented Reality Systeme
US7289227B2 (en) * 2004-10-01 2007-10-30 Nomos Corporation System and tracker for tracking an object, and related methods
US9002432B2 (en) 2004-11-15 2015-04-07 Brainlab Ag Method and device for calibrating a medical instrument
DE102004057933A1 (de) 2004-12-01 2006-06-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und eine Vorrichtung zum Navigieren und Positionieren eines Gegenstands relativ zu einem Patienten
US20060161052A1 (en) 2004-12-08 2006-07-20 Perception Raisonnement Action En Medecine Computer assisted orthopaedic surgery system for ligament graft reconstruction
DE102004061764A1 (de) 2004-12-22 2006-07-06 Sebastian Pieck Verfahren und Vorrichtung zur räumlichen Positionsmessung
US20060190012A1 (en) 2005-01-29 2006-08-24 Aesculap Ag & Co. Kg Method and apparatus for representing an instrument relative to a bone
US20060178775A1 (en) 2005-02-04 2006-08-10 George Zhang Accelerometer to monitor movement of a tool assembly attached to a robot end effector
JP2008538184A (ja) * 2005-02-22 2008-10-16 マコ サージカル コーポレーション 触覚誘導システムおよび方法
IL167648A (en) 2005-03-24 2011-01-31 Elbit Systems Ltd Hybrid tracker
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
DE102005026654A1 (de) * 2005-06-09 2006-12-14 Ife Industrielle Forschung Und Entwicklung Gmbh Vorrichtung und Verfahren zur berührungslosen Vermessung der Geometrie, Raumposition und Raumorientierung von Körpern
JP4231034B2 (ja) * 2005-07-07 2009-02-25 株式会社日本ネットワークサポート 柱補強ブロックおよび柱補強方法
EP1913333B1 (en) 2005-08-01 2012-06-06 Resonant Medical Inc. System and method for detecting drifts in calibrated tracking systems
SE529780C2 (sv) 2005-08-04 2007-11-20 Hexagon Metrology Ab Mätförfarande och mätanordning för användning i mätsystem såsom koordinatmätmaskiner
US7421343B2 (en) 2005-10-27 2008-09-02 Honeywell International Inc. Systems and methods for reducing vibration-induced errors in inertial sensors
US20070225595A1 (en) * 2006-01-17 2007-09-27 Don Malackowski Hybrid navigation system for tracking the position of body tissue
US9782229B2 (en) 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
US10765356B2 (en) 2006-03-23 2020-09-08 Orthosoft Ulc Method and system for tracking tools in computer-assisted surgery
CA2541635A1 (en) 2006-04-03 2007-10-03 Servo-Robot Inc. Hybrid sensing apparatus for adaptive robotic processes
US7556428B2 (en) 2006-04-14 2009-07-07 Xoran Technologies, Inc. Surgical navigation system including patient tracker with removable registration appendage
US8112292B2 (en) 2006-04-21 2012-02-07 Medtronic Navigation, Inc. Method and apparatus for optimizing a therapy
US20070270686A1 (en) 2006-05-03 2007-11-22 Ritter Rogers C Apparatus and methods for using inertial sensing to navigate a medical device
EP1857070A1 (de) 2006-05-18 2007-11-21 BrainLAB AG Kontaktfreie medizintechnische Registrierung mit Distanzmessung
US7868610B2 (en) 2006-06-09 2011-01-11 The Regents Of The University Of California Angular motion tracking sensor
FR2902871B1 (fr) 2006-06-23 2008-08-29 Thales Sa Unite de mesure inertielle a tenue renforcee aux accelerations
DE102006032127B4 (de) 2006-07-05 2008-04-30 Aesculap Ag & Co. Kg Kalibrierverfahren und Kalibriervorrichtung für eine chirurgische Referenzierungseinheit
