Using Fiducial Marker Patents (Class 600/426)
  • Patent number: 11553984
    Abstract: The present disclosure is directed to a robotic surgical system and a corresponding method. The system includes at least one robot arm and a radiation source coupled to the robot arm. The system also includes a surgical table having a digital imaging receiver configured to output an electrical signal based on radiation received from the radiation source. A controller having a processor and a memory is configured to receive the electrical signal and generate an initial image of a patient on the surgical table based on the electrical signal. The controller transforms the initial image to a transformed image based on an orientation of the radiation source.
    Type: Grant
    Filed: June 2, 2017
    Date of Patent: January 17, 2023
    Assignees: Covidien LP, Covidien AG
    Inventors: Dwight Meglan, Kashif Ikram
  • Patent number: 11554019
    Abstract: An orthopedic implant manufacturing method. The method includes preparing a pre-operative surgical plan for a specific patient, the surgical plan including a three-dimensional image of a patient's joint indicating at least one resection plane, communicating the surgical plan to a surgeon of the patient, and receiving approval of the surgical plan and the resection plane by the surgeon. The method also includes providing automated osteophyte/protrusion removal control for surgeon manipulation, receiving a modified three-dimensional image of a patient's joint indicating an osteophyte/protrusion removal and a recommendation for a corresponding selected orthopedic implant from the surgeon, and requesting manufacture of the selected orthopedic implant.
    Type: Grant
    Filed: January 19, 2018
    Date of Patent: January 17, 2023
    Assignee: Biomet Manufacturing, LLC
    Inventors: Nathan Emick Belcher, Robert Metzger
  • Patent number: 11540742
    Abstract: Navigation system and method for tracking movement of a patient during surgery. Image data is acquired by imaging the patient with a base layer of a skin-based patient tracking apparatus secured to the patient's skin. The skin-based patient tracking apparatus includes a plurality of optical surgical tracking elements. A computer processor arrangement is adapted to implement a navigation routine. The patient position is registered to the image data. The movement of the patient is tracked based on movement of the plurality of optical surgical tracking elements. The movement of the patient's skin is tracked by determining positions of the optical surgical tracking elements both before and after a deformation of the skin-based patient tracking apparatus. Movement of the patient's skin results in corresponding movement of the surgical tracking elements to provide a dynamic reference frame for use in continuously tracking movement of a patient's skin during surgery.
    Type: Grant
    Filed: September 27, 2019
    Date of Patent: January 3, 2023
    Assignee: Stryker European Operations Holdings LLC
    Inventors: Hans Schoepp, Jochen Breisacher, Juergen Kaltenbrunn
  • Patent number: 11523867
    Abstract: A method includes tracking one or more of a plurality of vertebrae of a patient, planning a planned alignment of the plurality of vertebrae, creating an implant placement plan based on the planned alignment, and robotically preparing the plurality of vertebrae to receive an implant in accordance with the implant placement plan.
    Type: Grant
    Filed: January 7, 2020
    Date of Patent: December 13, 2022
    Assignee: MAKO Surgical Corp.
    Inventors: Jonathan Greenwald, Ron Irwin
  • Patent number: 11523871
    Abstract: A system for adjusting an operating state of a medical electronic device is described. In an aspect, the system includes an optical tracking system configured to detect three or more tracking markers. The system also includes a processor coupled with the optical tracking system. The processor is programmed with instructions which, when executed, configure the processor to: configure an input command by assigning at least one operating state of the medical electronic device to a particular state of at least one of the tracking markers; after receiving a priming command, identify a present state of the tracking markers based on data from the optical tracking system; compare the present state with the particular state assigned to the operating state; and based on the comparison, determine that an input command has been received and adjust the operating state of the medical electronic device to the assigned operating state.
    Type: Grant
    Filed: December 8, 2016
    Date of Patent: December 13, 2022
    Assignee: Avidbots Corp
    Inventors: Kirusha Srimohanarajah, Dorothy Lui, Gal Sela, Stephen Elliott Soman, Sepide Movaghati
  • Patent number: 11510656
    Abstract: An ultrasound imaging method includes providing a digital representation of the shape of a surface or boundary of an anatomic region or organ; acquiring an ultrasound image by ultrasound scanning the anatomic region or organ; and combining the digital representation of the shape of the surface or boundary of the anatomic region or organ by registering the digital representation of the shape of the surface or boundary and the ultrasound image as a function of the difference in position of selected reference points on the digital representation of the surface or boundary and on the ultrasound image, the position of the reference points on the ultrasound image being determined by tracking the probe position at the reference points at the anatomic region or organ of a real body and in a spatial reference system, in which the anatomic region or the organ of the real body is placed.
