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公开(公告)号：US11523753B2
公开(公告)日：2022-12-13
申请号：US16268580
申请日：2019-02-06
Applicant: CLARONAV INC.
Inventor： Doron Dekel
IPC: A61B5/11 , A61C19/045 , G06F3/01 , A61B34/20 , A61C1/08
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：US11033372B2
公开(公告)日：2021-06-15
申请号：US16200871
申请日：2018-11-27
Applicant: Claronav Inc.
Inventor： Doron Dekel
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.
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公开(公告)号：US10463321B2
公开(公告)日：2019-11-05
申请号：US15527087
申请日：2015-12-08
Applicant: Claronav Inc.
Inventor： Doron Dekel , Arish Qazi , Ido Bermanis
IPC: A61B6/14 , A61B6/03 , A61C19/045 , A61C9/00 , A61B90/00
Abstract: An apparatus, method and kit are provided for registering a human jaw with a CT image of the human jaw. The apparatus includes a moldable retainer and an arm having a moldable link portion and a rigid fixation portion. The link portion is attachable to the retainer and hardenable to maintain a fixed mapping between the fixation portion and the retainer. The fixation portion includes a CT marker connection region for detachably attaching a CT marker that includes a fiducial. The fixation portion also includes a tag connection region for detachably attaching a tag that is trackable by a pose measurement system. The pose of the tag connection region relative to a pose of the CT marker connection region is fixed prior to attaching either the tag or the CT marker, providing a known and fixed tag to fiducial coordinate mapping.
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公开(公告)号：US20160015474A1
公开(公告)日：2016-01-21
申请号：US14800225
申请日：2015-07-15
Applicant: Claronav Inc.
Inventor： Doron Dekel
IPC: A61B19/00
CPC classification number: A61B34/20 , A61B2017/00477 , A61B2017/00946 , A61B2017/00951 , A61B2034/2051 , A61B2034/2055 , A61B2034/2065 , A61B2090/3983 , A61C1/00 , A61C1/082 , A61C1/12
Abstract: A surgical instrument tracking assembly includes a trackable target and an adapter that can be rigidly coupled to the trackable target such that the pose of the adapter can be determined from the pose of the trackable target. The tracking assembly also includes stretchable tape for stretchably winding around the adapter and a surgical instrument to provide a tensile clamping force holding the adapter to the surgical instrument in a fixed, stable, spatial relationship so that a pose of the surgical instrument is determinable from the pose of the adapter. The stretchable tape may be highly elastic to provide a long-lasting tensile clamping force, sufficiently strong to resist tearing when being stretched by a human hand, and self-engaging such that once the tape is wound on itself, the long-lasting tensile clamping force of the winding is maintained even when the pulling force is removed.
Abstract translation: 手术器械跟踪组件包括可跟踪目标和适配器，其可以刚性地耦合到可跟踪目标，使得适配器的姿态可以根据可跟踪目标的姿态来确定。 跟踪组件还包括用于可伸缩地缠绕在适配器周围的可拉伸带和外科器械，以提供以适合于固定的，稳定的空间关系将适配器保持在外科器械上的拉伸夹紧力，使得外科器械的姿势可从 适配器的姿势。 拉伸带可能是高度弹性的，以提供持久的拉伸夹紧力，足够坚固以抵抗用人类手拉伸时的撕裂，并且自我接合，使得一旦带缠绕在自身上，持久的拉伸夹紧 即使拔出拉力，也保持绕组的力。
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公开(公告)号：US20230097249A1
公开(公告)日：2023-03-30
申请号：US17947224
申请日：2022-09-19
Applicant: CLARONAV INC.
Inventor： Doron Dekel , Arish Qazi
Abstract: Systems and methods for providing at least one fixture for use in an image guidance system for determining a registration coordinate mapping between a human jaw and a volumetric image of that jaw. The system includes one or more channeled trays and a moldable thermoplastic material for inserting into a channeled tray. The moldable thermoplastic material is hardenable into an impression part such that when mated to the at least a portion of the human jaw and held within the channel of the channeled tray, the impression part resists displacement relative to the human jaw. At least one channeled tray in the system includes a fiducial region detectable in the volumetric CT image in a fixed spatial relation relative to the coupling surface region and at least one channeled tray is pose-trackable by the image guidance system.
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Patent Agency Ranking
公开(公告)号：US20220175463A1
公开(公告)日：2022-06-09
申请号：US17540293
申请日：2021-12-02
Applicant: Claronav Inc.
Inventor： Doron Dekel , Arish Qazi
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：US20190239776A1
公开(公告)日：2019-08-08
申请号：US16268580
申请日：2019-02-06
Applicant: CLARONAV INC.
Inventor： Doron Dekel
IPC: A61B5/11 , G06F3/01 , A61C19/045
CPC classification number: A61B5/1114 , A61C19/045 , G06F3/012
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：US20190167402A1
公开(公告)日：2019-06-06
申请号：US16200871
申请日：2018-11-27
Applicant: Claronav Inc.
Inventor： Doron Dekel
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.
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公开(公告)号：US20190026910A1
公开(公告)日：2019-01-24
申请号：US16037517
申请日：2018-07-17
Applicant: Claronav Inc.
Inventor： Doron Dekel , Arish Qazi
CPC classification number: G06T7/337 , A61B6/032 , A61B6/14 , A61B6/465 , A61B6/5247 , A61C9/0053 , A61C9/008 , G06T7/0014 , G06T7/13 , G06T7/33 , G06T7/74 , G06T2207/10028 , G06T2207/10081 , G06T2207/20221 , G06T2207/30036 , G06T2207/30204
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：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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