The invention relates to a method for indicating an incision trajectory, by an intraoperative imaging system (1) comprising a laser source (13), comprising the following steps:—acquiring two X-ray images of a region of interest at different acquisition angles;—designating, by a user, an element (33) on a displayed acquired image (32);—computing, by a control unit, a target point (TP), based on a determined anatomical information of the patient (100) and on the designated element;—indicating an incision trajectory to be followed to reach the target point (TP), by generating a laser beam (14) adapted to; o mark the incision point (IP) on the patient's skin (110); and o indicate the incision direction (ID) by an interaction between the laser beam (14) and an incision tool (20).
A61B 17/56 - Surgical instruments or methods for treatment of bones or jointsDevices specially adapted therefor
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/13 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
2.
Method and Device for an Improved Display in a Manual or a Robot Assisted Intervention in a Region of Interest of the Patient
The invention concerns a computer implemented method for processing images comprising the following steps: · a) obtaining (100) a 3D image (I-3D) of a region of interest (ROI) including an anatomical region of a patient: · b) obtaining (200) at least one projection (PI) of the region of interest (ROI) of the patient (3), said projection (PI) being a 2D overall image of said region of interest (ROI) and showing information of a first type about said region according to a point of view (Pov); c) obtaining (300) at least one slice(S) from the 3D image (I-3D), said slice(S) comprising a point of interest (POI) in said region of interest (ROI), said obtained slice containing information about the region of interest (ROI) of a second type around the point of interest (POI); d) computing (400) a composite 2D image wherein a portion (p) of one of the 2D overall image containing information about the point of interest (POI) is replaced by the projection of a corresponding portion of the obtained slice(S) from the same point of view (Pov) so that information of the second type is accurately arranged relatively to information of the first type present in the 2D overall image.
The invention relates to a real-time electromagnetic localization system comprising at least two locating units (10a, 10b, 10c, 10d) and a processing unit (5), each locating unit (10a, 10b, 10c, 10d) comprising at least two locating transducers (A, AA; B, BB, C, CC; D, AA), the processing unit (5) being adapted to: •—determine a pose of a first locating transducer (A) of a first locating unit (10a) with respect to a second locating transducer (AA) of the first locating unit (10a), •—determine a pose of a first locating transducer (B) of a second locating unit (10b) with respect to a second locating transducer (BB) of the second locating unit (10b), •—determine a pose of the first locating transducer (A) of the first locating unit (10a) with respect to the first locating transducer (B) of the second locating unit (10b) based on a mechanical link (L) formed between the first locating transducer (A) and the first locating transducer (B), •—determine a pose of the second locating transducer (AA) with respect to the second locating transducer (BB) based on •—the determined pose of the first locating transducer (A) with respect to the second locating transducer (AA); •—the determined pose of the first locating transducer (B) with respect to the second locating transducer (BB); •—the determined pose of the first locating transducer (A) with respect to the first locating transducer (B).
An input device comprises a static portion, a movable portion, and at least three posts extending between the static portion and the movable portion. Each post is fixed at a first end to the static portion and fixed at a second end, opposite the first end, to the movable portion. Each of the posts extends substantially parallel to each other and extends parallel to the axis of rotational freedom when the movable portion and the static portion are in a neutral position. The movable portion is displaceable along a first axis of translational freedom, a second axis of translational freedom, and an axis of rotational freedom. The movable portion and static portion are configured such that, when the movable portion is displaced relative to the static portion, any plane of the movable portion that is perpendicular to the posts in the neutral position and in which at least one of the second ends of the posts lies remains parallel to any plane of the static portion that is perpendicular to the posts in the neutral position and in which at least one of the first ends of the posts lies.
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
A61B 17/56 - Surgical instruments or methods for treatment of bones or jointsDevices specially adapted therefor
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G06F 3/0354 - Pointing devices displaced or positioned by the userAccessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
A method for determining a position of a movable part of an input device relative to a static part of the input device comprises measuring a magnetic field generated by a magnetic source with a sensor array. The magnetic source is coupled to one of the movable part and the static part and the sensor array is coupled to the other of the movable part and the static part. The sensor array comprises a plurality of unidirectional sensors that measure a portion of the magnetic field parallel to a direction of magnetization of the magnetic source. The movable part is displaceable relative to the static part according to at least two and at most three degrees of freedom. The degrees of freedom being two degrees of translational displacement and one degree of rotational freedom. The method further comprises determining a location within a coordinate system of the sensor array at which the magnitude of the magnetic field of the magnetic source is the greatest.