DE102006034270A1 (de) 2006-07-18 2008-01-24 C. & E. Fein Gmbh Ortungssystem zur Ortung der Position eines Werkzeugs
US7728868B2 (en) 2006-08-02 2010-06-01 Inneroptic Technology, Inc. System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities
WO2008030264A1 (en) * 2006-09-08 2008-03-13 Medtronic, Inc. System for navigating a planned procedure within a body
DE502006004198D1 (de) 2006-10-17 2009-08-20 Brainlab Ag Markernavigationssystem zum Erfassen und Darstellen der Lage von Markereinrichtungen
DE502006003472D1 (de) 2006-10-20 2009-05-28 Brainlab Ag Markernavigationsvorrichtung insbesondere für medizinische Zwecke
US9220573B2 (en) 2007-01-02 2015-12-29 Medtronic Navigation, Inc. System and method for tracking positions of uniform marker geometries
US8141424B2 (en) 2008-09-12 2012-03-27 Invensense, Inc. Low inertia frame for detecting coriolis acceleration
US8047075B2 (en) 2007-06-21 2011-11-01 Invensense, Inc. Vertically integrated 3-axis MEMS accelerometer with electronics
US8814874B2 (en) * 2007-02-13 2014-08-26 Medtronic Navigation, Inc. Navigated cut guide for total knee reconstruction
EP1970005B1 (en) 2007-03-15 2012-10-03 Xsens Holding B.V. A system and a method for motion tracking using a calibration unit
US9289270B2 (en) 2007-04-24 2016-03-22 Medtronic, Inc. Method and apparatus for performing a navigated procedure
US8100769B2 (en) 2007-05-09 2012-01-24 Nintendo Co., Ltd. System and method for using accelerometer outputs to control an object rotating on a display
US20080319491A1 (en) * 2007-06-19 2008-12-25 Ryan Schoenefeld Patient-matched surgical component and methods of use
US8019538B2 (en) 2007-07-25 2011-09-13 Honeywell International Inc. System and method for high accuracy relative navigation
US8024119B2 (en) 2007-08-14 2011-09-20 Honeywell International Inc. Systems and methods for gyrocompass alignment using dynamically calibrated sensor data and an iterated extended kalman filter within a navigation system
US8082064B2 (en) 2007-08-24 2011-12-20 Elite Engineering Corporation Robotic arm and control system
US8315690B2 (en) 2007-10-02 2012-11-20 General Electric Company Dynamic reference method and system for interventional procedures
EP2055255A1 (de) 2007-10-31 2009-05-06 BrainLAB AG Verifizierung des Kalibrierungszustandes eines optischen Trackingsystems
CA2700475A1 (en) 2007-11-30 2009-06-04 Orthosoft Inc. Optical tracking cas system
DE102007059599B4 (de) 2007-12-11 2017-06-22 Siemens Healthcare Gmbh Vorrichtung für eine medizinische Intervention und Betriebsverfahren für eine Vorrichtung für eine medizinische Intervention
JP5561458B2 (ja) 2008-03-18 2014-07-30 国立大学法人浜松医科大学 手術支援システム
AU2009227957B2 (en) 2008-03-25 2014-07-10 Orthosoft Ulc Method and system for planning/guiding alterations to a bone
US9579161B2 (en) 2008-05-06 2017-02-28 Medtronic Navigation, Inc. Method and apparatus for tracking a patient
US9285459B2 (en) 2008-05-09 2016-03-15 Analog Devices, Inc. Method of locating an object in 3D
US20090312629A1 (en) 2008-06-13 2009-12-17 Inneroptic Technology Inc. Correction of relative tracking errors based on a fiducial
US20100030063A1 (en) 2008-07-31 2010-02-04 Medtronic, Inc. System and method for tracking an instrument
