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    SURGICAL ROBOTIC SYSTEM AND METHOD FOR DEFINING A PROHIBITED VOLUME FOR SUCH A SURGICAL ROBOTIC SYSTEM
    1.
    发明申请
    SURGICAL ROBOTIC SYSTEM AND METHOD FOR DEFINING A PROHIBITED VOLUME FOR SUCH A SURGICAL ROBOTIC SYSTEM 审中-公开

    公开(公告)号：WO2023057472A1

    公开(公告)日：2023-04-13

    申请号：PCT/EP2022/077621

    申请日：2022-10-05

    Applicant: ECENTIAL ROBOTICS

    Inventor： DAUNE, Gautier ,  PIERRE, Arnaud

    IPC: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2090/08021 ,  A61B34/32 ,  A61B34/37 ,  A61B90/03 ,  A61B90/361

    Abstract: The invention relates to a method for determining a prohibited volume for a surgical robotic system comprising a control unit, a robotic arm (102) and an end-effector (105) adapted to treat a region of interest of a patient's body, comprising: - implementing a first path of a motorized C-arm (403) supporting an X-ray source (401), an X-ray image detector (402) and an anti-collision device (404), said first path comprising at least two different angular positions around a rotation axis of the C-arm; - at each angular position of the C-arm along said first path, detecting with the anti-collision device an external surface of the patient's body and recording volumetric data of at least a portion of said external surface enclosing the region of interest based on measurement data generated by the anti-collision device; - computing a volumetric model of a patient's body portion based on said volumetric data; - sending the volumetric model to the control unit of the surgical robotic system, - based on said volumetric model, defining a prohibited volume (V1, V2, V3) for the robotic arm and end-effector.

    METHOD AND SYSTEM FOR DETERMINING A SAFETY CRITERION DURING AN AUTONOMOUS MANIPULATION OF A SURGICAL TOOL BY A ROBOTIC SYSTEM TO TREAT AN ANATOMICAL STRUCTURE
    2.
    发明申请
    METHOD AND SYSTEM FOR DETERMINING A SAFETY CRITERION DURING AN AUTONOMOUS MANIPULATION OF A SURGICAL TOOL BY A ROBOTIC SYSTEM TO TREAT AN ANATOMICAL STRUCTURE 审中-公开

    公开(公告)号：WO2021209466A1

    公开(公告)日：2021-10-21

    申请号：PCT/EP2021/059589

    申请日：2021-04-13

    Applicant: ECENTIAL ROBOTICS

    Inventor： LAVALLÉE, Stéphane ,  ARMAND, David ,  CHABANAS, Laurence

    IPC: A61B34/10 ,  A61B17/16 ,  A61B34/20 ,  A61B17/17

    Abstract: The invention relates to a method for determining a safety criterion during an autonomous manipulation of a surgical tool (13) by a robotic system (1) to treat an anatomical structure (B) according to a planned trajectory (T3D) in a 3D image (I3D), said 3D image being registered with a patient tracker (30), and the robotic system (1) being servo-controlled on the movements of the patient tracker (30), the method comprising: a. acquiring at least one 2D X-ray image (I2D) containing the anatomical structure and the surgical tool by an X-ray imaging system (2), and for each at least one 2D X-ray acquisition: i. synchronously localizing the surgical tool and the patient tracker to determine the position of the surgical tool relative to said 3D image, ii. registering the 2D X-ray image (I2D) with the 3D image (I3D) in a region of interest around the anatomical structure, iii. generating a projection onto the 2D X-ray image (I2D) of a model of the surgical tool in its position relative to the 3D image computed in step (i) ('projected localized position'), iv. determining a real position of the surgical tool on the 2D X-ray image (I2D) ('real position'), b. determining a safety criterion from a similarity information between each real position and each projected localized position of the surgical tool on the at least one 2D X-ray image.

    METHOD FOR REGISTERING A 3D MEDICAL IMAGE WITH A REGISTRATION PHANTOM
    3.
    发明申请
    METHOD FOR REGISTERING A 3D MEDICAL IMAGE WITH A REGISTRATION PHANTOM 审中-公开

    公开(公告)号：WO2023072887A1

    公开(公告)日：2023-05-04

    申请号：PCT/EP2022/079690

    申请日：2022-10-25

    Applicant: ECENTIAL ROBOTICS

    Inventor： LAVALLEE, Stéphane ,  VIDAL, Clément ,  PIERRE, Arnaud

    IPC: A61B90/00 ,  A61B34/20 ,  A61B17/00

    Abstract: The invention relates to a method for registering a 3D medical image obtained by an X-ray imaging system with a registration phantom (1), wherein the registration phantom (1) is positioned onto the patient and comprises a set of radiopaque fiducials (10) having a known position in a coordinate system of said registration phantom (1), said set of radiopaque fiducials not being detectable in the 3D image, the method comprising the steps of: - obtaining at least two 2D X-ray images acquired by the X-ray imaging system wherein at least one radiopaque fiducial (10) of the registration phantom (1) is detectable in each 2D image; - for each of said at least two 2D images, registering the 2D X-ray image with the registration phantom (1) by detecting and determining the position of the at least one radiopaque fiducial (10) in the respective 2D image; - registering each of said at least two 2D X-ray images with the 3D image using an image-to-image registration technique; - registering the registration phantom (1) with the 3D medical image using said at least two 2D X-ray images.

    SURGICAL ROBOTIC SYSTEM
    5.
    发明申请
    SURGICAL ROBOTIC SYSTEM 审中-公开

    公开(公告)号：WO2021224351A1

    公开(公告)日：2021-11-11

    申请号：PCT/EP2021/061908

    申请日：2021-05-05

    Applicant: ECENTIAL ROBOTICS

    Inventor： LAVALLÉE, Stéphane ,  LÉON, Adrien ,  BELLY, Christian ,  FOURNIER, Elie

    IPC: A61B50/13 ,  A61B34/20 ,  A61B17/16 ,  A61B34/30 ,  A61B90/50

    Abstract: The invention relates to a surgical robotic system (1) to reach a plurality of surgical targets inside a target space, said system comprising: - a robotic arm (4) having at least six degrees of freedom, the robotic arm comprising a base (40) located at a proximal end and a plurality of consecutive segments interconnected by a plurality of joints extending from the base (40) to a distal end, and said robotic arm having a first joint center (O) between the base (40) and the first segment (41), - an end effector (5) for holding a medical device such as a surgical instrument or a surgical tool guide, said end effector being mechanically coupled to the robotic arm distal end, - a movable cart (2) having a frontal side (20) comprising at least one frontal surface configured to be placed against a side (60) of an operating table (6), defining a horizontal axis (Ax) with a direction (x) orthogonal to the frontal surface and an origin point A located on the frontal surface such that all points located on the movable cart side have a negative coordinate on said axis (Ax), and all points located on the operating table side have a positive coordinate on said axis (Ax), - a rigid elongated neck (3) comprising a proximal end mechanically coupled to the movable cart and a distal end mechanically coupled to the base (40) of the robotic arm, - a control unit (7) configured to controllably move the robotic arm, characterized in that the neck (3) is configured such that the coordinate (K) of the first joint center (O) on the axis (Ax) is strictly positive.

    METHOD AND SYSTEM FOR RECONSTRUCTING A 3D MEDICAL IMAGE
    7.
    发明申请
    METHOD AND SYSTEM FOR RECONSTRUCTING A 3D MEDICAL IMAGE 审中-公开

    公开(公告)号：WO2023275087A1

    公开(公告)日：2023-01-05

    申请号：PCT/EP2022/067795

    申请日：2022-06-28

    Applicant: ECENTIAL ROBOTICS

    Inventor： PIERRE, Arnaud ,  FERHAT, Karim ,  DAUNE, Gautier

    IPC: A61B6/10 ,  A61B6/00 ,  A61B6/04 ,  A61B6/0407 ,  A61B6/102 ,  A61B6/4441

    Abstract: The invention relates to a method for reconstructing a 3D medical image of a region of interest of a patient's body (P) lying on an operating table (200) with an X-ray imaging system comprising a motorized C-arm (100) supporting an X-ray source (101), an X-ray image detector (102) and an anti-collision device (104), comprising: - implementing a first path of the motorized C-arm without acquiring any X-ray image, said first path comprising at least two different angular positions around a rotation axis of the C-arm; - at each angular position of the C-arm along said first path, detecting with the anti- collision device (104) an external surface (S) of the patient's body and recording volumetric data of a patient's body portion enclosing the region of interest; - computing a volumetric model of the patient's body portion based on said volumetric data and on an estimation of X-ray absorption of patient's body tissues surrounding the region of interest, said volumetric model comprising a first part including the region of interest and at least one second part distinct from the first part, the first and second parts presenting different levels of X-ray absorption; - implementing a second path of the motorized C-arm and acquiring a 2D X-ray image at each angular position of the C-arm along said second path; - reconstructing a 3D medical image from the acquired 2D X-ray images, wherein said reconstructing comprises estimating, for each X-ray passing through a voxel of the 3D medical image, a level of X-ray absorption by the patient's body based on the volumetric model of the patient's body portion and adjusting a contribution of said X-ray to each voxel of the 3D medical image based on said estimated level.

    GUIDING SYSTEM FOR A SURGICAL ROBOTIC SYSTEM
    8.
    发明申请
    GUIDING SYSTEM FOR A SURGICAL ROBOTIC SYSTEM 审中-公开

    公开(公告)号：WO2022243495A1

    公开(公告)日：2022-11-24

    申请号：PCT/EP2022/063678

    申请日：2022-05-20

    Applicant: ECENTIAL ROBOTICS

    Inventor： ARMAND, David ,  GIRAULT, François ,  BEREAU, Marc

    IPC: A61B34/30 ,  A61B17/17 ,  B25J17/02 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B90/50

    Abstract: The invention relates to a guiding system for a surgical robotic system, comprising a tool guide (11), a tool (30), an intermediate part (60) mounted on the tool (30), and first and second coupling links (21, 22), and presenting: - a first guiding configuration in which the first coupling link (21, 22) couples the intermediate part (60) and the tool guide (11) so that both are mobile relative to each other according to a unique first degree of freedom corresponding to a translation along a tool guide axis (X); and - a second guiding configuration in which the second coupling link (22) couples the intermediate part (60) and the tool guide (11) so that both are mobile relative to each other according to the first degree of freedom and according to at least one additional degree of freedom.

    SURGICAL ROBOTIC SYSTEM
    9.
    发明申请
    SURGICAL ROBOTIC SYSTEM 审中-公开

    公开(公告)号：WO2022122963A1

    公开(公告)日：2022-06-16

    申请号：PCT/EP2021/085065

    申请日：2021-12-09

    Applicant: ECENTIAL ROBOTICS [FR]/[FR]

    Inventor： LÉON, Adrien ,  ROPP, Denis

    IPC: A61B50/13 ,  B62B5/04 ,  B25J5/00 ,  A61B34/30

    Abstract: The invention relates to a surgical robotic system comprising: - a base (1); - a robotic arm (2) comprising a proximal end attached to the base (1) and a distal end configured to be coupled to an end-effector; - a plurality of wheels (3) coupled to the base (1) to allow moving the base on a ground (G); - at least one stabilization assembly (4) coupled to the base (1) and movable between: (i) an extended position wherein said stabilization assembly bears on the ground (G) so as to at least partially support the weight of the surgical robotic system; and (ii) a retracted position wherein said stabilization assembly (4) is distant from the ground (G); wherein said at least one stabilization assembly (4) comprises a lockable foot (41) and a locking mechanism (43, 44) configured to lock the foot (41) relative to the base (1), the locking mechanism being releasable so as to unlock the foot when the stabilization assembly is in the extended position and allow the foot to be moved upon application of a force onto the base (1) in a direction substantially parallel to the ground so as to disengage the stabilization assembly (4) in the extended position from the ground.

    METHOD FOR OPTIMIZING A TRAJECTORY OF A MOTORIZED C-ARM
    10.
    发明申请
    METHOD FOR OPTIMIZING A TRAJECTORY OF A MOTORIZED C-ARM 审中-公开

    公开(公告)号：WO2022101432A1

    公开(公告)日：2022-05-19

    申请号：PCT/EP2021/081563

    申请日：2021-11-12

    Applicant: ECENTIAL ROBOTICS

    Inventor： ARMAND, David ,  PIERRE, Arnaud ,  LAVALLEE, Stéphane

    IPC: A61B6/10 ,  A61B6/00

    Abstract: The invention relates to a method for optimizing a trajectory of a motorized C-arm for an acquisition of a 3D image of a region of interest (ROI) of a body (P) lying on an operating table (T), said C-arm comprising an X-ray source (S) and an X-ray image detector (D), said trajectory comprising at least two different angular positions of acquisition around a rotation axis of the C-arm, said method comprising the following steps: determining a center (C) of the region of interest (ROI) for each angular position of the C-arm of said trajectory, computing a translation (TA) of the C-arm along a central axis extending between the X-ray source (S) and a center of the X-ray image detector (D) and passing by said center (C) of the region of interest to reduce a distance between the X-ray image detector (D) and the center (C) of the region of interest whilst avoiding collisions between the X-ray source and detector and the operating table (T) and/or the body (P).

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