The invention relates to a data processing device implementing a method for helping in the selection of at least one optimal trajectory for a minimally invasive medical procedure. The device is in particular configured to identify, in a three-dimensional anatomical model, a target point to be reached in a region to be treated within an anatomy of interest of a patient, and to perform at least one iteration comprising the steps of: —determining a sampling region and a sampling resolution of candidate entry points, —eliminating candidate trajectories according to at least one predetermined validity criterion, —for each remaining candidate trajectory, calculating at least one cost function from a plurality of quantified characteristics, —displaying candidate trajectories on the anatomical model with a means for rapidly visualising the cost function, —selecting an optimal trajectory from the displayed candidate trajectories.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
3.
MONITORING DEVICE FOR NAVIGATION-GUIDED MEDICAL INTERVENTIONS
The invention relates to an optical monitoring device for monitoring the movements of an anatomical part of interest of a patient during a minimally invasive medical intervention. The optical monitoring device comprises a base layer that serves as a sterile drape and comprises an intervention region and a marking region which at least partially surrounds the intervention region. The marking region comprises, on the inner face, an adhesive material for attaching the monitoring device to the skin of the patient and, on the outer face, at least three optical markers or at least three attachment supports each intended to accommodate an optical marker. The marking region also comprises an optical fibre sensor which is securely attached to the base layer and which has a measurement point associated with each of the optical markers or attachment supports.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
4.
COLLABORATIVE MEDICAL ROBOT FOR GUIDING INSTRUMENT INSERTION
The invention relates to a medical robot (10) for assisting a practitioner in performing a minimally invasive medical procedure. The medical robot comprises a robotic arm (13) equipped with a tool guide (14) for guiding the insertion of a medical instrument (15) into the body of a patient (20) according to a planned trajectory. A control unit (12) of the medical robot is configured to perform a sequence of movements of the robotic arm (13) successively comprising an automatic movement to move the tool guide to an offset pose (102), and a cooperative manual movement to move the tool guide from the offset pose to an insertion pose (103). The offset pose lies in a plane orthogonal to the planned trajectory and passing through the insertion pose. The only possible movements of the tool guide during the cooperative manual movement are in this plane. This sequence of movements makes it possible to reposition the tool guide, precisely and safely, so as to take back hold of a medical instrument already partially inserted into the body of the patient.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
5.
COLLABORATIVE MEDICAL ROBOT FOR GUIDING INSTRUMENT INSERTION
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
The invention relates to a needle stabilizer (10) to be used in a minimally invasive medical intervention in order to stabilize a needle inserted into the body of a patient. The needle stabilizer comprises (i) a base (20) having an elongate shape along a longitudinal axis, the base comprising a lower face (22) to be placed on the patient's skin, and an upper face (23) opposite the lower face, (ii) a connecting stem (30) rising from the upper face of the base along a main axis belonging to a longitudinal plane of the base, and (iii) a stabilizing element (40) connected to a distal end of the connecting stem (30) and comprising at least one V-shaped notch (41, 42) suitable for receiving the needle in the hollow of the V in order to stabilize the needle.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 90/98 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes utilisant des moyens électromagnétiques, p. ex. transpondeurs
10.
TOOL-CHANGING SYSTEM FOR ROBOTIC MINIMALLY INVASIVE MEDICAL PROCEDURES
The invention relates to a tool-changing system (50) for a robotic arm (13) of a medical robot. The tool-changing system comprises a fixed portion (60) intended to be positioned permanently at one end of the robotic arm, and a removable portion (70) comprising a tool (80) suitable for assisting a practitioner during a minimally invasive medical procedure. The removable portion can be replaced to change tools. The tool-changing system is configured such that, when the fixed portion (60) and the removable portion (70) are assembled with each other, a rotational movement of an actuation ring of the removable portion with respect to a locking pin of the fixed portion allows passage from an unlocked position to a locked position by the actuation ring pushing a locking element into a recess of the locking pin.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 90/98 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes utilisant des moyens électromagnétiques, p. ex. transpondeurs
11.
DEVICE FOR PREDICTING AN OPTIMAL TREATMENT TYPE FOR THE PERCUTANEOUS ABLATION OF A LESION
The invention relates to a device for carrying out a method for selecting an optimal treatment for the percutaneous ablation of a lesion within an anatomical structure of interest of a patient. The method uses a machine learning algorithm trained to calculate, from a medical image on which the lesion can be seen, and for each of a plurality of available treatments, a confidence score, the value of which represents a likelihood of success of said treatment for the ablation of the lesion. The machine learning algorithm is trained beforehand using a set of training elements each comprising a medical image on which a lesion can be seen within the anatomical structure of interest of another patient, a treatment selected from the various available treatments for treating said other patient, and a confidence score for the selected treatment on said other patient. The optimal treatment is then selected on the basis of the confidence scores calculated for the different available treatments.
