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公开(公告)号：CA3086691A1
公开(公告)日：2019-07-25
申请号：CA3086691
申请日：2019-01-21
Applicant: CLARONAV INC
Inventor： DEKEL DORON , MITULESCU RAZVAN
Abstract: Surgical systems and methods of controlling a surgical instrument are provided. The system includes a surgical instrument having a cutting portion and a body, the body having a handle, a drive motor for driving the cutting portion in a rotating, a reciprocating or a vibrating motion, a plurality of adjustment motors for adjusting a cutting pose of the cutting portion relative to the handle; and, a controller configured to measure the deviations between the cutting pose and a desired pose of the cutting portion and to activate the adjustment motors to reduce those deviations. The method involves coupling a cutting portion of a surgical instrument to a plurality of adjustment motors; holding the handle of the surgical instrument; operating a controller to measure deviations between a cutting pose and a desired pose; and operating the adjustment motors to adjust the cutting pose relative to the handle to reduce the deviations.
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公开(公告)号：CA3064956A1
公开(公告)日：2019-01-24
申请号：CA3064956
申请日：2018-07-17
Applicant: CLARONAV INC
Inventor： DEKEL DORON , QAZI ARISH
Abstract: A computer-implemented method and system are provided for registering a human jaw with a volumetric computed tomography image of that jaw positioned in an image reference coordinate system and stored in a computer-readable memory. The method involves attaching a jaw marker to the jaw to establish a pose trackable jaw reference coordinate system; moving a surface sampling tool over at least one portion of the surface of the jaw while operating a pose tracking system and a computer processor to record samples in the jaw reference coordinate system indicative of locations within the at least one portion of the surface of the jaw; operating a computer processor to determine an approximate initial registration mapping; then beginning with the approximate initial registration mapping, incrementally adjust the registration mapping. Incrementally adjusting the registration mapping involves computing an edge proximity value at each sample location mapped to the image by the registration mapping.
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公开(公告)号：WO2019153076A1
公开(公告)日：2019-08-15
申请号：PCT/CA2019/050150
申请日：2019-02-06
Applicant: CLARONAV INC.
Inventor： DEKEL, Doron
Abstract: Systems and methods of tracking a head of a patient are provided. The system includes a motion tracking system and a head tracker. The head tracker includes a frame, at least one trackable target coupled to the frame, at least one nose pad coupled to the frame, and a pair of adjustable ear coupling members coupled to the frame and shaped for engaging with at least a portion of a back surface of an ear of the patient. The head tracker is configured to apply a clamping force to hold the trackable target in a stable spatial relationship with a location of interest in the head. The motion tracking system includes a sensor for tracking the trackable target and a processor configured for determining a position of the location of interest from the position and orientation of the trackable target and the stable spatial relationship.
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公开(公告)号：WO2015106354A1
公开(公告)日：2015-07-23
申请号：PCT/CA2015/050025
申请日：2015-01-15
Applicant: CLARONAV INC.
Inventor： DEKEL, Doron , QAZI, Arish
CPC classification number: A61B6/145 , A61B6/032 , A61B6/12 , A61B6/5229 , A61C9/0006 , A61C9/0046 , A61C19/00
Abstract: An apparatus and system are provided for registering a human jaw with a scanned image of the human jaw. The apparatus is repeatably attachable to the jaw and comprises a fiducial body. The surface of the fiducial body includes a plurality of feature regions and defines a fiducial plane. The fiducial body has a curved profile shaped to follow the curve of the jaw when the appliance is attached to the jaw. When the jaw is scanned with the appliance attached thereto, a representation of at least a portion of the surface of the fiducial body is identifiable as a boundary in the scanned image. A unique coordinate mapping between the fiducial body and the scanned image is determinable from the fiducial plane and the plurality of geometrical characteristics at least one and fewer than three feature regions. The system comprises a scanner and a data processor.
Abstract translation: 提供了一种装置和系统，用于将人颚与人颌的扫描图像对准。 该装置可重复地附接到钳口并且包括基准体。 基准体的表面包括多个特征区域并且限定基准平面。 基准体具有弯曲的轮廓，其形状可以在器具连接到钳口时跟随钳口的曲线。 当钳口被附接到其上的器具扫描时，基准体的表面的至少一部分的表示可以被识别为扫描图像中的边界。 基准面和扫描图像之间的唯一坐标映射可从基准平面和多个几何特征至少一个且少于三个特征区域确定。 该系统包括扫描器和数据处理器。
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公开(公告)号：WO2019140533A1
公开(公告)日：2019-07-25
申请号：PCT/CA2019/050071
申请日：2019-01-21
Applicant: CLARONAV INC.
Inventor： DEKEL, Doron , MITULESCU, Razvan
Abstract: Surgical systems and methods of controlling a surgical instrument are provided. The system includes a surgical instrument having a cutting portion and a body, the body having a handle, a drive motor for driving the cutting portion in a rotating, a reciprocating or a vibrating motion, a plurality of adjustment motors for adjusting a cutting pose of the cutting portion relative to the handle; and, a controller configured to measure the deviations between the cutting pose and a desired pose of the cutting portion and to activate the adjustment motors to reduce those deviations. The method involves coupling a cutting portion of a surgical instrument to a plurality of adjustment motors; holding the handle of the surgical instrument; operating a controller to measure deviations between a cutting pose and a desired pose; and operating the adjustment motors to adjust the cutting pose relative to the handle to reduce the deviations.
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Patent Agency Ranking
公开(公告)号：WO2019014759A8
公开(公告)日：2019-01-24
申请号：PCT/CA2018/050864
申请日：2018-07-17
Applicant: CLARONAV INC.
