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1.发明授权公开(公告)号：US11607229B2
公开(公告)日：2023-03-21
申请号：US16467820
申请日：2017-12-07
申请人： Orthotaxy
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas
摘要： 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 (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) 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 (300) 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 (4) 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.
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公开(公告)号：US20180085133A1
公开(公告)日：2018-03-29
申请号：US15566605
申请日：2016-04-18
申请人： ORTHOTAXY
IPC分类号： A61B17/15
CPC分类号： A61B17/152 , A61B17/15 , A61B17/157 , A61B17/1764 , A61B17/1775 , A61B17/1778 , A61B2017/00526 , A61B2017/568
摘要： The invention relates to a patient-specific surgical guide (200) comprising:at least one guiding element (202a, 202b) for guiding a surgical instrument to treat a subcutaneous anatomical structure (100, 101) of the patient, anda first patient-specific contact element (201) comprising a first patient-specific contact surface (2010) intended to fit a portion of said subcutaneous anatomical structure (100, 101), said at least one patient-specific contact surface (2010) being rigidly connected to the at least one guiding element (202a, 202b),said patient-specific surgical guide being characterized in that it further comprises;at least one second patient-specific contact element (203) distant from the first patient-specific contact element (201), comprising at least one support element (203b) suitable for supporting a percutaneous pin or needle (205) whose tip is intended to contact a point (103) of said subcutaneous anatomical structure or of an anatomical structure rigidly connected to said subcutaneous anatomical structure,an elongated junction member (204) rigidly coupling said at least one guiding element (202a, 202b) to the at least one second contact element (203).
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3.发明授权公开(公告)号：US11633233B2
公开(公告)日：2023-04-25
申请号：US16467824
申请日：2017-12-08
申请人： Orthotaxy
发明人： Stéphane Lavallee , Daniel Girardeau-Montaut , Hervé Collet , Anthony Leandri , Nicolas Demanget
摘要： 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 (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) 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.
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公开(公告)号：US20160274571A1
公开(公告)日：2016-09-22
申请号：US15032223
申请日：2014-11-07
申请人： ORTHOTAXY
IPC分类号： G05B19/4099 , A61B17/17 , A61B34/10 , A61B17/15
CPC分类号： G06F17/50 , A61B17/155 , A61B17/157 , A61B17/1764 , A61B34/10 , A61B2017/568 , A61B2034/108 , G05B19/4099 , G05B2219/49023
摘要： 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: receiving a 3D medical image of the anatomical structure of the patient; 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; segmenting the 3D medical image in said determined region of interest so as to locally reconstruct the external surface of the anatomical structure; computing the contact surface of the contact element from said reconstructed local surface of the anatomical structure; constructing the at least one contact element to include the contact surface. defining the position of the at least one guiding element with respect to the anatomical structure; constructing the surgical guide by generating a rigid body including the at least one guiding element and said at least one contact element.
摘要翻译： 本发明涉及一种用于构造患者特异性手术导管的方法，其包括至少一个接触元件，所述至少一个接触元件包括旨在匹配待治疗的解剖结构的接触表面和用于引导外科器械以治疗所述解剖结构的至少一个引导元件， 所述方法包括：接收患者的解剖结构的3D医学图像; 在所述3D医学图像中确定包含所述解剖结构的外表面的一部分的至少一个感兴趣区域，其旨在匹配所述手术引导件的相应接触元件; 在所述确定的感兴趣区域中分割3D医学图像，以局部重建解剖结构的外表面; 从所述解剖结构的所述重建的局部表面计算所述接触元件的接触表面; 构造所述至少一个接触元件以包括所述接触表面。 限定所述至少一个引导元件相对于所述解剖结构的位置; 通过产生包括所述至少一个引导元件和所述至少一个接触元件的刚体来构造外科引导件。
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5.发明授权公开(公告)号：US11974761B2
公开(公告)日：2024-05-07
申请号：US16467816
申请日：2017-10-25
申请人： Orthotaxy
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas , François Urvoy
IPC分类号： A61B17/17 , A61B17/14 , A61B17/15 , A61B17/16 , A61B17/3203 , A61B17/3211 , A61B34/30 , A61B18/00 , A61B18/20
CPC分类号： A61B17/1764 , A61B17/142 , A61B17/1675 , A61B17/3203 , A61B17/3211 , A61B34/30 , A61B17/154 , A61B2018/00565 , A61B2018/00601 , A61B18/20
摘要： 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.