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
G06T 7/62 - Analyse des attributs géométriques de la superficie, du périmètre, du diamètre ou du volume
G16H 10/60 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données spécifiques de patients, p. ex. pour des dossiers électroniques de patients
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
The invention relates to a method for training a segmentation neural network for segmenting anatomical structures in a medical image. The segmentation neural network (30) is trained in a supervised manner (107) using supervised training data (25) that comprises segmented real medical images (11, 12) and their associated segmentation masks (21, 22), as well as synthetic images (13) generated from artificial segmentation masks (23). In parallel, a teacher network (30'), initially corresponding to a clone of the segmentation neural network, is updated using an exponential moving average. The teacher network is used to generate (110) segmentation pseudo-masks (24) from semi-supervised training data (26) comprising unsegmented real medical images (14) that are each associated with a weak annotation. The unsegmented real medical images and their associated segmentation pseudo-masks are added (111) to the supervised training data to continue training the segmentation neural network.
05 - Produits pharmaceutiques, vétérinaires et hygièniques
10 - Appareils et instruments médicaux
Produits et services
Sterile transparent adhesive films for medical procedures. Medical apparatus and instruments, namely, identification
markers or sensors, medical device in the form of
identification markers or sensors affixed to the skin,
surgical sterile sheets, optical tracking spheres, skin
markers, guidance and stabilizing devices for medical and
surgical instruments such as needle holders, needle guides,
cable fastening devices, all of these goods intended for use
by medical personnel.
16.
Medical robot for placement of medical instruments under ultrasound guidance
A medical robot (10) comprises a robotic arm (13) equipped with a tool guide (14) for guiding a medical instrument (15) along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomy of interest of the patient. The medical robot cooperates with an ultrasound probe (40) and with a navigation system (30) for determining the position of the robot, the position of the ultrasound probe, and the position of a patient marker (22). The robot is configured to generate a model of the position of the target point and the position of the entry point according to the position of the patient marker on the basis of ultrasound images acquired by the ultrasound probe during at least one respiratory cycle of the patient. The model thus generated then allows the robotic arm to be controlled in real time according to the position of the patient marker in order to guide the medical instrument with precision.
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
17.
COLLABORATIVE MEDICAL ROBOT FOR SECURING THE INSERTION OF MEDICAL INSTRUMENTS
The invention relates to a medical robot (10) for assisting a practitioner in a medical procedure. The medical robot comprises a robotic arm (13) provided, at one end, with a tool guide (14) that is intended to guide a medical instrument (15) along a planned trajectory. The medical robot (10) comprises a control unit (12) that is configured to control the movement of the robotic arm (13). A "collaborative axial control" mode enables the tool guide (14) to be moved along the planned trajectory axis from an insertion position to the patient's body (20) and then back to the insertion position. This enables the medical instrument (15) to be partially inserted when the tool guide is close to the patient and then fully inserted when the tool guide is in the insertion position. This prevents the medical instrument from bending upon the insertion thereof.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
19.
Robot equipped with an ultrasound probe for real-time guidance in percutaneous interventions
The invention relates to a medical robot comprising a robotic arm equipped with a tool guide for guiding a medical instrument along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomical region of interest of the patient. The robotic arm is also provided with an ultrasound probe. The medical robot cooperates with a navigation system allowing determination of the position of a robot marker and the position of a patient marker. During a prepararatory phase, the robot is configured to place the ultrasound probe in contact with the patient and in a plane containing the lesion and the trajectory to be followed. During a guiding phase, the medical robot is configured to control the robotic arm in real time based on the ultrasound images acquired by the ultrasound probe, in order to guide the medical instrument along the trajectory to be followed.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
20.
METHOD FOR GENERATING RARE MEDICAL IMAGES FOR TRAINING DEEP-LEARNING ALGORITHMS
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.
05 - Produits pharmaceutiques, vétérinaires et hygièniques
10 - Appareils et instruments médicaux
Produits et services
Sterile transparent adhesive films for medical procedures. Medical apparatus and instruments, namely identifications markers in the nature of adhesive identifications markers that are attached to the skin for use with radiographic procedures, medical device in the form of identification markers and sensors affixed to the skin for use with radiographic and surgical procedures, surgical sterile sheets, optical tracking spheres for use with radiographic or surgical procedures, skin markers in the nature of adhesive identifications markers that are attached to the skin for use with radiographic procedures, guidance and stabilizing devices for medical and surgical instrument in the nature of needle holders, needle guides and cable fastening devices, all of these goods intended for use by medical personnel
22.