Inventor： DEKEL, Doron , QAZI, Arish
Abstract: A computer-implemented method and system are provided for registering a human jaw with a volumetric computed tomography image of that jaw positioned in an image reference coordinate system and stored in a computer-readable memory. The method involves attaching a jaw marker to the jaw to establish a pose trackable jaw reference coordinate system; moving a surface sampling tool over at least one portion of the surface of the jaw while operating a pose tracking system and a computer processor to record samples in the jaw reference coordinate system indicative of locations within the at least one portion of the surface of the jaw; operating a computer processor to determine an approximate initial registration mapping; then beginning with the approximate initial registration mapping, incrementally adjust the registration mapping. Incrementally adjusting the registration mapping involves computing an edge proximity value at each sample location mapped to the image by the registration mapping.
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公开(公告)号：WO2019227215A1
公开(公告)日：2019-12-05
申请号：PCT/CA2019/050735
申请日：2019-05-30
Applicant: CLARONAV INC.
Inventor： DEKEL, Doron
Abstract: Surgical systems, kits and methods for calibrating a tooltip relative to a surgical device are provided. The surgical device can interchangeably hold and drive one of a set of differently shaped or dimensioned tooltips. The systems and kits include a camera securable to the surgical device and an image processor for receiving an image from the camera and processing the image to determine a position in a coordinate system associated with the surgical device of a location on the surface of the tooltip visible in the image. The method involves securing a camera to the surgical device, operating the camera to provide an image of the tooltip, providing the image to an image processor, and operating the image processor to determine a position in a coordinate system associated with the surgical device of a location on the surface of the tooltip.
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公开(公告)号：WO2015120557A1
公开(公告)日：2015-08-20
申请号：PCT/CA2015/050111
申请日：2015-02-17
Applicant: CLARONAV INC.
Inventor： DEKEL, Doron
CPC classification number: A61B50/13 , A61B50/10 , A61B50/15 , A61B50/20 , B62B3/02 , B62B3/10 , B62B5/06
Abstract: A medical or dental cart for carrying medical or dental instruments. The cart comprises a base, a back pillar mounted on the base, a boom arm connected to the back pillar using hinged joints, and an instrument carrier connected to the boom arm using hinged joints. The instrument carrier is configured to carry medical or dental instruments. The hinged joints are configured such that the boom arm is rotatable toward the base and away from the base, and such that the instrument carrier is held at a substantially fixed orientation relative to the base throughout the range of motion of the boom arm. The hinged joints are also configured to impede sideways rotation, thereby impeding movement of the instrument carrier in a substantially sideways direction and thus impeding sideways tipping of the cart.
Abstract translation: 用于携带医疗或牙科仪器的医疗或牙科手推车。 推车包括基座，安装在基座上的后支柱，使用铰接接头连接到后支柱的悬臂臂，以及使用铰接接头连接到起重臂的工具架。 仪器载体被配置为携带医疗或牙科仪器。 铰链接头被构造成使得臂臂能够朝向基座旋转并远离基座，并且使得仪器托架在悬臂臂的整个运动范围内相对于基座保持在基本固定的方向。 铰接接头还构造成阻止横向旋转，从而阻碍仪器载体在基本上侧向的方向上的移动，并因此妨碍推车的侧向倾斜。
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公开(公告)号：US12029502B2
公开(公告)日：2024-07-09
申请号：US17540293
申请日：2021-12-02
Applicant: Claronav Inc.
Inventor： Doron Dekel , Arish Qazi
IPC: A61B5/00 , A61B34/20 , G06T7/00 , G06T7/30 , G06T7/70 , G06V10/20 , G06V10/22 , G06V20/50 , H04N23/90
CPC classification number: A61B34/20 , G06T7/0014 , G06T7/30 , G06T7/70 , G06V10/22 , G06V10/255 , G06V20/50 , H04N23/90 , G06T2200/04 , G06T2207/30004 , G06V2201/034
Abstract: A system and method of operating a surgical navigation system to determine the location of a point of interest (POI) in a 3D coordinate frame of a surgical tool (tool frame) using a calibrated imaging device to capture an image of a portion of the surgical tool's surface the calibrated imaging device having calibration data that enables a processor of the surgical navigation system to map from a 2D location in the image to a projection line in a 3D coordinate frame of the imaging device (image frame). The system is operated to determine a mapping between an image frame and a tool frame. The processor is operated to determine the location of the POI in the tool frame based on the image and the mapping between the image frame and the tool frame.
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公开(公告)号：US20200046477A1
公开(公告)日：2020-02-13
申请号：US16344396
申请日：2017-11-02
Applicant: Claronav Inc.
Inventor： Doron Dekel
IPC: A61C19/045 , A61B17/86 , A61C1/08
Abstract: A kit and method for tracking a human jaw are provided. The kit and method can involve a bone screw and an extension arm. The bone screw has a threaded portion, a head portion and a longitudinal axis. The threaded portion can have a thread diameter of less than or equal to about 2.5 mm and can be inserted into a bone of the human jaw within 45° of the occlusal plane. The head portion protrudes out of the bone of the human jaw when the threaded portion is inserted into the bone. The extension arm can be rigidly secured to the head portion of the bone screw to maintain a fixed spatial mapping between the head portion of the bone screw and an optically detectable marking provided on the extension arm. When secured to the head portion of the bone screw, the extension arm can be positioned such that the optically detectable marking is detectable by an optical tracking system positioned outside the mouth containing the jaw bone.
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