Centre National De La Recherche Scientifique

Endocontrol

Sorbonne Université

Université Pierre Et Marie Curie (paris 6)

General Electric Company

Institut National De La Sante Et De La Recherche Medicale

Université Pierre Et Marie Curie

Mauna Kea Technologies

Spineguard

Koelis

Spineguard Vincennes

Kielis

Guillaume Morel

Patrick Henri

Clément Vidal

Florian Richer

Marie-Aude Vitrani

Maurice Bourlion

Pierre Mozer

Antoine Leroy

Stéphane Bette

Michael Baumann

Jamie Paik

Olivier Frezal

Jérôme Szewczyk

Thibault Chandanson

Valentin Kerspern

Cecile Poquet

Serge Muller

Serge Louis Wilfrid Muller

Laurence Vancamberg

Hervé Collet

Nicolas Boularot

François Lacombe

Lin Dong

Bérengère Bardou

Jérôme Lopez

Anis Sahbani

Nicolas Perrin

Benoît Rosa

Benoît Herman

Patrick Henry

Gregoire Coffin

Anja Marx

Razvan Gabriel Iordache

Mustafa Suphi Erden

Benoit Rosa

Grégoire Coffin

Cécile Poquet

A medical system comprising: a robotic arm, a control unit configured to issue a control signal, a medical device intended to penetrate an anatomical structure, the medical device being configured to emit a warning signal which varies as a function of a variable electrical characteristic of the anatomical structure, said medical device comprising a body with first and second electrodes, an electric generator suitable for applying at least one measurement electric current between the first and second electrodes, and a processing device suitable for determining a measurement parameter related to the electrical characteristic, based on said at least one measurement electric current, and for emitting the warning signal corresponding to the measurement parameter, wherein the control unit is configured to issue the control signal as a function of the warning signal.

Medical system

Systems, instruments, and methods are provided verifying that a robotic surgery is being performed in accordance with a surgical plan, wherein a surgical tool having a sensor outputs a data signal that enables the trajectory of the surgical tool to be displayed as an overlay on an image of an anatomical portion of a patient and a visual or audible signal that confirms the surgical tool is penetrating the anatomical portion in accordance with the surgical plan and/or that issues an alert indicating that the surgical tool is not being inserted into the anatomical portion according to the surgical plan.

Robotic surgical system

The invention relates to an endoscopic instrument () having an elongate body with a distal end () designed to be introduced into the body of the patient so as to come into proximity with an internal organ, the distal end carrying a tool () for intervention on the internal organ. The endoscopic instrument has a fool () rigidly connected to the distal end and designed to bear on the internal organ, and also controllable means () for conferring movements on the tool, at least in directions transverse to a longitudinal axis (X) of the distal end of the endoscopic instrument, when the foot is bearing against the internal organ.

Endoscopic instrument with support foot

The invention relates to a device and a method to assist with the operation of an instrument by means of said device, the device and the method using leverage effects in order to calculate the data relative to any point of an instrument axis, instead of using low-accuracy sensors. Other improvements are also described that allow higher-quality usage performance for the operator, which reduces the risk of errors and simplifies the operations.

Method and device to assist with the operation of an instrument

The invention relates to an assistive device for positioning a medical instrument () inserted into a natural duct () or an artificial duct of a patient relative to an internal organ (P) of a patient, wherein the device comprises a support () that is to be inserted at least in part into the body of the patient and supports the medical instrument, means for moving the support, wherein said movement means comprise an articulated arm () that includes a plurality of degrees of freedom for moving a proximal end () of the support, means for acquiring images of the internal organ for positioning the medical instrument relative to the internal organ, wherein the image acquisition means comprise a probe () supported by the support such that the medical instrument and the probe are rigidly connected, and a control unit () for controlling the movement means, which is connected to the image acquisition means and comprises image analyzing means () for generating control commands for the articulated arm in order to control at least one movement of the medical instrument relative to the internal organ. The invention further relates to a method for controlling such a device.

Assistive device for positioning a medical instrument relative to an internal organ of a patient

A device for guiding a medical instrument () inserted into a natural duct () or an artificial duct of a patient in order to bring at least a distal end () of the instrument in proximity to an internal organ (). The device includes an articulated arm () with a plurality of degrees of freedom, for moving a proximal end () of the instrument, and a controlled blocking mechanism () for blocking the degrees of freedom of the articulated arm. The blocking mechanism is designed in such a way that, for at least one of the degrees of freedom, a blockage imposed on the degree of freedom can be released when an outer stress exerted on the instrument () exceeds a predetermined threshold.

Device for guiding a medical instrument inserted into a natural duct or an artificial duct of a patient

A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.

Device for assisting with the handling of an instrument or tool

A miniaturized scanning system to generate movement of a flexible device positioned at a distal part of a medical tool. The miniaturized scanning system includes an inner shaft with a longitudinal axis, adapted to guide said flexible device along the longitudinal axis, an abutment comprising an external surface and adapted to maintain said device, and a pusher mechanism adapted to engage with said abutment. The miniaturized scanning system includes at least one end portion adapted to contact said external surface of the abutment at a contact point, wherein said end portion is configured to translate along said longitudinal axis of the inner shaft and wherein the translation of said end portion results in a bending of the device in a bending plane defined by the longitudinal axis of the inner shaft and said contact point.

Miniaturized scanning system

A method for determining an insertion trajectory of a tool for reaching a moving target object prior to its insertion into a tissular matrix. The method comprises acquiring images of the tissular matrix, constructing a three-dimensional representation of the tissular matrix, determining coordinates of the initial position of the target object and any obstacles, and determining at least one potential trajectory of the tool from the coordinates of any obstacles and the initial position of the target object. The method further comprises simulating insertion of the tool in the tissular matrix to determine displacement of the target object during insertion of the tool up to the initial position of the target object along a potential trajectory, determining a new position of the target object based on the determined displacement, and determining the insertion trajectory for the new position of the target object.

Method for determining an insertion trajectory of a tool in a deformable tissular matrix and robotic system executing the method

A surgical instrument having an elongated arm and a distal end mounted with a pivot joint on the elongated arm. A drive shaft substantially coaxial with the elongated arm forms a universal joint facing the pivot joint. A distal tool is securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool. The elongated arm includes a plurality of linking elements mounted in series to form the pivot joint. The universal joint is a Cardan joint.

Surgical instrument

The invention relates to a surgical instrument () comprising:

Growing community of inventors

Paris, France

Guillaume Morel