DEVICE FOR ASSISTING IN THE PLANNING OF A MINIMALLY INVASIVE PROCEDURE
The invention relates to a data processing device implementing a method for helping in the selection of at least one optimal trajectory for a minimally invasive medical procedure. The device is in particular configured to identify, in a three-dimensional anatomical model, a target point to be reached in a region to be treated within an anatomy of interest of a patient, and to perform at least one iteration comprising the steps of: - determining a sampling region and a sampling resolution of candidate entry points, - eliminating candidate trajectories according to at least one predetermined validity criterion, - for each remaining candidate trajectory, calculating at least one cost function from a plurality of quantified characteristics, - displaying candidate trajectories on the anatomical model with a means for rapidly visualising the cost function, - selecting an optimal trajectory from the displayed candidate trajectories.
The invention relates to a data processing device implementing a method for helping in the selection of at least one optimal trajectory for a minimally invasive medical procedure on a bone. The device is in particular configured to identify, in a three-dimensional anatomical model, a target point to be reached in a bone of a patient, and to perform at least one iteration comprising the steps of: - determining a sampling region and a sampling resolution of candidate entry points, - eliminating candidate trajectories according to at least one predetermined validity criterion, - for each remaining candidate trajectory, calculating at least one cost function from a plurality of quantified characteristics, - displaying candidate trajectories on the anatomical model with a means for rapidly visualising the cost function, - selecting an optimal trajectory from the displayed candidate trajectories.
The invention relates to a data processing device implementing a method for helping in the selection of at least one optimal trajectory for a minimally invasive medical procedure. The device is in particular configured to identify (102), in a three-dimensional anatomical model, a target point to be reached in a region to be treated within an anatomy of interest of a patient, and to perform at least one iteration comprising the steps of: - determining (103) a sampling region and a sampling resolution of candidate entry points, - eliminating (104) candidate trajectories according to at least one predetermined validity criterion, - for each remaining candidate trajectory, calculating (105) at least one cost function from a plurality of quantified characteristics, - displaying (106) candidate trajectories on the anatomical model with a means for rapidly visualising the cost function, - selecting (107) an optimal trajectory from the displayed candidate trajectories.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
25.
DEVICE FOR ASSISTING IN THE PLANNING OF A MINIMALLY INVASIVE PROCEDURE ON A BONE
The invention relates to a data processing device implementing a method for helping in the selection of at least one optimal trajectory for a minimally invasive medical procedure on a bone. The device is in particular configured to identify (102), in a three-dimensional anatomical model, a target point to be reached in a bone of a patient, and to perform at least one iteration comprising the steps of: - determining (103) a sampling region and a sampling resolution of candidate entry points, - eliminating (104) candidate trajectories according to at least one predetermined validity criterion, - for each remaining candidate trajectory, calculating (105) at least one cost function from a plurality of quantified characteristics, - displaying (106) candidate trajectories on the anatomical model with a means for rapidly visualising the cost function, - selecting (107) an optimal trajectory from the displayed candidate trajectories.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
26.
Collaborative medical robot for secure instrument guidance
The invention relates to a medical robot for assisting a practitioner during a medical intervention on a relevant anatomical part of a patient. The medical robot comprises a robotic arm equipped, at one end, with a tool guide intended to guide a medical instrument. The medical robot also comprises a control unit configured to control the movement of the robotic arm. The tool guide is coupled to a force sensor. When the medical robot is used in a “cooperative manual control” mode, the control unit is configured to determine, using the force sensor, a force applied by the practitioner to the tool guide and to calculate a speed of movement of the tool guide on the basis of a gain factor applied to the determined force. Advantageously, the value of the gain factor is variable and is calculated on the basis of the determined force.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
27.
MONITORING DEVICE FOR NAVIGATION-GUIDED MEDICAL INTERVENTIONS
The invention relates to an optical monitoring device (10) for monitoring the movements of an anatomical part of interest of a patient (50) during a minimally invasive medical intervention. The optical monitoring device (10) comprises a base layer (11) that serves as a sterile drape and comprises an intervention region (12) and a marking region (13) which at least partially surrounds the intervention region (12). The marking region (13) comprises, on the inner face, an adhesive material for attaching the monitoring device (10) to the skin of the patient (50) and, on the outer face (11b), at least three optical markers (14) or at least three attachment supports each intended to accommodate an optical marker (14). The marking region (13) also comprises an optical fibre sensor (15) which is securely attached to the base layer (11) and which has a measurement point associated with each of the optical markers (14) or attachment supports.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
The invention relates to an optical monitoring device (10) for monitoring the movements of an anatomical part of interest of a patient (50) during a minimally invasive medical intervention. The optical monitoring device (10) comprises a base layer (11) that serves as a sterile drape and comprises an intervention region (12) and a marking region (13) which at least partially surrounds the intervention region (12). The marking region (13) comprises, on the inner face, an adhesive material for attaching the monitoring device (10) to the skin of the patient (50) and, on the outer face (11b), at least three optical markers (14) or at least three attachment supports each intended to accommodate an optical marker (14). The marking region (13) also comprises an optical fibre sensor (15) which is securely attached to the base layer (11) and which has a measurement point associated with each of the optical markers (14) or attachment supports.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
29.
