Depuy Ireland Unlimited Co.

Orthotaxy S.a.s.

Ecential Robotics

Endocontrol

Centre National De La Recherche Scientifique

Depuy Synthes Products, Inc.

Université Pierre Et Marie Curie (paris 6)

Université Pierre Et Marie Curie

Minmaxmedical

Surgivisio

Orthotaxy

Hervé Collet

Nicolas Demanget

Stephane Lavallee

Stéphane Lavallee

Daniel Girardeau-Montaut

Elie Fournier

David Armand

Patrick Henri

Laurence Van Beek

Arnaud Pierre

Laurence Chabanas

François Urvoy

Guillaume Morel

Clément Vidal

Alasdair Mercer

Klaus Radermacher

Jamie Paik

Anthony Leandri

Matias De La Fuente Klein

Gregory Dez

Meiko Muller

Annegret Niesche

Arnaud Robert

Grégory Dez

Meiko MÜLLER

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, methods, and devices are described for high accuracy molded navigation arrays. In a first embodiment, a navigation array is formed by molding, as a single component, an array having a plurality of marker regions. The marker regions include a reflective layer disposed thereon. In other embodiments, a navigation array is formed by molding over a frame having a plurality of marker elements. In still other embodiments, a navigation array is formed by molding over individual marker elements. In certain embodiments, a navigation array is formed by molding a frame with a plurality of voids and subsequently molding marker elements into each void where the marker elements include a reflective layer disposed thereon. In some embodiments, a navigation array is formed by molding a plurality of marker elements on a frame and disposing a reflective layer on the marker elements.

High accuracy molded navigation arrays, systems, and methods

The disclosure relates to a method for disassembling a marker array () comprising at least three optical markers () arranged according a determined array geometry configured to be tracked by a localization camera from an array fixation () to which the marker array () is connected, the method comprising, prior to or during disconnecting the marker array () from the array fixation (), actuating a mechanism configured to selectively modify the array geometry so as to unable tracking of the marker array by the localization camera.

Method for disassembling a marker array from an array fixation, and array assembly for performing said method

Systems, methods, and devices are disclosed for navigational arrays for attaching to surgical tools, the arrays comprising a frame comprising fiducials for detection by an optical navigation system, and a body having a first end for supporting the frame and a second end defining an opening, wherein the opening is aligned with a first axis of the surgical tool, wherein the opening engages a stationary surface adjacent to the surgical tool, and wherein the opening engages features disposed at predetermined even intervals on the stationary surface adapted to allow repositioning of the array from a first position to a second position, wherein the second position is at least one of a rotational offset or an axial offset from the first position. The stationary surface may be a step disposed on an adapter inserted into the surgical tool. The stationary surface may be a sheath covering a rotatable shaft inserted into the surgical tool. The stationary surface may be a sleeve disposed on the surgical tool. The arrays may be part of a computer-assisted surgical system.

Surgical impactor arrays

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.

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 surgical system comprising:

System for the treatment of a planned volume of a body part

The invention relates to a surgical instrument comprising:

Surgical instrument with disengageable handle

The invention relates to a surgical instrument comprising: &#x2014;a distal tool () securely fastened to a distal end of a rotation shaft () and rotatably mounted on and in the extension of a distal member () rotatably mounted at an end of an elongated arm (), &#x2014;an comprising motorized means () for actuating the distal motion of the distal tool () and further comprising controlling means () for a user to control the motorized means (); &#x2014;a handle () extending from the actuation unit () and comprising a lever () mechanically coupled to the distal tool () for actuation of said distal tool (); characterized in that the handle () has a non-axially-symmetric shape and is mounted on and in the extension of the actuation unit () with coupling means () enabling rotation of the handle () relative to the actuation unit () around the longitudinal axis, and wherein the controlling means () are adapted to be operated by the user whatever the rotational position of the handle () relative to the actuation unit ().

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.

Growing community of inventors

Chatenay, France

Hervé Collet