DE102008041260A1 (de) 2008-08-14 2010-02-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Betreiben eines medizinischen Roboters, medizinischer Roboter und medizinischer Arbeitsplatz
EP2153794B1 (en) * 2008-08-15 2016-11-09 Stryker European Holdings I, LLC System for and method of visualizing an interior of a body
US8848974B2 (en) * 2008-09-29 2014-09-30 Restoration Robotics, Inc. Object-tracking systems and methods
EP2455038B1 (de) * 2008-10-21 2015-04-01 Brainlab AG Integration von chirurgischem Instrument und Anzeigevorrichtung zur Unterstützung der bildgeführten Chirurgie
US20100130853A1 (en) 2008-11-25 2010-05-27 General Electric Company System for tracking object
JP2010145274A (ja) 2008-12-19 2010-07-01 Panasonic Corp 慣性センサ
KR100996826B1 (ko) 2008-12-31 2010-11-26 주식회사 사이버메드 수술용 항법 장치용 도구의 교정 방법
EP2381877B1 (en) 2009-01-29 2018-02-28 Imactis Method and device for navigation of a surgical tool
US8690776B2 (en) * 2009-02-17 2014-04-08 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image guided surgery
JP2010216880A (ja) 2009-03-13 2010-09-30 Omron Corp 変位センサ
WO2010111090A1 (en) 2009-03-26 2010-09-30 Intuitive Surgical Operations, Inc. System for providing visual guidance for steering a tip of an endoscopic device towards one or more landmarks and assisting an operator in endoscopic navigation
FR2944203A1 (fr) 2009-04-08 2010-10-15 Gen Electric Systeme et procede pour determiner la position d'un instrument medical
JP4957753B2 (ja) 2009-06-15 2012-06-20 セイコーエプソン株式会社 ロボット、搬送装置、及び慣性センサーを用いた制御方法
WO2010150148A1 (en) 2009-06-23 2010-12-29 Koninklijke Philips Electronics N.V. Position determining system
DE102009030731A1 (de) * 2009-06-26 2010-12-30 Fiagon Gmbh Verfahren zum Erzeugen von Positionsdaten eines Instrumentes
EP2448480A1 (en) 2009-06-29 2012-05-09 Koninklijke Philips Electronics N.V. Method and system for position determination
EP2448512B1 (en) 2009-06-29 2021-10-27 Koninklijke Philips N.V. Apparatus for tracking in a medical procedure
US20110045736A1 (en) 2009-08-20 2011-02-24 Charles Randy Wooten Effect Generating Device in Response to User Actions
US8494614B2 (en) 2009-08-31 2013-07-23 Regents Of The University Of Minnesota Combination localization system
US8494613B2 (en) 2009-08-31 2013-07-23 Medtronic, Inc. Combination localization system
EP2329786A2 (en) 2009-10-01 2011-06-08 Navotek Medical Ltd. Guided surgery
US8743368B2 (en) 2009-11-12 2014-06-03 General Electric Company Optical sensor system and method of sensing
US9675302B2 (en) * 2009-12-31 2017-06-13 Mediguide Ltd. Prolapse detection and tool dislodgement detection
US8615127B2 (en) 2010-01-15 2013-12-24 Vanderbilt University System and method for point-based rigid registration with anisotropic weighting
WO2011089606A1 (en) 2010-01-20 2011-07-28 Creative Team Instruments Ltd. Orientation dector for use with a hand-held surgical or dental tool
US9901405B2 (en) 2010-03-02 2018-02-27 Orthosoft Inc. MEMS-based method and system for tracking a femoral frame of reference
WO2011128766A2 (en) 2010-04-13 2011-10-20 Picard Frederic Methods and systems for object tracking
US20110257909A1 (en) 2010-04-14 2011-10-20 Moog Inc. Inertially referenced sensor system and method