Augmented-reality navigation system for a medical robot
An augmented-reality navigation system is used to assist a practitioner during a surgical operation on an anatomical structure of interest of a patient. The operation is planned on a pre-operational medical image. The navigation system comprises a camera that is intended to be worn by the practitioner on his head, a display device for displaying, in real-time, the real images acquired by the camera and an augmented-reality content superposed on the real images, and a control unit connected to the camera and to the display device. The control unit is configured to generate a predictive model of the movement of a marker placed in proximity to the anatomical structure of interest on the basis of the movement followed by the marker during one or more respiratory cycles of the patient. The predictive model is used to determine an opportune moment to perform the surgical operation as planned on the pre-operational image, and/or to display in augmented reality a three-dimensional anatomical model of the anatomical structure of interest.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
30.
Method for predicting the recurrence of a lesion by image analysis
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 post-treatment evaluation method comprises in particular a step of automatically evaluating a risk of recurrence of the lesion of the anatomy of interest of the individual based on the analysis of a pair of pre-operative and post-operative medical images of the anatomy of interest of the individual by means of automatic learning method of the neural network type, said method being preloaded during a so-called training phase on a database comprising a plurality of pairs of medical images of an anatomy of interest identical to a plurality of individuals, each medical image pair of the database being associated with a recurrence status of a lesion 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.
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.
The invention relates to a device for carrying out a method (100) for selecting an optimal treatment for the percutaneous ablation of a lesion (13) within an anatomical structure of interest (14) of a patient. The method uses a machine learning algorithm (20) trained to calculate, from a medical image (12) on which the lesion (13) can be seen, and for each of a plurality of available treatments, a confidence score, the value of which represents a likelihood of success of said treatment for the ablation of the lesion. The machine learning algorithm is trained beforehand using a set of training elements (21) each comprising a medical image on which a lesion can be seen within the anatomical structure of interest of another patient, a treatment selected from the various available treatments for treating said other patient, and a confidence score for the selected treatment on said other patient. The optimal treatment is then selected on the basis of the confidence scores calculated for the different available treatments.
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
G16H 50/30 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le calcul des indices de santéTIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour l’évaluation des risques pour la santé d’une personne
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
33.
DEVICE FOR PREDICTING AN OPTIMAL TREATMENT TYPE FOR THE PERCUTANEOUS ABLATION OF A LESION
The invention relates to a device for carrying out a method (100) for selecting an optimal treatment for the percutaneous ablation of a lesion (13) within an anatomical structure of interest (14) of a patient. The method uses a machine learning algorithm (20) trained to calculate, from a medical image (12) on which the lesion (13) can be seen, and for each of a plurality of available treatments, a confidence score, the value of which represents a likelihood of success of said treatment for the ablation of the lesion. The machine learning algorithm is trained beforehand using a set of training elements (21) each comprising a medical image on which a lesion can be seen within the anatomical structure of interest of another patient, a treatment selected from the various available treatments for treating said other patient, and a confidence score for the selected treatment on said other patient. The optimal treatment is then selected on the basis of the confidence scores calculated for the different available treatments.
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
G16H 50/30 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le calcul des indices de santéTIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour l’évaluation des risques pour la santé d’une personne
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
G06N 3/00 - Agencements informatiques fondés sur des modèles biologiques
A61B 18/18 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par application de radiations électromagnétiques, p. ex. de micro-ondes
A61B 18/20 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par application de radiations électromagnétiques, p. ex. de micro-ondes en utilisant des lasers
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
The invention relates to a method for automatically planning a trajectory to be followed during a medical intervention by a medical instrument targeting an anatomy of interest of a patient, said automatic planning method comprising the steps of: acquiring at least one medical image of the anatomy of interest; determining a target point on the previously acquired image; generating a set of trajectory planning parameters from the medical image of the anatomy of interest and the previously determined target point, the set of planning parameters comprising coordinates of an entry point on the medical image. The set of parameters is generated using a machine learning method of neural network type. The invention also relates to a guiding device implementing the set of planning parameters obtained.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
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.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
37.
ROBOT EQUIPPED WITH AN ULTRASOUND PROBE FOR TIME-REAL-TIME GUIDANCE IN PERCUTANEOUS INTERVENTIONS
The invention relates to a medical robot (10) comprising a robotic arm (13) equipped with a tool guide (14) for guiding a medical instrument (15) along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomical region of interest of the patient. The robotic arm is also provided with an ultrasound probe (40). The medical robot cooperates with a navigation system (30) allowing determination of the position of a robot marker (18) and the position of a patient marker (22). During a prepararatory phase, the robot is configured to place the ultrasound probe (40) in contact with the patient (20) and in a plane containing the lesion and the trajectory to be followed. During a guiding phase, the medical robot is configured to control the robotic arm in real time based on the ultrasound images acquired by the ultrasound probe, in order to guide the medical instrument along the trajectory to be followed.
