Ecential Robotics

Surgivisio

Arnaud Pierre

Stephane Lavallee

Stéphane Lavallee

David Armand

Hervé Collet

Clément Vidal

Laurence Van Beek

Elie Fournier

Markus Fleute

Gautier Daune

Karim Ferhat

The invention relates to a method for reconstructing a 3D medical image of a region of interest of a patient's body (P) lying on an operating table () with an X-ray imaging system comprising a motorized C-arm () supporting an X-ray source (), an X-ray image detector () and an anti-collision device (), comprising: —implementing a first path of the motorized C-arm without acquiring any X-ray image, said first path comprising at least two different angular positions around a rotation axis of the C-arm; —at each angular position of the C-arm along said first path, detecting with the anti-collision device () an external surface (S) of the patient's body and recording volumetric data of a patient's body portion enclosing the region of interest; —computing a volumetric model of the patient's body portion based on said volumetric data and on an estimation of X-ray absorption of patient's body tissues surrounding the region of interest, said volumetric model comprising a first part including the region of interest and at least one second part distinct from the first part, the first and second parts presenting different levels of X-ray absorption; —implementing a second path of the motorized C-arm and acquiring a 2D X-ray image at each angular position of the C-arm along said second path; —reconstructing a 3D medical image from the acquired 2D X-ray images, wherein said reconstructing comprises estimating, for each X-ray passing through a voxel of the 3D medical image, a level of X-ray absorption by the patient's body based on the volumetric model of the patient's body portion and adjusting a contribution of said X-ray to each voxel of the 3D medical image based on said estimated level.

Method and system for reconstructing a 3D medical image

The present invention relates to a method for registration of 2D images of a region of interest of a patient, wherein the images are acquired using an X-ray imaging system and an imaging kit () comprising abase () and a registration phantom (), wherein the method comprises the following steps: receiving a first (respectively second) set of 2D X-ray images of at least one first (respectively second) portion of a region of interest, said first and second sets of images comprising each at least two 2D images containing each at least one detectable radiopaque fiducial of the registration phantom (); registering the first (respectively second) set of images in the coordinate system of the registration phantom in the first (respectively second) phantom fixation position; registering the first and second sets of 2D images in the coordinate system of the base.

Method and system for registration of 2D or 3D images

A device, as disclosed, may be suitable for use with a tomographic imager comprising an X-ray source and a plane detector that are movable in rotation. The device (e.g., radiopaque device) includes a registration phantom that includes several radiopaque markers and that is placeable along a part of the spine of a patient at a predetermined distance from a volume of interest to be imaged. Several radiopaque screens, integral with the registration phantom, include a lower face, an internal face oriented toward the registration phantom, and an external face oriented toward the X-ray source (), respectively towards the detector. The radiopaque device is configured so that, when it is placed on the back of a patient, at least part of the X-rays that pass from the X-ray source to the plane detector through the registration phantom see their intensity attenuated by passing through the radiopaque screens.

Device for an x-ray imaging system

A modular fluoro-navigation instrument including a base made of a substantially radiotransparent material. The base is intended to be rigidly secured to a patient's bone and a tracker rigidly attachable to the base. The instrument has a registration phantom separate from the tracker which includes a plurality of radiopaque fiducials. The base and the registration phantom includes respective attachment members for reproducibly attaching the registration phantom to the base.

Modular fluoro-navigation instrument

A fluoro-navigation system for navigating a tool relative to a medical image. The system includes a motorized X-ray imaging system for acquiring a plurality of images of a region of interest of a patient, the position of each image being known. Also included is a localization system, a registration phantom with a plurality of radiopaque fiducials, a tracker for being tracked by the localization system, a processor for receiving the plurality of images and for reconstructing a 3D medical image from the images using radiopaque fiducials visible in the plurality of images. Also included is base made of a substantially radiotransparent material, to be rigidly secured to a patient's bone and having a reproducible fixation system for attaching the registration phantom and/or tracker.

Fluoro-navigation system for navigating a tool relative to a medical image

The invention relates to a device for minimally invasive attachment of a tracker () and/or a registration phantom () to a patient's bone, comprising a base () made of a substantially radiotransparent material, characterized in that the base () comprises:

Device for minimally invasive attachment of a tracker and/or a registration phantom to a patient's bone

The invention relates to a method for determining a trajectory of a motorized X-ray imaging system for acquiring images of a patient to whom a phantom comprising radiopaque fiducials having a known spatial arrangement has been attached so as to be visible on at least one 2D image of a body region of interest acquired by the X-ray imaging system by acquiring one first 2D image of the phantom by the X-ray imaging system in a given position; detecting the fiducials of the phantom in the acquired first image; based on the detected fiducials, determining the position of the phantom in a referential of the X-ray imaging system; determining a set of positions of the X-ray imaging system configured to acquire a set of 2D X-ray images of the region of interest such that the set of 2D X-ray images complies with at least one imposed requirement on the position of the phantom relative to a part of the set of images and combining the set of determined positions to determine a trajectory of the X-ray imaging system with respect to the position of the phantom.

Method and system for determining a trajectory of an X-ray imaging system

The invention relates to a method for controlling movement of a motorized C-arm, comprising:

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La Tronche, France

Arnaud Pierre