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FR2959409B1 - Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede - Google Patents

Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede

Info

Publication number
FR2959409B1
FR2959409B1 FR1001897A FR1001897A FR2959409B1 FR 2959409 B1 FR2959409 B1 FR 2959409B1 FR 1001897 A FR1001897 A FR 1001897A FR 1001897 A FR1001897 A FR 1001897A FR 2959409 B1 FR2959409 B1 FR 2959409B1
Authority
FR
France
Prior art keywords
determining
robotic system
insertion path
tool insertion
tissue matrix
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
FR1001897A
Other languages
English (en)
Other versions
FR2959409A1 (fr
Inventor
Laurence Vancamberg
Anis Sahbani
Serge Muller
Guillaume Morel
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.)
Centre National de la Recherche Scientifique CNRS
Universite Pierre et Marie Curie
GE Precision Healthcare LLC
Original Assignee
Centre National de la Recherche Scientifique CNRS
Universite Pierre et Marie Curie
General Electric Co
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 Centre National de la Recherche Scientifique CNRS, Universite Pierre et Marie Curie, General Electric Co filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR1001897A priority Critical patent/FR2959409B1/fr
Priority to JP2011094589A priority patent/JP5821068B2/ja
Priority to US13/099,418 priority patent/US9265587B2/en
Publication of FR2959409A1 publication Critical patent/FR2959409A1/fr
Application granted granted Critical
Publication of FR2959409B1 publication Critical patent/FR2959409B1/fr
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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
    • A61B2017/00716—Dummies, phantoms; Devices simulating patient or parts of patient simulating physical properties
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Manipulator (AREA)
FR1001897A 2010-05-03 2010-05-03 Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede Active FR2959409B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1001897A FR2959409B1 (fr) 2010-05-03 2010-05-03 Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede
JP2011094589A JP5821068B2 (ja) 2010-05-03 2011-04-21 変形自在の組織基質での器具の挿入軌跡を決定する方法、及び該方法を実行するロボット・システム
US13/099,418 US9265587B2 (en) 2010-05-03 2011-05-03 Method for determining an insertion trajectory of a tool in a deformable tissular matrix and robotic system executing the method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1001897A FR2959409B1 (fr) 2010-05-03 2010-05-03 Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede

Publications (2)

Publication Number Publication Date
FR2959409A1 FR2959409A1 (fr) 2011-11-04
FR2959409B1 true FR2959409B1 (fr) 2012-06-29

Family

ID=43087126

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1001897A Active FR2959409B1 (fr) 2010-05-03 2010-05-03 Procede de determination d'un trajet d'insertion d'un outil dans une matricee tissulaire pouvant se deformer et systeme robotise mettant en oeuvre le procede

Country Status (3)

Country Link
US (1) US9265587B2 (fr)
JP (1) JP5821068B2 (fr)
FR (1) FR2959409B1 (fr)

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US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
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Also Published As

Publication number Publication date
US20110270270A1 (en) 2011-11-03
US9265587B2 (en) 2016-02-23
JP5821068B2 (ja) 2015-11-24
FR2959409A1 (fr) 2011-11-04
JP2011235089A (ja) 2011-11-24

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