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
38.
MEDICAL ROBOT FOR PLACEMENT OF MEDICAL INSTRUMENTS UNDER ULTRASOUND GUIDANCE
The invention relates to a medical robot (10) comprising a robotic arm (13) equipped with a tool guide (14) for guiding a medical instrument (15) along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomical region of interest of the patient. The medical robot cooperates with an ultrasound probe (40) and with a navigation system (30) allowing determination of the position of the robot, the position of the ultrasound probe, and the position of a patient marker (22). The robot is configured to generate a model of the position of the target point and the position of the entry point according to the position of the patient marker from ultrasound images acquired by the ultrasound probe during at least one respiratory cycle of the patient. The model thus generated then allows the robotic arm to be controlled in real time according to the position of the patient marker in order to guide the medical instrument with precision.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
39.
ROBOT EQUIPPED WITH AN ULTRASOUND PROBE FOR TIME-REAL-TIME GUIDANCE IN PERCUTANEOUS INTERVENTIONS
The invention relates to a medical robot (10) comprising a robotic arm (13) equipped with a tool guide (14) for guiding a medical instrument (15) along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomical region of interest of the patient. The robotic arm is also provided with an ultrasound probe (40). The medical robot cooperates with a navigation system (30) allowing determination of the position of a robot marker (18) and the position of a patient marker (22). During a prepararatory phase, the robot is configured to place the ultrasound probe (40) in contact with the patient (20) and in a plane containing the lesion and the trajectory to be followed. During a guiding phase, the medical robot is configured to control the robotic arm in real time based on the ultrasound images acquired by the ultrasound probe, in order to guide the medical instrument along the trajectory to be followed.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
40.
MEDICAL ROBOT FOR PLACEMENT OF MEDICAL INSTRUMENTS UNDER ULTRASOUND GUIDANCE
The invention relates to a medical robot (10) comprising a robotic arm (13) equipped with a tool guide (14) for guiding a medical instrument (15) along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomical region of interest of the patient. The medical robot cooperates with an ultrasound probe (40) and with a navigation system (30) allowing determination of the position of the robot, the position of the ultrasound probe, and the position of a patient marker (22). The robot is configured to generate a model of the position of the target point and the position of the entry point according to the position of the patient marker from ultrasound images acquired by the ultrasound probe during at least one respiratory cycle of the patient. The model thus generated then allows the robotic arm to be controlled in real time according to the position of the patient marker in order to guide the medical instrument with precision.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
41.
METHOD FOR GENERATING RARE MEDICAL IMAGES FOR TRAINING DEEP-LEARNING ALGORITHMS
The invention relates to a method (100) for generating synthetic medical images representing an anatomy of interest and an anomaly within said anatomy of interest. The method (100) comprises generating (101) majority segmentation masks associated with real medical images without anomaly, generating (102) minority segmentation masks associated with real medical images with an anomaly, training (103) a neural network to generate a synthetic medical image on the basis of a segmentation mask, generating (104) 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 (105) synthetic medical images on the basis of the artificial segmentation masks and using the previously trained neural network.
The invention relates to a method (100) for generating synthetic medical images representing an anatomy of interest and an anomaly within said anatomy of interest. The method (100) comprises generating (101) majority segmentation masks associated with real medical images without anomaly, generating (102) minority segmentation masks associated with real medical images with an anomaly, training (103) a neural network to generate a synthetic medical image on the basis of a segmentation mask, generating (104) 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 (105) synthetic medical images on the basis of the artificial segmentation masks and using the previously trained neural network.
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
3D spectacles; Voice and wearable video display monitors; Wearable audio, display, namely ear phones containing an audio display monitors; Wireless controllers for voice and wearable video display monitors; Controllers for audio display monitors; Computer screens; Video screen; Touch screen; Tablet computers; Touchscreen tablet computers; Computers; Remote controls for robotic medical devices; Video recorders; Cameras; Hologram apparatus; Automatic measuring instruments namely, laser for measuring; Distance measuring apparatus; Height measuring instruments; Apparatus and instruments for physics namely accelerometers; Teaching apparatus namely artificial limb for medical instruction purposes; Probes for scientific purposes; Clothing for protection against accidents, irradiation and fire; Downloadable and recorded computer software for the analysis of medical images, namely multimodal image fusion, display of medical images and segmentation of anatomical structures; Downloadable and recorded computer software for the planning of minimally invasive procedures namely the selection of an ablation technique, planning the trajectory of a medical instrument and adjusting the parameters of an ablation treatment; Downloadable and recorded computer software for guidance of minimally invasive procedures namely the identification of medical instruments in a medical image, monitoring a patient's movement and registration methods; Downloadable and recorded software for the assessment of minimally invasive procedures, namely the identification of the ablation area, evaluation of the ablation cover, predicting the recurrence of a condition and the proposal for additional medical treatment; Downloadable and recorded artificial intelligence and machine learning software for minimally invasive procedures namely the segmentation of anatomical structures in medical images, planning the trajectory of a medical instrument, determining the parameters of ablation treatment, the identification and assessment of an ablation region; Downloadable and recorded software, tools and applications to assist in real-time decision-making using deep learning technologies, algorithm-based machine learning, automatic imaging-based inspection and analysis for planning, guiding and assessment of minimally invasive procedures; Downloadable and recorded computer software for managing databases; Downloadable and recorded computer software for access to databases containing information in the field of robot-assisted minimally invasive surgery; Downloadable and recorded electronic database in the field of robot-assisted minimally invasive surgery and results, namely preoperative and postoperative information corresponding to minimally invasive procedures, recorded on computer media; Computer hardware, downloadable and recorded firmware and downloadable and recorded software for minimally invasive procedures, namely positioning and guidance for the insertion of surgical and medical instruments; Downloadable and recorded computer software and telecommunications apparatus, namely modems, intended to enable the connection to databases, computer networks, global computer networks and the Internet for minimally invasive procedures, namely positioning and guidance for the insertion of surgical and medical instruments; Electronic control units connected to computer hardware, downloadable and recorded software and medical devices for minimally invasive procedures, namely positioning and guidance for the insertion of surgical and medical instruments; Electronic control units connected to computer hardware, downloadable and recorded software and medical devices for image guided medical procedures, namely, robotic insertion and steering of medical instruments Medical devices for positioning, guidance and insertion of medical and surgical instruments such as needles, probes and catheters; Robotic medical apparatus for minimally invasive surgery; Surgical robots; Surgical robots, namely robotic arms for surgical use; Surgical robots, namely, robotic arms for medical use; Robotic surgical system for conducting minimally invasive procedures composed of a surgical platform, computer hardware and downloadable and recorded software for the control of surgical robots, namely robotic arms, a work station composed of robotic control devices and one or several surgical devices and instruments, such as needles, probes and catheters; Surgical drapes; Medical apparatus in the nature of sensors and self-adhesive identification markers that are attached to the skin for the guidance of percutaneous ablation in the thorax or abdomen for medical use; Devices for displaying the operating area, namely endoscopy cameras; Medical apparatus for monitoring vital signs, blood pressure, heart rate and breathing; Medical apparatus in the nature of respiratory cycle monitoring device; Medical guides for medical and surgical instruments such as needles, probes and catheters; X-ray apparatus for medical use; Lasers for medical use; X-ray apparatus and X-ray installations for the production of X-rays, namely, x-ray aprons, for medical use; X-ray tubes for medical use; Protection devices against X-rays, namely, x-ray aprons and patient x-ray radiation shields for medical use; Electrodes for medical use; Medical devices, namely, scanner; Ultrasound apparatus for medical use; Catheters; Respirators for artificial respiration for medical use; Abdominal belts; Suture material; Surgical and medical apparatus and instruments for use in surgery Chemical analysis; Chemical research; Chemistry research services; Biological research; Scientific research in the nature of conducting clinical trials for others; Design and development of software for medical technology related to minimally invasive procedures, namely positioning and guidance of insertion of surgical and medical instruments; Design, development and implementation of software for medical apparatus and instruments related to minimally invasive procedures, namely positioning and guidance for the insertion of surgical and medical instruments; Providing temporary use of non- downloadable software for data analysis with respect to minimally invasive procedures, namely positioning and guidance for the insertion of surgical and medical instruments; Providing temporary use of non-downloadable software enabling the viewing of images related to image-guided procedures; Providing temporary use of non-downloadable software for medical use with respect to minimally invasive procedures, namely the positioning and guidance of the insertion of medical and surgical instruments; Providing temporary use of non-downloadable software, software tools and software applications for monitoring and processing medical data enabling the recording, monitoring and analysis of medical data, patient data, and providing risk assessments for patients; Providing temporary use of non-downloadable software for assisting real-time decision making with respect to minimally invasive procedures, namely positioning and guidance for the insertion of surgical and medical instruments; Providing temporary use of non-downloadable software, software tools and applications using artificial intelligence for deep learning technologies, algorithm-based machine learning, machine vision and automatic imaging-based inspection and analysis; Research, design, development, and updating of software for minimally invasive procedures, namely for positioning and guidance for the insertion of surgical and medical instruments; Technical support services, namely, troubleshooting in the nature of diagnosing problems related to the positioning and guidance of robotic medical instruments through computerized imagery from remote locations via the Internet and global computer networks; Providing temporary use of non-downloadable cloud computing software for use with medical and surgical robots for minimally invasive procedures
44.
