FR3048872B1 - Procede et dispositif de recalage automatise pour un robot chirurgical - Google Patents

Procede et dispositif de recalage automatise pour un robot chirurgical Download PDF

Info

Publication number
FR3048872B1
FR3048872B1 FR1652414A FR1652414A FR3048872B1 FR 3048872 B1 FR3048872 B1 FR 3048872B1 FR 1652414 A FR1652414 A FR 1652414A FR 1652414 A FR1652414 A FR 1652414A FR 3048872 B1 FR3048872 B1 FR 3048872B1
Authority
FR
France
Prior art keywords
surgical robot
tracing method
automated tracing
automated
surgical
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.)
Active
Application number
FR1652414A
Other languages
English (en)
Other versions
FR3048872A1 (fr
Inventor
Bertin Nahum
Lucien Blondel
Pierre Maillet
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zimmer Biomet Robotics
Original Assignee
Medtech SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Medtech SA filed Critical Medtech SA
Priority to FR1652414A priority Critical patent/FR3048872B1/fr
Priority to PCT/FR2017/050662 priority patent/WO2017162981A1/fr
Priority to US16/087,011 priority patent/US11298193B2/en
Publication of FR3048872A1 publication Critical patent/FR3048872A1/fr
Application granted granted Critical
Publication of FR3048872B1 publication Critical patent/FR3048872B1/fr
Priority to US17/690,781 priority patent/US11986256B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00057—Light
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B34/30—Surgical robots

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
FR1652414A 2016-03-21 2016-03-21 Procede et dispositif de recalage automatise pour un robot chirurgical Active FR3048872B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1652414A FR3048872B1 (fr) 2016-03-21 2016-03-21 Procede et dispositif de recalage automatise pour un robot chirurgical
PCT/FR2017/050662 WO2017162981A1 (fr) 2016-03-21 2017-03-21 Procédé et dispositif de recalage automatisé pour un robot chirurgical
US16/087,011 US11298193B2 (en) 2016-03-21 2017-03-21 Automatic registration method and device for surgical robot
US17/690,781 US11986256B2 (en) 2016-03-21 2022-03-09 Automatic registration method and device for surgical robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1652414A FR3048872B1 (fr) 2016-03-21 2016-03-21 Procede et dispositif de recalage automatise pour un robot chirurgical
FR1652414 2016-03-21

Publications (2)

Publication Number Publication Date
FR3048872A1 FR3048872A1 (fr) 2017-09-22
FR3048872B1 true FR3048872B1 (fr) 2018-04-13

Family

ID=55759884

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1652414A Active FR3048872B1 (fr) 2016-03-21 2016-03-21 Procede et dispositif de recalage automatise pour un robot chirurgical

Country Status (3)

Country Link
US (2) US11298193B2 (fr)
FR (1) FR3048872B1 (fr)
WO (1) WO2017162981A1 (fr)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107645924B (zh) 2015-04-15 2021-04-20 莫比乌斯成像公司 集成式医学成像与外科手术机器人系统
FR3048872B1 (fr) 2016-03-21 2018-04-13 Medtech Sa Procede et dispositif de recalage automatise pour un robot chirurgical
CN114469211A (zh) 2016-07-12 2022-05-13 莫比乌斯成像公司 多级扩张器与套管系统及方法
US11103990B2 (en) 2016-09-16 2021-08-31 Mobius Imaging Llc System and method for mounting a robotic arm in a surgical robotic system
WO2018075784A1 (fr) 2016-10-21 2018-04-26 Syverson Benjamin Procédés et systèmes pour régler des trajectoires et des emplacements cibles pour une chirurgie guidée par image
US11751948B2 (en) 2016-10-25 2023-09-12 Mobius Imaging, Llc Methods and systems for robot-assisted surgery
WO2018148845A1 (fr) * 2017-02-17 2018-08-23 Nz Technologies Inc. Procédés et systèmes de commande sans contact d'un environnement chirurgical
US10682129B2 (en) 2017-03-23 2020-06-16 Mobius Imaging, Llc Robotic end effector with adjustable inner diameter
EP4344658A3 (fr) 2017-05-10 2024-07-03 MAKO Surgical Corp. Système robotique de chirurgie de la colonne vertébrale
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
AU2018316251B2 (en) 2017-08-11 2024-05-02 Mobius Imaging, Llc Method and apparatus for attaching a reference marker to a patient
US11534211B2 (en) 2017-10-04 2022-12-27 Mobius Imaging Llc Systems and methods for performing lateral-access spine surgery
EP3691558A4 (fr) 2017-10-05 2021-07-21 Mobius Imaging LLC Procédés et systèmes pour réaliser une chirurgie assistée par ordinateur
CN107997822B (zh) * 2017-12-06 2021-03-19 上海卓梦医疗科技有限公司 微创手术定位系统
US11191594B2 (en) 2018-05-25 2021-12-07 Mako Surgical Corp. Versatile tracking arrays for a navigation system and methods of recovering registration using the same
FR3089408B1 (fr) * 2018-12-06 2024-02-02 Univ Montpellier Dispositif médical pour la chirurgie de l’oeil
US11890063B2 (en) 2018-12-17 2024-02-06 The Brigham And Women's Hospital, Inc. System and methods for a trackerless navigation system
CN112641511B (zh) * 2020-12-18 2021-09-10 北京长木谷医疗科技有限公司 关节置换手术导航系统及方法
EP4398832A1 (fr) * 2021-09-07 2024-07-17 Zeta Surgical Inc. Systèmes et procédés pour la commande et la navigation chirurgicales robotisées
TWI782709B (zh) 2021-09-16 2022-11-01 財團法人金屬工業研究發展中心 手術機械臂控制系統以及手術機械臂控制方法
CN113974831B (zh) * 2021-11-19 2024-05-31 苏州寻是科技有限公司 一种用于手术导航的医学图像配准方法
CN117582291B (zh) * 2024-01-19 2024-04-26 杭州键嘉医疗科技股份有限公司 一种基于传感器融合的骨科手术工具定位装置

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6298262B1 (en) 1998-04-21 2001-10-02 Neutar, Llc Instrument guidance for stereotactic surgery
US6584339B2 (en) * 2001-06-27 2003-06-24 Vanderbilt University Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
WO2005025404A2 (fr) * 2003-09-08 2005-03-24 Vanderbilt University Appareil et procedes de reperage de surface corticale et de depistage de deformation pour alignement patient-sur-image en rapport avec une chirurgie guidee par l'image
US7103399B2 (en) * 2003-09-08 2006-09-05 Vanderbilt University Apparatus and methods of cortical surface registration and deformation tracking for patient-to-image alignment in relation to image-guided surgery
US7289227B2 (en) * 2004-10-01 2007-10-30 Nomos Corporation System and tracker for tracking an object, and related methods
EP1857070A1 (fr) * 2006-05-18 2007-11-21 BrainLAB AG Enregistrement médical sans contact avec mesure de distance
WO2008063494A2 (fr) * 2006-11-16 2008-05-29 Vanderbilt University Appareil et procédés de compensation de déformation d'organe, enregistrement de structures internes sur des images, et leurs applications
US8090194B2 (en) * 2006-11-21 2012-01-03 Mantis Vision Ltd. 3D geometric modeling and motion capture using both single and dual imaging
WO2008130903A1 (fr) * 2007-04-17 2008-10-30 Mikos, Ltd. Système et procédé pour utilisation d'imagerie infrarouge tridimensionnelle pour des bibliothèques d'imagerie médicale normalisées
US9737235B2 (en) * 2009-03-09 2017-08-22 Medtronic Navigation, Inc. System and method for image-guided navigation
US9668820B2 (en) * 2009-08-20 2017-06-06 Brainlab Ag Integrated surgical device combining instrument, tracking system and navigation system
CA2797302C (fr) * 2010-04-28 2019-01-15 Ryerson University Systeme et procedes de retroaction de guidage peroperatoire
FR2963693B1 (fr) 2010-08-04 2013-05-03 Medtech Procede d'acquisition automatise et assiste de surfaces anatomiques
US20150150645A1 (en) * 2012-04-12 2015-06-04 Swen Woerlein Optical sampling of surface points for medical navigation
US9183631B2 (en) * 2012-06-29 2015-11-10 Mitsubishi Electric Research Laboratories, Inc. Method for registering points and planes of 3D data in multiple coordinate systems
GB2532004A (en) * 2014-10-31 2016-05-11 Scopis Gmbh Hybrid navigation system for surgical interventions
US11045257B2 (en) * 2015-06-22 2021-06-29 Synaptive Medical Inc. System and method for mapping navigation space to patient space in a medical procedure
FR3048872B1 (fr) 2016-03-21 2018-04-13 Medtech Sa Procede et dispositif de recalage automatise pour un robot chirurgical

Also Published As

Publication number Publication date
US20190099222A1 (en) 2019-04-04
FR3048872A1 (fr) 2017-09-22
US20220192757A1 (en) 2022-06-23
US11986256B2 (en) 2024-05-21
WO2017162981A1 (fr) 2017-09-28
US11298193B2 (en) 2022-04-12

Similar Documents

Publication Publication Date Title
FR3048872B1 (fr) Procede et dispositif de recalage automatise pour un robot chirurgical
IL266041A (en) Device and method for obtaining distance information from a sight
FR3020915B1 (fr) Procede de mise en œuvre d'un robot de traitement du sol et systeme correspondant
ZA201903887B (en) Handheld device and method for determining a plant status
FR3030053B1 (fr) Dispositif electronique pour la localisation proche d'un objet terrestre, et procede de localisation d'un tel objet
FR3022036B1 (fr) Dispositif de detection a plans croises d'un obstacle et procede de detection mettant en oeuvre un tel dispositif
FR3025056B1 (fr) Dispositif laser et procede de fabrication d'un tel dispositif laser
GB2550576B (en) Method and apparatus for tracking a device
FR3029036B1 (fr) Procede et dispositif de commande pour equipement a moteur.
FR3025325B1 (fr) Dispositif et procede de localisation et de cartographie
DE112017006027A5 (de) Vorrichtung zum Ausleuchten eines vorgegebenen Flächenbereichs
FR3016220B1 (fr) Systeme et procede de localisation d'un objet
FR3029173B1 (fr) Dispositif et procede de deverrouillage d'un dispositif d'avitaillement
FR3023023B1 (fr) Procede et dispositif de commande d'au moins un equipement
FR3018470B1 (fr) Dispositif bidirectionnel de changement d'un gant de manipulation et procede de remplacement de ce gant
DE112018002336T8 (de) Systeme und Verfahren zum Lokalisieren und Betreiben einer tragbaren Vorrichtung auf smarter Kleidung
FR3036302B1 (fr) Procede de soudage manuel teleopere et robot de soudage mettant en oeuvre un tel procede
FR3021240B1 (fr) Dispositif et procede de reperage d'une position sur une piece
EP3388951C0 (fr) Dispositif et procédé de caractérisation plus précise des mouvements d'un piéton
FR3055423B1 (fr) Procede d'identification d'un navire
DE102019006748A8 (de) Roboterlehrvorrichtung, roboterlehrverfahren und verfahren zum speichern einer betriebsanweisung
DE102014223125A8 (de) Vorrichtung und Verfahren für eine Radumfangsermittlung
FR3030880B1 (fr) Procede de transformation d'un dispositif electronique
FR3058320B1 (fr) Dispositif et procede de decontamination
DE112018000978A5 (de) Verfahren zum betreiben eines kamera-systems und kamera-system

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20170922

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

PLFP Fee payment

Year of fee payment: 8

PLFP Fee payment

Year of fee payment: 9