The present invention concerns an electromagnetic localization system (1) comprising at least one locating unit (10) and one processing unit (5), the locating unit (10) comprising at least two locating transducers (A. AA) wherein at least one locating transducer is a transmitter adapted to emit at least one magnetic field and at least one locating transducer is a receiver adapted to receive and measure the magnetic field emitted by the transmitter, wherein at least one first locating transducer (A) is adapted to be locked in a fixed position with respect to a first object (100) and at least one second locating transducer (AA) is adapted to be locked in a fixed position with respect to a second object (110), the processing unit (5) being configured to: a. determine a pose of the first locating transducer (A) with respect to the second locating transducer (AA) based on the measurement of the magnetic field emitted by the transmitter of the locating unit, b. calculate an indicator related to the accuracy of the measurement of the magnetic field, c. compare the calculated indicator with a predefined threshold, d. determine the pose of the first object (100) with respect to the second object (110), based on the determined pose of the transducers when the calculated indicator is below the predefined threshold, and e. generate an instruction to displace at least one of the locating transducers (A, AA) when the calculated indicator exceeds the predefined threshold, such instruction being executable manually by a user of the system or automatically by an actuator.
The present invention concerns surgical system (100) configured to treat a region of interest of an anatomical structure, the surgical system (100) comprising - at least one robotic arm (110) coupled with a surgical tool (121) configured to treat the region of interest, the robotic arm (110) comprising several links (111), two adjacent links (111) being linked to one another by one motorized joint (112), the robotic arm (110) comprising at least a first part (113) with at least three degrees of freedom and a second part (114) with at least six degrees of freedom, an end of the first part (113) forming a base (115) of the second part (114) and the first part (113) comprising a selective compliance assembly robot arm, - at least one control device (122) configured to receive commands from a user of the system (100), and - at least one data processor (103), the surgical system (100) being operable, at least, according to a hand-guiding mode, the data processor (103) being configured to, as long as the hand-guiding mode is enabled: - determine current dynamics and kinematics of the robotic arm (110), - receive at least one user command from the control device (122), - determine, based on the received user command(s) and on the current dynamics and kinematics of the robotic arm (110), an intended displacement of the surgical tool (121), - determine at least one optimal trajectory of the robotic arm (110) permitting to obtain the determined intended displacement of the surgical tool (121), while satisfying at least one mathematical function which defines authorized trajectories of the robotic arm (110), • compute and send at least one instruction(s) to at least one of the motorized joint(s) (112) of the robotic arm (110), the execution of the at least one instruction(s) (i4) resulting in a displacement of the robotic arm (110) according to the optimal trajectory, wherein when several optimal trajectories of the robotic arm (110) are determined, the data processor (103) is configured to select one of these optimal trajectories so that the displacement of the robotic arm (110) implies the smallest number of movements of the motorized joint(s) of the first part (113) possible.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
8.
