EP3793463A1 - Dispositif chirurgical - Google Patents
Dispositif chirurgicalInfo
- Publication number
- EP3793463A1 EP3793463A1 EP19709761.1A EP19709761A EP3793463A1 EP 3793463 A1 EP3793463 A1 EP 3793463A1 EP 19709761 A EP19709761 A EP 19709761A EP 3793463 A1 EP3793463 A1 EP 3793463A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- positioning system
- instrument
- monitor
- target
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 18
- 238000005520 cutting process Methods 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000012800 visualization Methods 0.000 claims description 2
- 210000000988 bone and bone Anatomy 0.000 description 10
- 239000007943 implant Substances 0.000 description 10
- 238000001356 surgical procedure Methods 0.000 description 9
- 238000002271 resection Methods 0.000 description 7
- 210000002745 epiphysis Anatomy 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 238000002513 implantation Methods 0.000 description 3
- 239000003826 tablet Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000011477 surgical intervention Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
- A61B2017/00482—Coupling with a code
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
Definitions
- the present invention relates to a wireless positioning system of an object with respect to a target, comprising a set of transmitters and receivers associated with a control unit and a display monitor.
- the invention also relates to a surgical device comprising a handpiece provided with a rotary motor, a drive shaft on which is mounted a removable handpiece comprising a tool holder and a tool, said instrument being, in addition, provided with an electronic servo control module of said motor comprising a digital electronic circuit, rotation control means of said motor, and a power supply source and further such a positioning system.
- An object of the present invention is therefore to provide a positioning system, in particular for a surgical device such as a hand engine, which provides a real-time visualization of the orientation of the surgical device in real time. the operative field on an area to be operated without requiring the use of prior modeling of the patient.
- Another object of the invention is to provide a positioning system that can be grafted and used with existing surgical devices.
- Another object of the invention is to provide a surgical device to give greater autonomy to the practitioner in the surgical procedure performed.
- a real-time wireless positioning system of an object with respect to a target characterized in that it comprises:
- an electronic control unit of said set of transmitters and receivers configured to control the emission of said electromagnetic waves by said transmitters according to a determined communication protocol to said receivers and to calculate the position of the object in at least two dimensions space relative to the target in a frame attached to said target;
- Such a positioning system is of particular interest to equip surgical ancillary devices for example in order to provide the surgeon a visual reference orientation and direction of a surgical procedure to perform according to orientations and anatomical planes or implantation determined according to a pathology to be treated and the anatomical and physiological characteristics of a patient.
- the system of the invention thus allows to follow a series of operations by electromagnetic contact at a distance between the target and the operative object.
- the electromagnetic contacts in particular make it possible to locate the simplified anatomical axes.
- the system may in particular make it possible to simplify any surgical procedure such as piercing or resection of a bone member to be implanted, in particular in knee surgery, by arranging on the femoral and tibial epiphyses to resect said receptors and said transmitters on a cutting motor so as to to establish a certain reference of orientation on the epiphysis to resect, without having to use a heavy and complex adjustable guide system to implement before definitive implantation of the femoral and tibial implants of a total knee prosthesis for example.
- the positioning system of the invention allows light and simple way the surgeon can actually direct his intervention taking into account the actual geometry on the surface of the area to work and therefore to position his tool relative to this zone to work according to the right angles and planes, also being able to keep an operating latitude greater than with fixed guidance systems.
- the positioning of any tool can be carried out by means of the system of the present invention directly with respect to a single point of reduced dimensions of the femur or tibia of a patient, without worrying about the real position of the leg in space, while acquiring the position and orientation of the limb to operate according to 6 degrees of freedom from this landmark.
- positioning by electromagnetic tracking, in particular inductive, as proposed by the present invention does not suffer from drift and remains stable over time.
- the transmitters and receivers comprise removable fixing means on a said object and a said target.
- Such an object may thus be a surgical instrument such as a motor or a saw and the target may be a limb to operate.
- the transmitters and receivers are means of communication by transmission / reception of optical signals, preferably in the infrared range.
- the electronic control unit comprises a memory in which is stored at least one library of targets and objects, and a user interface for configuring said unit for control the set of transmitters and receivers according to a communication protocol determined according to a said object and a said target contained in the library selected by a user and to calculate the position of the object relative to the target according to the data obtained according to said communication protocol.
- said control unit and said monitor comprise wired or wireless communication means, in particular radio frequency, or Bluetooth communication protocols, positioning data of the object relative to the target for displaying on the monitor the real-time position of the object relative to the target.
- control unit and said monitor are integrated in the same device, including a tablet or a laptop, or a touch screen.
- control unit and monitor may be constituted by computers and / or robots present in the operating room, particularly for monitoring systems or control other miscellaneous devices.