    Type: Grant
    Filed: January 28, 2020
    Date of Patent: November 29, 2022
    Inventors: Stefano De Beni, Antonella De Rosa, Velizar Kolev, Georgios Sakas
  • Patent number: 11497562
    Abstract: A system is suggested comprising an optical sensing means and a processing unit. The optical sensing means may include an optical guide with a distal end, wherein the optical guide may be configured to be arranged in a device to be inserted into tissue in a region of interest. The processing unit may be configured to receive information of a region of interest including different tissue types as well as of a path through the tissues, to determine a sequence of tissue types along the path, to determine a tissue type at the distal end of the optical guide based on information received from the optical sensing means, to compare the determined tissue type with the tissue types on the path, to determine possible positions of the distal end of the optical guide on the path based on the comparison of tissue types, and to generate a signal indicative for the possible positions.
    Type: Grant
    Filed: February 7, 2018
    Date of Patent: November 15, 2022
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventors: Ronaldus Frederik Johannes Holthuizen, Bernardus Hendrikus Wilhelmus Hendriks, Drazenko Babic, Robert Johannes Frederik Homan, Johan Juliana Dries
  • Patent number: 11490967
    Abstract: 3D image data of a skeletal portion is acquired. A location of a proximal portion of a tool is calculated and a location is derived of a distal portion of the tool with respect to the skeletal portion, with respect to the 3D image data. A display indicates the derived location. First and second 2D images of the distal portion of the tool are acquired from two different poses of a 2D imaging device with respect to the subject and registered with the 3D image data. The location of the distal portion with respect to the 3D image data of the skeletal portion is determined based on the registration and an identified location of the distal portion within the 2D x-rays. Based upon the determined location, the display updates the indicated location of the distal portion. Other embodiments are also described.
    Type: Grant
    Filed: June 15, 2020
    Date of Patent: November 8, 2022
    Assignee: Vuze Medical Ltd.
    Inventor: David Tolkowsky
  • Patent number: 11484383
    Abstract: Assisting robotic arm setup in a surgical robotic system using augmented reality can include capturing a live video of a user setting up a robotic arm in a surgical robotic system. A visual guide representing a target pose of the robotic arm can be rendered onto the live video, resulting in an augmented live video for guiding the arm setup. The augmented live video can be displayed to the user while the user is following the visual guide to set up the robotic arm. The captured live video can be continuously processed to determine whether the robotic arm has reached the target pose.
    Type: Grant
    Filed: April 14, 2021
    Date of Patent: November 1, 2022
    Assignee: VERB SURGICAL INC.
    Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy
  • Patent number: 11471222
    Abstract: Methods and systems of computing parameter values of one or more model parameters are described. The model models structural and dielectric properties of a structure in a human or an animal body. An exemplary method includes: accessing voltage measurements made at different places in the vicinity of the structure by one or more in-body field sensing electrodes in response to currents applied to one or more field supplying electrodes; and computing the parameter values by adjusting the parameter values to fit predicted voltage values to the accessed voltage measurements, wherein the predicted voltage values are predicted from the model for the currents applied to the field supplying in-body electrodes.
    Type: Grant
    Filed: December 28, 2020
    Date of Patent: October 18, 2022
    Assignee: Navix International Limited
    Inventors: Eyal Henri Madar, Shlomo Ben-Haim, Yehuda Landau, Andrew Adler, Oleg Kuybeda
  • Patent number: 11468647
    Abstract: An information processing system that acquires video data captured by an image pickup unit; detects an object from the video data; detects a condition corresponding to the image pickup unit; and controls a display to display content associated with the object at a position other than a detected position of the object based on the condition corresponding to the image pickup unit.
    Type: Grant
    Filed: January 4, 2021
    Date of Patent: October 11, 2022
    Assignee: SONY CORPORATION
    Inventors: Akihiko Kaino, Masaki Fukuchi, Tatsuki Kashitani, Kenichiro Ooi, Jingjing Guo
  • Patent number: 11452570
    Abstract: 3D image data of a skeletal portion within a subject's body is acquired. Subsequently, one or more radiopaque elements are positioned with respect to the body and first and second x-rays of the radiopaque elements and the skeletal portion are acquired from respective views. Based upon an identified location of the radiopaque elements within the x-rays, and registration of the x-rays to the 3D image data, the location of the radiopaque elements with respect to the 3D image data is determined. An optical image of the body and the radiopaque elements is acquired and the location of the radiopaque elements within the optical image is identified. The 3D image data is overlaid upon the optical image by aligning (a) the location of the radiopaque elements within the 3D image data with (b) the location of the radiopaque elements within the optical image. Other applications are also described.
    Type: Grant
    Filed: March 31, 2022
    Date of Patent: September 27, 2022
    Assignee: Vuze Medical Ltd.
