US5755725A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Computer-assisted microsurgery methods and equipment
Assignee: Sarif Biomedical LLC
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Filing: 1994-09-06
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Granted: 1998-05-26
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Expires: 2014-09-06
Abstract
Abstract Computer-assisted microsurgery equipment, of the type including an articulated tool support, with one of the ends being integral with a fixed reference system R c . The system comprises cameras for determining the tool coordinates in said fixed reference system R c , and an image data base wherein are recorded images from an imaging system in the image reference system R i . The inventions characterized by having at least two sensors integral with the fixed reference system R c supplying an electrical signal depending on the patient reference position R p in the fixed reference system R c , and a computer for matching the tool reference system R o with the patient reference system R p and the image reference system R i according to data from the bidimensional sensor, cameras for determining the coordinates of the tool in the fixed reference system R c and data from the image base. The computer supplies a signal for displaying the position of the tool in the image reference system R i on a monitor and for controlling the position and shifting of said tool as a function of the control signals from the control unit.
Inventors
- 👤 Herve Druais
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 11:35
CPC Classifications
A; A61; A61B; A61B90/00; A61B90/36; A61B34/00; A61B34/20; A61B34/70; A61B2034/2046; A61B2034/2055; A61B2034/2072; A61B90/39; A61B2090/3983; A61B34/10; A61B90/10
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
215 words
A computer-assisted microsurgery installation, comprising: (a) an articulated tool support, one end of which is integral with a fixed reference frame R c ; (b) an image data base comprising images in an image reference frame R i ; (c) at least two sensors, integral with the fixed reference frame R c , supplying a signal that is a function of the position of a reference frame R p of a patient in the fixed reference frame R c ; (d) a computer adapted to: (1) determine correspondence of a reference frame R o of the tool with the patient reference frame R p and the image reference frame R i as a function of the signal from the at least two sensors; (2) output a display signal for visualization of position of the tool in the image reference frame R i on a control screen; and (3) control position and displacements of the tool as a function of control signals originating from a control unit, wherein the fixed reference frame R c is independent of the patient reference frame R p and of the image reference frame R i ; and (e) means for determining coordinates of the tool in the fixed reference system R c based on data from the image data base.
Claim 2
Dependent Claim
215 words
A computer-assisted microsurgery installation, comprising: (a) an articulated tool support, one end of which is integral with a fixed reference frame R c ; (b) an image data base comprising images in an image reference frame R i ; (c) at least two sensors, integral with the fixed reference frame R c , supplying a signal that is a function of the position of a reference frame R p of a patient in the fixed reference frame R c ; (d) a computer adapted to: (1) determine correspondence of a reference frame R o of the tool with the patient reference frame R p and the image reference frame R i as a function of the signal from the at least two sensors; (2) output a display signal for visualization of position of the tool in the image reference frame R i on a control screen; and (3) control position and displacements of the tool as a function of control signals originating from a control unit, wherein the fixed reference frame R c is independent of the patient reference frame R p and of the image reference frame R i ; and (e) means for determining coordinates of the tool in the fixed reference system R c based on data from the image data base.
Claim 3
Dependent Claim
38 words
The installation of claim 1, wherein the at least two sensors comprise at least two acquisition cameras integral with the fixed reference system R c and positioned such that their field of observation includes a surgical intervention zone.
Claim 4
Dependent Claim
43 words
The installation of claim 2, further comprising a first geometrically defined trihedron, presenting at least four non-coplanar punctiform light sources integral with the tool, with the mobility space of the first trihedron being contained in the fields of vision of the acquisition cameras.
Claim 5
Dependent Claim
48 words
The installation of claim 3, further comprising a second geometrically defined trihedron, presenting at least four non-coplanar punctiform light sources integral with the patient, with the mobility space of the second trihedron being contained in the fields of vision of the acquisition cameras during an entire operative phase.
Claim 6
Dependent Claim
50 words
The installation of claim 1, wherein the means for determining coordinates of the tool in the fixed reference system R c comprises at least two acquisition cameras integral with the fixed reference system R c and positioned such that their field of observation includes the mobility space of the tool.
Claim 7
Dependent Claim
43 words
The installation of claim 5, further comprising a first geometrically defined trihedron, presenting at least four non-coplanar punctiform light sources integral with the tool, with the mobility space of the first trihedron being contained in the fields of vision of the acquisition cameras.
Claim 8
Dependent Claim
48 words
The installation of claim 6, further comprising a second geometrically defined trihedron presenting at least four non-coplanar punctiform light sources integral with the patient, with the mobility space of the second trihedron being contained in the fields of vision of the acquisition cameras during an entire operative phase.
Claim 9
Dependent Claim
49 words
The installation of claim 1, further comprising an additional sensor comprising a pointing end and at least two light points, the positions of which in relation to the pointing end are determined geometrically by placing the additional sensor within the fields of vision of the at least two sensors.
