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.

公开(公告)号：WO2022238437A1

公开(公告)日：2022-11-17

申请号：PCT/EP2022/062698

申请日：2022-05-10

Applicant: ECENTIAL ROBOTICS

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

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61B90/00 ,  A61B2017/00119 ,  A61B2017/00699 ,  A61B2017/00707 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/376 ,  A61B2090/3762 ,  A61B2090/3916 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61B2090/3991 ,  A61B34/32 ,  A61B90/11 ,  A61B90/50

Abstract: The invention relates to a system (100) for identifying during surgery a risk of modification of a geometric relationship between a patient tracker (10) attached to a patient (2) and a tracked bone of the patient (2), the system (100) comprising a. the patient tracker (10) b. a localization system (103) coupled to the patient tracker (10), c. a memory (102) in which a set of expected motions of the patient tracker is recorded, d. a control unit (101) connected to the memory (102) and the localization system (103), the control unit (101) being configured to monitor a motion of the patient tracker (10) during surgery, determine a difference between the motion of the patient tracker (10) and the set of expected motions of the patient tracker (10), and compare the difference to a predetermined threshold, e. an alert module (105) connected to the control unit (101), the alert module (101) being configured to emit an alert of a risk of modification of the geometric relationship, when the difference exceeds the predetermined threshold.

公开(公告)号：EP4088679A1

公开(公告)日：2022-11-16

申请号：EP21305608.8

申请日：2021-05-11

Applicant: Ecential Robotics

Inventor： LAVALLEE, Stéphane ,  ARMAND, David ,  VIDAL, Clément ,  CHABANAS, Laurence

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61B90/00

Abstract: The invention relates to a system (100) for identifying an unexpected motion of a patient tracker (10) attached to a patient (2) during surgery, the system (100) comprising
a. a patient tracker (10)
b. a localization system (103) coupled to the patient tracker (10),
c. a memory (102) in which a set of expected motions of the patient tracker is recorded,
d. a control unit (101) connected to the memory (102) and the localization system (103), the control unit (101) being configured to monitor a motion of the patient tracker (10) during surgery, determine a difference between the motion of the patient tracker (10) and the set of expected motions of the patient tracker (10), and compare the difference to a predetermined threshold,
e. an alert module (105) connected to the control unit (101), the alert module (101) being configured to emit an alert of an unexpected motion, when the difference exceeds the predetermined threshold.

公开(公告)号：EP4389050A1

公开(公告)日：2024-06-26

申请号：EP22307005.3

申请日：2022-12-22

Applicant: Ecential Robotics

Inventor： SIEFFERT, Jérôme ,  VIDAL, Clément

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/30 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B2034/205520160201 ,  A61B2034/30520160201 ,  A61B2090/30920160201 ,  A61B90/35 ,  A61B2090/393720160201 ,  A61B90/50

Abstract: An assembly (10) for tracking a position and orientation of a robotic arm (100) is provided. The assembly includes a hand grip (50) disposed between its proximal end (22) and its distal end (24). The assembly also includes a first exterior portion (42, 44) at the proximal end and a second exterior portion (46) at the distal end (24). Optical markers (30) are provided on those exterior portions (42, 44, 46) and distributed along a central axis (A) of the assembly. The hand grip (50) is smaller in size around the central axis (A) than the first exterior portion (42, 44).

公开(公告)号：EP4337127A1

公开(公告)日：2024-03-20

申请号：EP22728559.0

申请日：2022-05-10

Applicant: Ecential Robotics

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

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61B90/00

公开(公告)号：EP4498971A1

公开(公告)日：2025-02-05

申请号：EP23715519.7

申请日：2023-03-29

Applicant: Ecential Robotics

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

IPC: A61B90/00

公开(公告)号：EP4497406A1

公开(公告)日：2025-01-29

申请号：EP23306291.8

申请日：2023-07-25

Applicant: Ecential Robotics

Inventor： VIDAL, Clément ,  SIEFFERT, Jérôme ,  RAHAL, Rahaf

IPC: A61B34/30

Abstract: The invention relates to a method for determining a restricted access volume for a surgical robotic system comprising a robotic arm and an end-effector, a registration phantom comprising a set of radiopaque fiducials, the registration phantom being located in proximity to the region of interest, the method comprising the following steps: acquiring at least one 2D X-ray image containing the region of interest and the set of fiducials of the registration phantom by an imaging system; defining a phantom coordinate system attached to the registration phantom using the acquired at least one 2D X-ray image; determining a pose of the phantom coordinate system in a chosen coordinate system; defining the restricted access volume in the chosen coordinate system to include the region of interest, an envelope of said restricted access volume being computed based on the determined pose of the phantom coordinate system in the chosen coordinate system. The invention also relates to a system implementing this method to treat a region of interest of a patient's body.

公开(公告)号：EP4173590A1

公开(公告)日：2023-05-03

申请号：EP21306486.8

申请日：2021-10-26

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.

公开(公告)号：EP4389049A1

公开(公告)日：2024-06-26

申请号：EP22307004.6

申请日：2022-12-22

Applicant: Ecential Robotics

Inventor： SIEFFERT, Jérôme ,  VIDAL, Clément

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B2034/205520160201 ,  A61B34/74 ,  A61B90/40 ,  A61B34/20

Abstract: A robotic surgical system including a robotic arm, the robotic surgical system comprising: a handgrip (160), a tool guide (140) and a controller. The handgrip is supported by the robotic arm, the handgrip having a first trajectory button (162) and a second trajectory button (164). The tool guide supported by the handgrip. A controller having a memory and a processor, the memory storing at least one planned trajectory associated with a surgical procedure. The first trajectory button, when engaged, causes the processor of the controller to move the tool support away from the patient along a planned trajectory. The second trajectory button, when engaged, causes the processor of the controller to move the tool support toward the patient along the planned trajectory keeping a longitudinal axis of the tool support substantially coaxially aligned with the planned trajectory.

公开(公告)号：EP4252695A1

公开(公告)日：2023-10-04

申请号：EP22305396.8

申请日：2022-03-29

Applicant: Ecential Robotics

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

IPC: A61B90/00

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 one 2D X-ray image acquired by the X-ray imaging system wherein at least three radiopaque fiducials (10) of the registration phantom (1) is detectable in each 2D image;
- for each of said at least one 2D image, registering the 2D X-ray image with the registration phantom (1) by detecting and determining the position of the at least three radiopaque fiducials (10) in the respective 2D image;
- registering each of said at least one 2D X-ray image with the 3D medical image based on the determined position of said radiopaque fiducials in each 2D image and on a projection matrix of the X-ray imaging system, and determining the position of said radiopaque fiducials in the 3D medical image;
- registering the registration phantom (1) with the 3D medical image using said positions of the at least three radiopaque fiducials in the 3D medical image.