    Inventor: David Tolkowsky
  • Patent number: 11428760
    Abstract: Described here are systems and methods for imaging a subject with a magnetic resonance imaging (“MRI”) system using magnetic field gradients generated by one or more gradient coils operating with gradient coil settings (e.g., gradient amplitudes, gradient slew rates) above a threshold at which peripheral nerve stimulation (“PNS”) is likely to be induced in the subject. A dielectric assembly is positioned adjacent a skin surface of the subject such that the dielectric assembly attenuates the local electric fields induced by the magnetic field gradients, which would be likely to induce PNS when the dielectric assembly is not arranged adjacent the skin surface of the subject. As a result of the dielectric assembly placed adjacent the skin surface of the subject, the gradient coil settings can be increased above the threshold without inducing PNS in the subject.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: August 30, 2022
    Assignee: SYNAPTIVE MEDICAL INC.
    Inventors: Chad Harris, Geron Bindseil, William Handler
  • Patent number: 11426119
    Abstract: A method of assessing spinal column stability involves receiving image data corresponding to a spinal column of a patient; determining, based on the image data, a material strength of bony anatomy in at least a portion of the spinal column; completing a first stability assessment of the spinal column, based at least in part on the determined material strength; modifying the image data to simulate removal of bony anatomy or soft tissue from the spinal column to yield modified image data; and completing a second stability assessment of the spinal column, based at least in part on the determined material strength and the modified image data.
    Type: Grant
    Filed: April 10, 2020
    Date of Patent: August 30, 2022
    Assignee: Warsaw Orthopedic, Inc.
    Inventor: Nicholas M. Benson
  • Patent number: 11425283
    Abstract: Methods and systems are presented for generating a virtual scene rendering of a captured scene based on a relative position of a camera and a virtual scene display in a stage environment, along with real and virtual lens effects. The details might include determining the camera position and virtual display position in the stage environment, and determining a depth value of a virtual scene element displayed on the virtual scene display. A desired focus model can then be determined from focus parameters of the camera, the depth value, and a desired lens effect, and an adjusted focus for the virtual scene element can be determined from the desired focus model. The adjusted focus can then be applied to the camera, the image of the virtual scene element on the virtual scene display, or pixels representing the virtual scene element in a composite image captured by the camera.
    Type: Grant
    Filed: December 9, 2021
    Date of Patent: August 23, 2022
    Assignee: Unity Technologies SF
    Inventors: Kimball D. Thurston, III, Joseph W. Marks, Luca Fascione, Millicent Maier, Kenneth Gimpelson, Dejan Momcilovic, Keith F. Miller, Peter M. Hillman
  • Patent number: 11412951
    Abstract: Navigation and simulation systems and methods for minimally invasive therapy in which the navigation system imports a planning method using patient specific pre-operative images. The navigation system uses intraoperative imaging during the medical procedure to update the preoperative images and provides images of tracked surgical tools along the surgical path prepared from the preoperative images.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: August 16, 2022
    Assignee: SYANPTIVE MEDICAL INC.
    Inventors: Cameron Piron, Michael Wood, Gal Sela, Joshua Richmond, Murugathas Yuwaraj, Monroe M. Thomas, Wes Hodges, Simon Alexander, David Gallop, Alex Panther, Nishanthan Shanmugaratnam, William Lau
  • Patent number: 11406346
    Abstract: A surgical position calibration method for getting the augmented and mixed reality of a surgical instrument includes the following steps: placing a calibration plate under a C-ARM to take C-ARM images, with the calibration plate provided with geometric patterns; inputting the C-ARM images into a computer to make 2D image maps; finding the center point of each geometric pattern on the calibration plate; defining a first reference calibration point; finding the distance between the center point of each other geometric pattern and the first reference calibration point to set up a translation matrix formula to form a 3D space image map; placing a surgical instrument at any position above the calibration plate; using the translation matrix formula generating a spatial variation image for the displacement of the surgical instrument; and forming a new spatial variation image.
    Type: Grant
    Filed: October 1, 2018
    Date of Patent: August 9, 2022
    Assignee: TAIWAN MAIN ORTHOPAEDIC BIOTECHNOLOGY CO., LTD.
    Inventor: Min-Liang Wang
  • Patent number: 11399895
    Abstract: A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first fluoroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker.
    Type: Grant
    Filed: February 10, 2017
    Date of Patent: August 2, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Timothy D. Soper, Federico Barbagli, Caitlin Q. Donhowe, Vincent Duindam, Michael D. Paris, Oliver Wagner, Tao Zhao
  • Patent number: 11376446
    Abstract: There is disclosed a method for estimating the position of a target in a body of a subject. The method includes, receiving an external signal that is related with motion of the target; and using a model of a correlation between the external signal and the motion of the target to estimate the position of the target, wherein said position estimation includes an estimate of three dimensional location and orientation of the target. The method further includes periodically receiving a 2-dimensional projection of the target; and updating the model of correlation between the external signal and the motion of the target based on a comparison of the estimated position of the target and the 2-dimensional projection of the target. The method is used in guided radiation therapy.
