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公开(公告)号：EP3322347A1
公开(公告)日：2018-05-23
申请号：EP16750948.8
申请日：2016-07-12
申请人： Université de Lille 2 Droit et Santé , Université des Sciences et Technologies de Lille 1 , Centre National de la Recherche Scientifique (CNRS) , Centre Oscar Lambret
摘要： The present invention relates to an autonomous guidance system (100) for needle-holding equipment (10) for internal treatment of at least one tumour located on an organ, said equipment (10) being mounted on a multi-directional guide robot (20) that is able to receive guidance instructions (ORD), said system (100) comprising: - a modelling circuit (31) for generating a digital model (M) of the organ on the basis of at least one image (I) of said organ supplied by an imaging probe (41), - an image processing circuit (32) for determining a contour (C) of said organ, and a grid of virtual targets (G) for determining treatment targets to be reached (t1, t2, t3) in order to generate a treatment plan (P) comprising the coordinates of said treatment targets (t1, t2, t3) within the reference frame of said imaging probe (40), and - a calculator (33) for calculating the coordinates of said treatment targets (t1, t2, t3) within the reference frame of said guide robot, in order to generate said guidance instructions (ORD) for guiding the head of the needle (11) in such a way as to reach each of said treatment targets (t1, t2, t3).
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公开(公告)号：EP3322347B1
公开(公告)日：2020-05-13
申请号：EP16750948.8
申请日：2016-07-12
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