公开(公告)号：US20240257339A1

公开(公告)日：2024-08-01

申请号：US18290385

申请日：2022-05-06

申请人： Quantum Surgical

发明人： Michael GIRARDOT ,  Lucien BLONDEL ,  Bertin NAHUM ,  Fernand BADANO

IPC分类号： G06T7/00 ,  G06T3/40 ,  G06T5/50 ,  G06T7/11 ,  G06V10/25 ,  G16H30/40

CPC分类号： G06T7/0012 ,  G06T3/40 ,  G06T5/50 ,  G06T7/11 ,  G06V10/25 ,  G16H30/40 ,  G06T2207/20084 ,  G06T2207/20221 ,  G06T2207/30096

摘要： The invention relates to a method for generating synthetic medical images representing an anatomy of interest and an anomaly within said anatomy of interest. The method comprises generating majority segmentation masks associated with real medical images without anomaly, generating minority segmentation masks associated with real medical images with an anomaly, training a neural network to generate a synthetic medical image on the basis of a segmentation mask, generating artificial segmentation masks on the basis of the majority and minority segmentation masks by combining a segmentation of the anatomy of interest by a majority segmentation mask with a segmentation of the anomaly by a minority segmentation mask, and generating synthetic medical images on the basis of the artificial segmentation masks and using the previously trained neural network.

公开(公告)号：US11992280B2

公开(公告)日：2024-05-28

申请号：US17280670

申请日：2019-09-25

申请人： Quantum Surgical

发明人： Lucien Blondel ,  Frédéric Banegas ,  Sébastien Olive ,  Fernand Badano ,  Bertin Nahum

IPC分类号： B25J5/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B90/00 ,  B25J9/16 ,  G05B13/04 ,  G16H40/63 ,  A61B34/10 ,  A61B34/20 ,  G05D1/246 ,  G05D1/689

CPC分类号： A61B34/32 ,  A61B34/25 ,  A61B34/30 ,  A61B90/39 ,  B25J5/007 ,  B25J9/162 ,  G05B13/04 ,  G16H40/63 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/3945 ,  G05D1/2462 ,  G05D1/6895

摘要： The invention relates to a medical robot (10) comprising a motorized mobile base (13), spatial-location sensors (17) secured to the mobile base, and a control unit (16) that stores in memory an intervention plan comprising at least one action to be performed on the anatomy of interest of a patient (30). The control unit is configured to: —detect, from information coming from the spatial-location sensors (17), a position of the anatomy of interest of the patient with respect to the medical robot, —identify, from the position of the anatomy of interest of the patient and from the intervention plan, at least one favourable position of the mobile base of the medical robot for which position the medical robot is capable of performing the action or actions from the intervention plan, —move the mobile base of the medical robot into an optimal position selected from among the favourable position or positions identified.

公开(公告)号：US20230177681A1

公开(公告)日：2023-06-08

申请号：US17925755

申请日：2021-05-20

申请人： Quantum Surgical

发明人： Estanislao OUBEL ,  Lucien BLONDEL ,  Bertin NAHUM ,  Fernand BADANO ,  Michael GIRARDOT

IPC分类号： G06T7/00 ,  A61B34/10

CPC分类号： G06T7/0012 ,  A61B34/10 ,  G06T2207/20021

摘要： The invention relates to a method for evaluating in post-treatment an ablation of a portion of an anatomy of interest of an individual, the anatomy of interest comprising at least one lesion. The evaluation method comprises in particular a step of automatically determining a contour of the ablation region by means of an automatic learning method, such as a neural network, analyzing the post-treatment image of the anatomy of interest of the individual, said automatic learning method being preloaded during a so-called training phase using a database comprising a plurality of post-operative medical images of an anatomy of identical interest of a set of patients, each medical image of the database being associated with an ablation region of the anatomy of interest of said patient. The invention also relates to an electronic device comprising a processor and a computer memory storing instructions of such an evaluation method.

公开(公告)号：USD981558S1

公开(公告)日：2023-03-21

申请号：US29710961

申请日：2019-10-28

申请人： QUANTUM SURGICAL

设计人： Lucien Blondel

公开(公告)号：US20220233242A1

公开(公告)日：2022-07-28

申请号：US17597042

申请日：2020-06-25

申请人： Quantum Surgical

发明人： Estanislao OUBEL ,  Lucien BLONDEL ,  Fernand BADANO ,  Bertin NAHUM

IPC分类号： A61B34/10 ,  A61B18/02 ,  A61B18/04 ,  A61B18/18 ,  A61B18/20 ,  A61B34/20 ,  G06N3/04 ,  G06N3/08 ,  G16H20/40 ,  G16H30/40 ,  G16H50/50 ,  G16H50/70

摘要： The invention relates to a method and device for planning a surgical procedure aiming to ablate a tissue in an anatomical area of interest of a patient. On the basis of a preoperative image of the anatomical area of interest and of a set of planning parameters (P), a simulated image is generated by a neural network that has been previously trained using learning elements corresponding, respectively, to a similar surgical procedure for ablating a tissue in an anatomical area of interest for another patient. Each learning element comprises a preoperative image of the anatomical area of interest of a patient, planning parameters (P) used for the surgical procedure on this patient, and a postoperative image of the anatomical area of interest of this patient after the surgical procedure. An estimated ablation region may be segmented in the simulated image in order to be compared with a segmented region to be treated in the preoperative image.