    Type: Grant
    Filed: March 8, 2019
    Date of Patent: July 5, 2022
    Assignee: SEETREAT PTY LTD
    Inventors: Doan Trang Nguyen, Paul Keall
  • Patent number: 11369436
    Abstract: The present disclosure provides systems and methods for generating spatial annotations within guidance images that are displayed during a guided medical procedure, where the spatial annotations provide spatial graduations indicating known length measures. The spatial measures may be employed to visually assess the sizes of anatomical and/or functional features displayed in the guidance images.
    Type: Grant
    Filed: January 12, 2017
    Date of Patent: June 28, 2022
    Assignee: 7D SURGICAL ULC
    Inventors: Andrew Kula, Elena Berman, Adrian Mariampillai, Peter Siegler, Michael Leung, Beau Anthony Standish, Victor X. D. Yang
  • Patent number: 11361407
    Abstract: A computing device is provided having at least one processor (104) operative to facilitate motion correction in a medical image file (102). The at least one processor (104) is configured to generate at least one unified frame file (110) based on motion image data (204), depth map data (206) corresponding to the motion image data, and region of interest data (200). Further, at least one corrected image file derived from the medical image file (102) is generated by performing the motion correction based on the at least one unified frame file (110) using the processor (104). Subsequently, the at least one corrected image file is outputted for display to one or more display devices (122).
    Type: Grant
    Filed: April 9, 2018
    Date of Patent: June 14, 2022
    Assignee: Indiana University Research and Technology Corporation
    Inventors: Paul Richard Territo, Paul Salama, Juan Antonio Chong
  • Patent number: 11350997
    Abstract: A high-speed optical tracking with compression and CMOS windowing for tracking applications that require high-speed and/or low latency when delivering pose (orientation and position) data. The high-speed optical tracking with compression and CMOS windowing generally includes an optical tracking system (10) that sense fiducial (22) and by extension markers (20). The markers can either be integrated on tools (20) handled by an operator (e.g. surgeon) (50) or fixed on the subject to track (e.g. patient) (40). The low-level processing (101, 107, 140) is realized within the tracking system to reduce the overall data to be transferred and considerably reduce the processing efforts. Pose data (127) are finally computed and transferred to a PC/monitor (30,31) or to tablet (60) to be used by an end-user application (130).
    Type: Grant
    Filed: April 22, 2020
    Date of Patent: June 7, 2022
    Assignee: Atracsys Sàrl
    Inventors: Gaëtan Marti, Maurice Hälg, Bernard Maxveil Arulraj
  • Patent number: 11344372
    Abstract: Systems, instruments, and methods are provided verifying that a robotic surgery is being performed in accordance with a surgical plan, wherein a surgical tool having a sensor outputs a data signal that enables the trajectory of the surgical tool to be displayed as an overlay on an image of an anatomical portion of a patient and a visual or audible signal that confirms the surgical tool is penetrating the anatomical portion in accordance with the surgical plan and/or that issues an alert indicating that the surgical tool is not being inserted into the anatomical portion according to the surgical plan.
    Type: Grant
    Filed: May 28, 2021
    Date of Patent: May 31, 2022
    Assignees: SpineGuard Vincennes, Sorbonne Universite, INSERM (Institute National de la Sante et de la Recherche, Centre National de la Recherche Scientifique—CNRS
    Inventors: Maurice Bourlion, Olivier Frezal, Guillaume Morel, Stephane Bette, Thibault Chandanson, Florian Richer, Valentin Kerspern
  • Patent number: 11344277
    Abstract: The disclosure relates to a system and method for calibrating a medical system. The method may include one or more of the following operations. Projection data of a phantom comprising a plurality of markers may be acquired from an imaging device, at a plurality of angles of a source of the imaging device. A plurality of projection matrices of a first coordinate system relating to the phantom and a transformation matrix between the first coordinate system and a second coordinate system relating to the imaging device may be determined based on the projection data of the phantom and coordinates of the plurality of markers in the first coordinate system. A plurality of projection matrices of the second coordinate system may be determined based on the plurality of projection matrices of the first coordinate system and the transformation matrix.
    Type: Grant
    Filed: May 29, 2020
    Date of Patent: May 31, 2022
    Assignee: SHANGHAI UNITED IMAGING HEALTHCARE CO., LTD.
    Inventors: Hongcheng Yang, Supratik Bose
  • Patent number: 11341692
    Abstract: A system for facilitating identification and marking of a target in a fluoroscopic image of a body region of a patient, the system comprising one or more storage devices having stored thereon instructions for: receiving a CT scan and a fluoroscopic 3D reconstruction of the body region of the patient, wherein the CT scan includes a marking of the target; and generating at least one virtual fluoroscopy image based on the CT scan of the patient, wherein the virtual fluoroscopy image includes the target and the marking of the target, at least one hardware processor configured to execute these instructions, and a display configured to display to a user the virtual fluoroscopy image and the fluoroscopic 3D reconstruction.