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公开(公告)号：US10973529B2
公开(公告)日：2021-04-13
申请号：US15566605
申请日：2016-04-18
申请人： ORTHOTAXY
摘要： A patient-specific surgical guide including at least one guiding element for guiding a surgical instrument to treat a subcutaneous anatomical structure of the patient. A first patient-specific contact element with a first patient-specific contact surface to fit a portion of the subcutaneous anatomical structure is rigidly connected to the at least one guiding element. The patient-specific surgical guide includes at least one second patient-specific contact element having at least one support element for supporting a percutaneous pin or needle whose tip is intended to contact a point of the subcutaneous anatomical structure or an anatomical structure rigidly connected thereto. An elongated junction member rigidly couples the at least one guiding element to the at least one second contact element.
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7.发明公开公开(公告)号：US20240293130A1
公开(公告)日：2024-09-05
申请号：US18600233
申请日：2024-03-08
申请人： Orthotaxy S.A.S.
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas , François Urvoy
IPC分类号： A61B17/17 , A61B17/14 , A61B17/15 , A61B17/16 , A61B17/3203 , A61B17/3211 , A61B18/00 , A61B18/20 , A61B34/30
CPC分类号： A61B17/1764 , A61B17/142 , A61B17/1675 , A61B17/3203 , A61B17/3211 , A61B34/30 , A61B17/154 , A61B2018/00565 , A61B2018/00601 , A61B18/20
摘要： 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.
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公开(公告)号：US11998283B2
公开(公告)日：2024-06-04
申请号：US16493024
申请日：2018-03-15
申请人： Orthotaxy S.A.S.
CPC分类号： A61B34/20 , A61B34/25 , A61B34/30 , A61B34/70 , A61B90/11 , A61B90/37 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/302 , A61B2090/3762
摘要： The invention relates to a system for guiding a surgical tool (200) 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 (300) comprising: —a base (301), —a guiding device (303) configured for constraining the tool to a guiding axis (G), —a compact motorized actuation unit (304) movable relative to the base (301), coupled to the guiding device (303) for adjusting a position and orientation of said guiding device relative to the target axis, —a support unit (305) connected to the base (301), 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 (400) supporting the base (301) of the robotic device, (iii) a tracking unit (500) 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 (600) 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.
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9.发明申请公开(公告)号：US20210361295A1
公开(公告)日：2021-11-25
申请号：US16467820
申请日：2017-12-07
申请人： Orthotaxy
发明人： Stéphane Lavallee , Nicolas Demanget , Hervé Collet , Daniel Girardeau-Montaut , Laurence Chabanas
摘要： 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 (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) 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 (300) 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 (4) 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.
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公开(公告)号：US20160270853A1
公开(公告)日：2016-09-22
申请号：US15032225
申请日：2014-11-07
申请人： ORTHOTAXY
CPC分类号： A61B34/10 , A61B2034/102 , A61B2034/108 , A61F2/3859 , A61F2/389 , A61F2/461
摘要： The invention relates to a method for planning a surgical intervention comprising the implantation of an implant in a patient's anatomical structure, comprising: computing at least one pseudo-radiographic image from a 3D image of the anatomical structure, said pseudo-radiographic image being a 2D image wherein each pixel integrates the information of the 3D image along a determined direction of integration, said determined direction of integration depending on the planned position of the implant with respect to the anatomical structure; displaying said at least one pseudo-radiographic image on a display unit; displaying a representation of the implant on said pseudo-radiographic image; updating the pseudo-radiographic image and/or the representation of the implant when the position of the implant is modified.
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