公开(公告)号：US20200281667A1

公开(公告)日：2020-09-10

申请号：US16762876

申请日：2018-11-08

申请人： QUANTUM SURGICAL

发明人： Lucien BLONDEL ,  Fernand BADANO ,  Bertin NAHUM

IPC分类号： A61B34/30 ,  A61B34/20 ,  A61B90/13 ,  A61B34/00 ,  A61B10/02 ,  A61N7/00 ,  A61B1/00 ,  A61B18/02 ,  A61B18/12 ,  A61N5/10 ,  A61B8/00

摘要： The disclosure relates to a robotic device for performing a medical intervention on a patient using a medical instrument, comprising: a robot arm having several degrees of freedom and having an end suitable for receiving the medical instrument, an image capture system suitable for capturing position information concerning the anatomy of the patient, a storage medium having a biomechanical model of the human body, a processing circuit configured to determine a position setpoint and an orientation setpoint for said medical instrument on the basis of the biomechanical model, on the basis of the position information and on the basis of a trajectory to be followed by the medical instrument in order to perform the medical intervention, and a control circuit configured to control the robot arm in order to place the medical instrument in the position setpoint and the orientation setpoint.

公开(公告)号：US11903659B2

公开(公告)日：2024-02-20

申请号：US16762876

申请日：2018-11-08

申请人： QUANTUM SURGICAL

发明人： Lucien Blondel ,  Fernand Badano ,  Bertin Nahum

IPC分类号： A61B34/30 ,  A61B34/20 ,  A61B34/00 ,  A61B90/13 ,  A61B1/00 ,  A61B8/00 ,  A61B10/02 ,  A61B18/02 ,  A61B18/12 ,  A61N5/10 ,  A61N7/00 ,  A61B34/10 ,  A61B90/50 ,  A61B17/34 ,  A61B17/00 ,  A61B18/00

CPC分类号： A61B34/30 ,  A61B1/00149 ,  A61B8/4218 ,  A61B10/0233 ,  A61B18/02 ,  A61B18/12 ,  A61B34/20 ,  A61B34/25 ,  A61B90/13 ,  A61N5/10 ,  A61N7/00 ,  A61B17/3494 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2018/00613 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2090/502

摘要： A robotic device for a minimally invasive medical intervention on soft tissues is provided. The robotic device uses a medical instrument having a robot arm having several degrees of freedom and having an end suitable for receiving the medical instrument, an image capture system suitable for capturing position information concerning the anatomy of the patient, a storage medium having a biomechanical model of the human body, a processing circuit configured to determine a position setpoint and an orientation setpoint for said medical instrument on the basis of the biomechanical model, on the basis of the position information and on the basis of a trajectory to be followed by the medical instrument in order to perform the medical intervention, and a control circuit configured to control the robot arm in order to place the medical instrument in the position setpoint and the orientation setpoint.

公开(公告)号：US20220409288A1

公开(公告)日：2022-12-29

申请号：US17756172

申请日：2020-11-17

申请人： Quantum Surgical

发明人： Bertin NAHUM ,  Fernand BADANO ,  Lucien BLONDEL

IPC分类号： A61B34/20 ,  G06T7/73 ,  A61B34/30 ,  A61B90/00

摘要： The invention relates to an optical navigation system for determining the position of a patient's anatomy of interest. The system comprises a locating device having at least two optical sensors and a patient reference having at least three optical markers. The system also comprises a reflecting device. When the line of sight between the patient reference and an optical sensor is intersected by an obstacle, the optical sensors are configured to measure, for each optical marker of the patient reference, a quantity representing the position of said optical marker in the frame of reference of the locating device from optical radiation originating from said optical marker and having a path reflected by the reflecting device to each optical sensor.

公开(公告)号：US20220160321A1

公开(公告)日：2022-05-26

申请号：US17602876

申请日：2020-04-08

申请人： Quantum Surgical

发明人： Yann LE MEUR ,  Lucien BLONDEL ,  Fernand BADANO ,  Bertin NAHUM

IPC分类号： A61B6/00 ,  A61B6/08

摘要： The invention relates to a synchronization device for determining an instant of the respiratory cycle of a patient in order to assist a medical intervention on said patient. This device comprises: a locating device, a patient reference, intended to be positioned on the body of the patient, and comprising radio-opaque markers, at least one locating element configured to be detectable by the locating device, and an X-ray detector intended to cooperate with an X-ray imaging device, a control unit for recording and processing data from the locating device and the patient reference. The invention likewise relates to a method for determining an instant of the respiratory cycle of a patient in order to assist a medical intervention on said patient.

公开(公告)号：US20220153364A1

公开(公告)日：2022-05-19

申请号：US17435300

申请日：2020-02-28

申请人： Quantum Surgical

发明人： Bertin NAHUM ,  Fernand BADANO ,  Lucien BLONDEL ,  Estelle PESCHER

IPC分类号： B62D57/032

摘要： The invention concerns a system for immobilizing a mobile device, such as a medical assistance robot, comprising: a linkage mechanism connecting at least three feet to one another and intended to be fixed to the chassis of the mobile device, said linkage mechanism being adapted to drive the feet sliding in respective guides intended to be fixed to the chassis of the mobile device, an actuator connected to the linkage mechanism so as to move the feet between a position bearing against the floor in which the immobilization system is able to immobilize the mobile device and a retracted position in which the immobilization system is able to release the mobility of the mobile device.