    Type: Grant
    Filed: November 4, 2020
    Date of Patent: May 24, 2022
    Assignee: COVIDIEN LP
    Inventors: Oren P. Weingarten, Ron Barak, Evgeni Kopel, Benjamin Greenburg, Efrat Kedmi-Shahar, Dafna Mardix, Ariel Birenbaum, Guy Alexandroni, Eyal Klein
  • Patent number: 11311339
    Abstract: A CAS system and method for guiding an operator in inserting a femoral implant in a femur as a function of a limb length and orientation of the femoral implant with respect to the femur, comprising a reference tool for the femur, a registration tool, a bone altering tool and a sensing apparatus.
    Type: Grant
    Filed: January 16, 2019
    Date of Patent: April 26, 2022
    Inventors: Herbert Andre Jansen, Louis-Philippe Amiot, Isabelle Fontaine, Sebastien Jutras, Daniel Odermatt, Benoit Pelletier
  • Patent number: 11304812
    Abstract: The present disclosure relates to methods of; non-transitory, computer-readable media for; and systems for fabricating or modifying an implant. One example embodiment includes a method. The method includes registering a plurality of intraoperative locations of a surgically resected anatomical region of a patient. The method also includes generating, based on the registered plurality of intraoperative locations, a two-dimensional representation of the registered plurality of intraoperative locations. Further, the method includes determining, based on the two-dimensional representation, a two-dimensional shape of an anatomical feature excised from the surgically resected anatomical region. In addition, the method includes determining, based on the two-dimensional shape of the anatomical feature and a three-dimensional model of a portion of the patient that contains the surgically resected anatomical region, a three-dimensional shape of the anatomical feature.
    Type: Grant
    Filed: February 22, 2019
    Date of Patent: April 19, 2022
    Inventor: Syed Khalid
  • Patent number: 11298207
    Abstract: In one embodiment, a medical instrument tracking system includes a medical instrument including a handle and different interchangeable heads for insertion into the handle having a handle position-tracking transducer disposed thereon, different respective ones of the interchangeable heads having differently positioned respective head position-tracking transducers disposed thereon so as when the different respective ones of the heads are inserted into the handle, the different respective head position-tracking transducers define different respective positions relative to the handle position-tracking transducer, and processing circuitry to receive signals generated by the handle position-tracking transducer and the respective head position-tracking transducer of a respective one of the heads inserted into the handle, compute a relative position between the handle position-tracking transducer and the head position-tracking transducer of the inserted interchangeable head, and identify which interchangeable head is
    Type: Grant
    Filed: April 4, 2019
    Date of Patent: April 12, 2022
    Assignee: Biosense Webster (Israel) Ltd.
    Inventors: Vadim Gliner, Assaf Govari
  • Patent number: 11278182
    Abstract: A system for visualizing an anatomical target includes a scope for internal imaging having a field of view less than a region to be imaged. A planning module is configured to receive video from the scope such that field of view images of the scope are stitched together to generate a composite image of the region to be imaged. An image guidance module is configured to move the scope along the anatomical target during a procedure such that an image generated in the field of view of the scope is displayed as live video overlaid on a field of the composite image.
    Type: Grant
    Filed: June 20, 2013
    Date of Patent: March 22, 2022
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventors: Aleksandra Popovic, Haytham Elhawary
  • Patent number: 11272987
    Abstract: A method is provided for planning, performing, and assessing of surgical correction to the spine during a spinal surgical procedure. This method is implemented by a control unit through a GUI to digitize screw locations, digitize anatomical reference points, accept one or more correction inputs, and generate one or more rod solution outputs shaped to engage the screws at locations distinct from the originally digitized locations.
    Type: Grant
    Filed: November 22, 2019
    Date of Patent: March 15, 2022
    Assignee: NuVasive, Inc.
    Inventors: Thomas Scholl, Mark Peterson, Robert Isaacs
  • Patent number: 11227408
    Abstract: An information processing device disposes an object model of a target object in a virtual space, and projects a polygon of a marker onto an imaging plane. Visibility indicating a degree of occlusion of the marker is calculated from an area of an image of the marker on a model thereby obtained and an area of a corresponding image of the marker in a photographed image. When the visibility is equal to or higher than a threshold value, positional information of the marker which positional information is derived from the photographed image is determined to be valid, and is output to be used in calculation of position coordinates of the target object after a weight coefficient is determined. When the visibility is lower than the threshold value, the positional information of the marker is determined to be invalid, and is not output.
    Type: Grant
    Filed: July 27, 2018
    Date of Patent: January 18, 2022
    Assignee: Sony Interactive Entertainment Inc.
    Inventor: Kenzo Nishikawa
  • Patent number: 11207108
    Abstract: This invention relates to a surgery planning tool, which is not a patient implant, comprising an elongated body including at least a portion having the shape and the size of a spinal correction rod.
    Type: Grant
    Filed: May 3, 2017
    Date of Patent: December 28, 2021
    Assignee: EOS IMAGING
    Inventors: Joe Hobeika, David Invernizzi, Arnaud Grivet
  • Patent number: 11207047
    Abstract: Methods and systems for x-ray and fluoroscopic image capture and, in particular, to a versatile, multimode imaging system incorporating a hand-held x-ray emitter operative to capture digital or thermal images of a target; a stage operative to capture static x-ray and dynamic fluoroscopic images of the target; a system for the tracking and positioning of the x-ray emission; a device to automatically limit the field of the x-ray emission; and methods of use. Automatic systems to determine the correct technique factors for fluoroscopic and radiographic capture, ex-ante.
    Type: Grant
    Filed: February 1, 2021
    Date of Patent: December 28, 2021
    Assignee: OXOS Medical, Inc.
    Inventors: Evan Ruff, Paul Bennett, Dhruv Vishwakarma, Gregory Kolovich
  • Patent number: 11185373
    Abstract: A method for re-registration between a robotic coordinate system and an image data set is provided. The inventive re-registration method includes the steps of providing an image data set that has been registered within a robotic coordinate system based on an initial bone position; locating a first conserved point and a line segment that is fixed relative to the initial bone position prior to any detectable change in bone position from the initial bone position; relocating the first conserved point and at least a portion of the line segment after bone motion may have occurred to determine the locational change in the first conserved point and the line segment; and re-registering the image data set within the robotic coordinate system based on the determined locational changes. A system for performing this method is also provided.
    Type: Grant
    Filed: March 1, 2017
    Date of Patent: November 30, 2021
    Assignee: THINK SURGICAL, INC.
    Inventors: Nathan A. Netravali, Feimo Shen
  • Patent number: 11175338
    Abstract: A method for testing a many-core processor comprises grouping a plurality of cores in the processor into a plurality of super cores, wherein each super core comprises one or more scan chains that propagate through a respective super core. Further, the method comprises grouping the plurality of super cores into a plurality of clusters. The method also comprises comparing one or more scan chain outputs of respective super cores in each cluster using a network of XOR and OR gates to generate a single bit fault signature for each scan chain in a respective cluster and compacting the single bit fault signatures for each scan chain using a hybrid of spatial and temporal compactors to generate a single bit fault signature for each cluster. The method also comprises method of using a cost function to obtain hierarchical parameters to achieve optimized ATPG effort, area overhead and test time.
    Type: Grant
    Filed: December 31, 2019
    Date of Patent: November 16, 2021
    Assignee: Alibaba Group Holding Limited
    Inventors: Chunsheng Liu, Arjun Chaudhuri
  • Patent number: 11147469
    Abstract: A system for detecting the location of an endoscopic device inside a patients' body comprises an endoscope assembly with an insertion tube having a set of codes indicative of an insertion depth and a rotational direction of the endoscopic device and a detector to detect the set of codes and calculate the location information. The images captured by the endoscopic device are automatically tagged with corresponding location information. Optionally, the endoscope assembly further comprises a system for generating three dimensional images and videos without increasing the number of cameras. Optionally, the endoscope assembly further comprises a system having a plurality of sensor devices for generating a real time image map of an endoscopic tip portion traversing a lumen. Optionally, the endoscope assembly further comprises a special garment for colonoscopy patients to preserve the modesty of the patients and to protect a physician from spraying fecal matter.
    Type: Grant
    Filed: June 27, 2019
    Date of Patent: October 19, 2021
    Assignee: EndoChoice, Inc.
    Inventors: Itay Sidar, Idan Levy, Lior Mor
  • Patent number: 11141237
    Abstract: Methods and systems for performing computer-assisted image-guided surgery, including robotically-assisted surgery. A method of displaying image data includes displaying image data of a patient on a handheld display device, tracking the handheld display device using a motion tracking system, and modifying the image data displayed in response to changes in the position and orientation of the handheld display device. Further embodiments include a sterile case for a handheld display device, display devices on a robotic arm, and methods and systems for performing image-guided surgery using multiple reference marker devices fixed to a patient.
    Type: Grant
    Filed: April 3, 2020
    Date of Patent: October 12, 2021
    Assignee: Mobius Imaging LLC
    Inventors: Eugene A. Gregersen, Scott Coppen, Todd Furlong, Edward Daley, Russell Stanton, Adeline Harris, Paul Sebring
  • Patent number: 11135015
    Abstract: A surgical implant planning computer for intra-operative CT workflow, pre-operative CT imaging workflow, and fluoroscopic imaging workflow. A network interface is connectable to a CT image scanner and a robot surgical platform having a robot base coupled to a robot arm that is movable by motors. A CT image of a bone is received from the CT image scanner and displayed. A user's selection is received of a surgical screw from among a set of defined surgical screws. A graphical screw representing the selected surgical screw is displayed as an overlay on the CT image of the bone. Angular orientation and location of the displayed graphical screw relative to the bone in the CT image is controlled responsive to receipt of user inputs. An indication of the selected surgical screw and an angular orientation and a location of the displayed graphical screw are stored in a surgical plan data structure.