CN102892352A (zh) 2010-04-22 2013-01-23 蓝带技术有限责任公司 被导航徒手外科手术工具和工具包
US9706948B2 (en) 2010-05-06 2017-07-18 Sachin Bhandari Inertial sensor based surgical navigation system for knee replacement surgery
US9226799B2 (en) 2010-06-23 2016-01-05 Mako Surgical Corp. Inertially tracked objects
US9597156B2 (en) 2010-07-30 2017-03-21 Orthosoft Inc. Bone tracking with a gyroscope sensor in computer-assisted surgery
US20120046536A1 (en) * 2010-08-20 2012-02-23 Manhattan Technologies, Llc Surgical Instrument Navigation Systems and Methods
US9913693B2 (en) 2010-10-29 2018-03-13 Medtronic, Inc. Error correction techniques in surgical navigation
CN103402450A (zh) * 2010-12-17 2013-11-20 阿韦尼尔医药公司 用于在外科手术中对准假体的方法及系统
EP2658434B1 (en) 2010-12-30 2015-12-02 AR Innovation AG Method for configuring a motion sensor as well as a configurable motion sensor and a system for configuring such a motion sensor
CN202146362U (zh) * 2010-12-30 2012-02-22 上海交通大学医学院附属第九人民医院 一种基于光学导航七自由度颅颌面手术辅助机械臂
CA2839706C (en) 2011-06-23 2017-05-02 Stryker Corporation Prosthetic implant and method of implantation
US9707043B2 (en) 2011-09-02 2017-07-18 Stryker Corporation Surgical instrument including housing, a cutting accessory that extends from the housing and actuators that establish the position of the cutting accessory relative to the housing
KR102668586B1 (ko) 2012-08-03 2024-05-28 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
US9008757B2 (en) * 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
KR102430277B1 (ko) 2015-11-27 2022-08-09 큐렉소 주식회사 정형외과 수술용 마커 위치 확인 시스템 및 그 확인 방법

Also Published As

Publication number Publication date
KR101974102B1 (ko) 2019-04-30
JP2015534480A (ja) 2015-12-03
US20170252111A1 (en) 2017-09-07
AU2013323646A1 (en) 2015-03-12
KR102310664B1 (ko) 2021-10-12
KR102216509B1 (ko) 2021-02-18
KR20150064015A (ko) 2015-06-10
AU2013323646B2 (en) 2017-09-14
US9271804B2 (en) 2016-03-01
EP2900164A1 (en) 2015-08-05
US9008757B2 (en) 2015-04-14
US20150164609A1 (en) 2015-06-18
JP2018198931A (ja) 2018-12-20
JP6684308B2 (ja) 2020-04-22
US20250032196A1 (en) 2025-01-30
WO2014052428A1 (en) 2014-04-03
CN113545854A (zh) 2021-10-26
CN104684502B (zh) 2018-10-19
EP3884900B1 (en) 2025-09-03
CN113545854B (zh) 2024-09-20
US20200197105A1 (en) 2020-06-25
JP2018183597A (ja) 2018-11-22
AU2017264974A1 (en) 2017-12-07
US11529198B2 (en) 2022-12-20
JP6636566B2 (ja) 2020-01-29
US10575906B2 (en) 2020-03-03
CN104684502A (zh) 2015-06-03
US20160120610A1 (en) 2016-05-05
US20140088410A1 (en) 2014-03-27
US9687307B2 (en) 2017-06-27
KR20210018962A (ko) 2021-02-18
JP6370789B2 (ja) 2018-08-08
EP2900164B1 (en) 2021-04-14
US20230056674A1 (en) 2023-02-23
CN119279782A (zh) 2025-01-10
AU2019200725B2 (en) 2020-02-13
CA2883508A1 (en) 2014-04-03
AU2017264974B2 (en) 2019-02-21
CN109171964A (zh) 2019-01-11
EP3884900A1 (en) 2021-09-29
US12144565B2 (en) 2024-11-19
KR20190045412A (ko) 2019-05-02
AU2019200725A1 (en) 2019-03-21

Similar Documents

Publication Publication Date Title
US12144565B2 (en) Optical and non-optical sensor tracking of a robotically controlled instrument
EP2996611B1 (en) Systems and software for establishing virtual constraint boundaries

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant