Ecential Robotics

Surgivisio

David Armand

Arnaud Pierre

Stephane Lavallee

Laurence Van Beek

Stéphane Lavallee

Hervé Collet

Elie Fournier

Markus Fleute

Marc Bereau

Denis Ropp

Vincent Ledier

François Girault

The invention relates to an X-ray imaging system comprising a mobile base (), a motorized arm (), and a C-arm () adapted to be mounted on the mobile base () by means of the motorized arm (), wherein the C-arm () comprises an X-ray source () and an X-ray detector (), wherein the motorized arm () presents at least three rotation axes (Z, Z, Z) directed along a substantially common vertical direction (Z).

X-ray imaging system

The invention relates to a system for determining an optimal position of a surgical instrument relative to a patient's bone tracker, the system comprising:—a medical imaging system configured to acquire at least one cone beam computed tomography intraoperative image of the patient;—a localization device;—a computer configured to receive images from the medical imaging system and localization data from the localization device and to implement the following method: the method comprising: ⋅(a) receiving at least one preoperative 2D X-ray image of the bone while the patient is in a position of interest; ⋅(b) acquiring an intraoperative 3D medical image of the bone by cone beam computed tomography while the patient is in an operative position different from the position of interest, the 3D image being registered with the coordinate system of the bone tracker; ⋅(c) registering the intraoperative 3D medical image onto the at least one preoperative 2D X-ray image, so as to obtain a registered 3D image representing the bone in the position of interest; ⋅(d) planning a surgical procedure on the registered 3D medical image taking into account said position of interest; ⋅(e) determining an optimal position of the surgical instrument relative to the patient's bone tracker for implementing said planned surgical procedure.

Method and system for determining an optimal position of a surgical instrument relative to a patient's bone tracker

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

Disclosed is a surgical robotic system comprising a robotic arm holding an end-effector and a control unit for controllably moving the robotic arm and maintaining the end-effector in at least one target position relative to a patient. The control unit can, based on a first input continuously applied onto the robotic arm, activate a hand guiding mode wherein the robotic arm is freely movable by the user; based on a second input different from the first input, continuously applied onto the robotic arm, activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory; when the computed trajectory is activated, detect that the end-effector meets a predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm is automatically movable to maintain the end-effector in the target position relative to a tracker attached to the patient.

Surgical robotic system

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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Saint Egreve, France

David Armand