    Type: Grant
    Filed: July 17, 2018
    Date of Patent: October 5, 2021
    Assignee: Globus Medical, Inc.
    Inventors: Neil R. Crawford, Norbert Johnson
  • Patent number: 11113849
    Abstract: A method of controlling virtual content, a terminal device and a computer readable medium are provided. The terminal device includes a display configured to display a virtual object, a camera configured to capture a target image including a marker, at least one processor, and a memory. The memory stores one or more programs configured to be executed by the at least one processor. The one or more programs includes instructions of acquiring the target image including the marker, where a plurality of sub-markers is distributed on the marker; determining a blocked target, wherein the blocked target is a blocked sub-marker of the plurality of sub-markers in the target image; generating a control instruction according to the blocked target; and controlling the displayed virtual object based on the control instruction.
    Type: Grant
    Filed: December 19, 2019
    Date of Patent: September 7, 2021
    Assignee: GUANGDONG VIRTUAL REALITY TECHNOLOGY CO., LTD.
    Inventors: Yiqun Wu, Yongtao Hu, Jingwen Dai, Jie He
  • Patent number: 11097129
    Abstract: An object positioning apparatus comprising: a radiographic image input interface configured to acquire a radiographic image that is generated by causing a fluoroscopic imaging apparatus to image an object and includes a first region and a second region, the first region depicting an index region for positioning of the object, the second region depicting a non-index region other than the index region; and a positioning processor configured to perform the positioning of the object by performing matching processing between a previously generated reference image and the first region that is specified from the radiographic image based on three-dimensional model information of the non-index region.
    Type: Grant
    Filed: March 14, 2018
    Date of Patent: August 24, 2021
    Assignee: Toshiba Energy Systems & Solutions Corporation
    Inventors: Yukinobu Sakata, Yasunori Taguchi, Ryusuke Hirai, Keiko Okaya, Shinichiro Mori
  • Patent number: 11090069
    Abstract: Jigs for guiding femur and tibia resectioning in knee surgery contain bone-jig contact surfaces and a cutting guide as a single unitary piece. Contact surfaces are curvilinear surfaces formed into ends of projections from a jig base. Each jig has three pairs of contact surfaces selected to abut low-wear, lateral and medial, articular surface features, such that only one self-locking position against the bone (or cartilage) is possible and the integral cutting guide will define only one cut plane for the resectioning. An improved rotational transformation that converts scan views into desired proper axes is based on projections of rotated coordinates onto the plane of rotation to produce parameters that closely correspond to the joint surfaces in the desired jig coordinates.
    Type: Grant
    Filed: January 3, 2019
    Date of Patent: August 17, 2021
    Assignee: Lento Medical, Inc.
    Inventor: Ilwhan Park
  • Patent number: 11067387
    Abstract: A shape sensing system comprises a processor coupled to a memory storage device and a predictive model module stored in the memory storage device and configured to receive shape sensing measurements and predict next shape sensing measurements based upon current state data for a shape sensing enabled device, the predictive model module including a Kalman filter and at least one reference model employed by the Kalman filter. The Kalman filter employs the reference model(s) and the current state data to predict new shape data by weighting the reference model(s) versus the current state data to improve shape data measurements.
    Type: Grant
    Filed: February 9, 2015
    Date of Patent: July 20, 2021
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventors: Milan Jan Henri Marell, Femke Van Belzen, Raymond Chan
  • Patent number: 11065063
    Abstract: Methods, apparatus, and kits for applying thermal energy to tissue in a region of interest. Certain embodiments include registration of fiducial markers with an image guidance system and temperature monitoring via magnetic resonance imaging thermography.
    Type: Grant
    Filed: July 1, 2016
    Date of Patent: July 20, 2021
    Assignee: Board of Regents, The University of Texas System
    Inventors: Claudio E. Tatsui, R. Jason Stafford
  • Patent number: 11049264
    Abstract: A marker detecting device comprising: an image sensor, comprising a plurality of difference sensing regions; and a processing circuit, configured to determine a marker exists when a first difference of pixel value data of images captured by different ones of the difference sensing regions is larger than a marker difference threshold and to determine the marker does not exist when the first difference is smaller than the marker difference threshold.
    Type: Grant
    Filed: October 3, 2019
    Date of Patent: June 29, 2021
    Assignee: PixArt Imaging Inc.