- the emitters and the receivers are respectively arranged in a predetermined arrangement on a first support and a second support, said first and second supports comprising said removable attachment means on said object. and said target.
- Such supports may in particular be attachment plates on a tool or ancillary instrument for transmitters and cutting guides or drilling for receivers.
- the latter comprises power supply means of said transmitters, the electronic control unit and the monitor.
- power supply means may in particular be accumulator batteries or wired electrical connectors.
- the power supply means comprises at least one battery, common or specific to said transmitters, of the electronic control unit and monitor.
- the invention also proposes a surgical device comprising a hand instrument provided with a rotary motor, a drive shaft on which is mounted a removable handpiece comprising a tool holder and a tool.
- said instrument being, furthermore, provided with:
- an electronic servocontrol module of said motor comprising a digital electronic circuit
- This surgical device is characterized in that it further comprises a positioning system as previously defined, said said emitters are adapted to be positioned on said hand instrument, in particular on the blade holder of this- ci, and said receivers adapted to be positioned on a surgical intervention area using said tool.
- the motor and its position in space can be quickly determined and visualized without the need for an auxiliary mechanical structure.
- the engine can be used alone without a marker or marker. It can also advantageously be used carried on an electromechanical arm whose actuators can be enslaved according to the taking of surgical markers made by the positioning system of the invention via the control unit. This offers the possibility of a surgical procedure according to the anatomical and surgical plans without requiring boxes and cutting guides where appropriate.
- said control unit of the positioning system is integrated in the electronic servo-control module of the instrument, said monitor being independent and remotely positionable said instrument.
- control unit of the positioning system is integrated in said instrument and independent of said servo module, said monitor being independent and remotely positionable said instrument.
- said control unit of the positioning system is integrated in the monitor, said monitor being independent and positionable at a distance from said instrument, said transmitters being electrically connected to the power source of the instrument and being driven by the remote control unit according to a wired or wireless communication protocol.
- the latter comprises at least one operating guide for guiding the tool in the intervention zone, said receivers of the positioning system being able to be fixed on the operating guide.
- This operating guide is particularly useful when the motor is intended to be used manually without an operating arm by a surgeon.
- the operating guide is a cutting block.
- said digital electronic circuit is provided with at least one memory containing at least two sets of servocontrol parameters of said motor, each set of servo parameters being associated with a carrier. tool, said digital electronic circuit being arranged to automatically select the set of servo parameters according to the type of tool holder detected by said automatic detection means.
- FIG. 1 represents a perspective view of a hand-held instrument used in the invention
- FIG. 2 represents a longitudinal view of a sagittal saw tool holder equipped with
- FIG. 3 shows schematically the handpiece of Figure 1 equipped with the saw of Figure 2 and a positioning system according to the present invention
- FIG. 4 schematically represents representations accessible to the surgeon on the positioning system monitor of the invention from data libraries of the patient and / or an implant constructor, determining the anatomical parameters of resection of the epiphyses of the patient. a femur and a tibia for the purpose of placing a total knee implant;
- FIG. 5 shows schematically in perspective the act of resection with a surgical device according to the invention comprising the instrument of Figure 1 equipped with a positioning system according to the invention;
- FIGS. 6A and 6B show an alternative embodiment of a positioning system according to the present invention in a configuration comprising a hand-held instrument associated with an articulated robotic arm of a surgical robot.
- a hand instrument 1 used in a device according to the invention.
- Said hand instrument 1 is provided with a rotary motor 2 and a drive shaft 4 adapted to accommodate a removable handpiece, not shown.
- the instrument further comprises a handle 6 substantially perpendicular to the driving axis 4.
- the general ergonomics of the instrument is well known. It is chosen on purpose to facilitate the learning of additional features, objects of the invention.
- the aesthetics are neat, the angles are rounded and the overall shape is homogeneous. These adapted forms allow easy disinfection and cleaning.
- the instrument and its tools can be autoclavable and machine washable.
- the hand-held instrument 1 is also provided with an electronic servo-control module 2 comprising a digital electronic circuit.
- the servo advantageously applies to an electric motor without collector.
- An example of a servocontrol of such an engine is provided, for example, in WO 2005/037124 A1.
- the electronic module therefore allows, at any time, to control the position of the rotor, its rotational speed and its torque.
- the engine also offers a very wide operating range, ranging from very low speeds of a few revolutions per minute (rpm) to several tens of thousands of revolutions per minute, while guaranteeing, thanks to servo-control, a large accuracy of the speed and torque provided on the drive shaft 4.
- the instrument 1 is arranged, in this embodiment, for the surgeon to hold it by a handle 6 and act on motor rotation control means.