SYSTEM FOR DETECTING ELECTROMAGNETIC DISTURBANCES DURING A SURGERY
The present invention relates to a system (100) for determining that an electromagnetic disturbance is impairing measurements made by an electromagnetic tracking unit (200) during a surgery, the system comprising
the electromagnetic tracking unit (200) configured to track relative poses of at least two bone portions linked to one another by at least one joint, based on measurements of an electromagnetic field emitted and received, respectively, by at least two electromagnetic transducers (201, 202) of the electromagnetic tracking unit (200),
at least one storage unit (301) in which at least one kinematic pattern of authorized relative displacements of the tracked bone portions with respect to one another is recorded, and
one data processor (302) in communication with the storage unit (301) and with the electromagnetic tracking unit (200),
The present invention relates to a system (100) for determining that an electromagnetic disturbance is impairing measurements made by an electromagnetic tracking unit (200) during a surgery, the system comprising
the electromagnetic tracking unit (200) configured to track relative poses of at least two bone portions linked to one another by at least one joint, based on measurements of an electromagnetic field emitted and received, respectively, by at least two electromagnetic transducers (201, 202) of the electromagnetic tracking unit (200),
at least one storage unit (301) in which at least one kinematic pattern of authorized relative displacements of the tracked bone portions with respect to one another is recorded, and
one data processor (302) in communication with the storage unit (301) and with the electromagnetic tracking unit (200),
wherein the data processor (302) is configured to
receive the tracked relative poses of the bone portions with respect to one another and compute a real-time kinematic of the bone portions,
compare the real-time kinematic of the bone portions with the recorded kinematic pattern,
determine a difference between the real-time kinematic and the recorded kinematic pattern,
determine that at least one of the measurements of the electromagnetic field is impaired when the difference exceeds a predetermined threshold.
The present disclosure concerns a surgical system, comprising at least:
a control unit,
a storage unit configured to communicate with the control unit;
a robotic arm comprising:
at least three motorized joints, the control unit being configured to determine, in real-time, a pose of each motorized joint of the at least three motorized joints; and
a flange;
a passive arm attached to the flange of the robotic arm, the passive arm extending within a first plane, the passive arm comprising at least three distinct parallel axes forming a plurality of passive joints, each passive joint comprising an encoder configured to:
determine, in real-time, an angular position of each passive joint of the plurality of passive joints; and
send to the control unit a first corresponding information of the angular position of each passive joint of the plurality of passive joints;
a surgical device attached to the passive arm, the surgical device extending within a second plane, the second plane being parallel to the first plane, the surgical device being configured to treat a region of interest of an anatomical structure according to a predefined surgical plane, a relative pose of the surgical plane with respect to the region of interest being stored in the storage unit; and
a localization unit comprising at least:
a first tracker attached to a segment of the robotic arm or to a base of the robotic arm; and
a second tracker attached to the region of interest, the localization unit being configured to:
determine, in real-time, a relative pose of the segment or the base of the robotic arm with respect to the region of interest; and
send to the control unit a second corresponding information of the relative pose of the segment or the base of the robotic arm with respect to the region of interest,
wherein the control unit is configured to:
determine a relative pose of the flange of the robotic arm with respect to the region of interest based on the second corresponding information of the relative pose of the segment or the base of the robotic arm with respect to the region of interest and/or on the pose of pose of each motorized joint of the at least three motorized joints, and/or on a geometry of the robotic arm being stored in the storage unit; and
determine a relative pose of the surgical device with respect to the surgical plane, based on the relative pose of the flange of the robotic arm with respect to the region of interest, on the first corresponding information of the angular position of each passive joint of the plurality of passive joints, on the pose of the surgical plane with respect to the region of interest, and on a geometry of the passive arm stored in the storage unit and a geometry of the surgical device stored on the storage unit.
The invention relates to a real-time electromagnetic localization system comprising at least two locating units (10a, 10b, 10c, 10d) and a processing unit (5), each locating unit (10a, 10b, 10c, 10d) comprising at least two locating transducers (A, AA; B, BB, C, CC; D, AA), the processing unit (5) being adapted to: • - determine a pose of a first locating transducer (A) of a first locating unit (10a) with respect to a second locating transducer (AA) of the first locating unit (10a), • - determine a pose of a first locating transducer (B) of a second locating unit (10b) with respect to a second locating transducer (BB) of the second locating unit (10b), • - determine a pose of the first locating transducer (A) of the first locating unit (10a) with respect to the first locating transducer (B) of the second locating unit (10b) based on a mechanical link (L) formed between the first locating transducer (A) and the first locating transducer (B), • - determine a pose of the second locating transducer (AA) with respect to the second locating transducer (BB) based on • - the determined pose of the first locating transducer (A) with respect to the second locating transducer (AA); • - the determined pose of the first locating transducer (B) with respect to the second locating transducer (BB); • - the determined pose of the first locating transducer (A) with respect to the first locating transducer (B).
