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    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
    1.
    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.

    GUIDING SYSTEM FOR A SURGICAL ROBOTIC SYSTEM
    3.
    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.

    METHOD FOR OPTIMIZING A TRAJECTORY OF A MOTORIZED C-ARM
    5.
    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).

    X-RAY IMAGING SYSTEM
    6.
    发明申请
    X-RAY IMAGING SYSTEM 审中-公开

    公开(公告)号：WO2022074092A1

    公开(公告)日：2022-04-14

    申请号：PCT/EP2021/077639

    申请日：2021-10-07

    Applicant: ECENTIAL ROBOTICS

    Inventor： LAVALLEE, Stéphane ,  ARMAND, David ,  ROPP, Denis ,  LEDIER, Vincent

    IPC: A61B6/00

    Abstract: The invention relates to an X-ray imaging system comprising a mobile base (10), a motorized arm (20), and a C-arm (30) adapted to be mounted on the mobile base (10) by means of the motorized arm (20), wherein the C-arm (30) comprises an X-ray source (31) and an X-ray detector (32), wherein the motorized arm (20) presents at least three rotation axes (Z1, Z2, Z3) directed along a substantially common vertical direction (Z).

    TRACKING ASSEMBLY FOR A SURGICAL ROBOTIC SYSTEM
    7.
    发明申请
    TRACKING ASSEMBLY FOR A SURGICAL ROBOTIC SYSTEM 审中-公开

    公开(公告)号：WO2022049164A1

    公开(公告)日：2022-03-10

    申请号：PCT/EP2021/074193

    申请日：2021-09-01

    Applicant: ECENTIAL ROBOTICS

    Inventor： LAVALLÉE, Stéphane ,  ARMAND, David ,  MICHEL, Lucas

    IPC: A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61B17/17 ,  A61B34/32

    Abstract: The invention relates to a tracking assembly (1) for a surgical robotic system, comprising at least two tracking patterns, wherein at least one of said at least two tracking patterns is adapted to be rotatably mounted relative to a tool guide (2) of the surgical robotic system so as to be moveable in rotation around a tool guide axis (X) normal to a reference plane (P), wherein each of said at least two tracking patterns defines a range of visibility substantially directed along a visibility axis, wherein an inclination relative to the reference plane (P) of the visibility axis of a first tracking pattern of the tracking assembly (1) is different from an inclination relative to the reference plane (P) of the visibility axis of a second tracking pattern of the tracking assembly (1).

    METHOD AND SYSTEM FOR REGISTRATION OF 2D OR 3D IMAGES
    8.
    发明申请
    METHOD AND SYSTEM FOR REGISTRATION OF 2D OR 3D IMAGES 审中-公开

    公开(公告)号：WO2021165506A1

    公开(公告)日：2021-08-26

    申请号：PCT/EP2021/054226

    申请日：2021-02-19

    Applicant: ECENTIAL ROBOTICS

    Inventor： PIERRE, Arnaud ,  ARMAND, David

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

    Abstract: The present invention relates to a method for registration of 2D images of a region of interest of a patient, wherein the images are acquired using an X-ray imaging system and an imaging kit (1) comprising a base (2) and a registration phantom (3), wherein the method comprises the following steps: receiving a first (respectively second) set of 2D X-ray images of at least one first (respectively second) portion of a region of interest, said first and second sets of images comprising each at least two 2D images containing each at least one detectable radiopaque fiducial of the registration phantom (3); registering the first (respectively second) set of images in the coordinate system of the registration phantom in the first (respectively second) phantom fixation position; registering the first and second sets of 2D images in the coordinate system of the base.

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