Claim 10
Dependent Claim
166 words
The installation of claim 1, wherein: the at least two sensors comprise at least two acquisition cameras integral with the fixed reference system R c and positioned such that their field of observation includes a surgical intervention zone and the mobility space of the tool; and further comprising: a first geometrically defined trihedron, presenting at least four non-coplanar punctiform light sources integral with the tool, with the mobility space of the first trihedron being contained in the fields of vision of the acquisition cameras; a second geometrically defined trihedron, presenting at least four non-coplanar punctiform light sources integral with the patient, with the mobility space of the second trihedron being contained in the fields of vision of the acquisition cameras during an entire operative phase; and an additional sensor comprising a pointing end and at least two light points, the positions of which in relation to the pointing end are determined geometrically by placing the additional sensor within the fields of vision of the acquisition cameras.
Claim 11
Independent Claim
225 words
A method for performing microsurgery using a microsurgery tool, comprising the steps of: (a) determining the position of the tool in a reference frame R c of a camera by a transformation m1 T c , giving the relation between a reference frame R o of the tool and a fixed reference frame R m1 , and a transformation c T m1It ), giving the relation between the camera reference frame R c and the fixed reference frame R m1 determined in real time by optical measurement; (b) determining a transformation i T m2 giving the relation between an image reference frame R i and a fixed reference frame R m2 ; (c) determining the position of the fixed reference frame R m2 in relation to the camera reference frame R c by a transformation m2 T c (t) determined in real time by optical measurement; (d) calculating a transformation i T o (t)= i T m2 m2 T o (t) c T m1 (t) m1 T o , giving the relation between the image reference frame R i and the tool reference frame R o , to display in real time a section corresponding to a point of interest indicating the position of the tool in relation to a prerecorded image; and (e) performing the microsurgery based on the real-time display of the section.
Claim 12
Independent Claim
225 words
A method for performing microsurgery using a microsurgery tool, comprising the steps of: (a) determining the position of the tool in a reference frame R c of a camera by a transformation m1 T c , giving the relation between a reference frame R o of the tool and a fixed reference frame R m1 , and a transformation c T m1It ), giving the relation between the camera reference frame R c and the fixed reference frame R m1 determined in real time by optical measurement; (b) determining a transformation i T m2 giving the relation between an image reference frame R i and a fixed reference frame R m2 ; (c) determining the position of the fixed reference frame R m2 in relation to the camera reference frame R c by a transformation m2 T c (t) determined in real time by optical measurement; (d) calculating a transformation i T o (t)= i T m2 m2 T o (t) c T m1 (t) m1 T o , giving the relation between the image reference frame R i and the tool reference frame R o , to display in real time a section corresponding to a point of interest indicating the position of the tool in relation to a prerecorded image; and (e) performing the microsurgery based on the real-time display of the section.
Claim 13
Independent Claim
237 words
A method for controlling a microsurgery tool in relation to an image data base, comprising the steps of: (a) determining the position of the tool in a reference frame R c of a camera by a transformation m1 T o , giving the relation between a reference frame R o of the tool and a fixed reference frame R m1 , and a transformation c T m1 (t), giving the relation between the reference flame R c and the fixed reference frame R m1 determined in real time by optical measurement; (b) determining a transformation i T m2 giving the relation between an image reference frame R i and a fixed reference frame R m2 ; (c) determining the position of the fixed reference frame R m2 in relation to the reference frame R c by a transformation m2 T c (t) determined in real time by optical measurement; (d) calculating a transformation i T o (t)= i T m2 m2 T c (t) c T m11 (t) m1 T o , giving the relation between the image reference frame R i and the tool reference frame R o ; (e) calculating a transformation o T i (t), which is an inverse of the transformation i T o (t) ; and (f) automatically controlling the tool in real time in relation to a target defined in the image data base using the transformation o T i (t).
Claim 14
Independent Claim
237 words
A method for controlling a microsurgery tool in relation to an image data base, comprising the steps of: (a) determining the position of the tool in a reference frame R c of a camera by a transformation m1 T o , giving the relation between a reference frame R o of the tool and a fixed reference frame R m1 , and a transformation c T m1 (t), giving the relation between the reference flame R c and the fixed reference frame R m1 determined in real time by optical measurement; (b) determining a transformation i T m2 giving the relation between an image reference frame R i and a fixed reference frame R m2 ; (c) determining the position of the fixed reference frame R m2 in relation to the reference frame R c by a transformation m2 T c (t) determined in real time by optical measurement; (d) calculating a transformation i T o (t)= i T m2 m2 T c (t) c T m11 (t) m1 T o , giving the relation between the image reference frame R i and the tool reference frame R o ; (e) calculating a transformation o T i (t), which is an inverse of the transformation i T o (t) ; and (f) automatically controlling the tool in real time in relation to a target defined in the image data base using the transformation o T i (t).
References Cited (Backward Citations)
US5251127A
Cited
WO1991004711A1
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-05-25 | 2001-11-24 | 2002-05-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-05-25 | 2005-11-24 | 2006-05-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-05-25 | 2009-11-24 | 2010-05-26 | $7700.00 | Window Closed / Lapsed |