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
The present invention concerns an electromagnetic localization system (1) comprising at least one locating unit (10) and one processing unit (5), the locating unit (10) comprising at least two locating transducers (A, AA) wherein at least one locating transducer is a transmitter adapted to emit at least one magnetic field and at least one locating transducer is a receiver adapted to receive and measure the magnetic field emitted by the transmitter, wherein at least one first locating transducer (A) is adapted to be locked in a fixed position with respect to a first object (100) and at least one second locating transducer (AA) is adapted to be locked in a fixed position with respect to a second object (110), the processing unit (5) being configured to: a. determine a pose of the first locating transducer (A) with respect to the second locating transducer (AA) based on the measurement of the magnetic field emitted by the transmitter of the locating unit, b. calculate an indicator related to the accuracy of the measurement of the magnetic field, c. compare the calculated indicator with a predefined threshold, d. determine the pose of the first object (100) with respect to the second object (110), based on the determined pose of the transducers when the calculated indicator is below the predefined threshold, and e. generate an instruction to displace at least one of the locating transducers (A, AA) when the calculated indicator exceeds the predefined threshold, such instruction being executable manually by a user of the system or automatically by an actuator.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
12.
METHOD FOR INDICATING AN INCISION TRAJECTORY BY A LASER OF AN INTRAOPERATIVE IMAGING SYSTEM
The invention relates to a method for indicating an incision trajectory, by an intraoperative imaging system (1) comprising a laser source (13), comprising the following steps: - acquiring two X-ray images of a region of interest at different acquisition angles; - designating, by a user, an element (33) on a displayed acquired image (32); - computing, by a control unit, a target point (TP), based on a determined anatomical information of the patient (100) and on the designated element; - indicating an incision trajectory to be followed to reach the target point (TP), by generating a laser beam (14) adapted to: o mark the incision point (IP) on the patient's skin (110); and o indicate the incision direction (ID) by an interaction between the laser beam (14) and an incision tool (20).
A61B 90/13 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
13.
Method and Device for Enhancing the Display of Features of interest in a 3D Image of an Anatomical Region of a Patient
The invention concerns a computer implemented method for enhancing the display of features of interest in a 3D image of an anatomical region of a patient, the method comprising:
a) obtaining a 3D image of an anatomical region of a patient;
b) projecting the 3D image according to a first point of view for obtaining a first 2D image;
b1) projecting the 3D image according to a second point of view for obtaining a second 2D image of said anatomical region;
the first point of view being transverse to the second point of view and the first 2D image being transverse to the second 2D image; the method comprising
c) determining from the first 2D image a first 3D region of interest;
d) projecting said 3D region of interest according to the second point of view for obtaining a third 2D image.
The invention concerns a computer implemented method for processing images comprising the following steps: • a) obtaining (100) a 3D image (I-3D) of a region of interest (ROI) including an anatomical region of a patient; • b) obtaining (200) at least one projection (P1) of the region of interest (ROI) of the patient (3), said projection (P1) being a 2D overall image of said region of interest (ROI) and showing information of a first type about said region according to a point of view (Pov); c) obtaining (300) at least one slice (S) from the 3D image (I-3D), said slice (S) comprising a point of interest (POI) in said region of interest (ROI), said obtained slice containing information about the region of interest (ROI) of a second type around the point of interest (POI); d) computing (400) a composite 2D image wherein a portion (p) of one of the 2D overall image containing information about the point of interest (POI) is replaced by the projection of a corresponding portion of the obtained slice (S) from the same point of view (Pov) so that information of the second type is accurately arranged relatively to information of the first type present in the 2D overall image.
A computer-assisted surgery system allows a user to control movements of a surgical tool by providing, to a control unit, inputs in the form of measured displacements via a movable part of a handle while treating a region of interest with the tool. The control unit is configured to enable motion of the tool with respect to an anatomical structure only if a user moves the movable part, receive the measured displacement of the movable part, receive from a localization unit the relative position and orientation of the tool relative to the anatomical structure, based on the measured displacement, on the surgical plan and on the relative position and orientation of the tool relative to the anatomical structure, compute an instruction to send to a motorized joint to move a robotic arm to operate the tool according to an optimal trajectory, and send the computed instruction to the motorized joint.
based on the at least one target alignment parameter and on the at least one alignment parameter of the lower limb in the constrained position, determining at least one correction parameter of the osteotomy procedure to be applied to the lower limb to achieve the target alignment parameter.
