Depuy Ireland Unlimited Co.

Orthotaxy S.a.s.

Commissariat a L'energie Atomique

Depuy Synthes Products, Inc.

Orthotaxy

Minmaxmedical

Daniel Girardeau-Montaut

Nicolas Demanget

Stéphane Lavallee

Hervé Collet

Laurence Chabanas

Anthony Leandri

François Urvoy

Adam Ryals

Stephane Lavallee

Alec Paul Birkbeck

Jean-Charles Barbe

Klaus Radermacher

Andrew Burton

Francois De Crecy

Jonathan Schers

Matias De La Fuente Klein

Annegret Niesche

Meiko Muller

Gregory Dez

Grégory Dez

Claire Baegert

Meiko MÜLLER

Systems and methods for bone surface geometry generation include a computing device. The computing device projects first geometry data indicative of a first bone-contacting surface of a first bone of a patient to a coordinate space of a second bone of the patient to generate projected geometry. The second bone includes a second bone-contacting surface that interfaces with the first bone-contacting surface. The computing device also maps the projected geometry to a plurality of poses in a range of motion of the first bone relative to the second bone using position data indicative of relative positions of the first bone and the second bone at the plurality of poses in the range of motion. The computing device further selects intersecting geometry from the mapped, projected geometry to generate second geometry data indicative of the second bone-contacting surface.

Systems and methods for negative registration of bone surfaces

Described are methods and systems for a viewing system, comprising an augmented reality (AR) system having a first camera with a first point of view, the AR system having an AR display configured to display augmented reality information overlaid over a real world scene, the first point of view of the first camera having a same point of view as the AR display, and the scene containing a first physical object in a field of view of the first camera; a second camera having a second point of view different from the first point of view, wherein the first physical object is in the field of view of the second camera; and a controller configured to: receive an input that the first physical object in the real world scene has become obscured by a second physical object from the first point of view of the first camera; determine a position of the second object that has obscured the first object; determine a perimeter of the second object; display augmented reality information representing the determined perimeter of the second object; extract images from the second camera of the first physical object; and display the extracted images as augmented reality information inside the perimeter of the second object, such that the first object appears to be visible through the second object.

Ghost visualization for augmented reality (AR) surgical systems and methods

Described are surgical systems comprising a robotic device comprising a cutting tool, an actuation unit having at least two motorized rotational degrees of freedom about respective rotational axes that are substantially orthogonal to each other, and configured for adjusting a position and orientation of the cutting tool relative to each target plane, a planar mechanism connecting the last segment of the actuation unit to the cutting tool, a passive articulated lockable holding arm supporting the actuation unit, a tracking unit configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, a control unit configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit to bring the cutting plane into alignment with the target plane.

Surgical system for cutting an anatomical structure according to at least one target plane

Systems and methods for planning and assisting orthopaedic surgical procedures include a computing device and a robotic surgical device. The computing device defines a surgical coordinate system relative to a bone of a patient and captures a plurality of point positions in the surgical coordinate system. The plurality of point positions includes a first point position representing a location on a soft tissue surface covering a portion of the patient's bone. The computing device identifies an estimated soft tissue thickness value for each of the plurality of point positions and registers a three-dimensional model of the patient's bone in the surgical coordinate system based on the plurality of point positions and the estimated soft tissue thickness values. The computer system may control the robotic surgical device according to the registered bone model.

Systems and methods for bone model registration with adaptive soft tissue thickness

Systems and methods for planning and assisting orthopaedic surgical procedures include a computer system and a robotic surgical device. The computer system receives multiple surgeon preferences, including target values and boundary values for surgical parameters of the orthopaedic surgical procedure. A surgeon uses the computer system to perform bony registration and leg-alignment registration for anatomy of a patient. The computer system determines a surgical plan for the orthopaedic surgical procedure based on the surgeon preferences, the bony registration, and the leg-alignment registration. The surgical plan includes planned values associated with the surgical parameters that are within the boundary values of the surgeon preferences. Determining the surgical plan may include automatically adjusting tibial coronal alignment, femoral coronal alignment, femoral flexion, femoral rotation, distal femoral resection height, proximal tibial resection height, and/or distal femoral resection height. The computer system may control the robotic surgical device according to the surgical plan.

Systems and methods for planning and assisting orthopaedic surgical procedures

The disclosure relates to a robotic system for removing bony material from an anatomical structure of a patient, comprising:—a base (), —an end effector () configured to hold a surgical tool (), —an actuation unit () configured to translate the end effector relative to the base at least along one feed axis (A), —a control unit coupled to the actuation unit () and configured to turn off the tool () and command the actuation unit () to translate the end effector () along the feed axis (A) while the tool is turned off, the control unit comprising a feedback unit configured to measure a force exerted by the surgical tool () onto the anatomical structure during said translation of the end effector () and, based on the measured force, detect a contact of the tool with bony material of the anatomical structure.

Robotic system for removing bony material from an anatomical structure

Methods and systems for guiding position and orientation of a robotic device holding a surgical tool are disclosed herein. For example, a method for guiding a robotic device holding a surgical tool configured for working a planned region of an anatomical structure can include detecting a presence of a distal tip of the tool in a target region on the anatomical structure, changing a visual aspect of a virtual representation of the target region when the tool tip is detected in said target region, computing a virtual goal defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region, displaying the virtual goal and a representation of a tool base axis, and changing a visual aspect of the virtual goal when the representation of the base axis is inside the virtual goal.

Method and system for guiding position and orientation of a robotic device holding a surgical tool

The invention relates to a system for guiding a surgical tool () held by a user relative to at least one target axis (T) defined in a coordinate system of a patient's spine, comprising: (i) a robotic device () comprising: —a base (), —a guiding device () configured for constraining the tool to a guiding axis (G), —a compact motorized actuation unit () movable relative to the base (), coupled to the guiding device () for adjusting a position and orientation of said guiding device relative to the target axis, —a support unit () connected to the base (), comprising at least one element designed to make contact with the spine or a region of the patient's body adjacent to the spine so as to provide a partial mechanical link between the guiding device and the spine, (ii) a passive articulated lockable holding arm () supporting the base () of the robotic device, (iii) a tracking unit () configured to determine in real time the pose of the guiding axis with respect to the coordinate system of the patient's spine, (iv) a control unit configured to: (a) determine the pose of the guiding axis with respect to the target axis, (b) compute a working space of the robotic device for said determined pose, (c) compute at least one indicator representing the capability of the actuation unit to bring the guiding axis in alignment with the target axis based on the computed working space and the pose of the guiding device, (v) a user interface () coupled to the control unit, configured for displaying a representation of the guiding axis (G) relative to the target axis (T), wherein the control unit is further configured to control the actuation unit to bring the guiding axis into alignment with the target axis.

System for guiding a surgical tool relative to a target axis in spine surgery

Surgical navigation trackers with guards are described that can aid in protecting tracking elements from accumulating liquids thereon, which can negatively impact surgical navigation performance. The surgical navigation trackers described herein can be utilized with a variety of systems and procedures. For example, in one embodiment a system is described that includes a surgical device having an end effector configured for manipulating tissue and a surgical navigation tracker configured to be coupled to any of a surgical instrument and an anatomical structure. The surgical navigation tracker can include a tracking element and a guard configured to be positioned between the tracking element and the cutting tool, as well as a tracking unit configured to determine a position of the surgical navigation tracker.

Surgical navigation trackers with guards

The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device () comprising: &#x2014;an end effector (), &#x2014;an actuation unit () having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector () relative to each target plane, &#x2014;a passive planar mechanism () connecting the terminal part () of the actuation unit () to the end effector (); (ii) a tracker () rigidly attached to the end effector (), (iii) a tracking unit () configured to determine in real time the pose of the end effector () with respect to the coordinate system of the anatomical structure, a control unit () configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

Surgical system for cutting an anatomical structure according to at least one target cutting plane

The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: i) a robotic device () comprising: &#x2014;a cutting tool, &#x2014;an actuation unit () comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base () and a platform () selectively orientable relative to the base () according to at least two of said motorized degrees of freedom, &#x2014;a planar mechanism () connecting a terminal part of the actuation unit () to the cutting tool (), ii) a passive articulated lockable holding arm () supporting the actuation unit, iii) a tracking unit () configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit () configured to determine the pose of the cutting plane with respect to the target plane, to detect whether the cutting plane can be aligned with one target plane without changing the pose of the actuation unit, the control unit being further configured to, if the cutting plane cannot be aligned with the target plane, compute indication to a user to reposition the actuation unit with respect to the anatomical structure and, if the cutting plane can be aligned with the target plane, control the actuation unit () so as to bring the cutting plane into alignment with the target plane, v) a user interface coupled to the control unit, configured to indicate directions to a user to position the actuation unit with respect to the anatomical structure according to a pose allowing aligning the cutting plane with the target plane.

The present disclosure relates to a surgical system for treating an anatomical structure according to a plurality of target planes and/or axes, comprising:

Surgical system and method for triggering a position change of a robotic device

The invention relates to a system for positioning a surgical device, said surgical device comprising:

System for positioning a surgical device

A method for the determination of the diffusion tensor anisotropy or the surface energy anisotropy that does not require the formation of particular structures, and that is capable of being performed in cases of moderate-amplitude perturbations. The invention relates to measuring the temporal evolution of natural or artificial roughnesses, and analyzing the results in the firm of the 2D power spectral density for moderate-amplitude perturbations typically characterized by amplitude/wavelength ratios of the perturbation for a spatially defined perturbation having two wavelengths along two orthogonal directions, the ratios typically being less than 0.3.

Growing community of inventors

Grenoble, France

Daniel Girardeau-Montaut