COLLABORATIVE MEDICAL ROBOT FOR SECURE INSTRUMENT GUIDANCE
The invention relates to a medical robot (10) for assisting a practitioner during a medical intervention on a relevant anatomical part of a patient (20). The medical robot comprises a robotic arm (13) equipped, at one end, with a tool guide (14) intended to guide a medical instrument (15). The medical robot (10) also comprises a control unit (12) configured to control the movement of the robotic arm (13). The tool guide (14) is coupled to a force sensor. When the medical robot (10) is used in a "cooperative manual control" mode, the control unit (12) is configured to determine, using the force sensor, a force applied by the practitioner to the tool guide (14) and to calculate a speed of movement of the tool guide on the basis of a gain factor applied to the determined force. Advantageously, the value of the gain factor is variable and is calculated on the basis of the determined force.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
45.
COLLABORATIVE MEDICAL ROBOT FOR SECURE INSTRUMENT GUIDANCE
The invention relates to a medical robot (10) for assisting a practitioner during a medical intervention on a relevant anatomical part of a patient (20). The medical robot comprises a robotic arm (13) equipped, at one end, with a tool guide (14) intended to guide a medical instrument (15). The medical robot (10) also comprises a control unit (12) configured to control the movement of the robotic arm (13). The tool guide (14) is coupled to a force sensor. When the medical robot (10) is used in a "cooperative manual control" mode, the control unit (12) is configured to determine, using the force sensor, a force applied by the practitioner to the tool guide (14) and to calculate a speed of movement of the tool guide on the basis of a gain factor applied to the determined force. Advantageously, the value of the gain factor is variable and is calculated on the basis of the determined force.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
46.
Method for planning tissue ablation based on deep learning
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.
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
A61B 18/02 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par refroidissement, p. ex. techniques cryogéniques
A61B 18/04 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage
A61B 18/18 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par application de radiations électromagnétiques, p. ex. de micro-ondes
A61B 18/20 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par application de radiations électromagnétiques, p. ex. de micro-ondes en utilisant des lasers
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
A device for guiding a needle includes a tool holder intended to be fixed to the end of a medical assistance robotic arm, said tool-holder supporting a needle guide; the needle guide includes two jaws including a respective groove, said two grooves extending along parallel longitudinal axes, said jaws being supported by the tool-holder so as to allow mobility in rotation of the jaws relative to one another between a position termed the “guiding position” in which the grooves are adjacent and define a duct for guiding a needle and a position termed the “disengaged position” in which the grooves are moved away from one another and define a needle lateral disengagement zone.
The disclosure is directed to a synchronization device and method for identifying a specific moment in a patient's respiratory cycle to aid medical interventions. The device includes a locating apparatus, a patient reference with radio-opaque markers, a detectable locating element, an X-ray detector, and a control unit for data recording and processing. The invention aims to improve the accuracy and efficiency of medical procedures by synchronizing them with the patient's respiratory cycle.
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 6/08 - Moyens auxiliaires pour diriger le faisceau de radiations sur un point particulier, p. ex. en utilisant des faisceaux lumineux
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.
B62D 57/032 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec une base de support et des jambes soulevées alternativement ou dans un ordre déterminéVéhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec des pieds ou des patins soulevés alternativement ou dans un ordre déterminé
B62B 5/04 - Mécanismes de freinageDispositifs d'immobilisation
50.
AUGMENTED-REALITY NAVIGATION SYSTEM FOR A MEDICAL ROBOT
An augmented-reality navigation system (10) is used to assist a practitioner (31) during a surgical operation on an anatomical structure of interest of a patient (30). The operation is planned on a pre-operational medical image. The navigation system comprises a camera (11) that is intended to be worn by the practitioner on his head, a display device (12) for displaying, in real-time, the real images acquired by the camera and an augmented-reality content superposed on the real images, and a control unit (13) connected to the camera and to the display device. The control unit is configured to generate a predictive model of the movement of a marker (20) placed in proximity to the anatomical structure of interest on the basis of the movement followed by the marker during one or more respiratory cycles of the patient. The predictive model is used to determine an opportune moment to perform the surgical operation as planned on the pre-operational image, and/or to display in augmented reality a three-dimensional anatomical model of the anatomical structure of interest.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
51.
AUGMENTED-REALITY NAVIGATION SYSTEM FOR A MEDICAL ROBOT
An augmented-reality navigation system (10) is used to assist a practitioner (31) during a surgical operation on an anatomical structure of interest of a patient (30). The operation is planned on a pre-operational medical image. The navigation system comprises a camera (11) that is intended to be worn by the practitioner on his head, a display device (12) for displaying, in real-time, the real images acquired by the camera and an augmented-reality content superposed on the real images, and a control unit (13) connected to the camera and to the display device. The control unit is configured to generate a predictive model of the movement of a marker (20) placed in proximity to the anatomical structure of interest on the basis of the movement followed by the marker during one or more respiratory cycles of the patient. The predictive model is used to determine an opportune moment to perform the surgical operation as planned on the pre-operational image, and/or to display in augmented reality a three-dimensional anatomical model of the anatomical structure of interest.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
52.