The present invention relates to a computer-assisted surgery system (100) comprising at least one robotic arm (110) with at least three motorized joints (113), one surgical tool (130) held by the robotic arm (110), one control unit (300), a handle (140) for guiding the robotic arm (110), the handle (140) comprising: o at least one housing (142), the housing (142) comprising at least one gripping part (143) and at least one fixing part (144), the fixing part (144) being attached to the robotic arm (110) of the computer-assisted surgery system (100), the housing (142) receiving, at least partially, one movable part (141, 143) which presents at least three degrees of freedom, o at least one displacement sensor (195, 196, 197, 199, 299, 392, 491) adapted to detect and measure displacements of the movable part (141, 143) and to transmit a corresponding information to the control unit (300), o at least one activation mechanism (180) adapted to control at least one working parameter of the surgical tool (130), wherein the fixing part (144) is attached to the robotic arm (110) so that the movable part (141, 143) is adapted to be displaced relative to the fixing part (144) along at least one direction (D2) parallel to a main axis of extension (E) of the surgical tool (130).
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
The present invention concerns a computer-assisted surgery system for treating a region of interest of an anatomical structure with a surgical tool (130) according to a surgical plan, comprising: - a robotic arm (110) comprising at least three motorized joints (113); - a surgical tool (130) attached to the robotic arm (110); - a handle (140) comprising: o a fixing part (144) attached to the robotic arm (110) in a fixed position relative to the surgical tool (130), and o a movable part movable relative to the fixing part (144) according to at least three degrees of freedom, - at least one activation mechanism (180) configured to control, at least one working parameter of the surgical tool (130); - a localization unit configured to determine in real time relative position and orientation of the surgical tool (130) with respect to the anatomical structure; - a control unit configured to: send instructions to at least one motorized joint (113) to move the robotic arm (110), and the computer-assisted surgery system (100) being operable in an operative mode allowing a user to control movements of the surgical tool (130) by providing to the control unit inputs in the form of measured displacements applied by the user to the movable part of the handle (140) while treating the region of interest with the surgical tool (130), wherein the control unit is configured to, as long as the operative mode is enabled: enable motion of the surgical tool (130) with respect to the anatomical structure (200), only if a user moves the movable part of the handle (140), - receive the measured displacement of the movable part of the handle (140), - receive from the localization unit the relative position and orientation of the surgical tool (130) with respect to the anatomical structure, - based on the measured displacement, on the surgical plan and on the relative position and orientation of the surgical tool (130) with respect to the anatomical structure, compute at least one instruction to be sent to at least one of the motorized joints (113) to move the robotic arm (110) to operate the surgical tool (130) according to an optimal trajectory; - send the computed instruction to at least one of the motorized joints (113).
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
The invention concerns a method for locating at least one characteristic point in a region of a joint having a joint center (AC, HC, KC), the joint center (AC, HC, KC) being an end of a bone (T, F), a bone tracker (T_F, T_T) has been fixed to said bone and defines a reference system (Ref_T, Ref_F).
G01V 3/10 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
G01B 9/02055 - Reduction or prevention of errorsTestingCalibration
G01B 21/04 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
the calibration method including the determination (S4) of at least a magnetic moment of the transmitter and a magnetic moment of the receiver from the first signals, second signals and third signals.
G01D 18/00 - Testing or calibrating apparatus or arrangements provided for in groups
G01B 11/14 - Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
G01D 5/20 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
22.
METHOD FOR COMPENSATING A MAGNETIC LOCATOR, LOCATOR AND COMPUTER PROGRAM
G01V 3/08 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
G01B 7/004 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
23.
