A2 Surgical

Blue Ortho

Orthotaxy S.a.s.

Perception Raisonnement Action En Medecine

Smith + Nephew

Ecential Robotics

Depuy Ireland Unlimited Co.

Université Joseph Fourier

Exactech, Inc.

Omnilife Science, Inc.

Minmaxmedical

Surgivisio

Uromems

Imactis

Orthotaxy

Stéphane Lavallee

Laurence Chabanas

Daniel Girardeau-Montaut

Nicolas Demanget

Anthony Boyer

Bryan Talmadge Kelly

Christopher Larson

Thomas Byrd

Hervé Collet

David Armand

Jerome Tonetti

Christopher Plaskos

Philippe Cinquin

Hamid Lamraoui

Laurent Desbat

Jérôme Tonetti

Laurent Angibaud

C Michael Mauldin

Clément Vidal

Laurence Van Beek

Arnaud Pierre

Asheesh Bedi

Lionel Carrat

Markus Fleute

Peter Belei

Klaus Radermacher

Elie Fournier

Fabrice Bertrand

Guillaume Champleboux

Anthony Leandri

Jonathan Schers

Matias De La Fuente Klein

Annegret Niesche

François Urvoy

Marc Marien

Sean Scanlan

Denis Ropp

Christophe Marmignon

Florence Billet

Guillaume Mersch

Ivan Bricault

Vincent Ledier

Grégory Dez

Claire Baegert

Matthieu Nesme

Patrick-Denis Simonovici

Agnès Labadie

Bryan Kelly

Meiko MÜLLER

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

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

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

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

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

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 invention relates to a method for constructing a patient-specific surgical guide comprising at least one contact element comprising a contact surface intended to match an anatomical structure to be treated and at least one guiding element for guiding a surgical instrument to treat said anatomical structure, said method comprising: &#x2014;receiving a 3D medical image of the anatomical structure of the patient; &#x2014;determining, in said 3D medical image, at least one region of interest containing a portion of the external surface of the anatomical structure intended to match a respective contact element of the surgical guide; &#x2014;segmenting the 3D medical image in said determined region of interest so as to locally reconstruct the external surface of the anatomical structure; &#x2014;computing the contact surface of the contact element from said reconstructed local surface of the anatomical structure; &#x2014;constructing the at least one contact element to include the contact surface. &#x2014;defining the position of the at least one guiding element with respect to the anatomical structure; &#x2014;constructing the surgical guide by generating a rigid body including the at least one guiding element and said at least one contact element.

Method for constructing a patient-specific surgical guide

The invention relates to a method for optimally visualizing a morphologic region of interest of a bone in an X-ray image of a patient, comprising: &#x2014;receiving a set of 3D medical images of the bone, &#x2014;creating a 3D bone model of at least part of the bone comprising said region of interest from said set of 3D images, &#x2014;determining a criterion representative of a visualization of the extent of said morphologic region of interest, &#x2014;automatically determining from the 3D bone model optimal relative bone and X-ray orientation so as to optimize said criterion for said patient, &#x2014;creating at least one virtual X-ray image of the bone from said set of 3D images according to said optimal relative bone and virtual X-ray orientation.

Method for optimally visualizing a morphologic region of interest of a bone in an X-ray image

A device for positioning a cutting guide with respect to a bone comprising a body forming the cutting guide or intended to be fixed to the cutting guide; a least two contact members intended to freely contact the bone; and adjustment means for individually varying the relative position of the body with respect to each contact member.

Device for positioning a bone cutting guide

The invention relates to a surgical navigation device, for the purpose of adjusting a cutting plane to a desired position with respect to a bone of a patient, the device comprising: a fixed part () rigidly attached to the bone (), the fixed part comprising fixation means to rigidly attach a tracker thereto; a mobile part () adjustable with respect to the fixed part (), including fixation means to rigidly attach a tracker thereto, and including a cutting slot () in which a saw blade can be inserted to perform cut; a fixed tracker () rigidly attached to the fixed part (); a mobile tracker () attached to the mobile part (). The invention also concerns a method for adjusting a cutting plane of a surgical device to a desired position with respect to a bone of a patient.

Reduced invasivity fixation system for trackers in computer assisted surgery

The present invention relates to a method for reconstructing a 3D image from 2D X-ray images acquired with an X-ray imaging system, said method comprising the steps of:

Method for reconstructing a 3D image from 2D X-ray images

Growing community of inventors

St. Martin d'Uriage, France

Stéphane Lavallee