- motor rotation control means These means are represented here by a trigger-type control 8 for adjusting the speed of rotation of the motor and by a rotary knob 10 making it possible to turn the instrument 1 off in the middle position of the rotary knob 10, to choose a rotation of the motor in a clockwise direction when the rotary knob 10 is turned to the right and counterclockwise when the rotary knob 10 is turned to the left.
- Other types of buttons are obviously conceivable as, for example, a push button.
- the power source is provided via a flexible electrical connection 12 connected to the instrument 1.
- Another embodiment of the invention comprises a power supply provided by a removable battery directly mounted on the instrument 1. It advantageously occupies the position marked 14 in the figure by integrating with the handle 6.
- the instrument 1 comprises automatic detection means of the mounted tool holder type.
- the mounted tool holder type There are a variety of types of adaptable tool holder on the drive shaft 4.
- a tool holder 40 shown in Figure 2, allows sawing operations by a sagittal saw 42, that is to say, an oscillating saw along the axis of rotation 44.
- a set of servo parameters includes minimum and maximum rotational speeds, permitted rotational directions, the maximum allowable torque in a clockwise direction, the maximum torque allowed in a counter-clockwise direction and the action maintaining the torque or stopping the engine when the maximum torque is reached.
- the digital electronic circuit of the servo module is provided with at least one memory containing sets of servo parameters of the engine, associated with different usable tool holders.
- the digital electronic circuit is arranged to automatically select the set of servo parameters according to the type of tool holder detected by the automatic detection means.
- the invention proposes a real-time wireless positioning system which allows to operate in particular the actions of epiphyseal resection and implant screwing accurately in a bone body O, as shown schematically in Figures 3 and 5.
- the positioning system comprises a set of emitter sensors E and receivers R of electromagnetic waves, or infrared light beams for example, able to be positioned respectively on the instrument 1 and on a head bone O to resect, forming the operative target instrument 1, equipped with a saw 42, in particular a nonmagnetic material.
- the emitters E are advantageously for example arranged on a plane or three-dimensional support, provided with fixing means on the instrument 1.
- the receivers R may be preferably fixed on an operating guide such as a cutting block B provided by a implant supplier and adapted to the adequate resection of the epiphyseal parts of the bone head, for example tibial in Figures 3 and 5.
- the receivers may in particular be beam reflector elements, to return an image of a beam emitted by the emitters, said emitters also forming in this case a combined detector.
- the receivers R may be beam detectors, in which case they must be active and powered electrically.
- the positioning system also comprises an electronic control unit of the emitters E and receivers R configured to control the emission of said electromagnetic waves, for example non-limiting type of infrared light, by said emitters E according to a determined communication protocol to said receptors R and to calculate the position of the instrument 1, and therefore of the nonmagnetic blade 42 in at least two dimensions of the space relative to the bone head O resect in a reference attached thereto and defined by the receivers on the C-target cutting block.
- an electronic control unit of the emitters E and receivers R configured to control the emission of said electromagnetic waves, for example non-limiting type of infrared light, by said emitters E according to a determined communication protocol to said receptors R and to calculate the position of the instrument 1, and therefore of the nonmagnetic blade 42 in at least two dimensions of the space relative to the bone head O resect in a reference attached thereto and defined by the receivers on the C-target cutting block.
- the positioning system of the invention finally comprises a real-time display monitor of the position of the instrument relative to the target O, calculated by said electrical unit.
- This monitor M is advantageously a tactile monitor, allowing not only a display but also a graphical user interface, remotely and independent of the instrument 1, as well as emitters E and R receiver, so that the practitioner can position it in the manner the most appropriate to follow his act in visual as comfortable and stable as possible.
- Said monitor M can thus typically consist of a graphics tablet, computer, or any video monitor used to display the position of the instrument 1 relative to its target C.
- the display in the monitor is in the form of a level V indicated angular variation representing the inclination or inclinations of the instrument 1 and its blade 42 relative to a predetermined cutting plane on the target whose path is further guided by a slot optionally in a cutting block on which the receivers can be fixed preferably.
- Said control unit may be integrated according to the case to the monitor itself if it consists of a tablet or in a computer for example, in the form in particular of a control program, said monitor or said computer comprising optical communication means, wired or wireless, including radio frequencies, or Bluetooth communication protocols, positioning data obtained by the set of transmitters E and receivers R to calculate the position of the instrument and allowing the monitor to display the real-time position of the object relative to the target.
- control unit and the monitor may be constituted by computers and / or robots present in the operating room, particularly for monitoring systems or control other miscellaneous devices.
- control unit can be integrated in the electronic control unit of the control instrument of the instrument 1.
- this electronic module can not only communicate with the set of emitters E and receivers R as well as with the monitor M in a wired or wireless form.
- the integration of the control unit of the positioning system of the instrument 1 has the advantage of allowing complete servocontrol of the tool 42 to the operation to be performed.
- the control module equipped with recognition capabilities of a hand tool set up on the instrument by a surgeon will be able to load and control the motor of the instrument according to the parameters of the tool and different actions to be performed with this tool.
- the module can also access the downloaded patient data and the library of cutting planes loaded into the memory of the control unit of the positioning system, which is possibly the same as that of the motor servo module, in order to integrate these data and thus allow manual adjustment if necessary of the instrument parameters to achieve the best cut, or adjust the cutting orientations directly in the user interface on the screen of the monitor M ( Figure 5).
- the positioning system of the invention can be procured in series or optionally with the instrument 1. It can also be adapted to existing instruments; in this case the control unit will preferably be a remote control unit and advantageously integrated to the monitor M in the form of a dual-purpose touch pad.
- FIG. 6B It can finally be used in an operating context shown in FIG. 6B using a robotic AA articulated arm supported at a first end on a table T or anchoring base and at the other end of which the handpiece is fixed by means of a servo-controlled ball joint.
- the receivers R can then simply be arranged on the bone to be resected as in the manual mode of FIGS. 4 and 5, via a cutting block or, more simply, by taking the surgeon's manual marks on the bone with the help of a stylus carrying a receiver R, said marks being recorded in the control unit.
- the latter then automatically adjusts the arm AA so that the surgeon can only during the surgical procedure that guide the instrument to hand in anatomical cutting planes identified for the patient, as on guide rails provided by the AA arm.
- the use of the positioning system of the invention and a surgical device equipped with it allows the optimization of ancillary equipment, cost reduction and simplification of after-sales service but also the use a single motor for the whole operating theater (sawing, screwing, drilling, etc.) while offering the surgeon precision and modularity of live operation to carry out his work.
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Surgical Instruments (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18172528 | 2018-05-16 | ||
PCT/EP2019/056613 WO2019219274A1 (fr) | 2018-05-16 | 2019-03-15 | Dispositif chirurgical |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3793463A1 true EP3793463A1 (fr) | 2021-03-24 |
Family
ID=62495536
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19709761.1A Pending EP3793463A1 (fr) | 2018-05-16 | 2019-03-15 | Dispositif chirurgical |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3793463A1 (fr) |
WO (1) | WO2019219274A1 (fr) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1670377B1 (fr) | 2003-10-10 | 2016-10-05 | Dassym SA | Dispositif chirurgical, notamment dentaire, comportant un instrument et un module d'asservissement |
CH702200B1 (fr) * | 2009-11-09 | 2014-12-15 | Jean-Pierre Py | Dispositif chirurgical à moteur rotatif. |
AU2011342900A1 (en) * | 2010-12-17 | 2013-07-18 | Intellijoint Surgical Inc. | Method and system for aligning a prosthesis during surgery |
IL229527A (en) * | 2013-11-21 | 2015-06-30 | Elbit Systems Ltd | A wide-field medical tracking system |
-
2019
- 2019-03-15 WO PCT/EP2019/056613 patent/WO2019219274A1/fr unknown
- 2019-03-15 EP EP19709761.1A patent/EP3793463A1/fr active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2019219274A1 (fr) | 2019-11-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11464574B2 (en) | On-board tool tracking system and methods of computer assisted surgery | |
US11638613B2 (en) | Systems and methods for augmented reality based surgical navigation | |
CN106913366B (zh) | 工具承载的追踪系统和计算机辅助外科方法 | |
AU2005201118B2 (en) | Navigated pin placement for orthopaedic procedures | |
JP7126516B2 (ja) | 口腔および顎顔面処置の案内付き実施方法、および関連システム | |
FR2871363A1 (fr) | Dispositif robotise de guidage pour outil chirurgical | |
WO2018154491A1 (fr) | Suivi d'os et d'outil dans une chirurgie assistée par ordinateur robotisée | |
EP3185811A1 (fr) | Système de communication par lumière visible permettant de transmettre des données entre systèmes de suivi visuel et marqueurs de suivi | |
FR2852226A1 (fr) | Instrument medical localise a ecran orientable | |
US20220409298A1 (en) | On-board tool tracking system and methods of computer assisted surgery | |
EP2324779B1 (fr) | Dispositif chirurgical | |
EP3793463A1 (fr) | Dispositif chirurgical | |
US11510738B2 (en) | Surgical instrument system | |
EP4230168A1 (fr) | Système de chirurgie rachidienne robotisée | |
CA3141828A1 (fr) | Systeme de suivi et d'enregistrement de camera montee sur robot pour chirurgie orthopedique et neurologique | |
FR3034004A1 (fr) | Systeme de guidage pour la mise en oeuvre d'une osteotomie | |
FR2850268A1 (fr) | Systeme de guidage dentaire et implantaire par controle en imagerie d'emission et detection d'ondes specifiques |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20201216 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) |