Method for detecting an anomaly in the context of using a magnetic locating device
COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES (France)
MINMAXMEDICAL (France)
Inventor
Aloui, Saifeddine
Bertrand, Francois
Chave, Mickael
Lavallee, Stephane
Abstract
A method for detecting an anomaly, associated with a magnetic locating device including a first magnetic element and a second magnetic element that are associated with a first object and with a second object, respectively. The first object includes a first movement sensor configured to determine a first datum dependent on inclination of the first object in a basic reference frame, or the terrestrial reference frame. The method includes: determining the first datum from the first movement sensor; determining a second datum dependent on inclination of the second object in the basic reference frame; determining at least one orientation parameter with the magnetic locating device using the first and second magnetic elements; using the at least one orientation parameter and the first and second data to generate an indicator of presence of the anomaly.
G01V 3/08 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
The invention relates to a method for calibrating a magnetic locator, said magnetic locator comprising at least a transmitter and a receiver, and said calibration method involving a third sensor consisting of a transceiver. The method comprises: transmission of a first magnetic field by the transmitter and reception of first signals generated in the receiver by the magnetic field (S1); transmission of a second magnetic field by the transmitter and reception of second signals generated in the transceiver by the magnetic field (S2); transmission of a third magnetic field by the transceiver and reception of third signals generated in the receiver by the magnetic field (S3), said calibration method comprising the determination (S4) of at least one magnetic moment of the transmitter and a magnetic moment of the receiver based on the first, second and third signals.
G01V 13/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups
G01V 3/10 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
A patient-specific surgical guide including at least one guiding element for guiding a surgical instrument to treat a subcutaneous anatomical structure of the patient. A first patient-specific contact element with a first patient-specific contact surface to fit a portion of the subcutaneous anatomical structure is rigidly connected to the at least one guiding element. The patient-specific surgical guide includes at least one second patient-specific contact element having at least one support element for supporting a percutaneous pin or needle whose tip is intended to contact a point of the subcutaneous anatomical structure or an anatomical structure rigidly connected thereto. An elongated junction member rigidly couples the at least one guiding element to the at least one second contact element.
COMMISSARIAT À L'ÉNERGIE ATOMIQUE ET AUX ÉNERGIES ALTERNATIVES (France)
MINMAXMEDICAL (France)
Inventor
Aloui, Saifeddine
Bertrand, François
Chave, Mickaël
Lavallée, Stéphane
Abstract
The invention relates to a method for detecting an anomaly, associated with a magnetic positioning device including a first magnetic element (1) and a second magnetic element (2) associated with a first object (3) and a second object (4), respectively, characterised in that the first object (3) comprises a first motion sensor (5) capable of determining a first data item (g1) which is dependent on the tilt of the first object (3) in a basic frame of reference, in particular the earth's frame of reference, and in that the method comprises: a step of determining (E1) the first data item (g1) from said first motion sensor (5); a step of determining (E2) a second data item (g2) which is dependent on the tilt of the second object (4) in said basic frame of reference; a step of determining (E3) at least one orientation parameter by the magnetic positioning device using the first and second magnetic elements (1, 2); and a step of using (E4) said at least one orientation parameter and first and second data (g1, g2) to produce an indicator of the presence of the anomaly.
G01V 3/08 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
COMMISSARIAT À L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES (France)
MINMAXMEDICAL (France)
Inventor
Bertrand, François
Josselin, Vincent
Huguel, Loïc
Rousseau, Sandra
Abstract
The invention relates to an electromagnetic position tracking system, including: an electromagnetic field emission device including at least one emitter coil and, connected to the emitter coil, a first generator of an electric signal for exciting the emitter coil; a device for receiving the electromagnetic field emitted by the emission device, including at least one receiver coil, and, connected to the receiver coil, a circuit for reading an electric signal induced in the receiver coil; and a system for measuring at least one parameter of the reception device, including, connected to the receiver coil, a second generator of an electric signal for exciting the receiver coil.
G01D 5/20 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
28.
Method for constructing a patient-specific surgical guide
using a patient-specific surgical guide adapted to carry out implantation of the implant, said patient-specific surgical guide being constructed using the planning data.
The invention relates to a method for constructing a patient-specific surgical guide comprising at least one contact element comprising a contact surface intended to match an anatomical structure to be treated and at least one guiding element for guiding a surgical instrument to treat said anatomical structure, said method comprising: —receiving a 3D medical image of the anatomical structure of the patient; —determining, in said 3D medical image, at least one region of interest containing a portion of the external surface of the anatomical structure intended to match a respective contact element of the surgical guide; —segmenting the 3D medical image in said determined region of interest so as to locally reconstruct the external surface of the anatomical structure; —computing the contact surface of the contact element from said reconstructed local surface of the anatomical structure; —constructing the at least one contact element to include the contact surface. —defining the position of the at least one guiding element with respect to the anatomical structure; —constructing the surgical guide by generating a rigid body including the at least one guiding element and said at least one contact element.
The invention relates to a system for positioning a surgical device, said surgical device comprising: - a base (1) designed to be held in a user's hand, - an end-effector (2) for mounting a surgical tool, respectively a guide (20) for guiding a surgical tool (3), said surgical tool being designed to treat a planned volume of a part (P1) of a patient's body, - an actuation unit (4) connected to said base (1) and said end-effector (2) for moving said surgical tool (3), respectively tool guide (20), with respect to the base (1) in order to treat said planned volume, said positioning system comprising: (i) a tracking unit (200) configured to determine in real time the pose of at least one of the tool (3), the end-effector (2) and the base (1) with respect to the part to be treated, (ii) a control unit (300) configured to: (a) compute in real time the working space of the surgical tool for said determined pose, (b) compute in real time the volume that remains to be treated to achieve the treatment of the planned volume,, (iii) a user interface (400) coupled to the control unit (300) and configured to display together: - the planned volume, said planned volume comprising a volume (p2) that remains to be treated and, if applicable, an already treated volume (p1), and - the working space (p3) of the surgical tool.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: -a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2),and the part to be treated, (ii)a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effect or according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
The invention relates to a device (1) for localization of a magnetic sensor comprising: [a] a post configured to be fixed to a patient table (3) and to maintain a patient in predefined lying position on said patient table, [b] said post comprising a magnetic emitter, for the localization of at least magnetic sensor embedded in an instrument or in said patient's body.
A61G 13/12 - Rests specially adapted thereforArrangements of patient-supporting surfaces
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
34.
Method of and apparatus for determining the mechanical axis of a femur
The invention relates to a device for determining the mechanical leg axis of a femur. Said device is provided with a shaft (3) that comprises, on one of its ends, a securing device (5) that is connected to the shaft and that can be blocked at various angles, in order to obtain a fastening that can be blocked in an angle stable manner and that fastens the shaft (3) to the knee joint of a femur, and comprises a gripping element (10) on its other end. A force-torque measuring device (14) is arranged between the gripping element (10) and the shaft (3), said device enabling the longitudinal and/or transversal force components of force (Fz) exerted via the shaft (3) upon the knee joint to be measured by means of the gripping element (10) and/or torque produced thereby. The invention also relates to a method for determining the mechanical leg axis of a femur by means of the above mentioned device. The shaft (3) is fixed in its position by blocking at various angles, in particular an articulated connection when the measured transversal force components or torque produced thereby is minimized, in particular, is zero.
A61B 17/58 - Surgical instruments or methods for treatment of bones or jointsDevices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
A61B 17/60 - Surgical instruments or methods for treatment of bones or jointsDevices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements for external osteosynthesis, e.g. distractors or contractors
A61F 2/00 - Filters implantable into blood vesselsProstheses, i.e. artificial substitutes or replacements for parts of the bodyAppliances for connecting them with the bodyDevices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
35.
Method and system of computer assistance for the reduction of a fracture
A method and system of computer assistance to the preparation of the reduction of a fracture such that a patient's bony fragments are separated into first and second bone segments, with in bone segments being symmetrical to a third bone element. The method includes the steps of determining a first representation or bone model of the surface of the first bone segment, a second representation, at an initial position, of the second segment, and a third representation of the third bone element; determining by symmetry a fourth representation of the first and second bone segments of the fractured bone in the absence of a fracture, the fourth representation being matched with the first representation; matching the second representation with the fourth representation at a final position; and providing, by an interface element, information representative of the difference between the initial position and the final position.
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