    Inventors: Keen-Hun Leong, Joon Chok Lee, Yueh Mei Kim
  • Patent number: 11033372
    Abstract: A method and system are provided for measuring changes in a pose of a human jaw within a coordinate system of a pose tracking system. The method involves providing a configurable arm; configuring the configurable arm such that at least one rigid target portion of the configurable arm is compliant with operational conditions of the pose tracking system when a selected anchor region of a surface of an anchor portion of the configurable arm is in close proximity to a selected attachment region of the human jaw; positioning the configurable arm such that the anchor region is in close proximity to the attachment region; applying and curing a paste to rigidly couple the anchor region to the attachment region, and operating the pose tracking system to measure changes to the pose of the at least one rigid target portion when the configurable arm is rigidly coupled to the human jaw.
    Type: Grant
    Filed: November 27, 2018
    Date of Patent: June 15, 2021
    Assignee: Claronav Inc.
    Inventor: Doron Dekel
  • Patent number: 11034092
    Abstract: An augmented-reality system interacts with a physical object that has been embossed or otherwise labeled with one or more bar-code identifiers. The system extracts data from each identifier and uses each element of extracted data to select a computer-generated texture or object. When displaying the augmented-reality environment to a user, the system either replaces the physical object with the computer-generated object or applies the computer-generated texture to a region of a rendered surface of the computer-generated object. The application's selection of computer-generated objects or textures may be modified at any time by a user command, a context-sensitive or environmental factor, an occurrence of a certain virtual event within the augmented-reality environment, or a configuration setting.
    Type: Grant
    Filed: June 17, 2019
    Date of Patent: June 15, 2021
    Assignee: International Business Machines Corporation
    Inventors: Gregory J. Boss, Jeremy R. Fox, Michael Bender, Zachary A. Silverstein, Daniel Ruiz
  • Patent number: 11020208
    Abstract: Methods and devices are disclosed, by use of which an external fiducial element positioned in the mouth serves as a geometrical constraint on oral arch geometry. In some embodiments, the fiducial element is an oral insert which reaches to a plurality of oral arch regions to present surface details which are in well-defined distance and/or angular relationships to one another. These spatial relationships optionally comprise a spatial frame of reference which serves to constrain reconstruction of the geometry of one or both of the oral arches, for example reconstruction from a collection of digitally registered, partially-overlapping scans made along the oral arch.
    Type: Grant
    Filed: April 21, 2016
    Date of Patent: June 1, 2021
    Assignee: DENTLYTEC G.P.L. LTD.
    Inventors: Benny Pesach, Georgy Melamed, Blanc Zach Lehr, Ygael Grad
  • Patent number: 11013562
    Abstract: A high-speed optical tracking with compression and CMOS windowing for tracking applications that require high-speed and/or low latency when delivering pose (orientation and position) data. The high-speed optical tracking with compression and CMOS windowing generally includes an optical tracking system (10) that sense fiducial (22) and by extension markers (20). The markers can either be integrated on tools (20) handled by an operator (e.g. surgeon) (50) or fixed on the subject to track (e.g. patient) (40). The low-level processing (101, 107, 140) is realized within the tracking system to reduce the overall data to be transferred and considerably reduce the processing efforts. Pose data (127) are finally computed and transferred to a PC/monitor (30,31) or to tablet (60) to be used by an end-user application (130).
    Type: Grant
    Filed: February 14, 2018
    Date of Patent: May 25, 2021
    Assignee: Atracsys Sarl
    Inventors: Gaëtan Marti, Maurice Hälg, Bernard Maxvell Arulraj
  • Patent number: 11017585
    Abstract: In one embodiment, a method includes a computing system which may receive captured image data from a camera assembly. The camera assembly may include one or more cameras and an actuator to move the cameras. The image data may include frames that were captured while the actuator was moving the cameras. The computing system may determine for each frame, the time and position of the camera at the point that the image data was captured. The computing system may then generate an index of the captured image data and the associated time and position data. The index may be utilized for reconstructing the scene around the camera assembly from a viewpoint which is different from the viewpoint of any one of the cameras. This reconstruction may be performed based on one or more frames of the captured image data queried using the index, the viewpoint, and a time of interest.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: May 25, 2021
    Assignee: Facebook, Inc.
    Inventors: Michael John Toksvig, Brian Keith Cabral, Joyce Hsu, Andrew Hamilton Coward
  • Patent number: 11007031
    Abstract: Assisting robotic arm setup in a surgical robotic system using augmented reality can include capturing a live video of a user setting up a robotic arm in a surgical robotic system. A visual guide representing a target pose of the robotic arm can be rendered onto the live video, resulting in an augmented live video for guiding the arm setup. The augmented live video can be displayed to the user while the user is following the visual guide to set up the robotic arm. The captured live video can be continuously processed to determine whether the robotic arm has reached the target pose.
    Type: Grant
    Filed: August 14, 2018
    Date of Patent: May 18, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy