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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

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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 US16/087,011 priority patent/US11298193B2/en
Priority to PCT/FR2017/050662 priority patent/WO2017162981A1/fr
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
    • 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
US16/087,011 US11298193B2 (en) 2016-03-21 2017-03-21 Automatic registration method and device for surgical robot
PCT/FR2017/050662 WO2017162981A1 (fr) 2016-03-21 2017-03-21 Procédé et dispositif de recalage automatisé pour un robot chirurgical
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)

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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
WO2018013536A2 (fr) 2016-07-12 2018-01-18 Gys Tech Llc D/B/A Cardan Robotics Dilatateur multi-étage et système et procédé de canule
WO2018053282A1 (fr) 2016-09-16 2018-03-22 GYS Tech, LLC d/b/a Cardan Robotics Système et procédé de montage d'un bras robotisé dans un système robotisé chirurgical
CN111417352B (zh) 2016-10-21 2024-05-24 莫比乌斯成像公司 用于设定图像引导式外科手术的轨迹和目标位置的方法和系统
WO2018081136A2 (fr) 2016-10-25 2018-05-03 Eugene Gregerson Procédés et systèmes de chirurgie assistée par robot
CA3052869A1 (fr) * 2017-02-17 2018-08-23 Nz Technologies Inc. Procedes et systemes 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
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
EP3621545B1 (fr) 2017-05-10 2024-02-21 MAKO Surgical Corp. Système robotique d'opération chirurgicale de la colonne vertébrale
WO2019032849A2 (fr) 2017-08-11 2019-02-14 GYS Tech, LLC d/b/a Cardan Robotics Procédé et appareil pour fixer un marqueur de référence à un patient
EP3691545A4 (fr) 2017-10-04 2022-02-16 Mobius Imaging, LLC Systèmes et procédés pour réaliser une chirurgie rachidienne à accès latéral
WO2019071189A2 (fr) 2017-10-05 2019-04-11 GYS Tech, LLC d/b/a Cardan Robotics 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
WO2020131880A1 (fr) 2018-12-17 2020-06-25 The Brigham And Women's Hospital, Inc. Système et procédés pour un système de navigation sans dispositif de suivi
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
US20220280242A1 (en) * 2021-03-05 2022-09-08 Warsaw Orthopedic, Inc. System and method for limiting doses of electro-magnetic radiation during surgery
WO2023038906A1 (fr) * 2021-09-07 2023-03-16 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
US12102393B2 (en) 2021-11-16 2024-10-01 Metal Industries Research & Development Centre Surgical robotic arm control system and control method thereof
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
US12467489B2 (en) 2022-03-17 2025-11-11 Mako Surgical Corp. Techniques for securing together components of one or more surgical carts
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
CN118697460A (zh) * 2024-06-17 2024-09-27 厦门大学附属第一医院(厦门市第一医院、厦门市红十字会医院、厦门市糖尿病研究所) 一种脊柱外科手术用机械臂调控系统及方法

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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
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
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
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
CA2670261A1 (fr) * 2006-11-16 2008-05-29 Vanderbilt University Appareil et procedes de compensation de deformation 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
US8811692B2 (en) * 2007-04-17 2014-08-19 Francine J. Prokoski System and method for using three dimensional infrared imaging for libraries of standardized medical imagery
US9737235B2 (en) * 2009-03-09 2017-08-22 Medtronic Navigation, Inc. System and method for image-guided navigation
WO2011020505A1 (fr) * 2009-08-20 2011-02-24 Brainlab Ag Dispositif chirurgical intégré combinant un instrument ; un système de poursuite et un système de navigation
WO2011134083A1 (fr) * 2010-04-28 2011-11-03 Ryerson University Système et procédés de rétroaction de guidage peropératoire
FR2963693B1 (fr) 2010-08-04 2013-05-03 Medtech Procede d'acquisition automatise et assiste de surfaces anatomiques
WO2013152790A1 (fr) * 2012-04-12 2013-10-17 Brainlab Ag Échantillonnage optique de points de surface pour navigation médicale
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
GB2556727B (en) * 2015-06-22 2021-11-03 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
WO2017162981A1 (fr) 2017-09-28
US11986256B2 (en) 2024-05-21
FR3048872A1 (fr) 2017-09-22
US11298193B2 (en) 2022-04-12
US20220192757A1 (en) 2022-06-23
US20190099222A1 (en) 2019-04-04

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