Automatic registration of a robot arm for a medical intervention
The invention relates to a method for positioning an articulated arm of a medical robot assisted by a navigation system comprising an electromagnetic field generator and two sensors. The generated field forms a measurement zone in which the position of a sensor can be determined by the navigation system and communicated to the robot. A first sensor is positioned at an anatomical location of interest of a patient. A second sensor is positioned on the articulated arm. When the two sensors are located in the measurement zone, a so-called “region of reduced influence” of the measurement zone is determined, in which the introduction of a metal object has virtually no influence on the determination of the position of the sensors by the navigation system. The articulated arm is then configured so that any metal part of the articulated arm located in the measurement zone is situated within the region of reduced influence.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
The invention relates to a method for evaluating in post-treatment an ablation of a portion of an anatomy of interest (130) of an individual (110), the anatomy of interest comprising at least one lesion (165). 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 (150) comprising a processor and a computer memory storing instructions of such an evaluation method.
The invention relates to a method for evaluating in post-treatment an ablation of a portion (160) of an anatomy of interest (130) of an individual (110), the anatomy of interest comprising at least one lesion (165). The post-treatment evaluation method comprises in particular a step of automatically evaluating a risk of recurrence of the lesion of the anatomy of interest of the individual based on the analysis of a pair of pre-operative and post-operative medical images (170) of the anatomy of interest of the individual by means of automatic learning method of the neural network type, said method being preloaded during a so-called training phase on a database comprising a plurality of pairs of medical images of an anatomy of interest identical to a plurality of individuals, each medical image pair of the database being associated with a recurrence status of a lesion of the anatomy of interest of said patient. The invention also relates to an electronic device (150) comprising a processor and a computer memory storing instructions of such an evaluation method.
The invention relates to a method for evaluating in post-treatment an ablation of a portion (160) of an anatomy of interest (130) of an individual (110), the anatomy of interest comprising at least one lesion (165). The post-treatment evaluation method comprises in particular a step of automatically evaluating a risk of recurrence of the lesion of the anatomy of interest of the individual based on the analysis of a pair of pre-operative and post-operative medical images (170) of the anatomy of interest of the individual by means of automatic learning method of the neural network type, said method being preloaded during a so-called training phase on a database comprising a plurality of pairs of medical images of an anatomy of interest identical to a plurality of individuals, each medical image pair of the database being associated with a recurrence status of a lesion of the anatomy of interest of said patient. The invention also relates to an electronic device (150) comprising a processor and a computer memory storing instructions of such an evaluation method.
The invention relates to a method for evaluating in post-treatment an ablation of a portion of an anatomy of interest (130) of an individual (110), the anatomy of interest comprising at least one lesion (165). 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 (150) comprising a processor and a computer memory storing instructions of such an evaluation method.
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.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G05B 13/04 - Systèmes de commande adaptatifs, c.-à-d. systèmes se réglant eux-mêmes automatiquement pour obtenir un rendement optimal suivant un critère prédéterminé électriques impliquant l'usage de modèles ou de simulateurs
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G05D 1/246 - Dispositions pour déterminer la position ou l’orientation utilisant des cartes d’environnement, p. ex. localisation et cartographie simultanées [SLAM]
G05D 1/689 - Interaction avec des charges utiles ou des entités externes dirigeant des charges utiles vers des cibles fixes ou en mouvement
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
3D spectacles; audio, voice and video display monitors;
controllers for audio, voice and video display monitors;
computer screens; video screen; touch screen; tablet
computers; touchscreen tablets; computers; remote
controls for robotic medical devices; video recorders;
cameras; holograms; automatic measuring instruments;
measuring apparatus; measuring instruments; apparatus and
instruments for physics; teaching apparatus; probes for
scientific purposes; clothing for protection against
accidents, irradiation and fire; computer software for the
analysis of medical images, including multimodal image
fusion, display of medical images and segmentation of
anatomical structures; computer software for the planning
of minimally invasive procedures including the selection of
an ablation technique, planning the trajectory of a medical
instrument and adjusting the parameters of an ablation
treatment; computer software for guidance of minimally
invasive procedures including the identification of medical
instruments in a medical image, monitoring a patient’ movement and registration methods; software for the
assessment of minimally invasive procedures including the
identification of the ablation area, evaluation of the
ablation cover, predicting the recurrence of a condition and
the proposal for additional medical treatment; artificial
intelligence and machine learning software for minimally
invasive procedures including the segmentation of anatomical
structures in medical images, planning the trajectory of a
medical instrument, determining the parameters of ablation
treatment, the identification and assessment of an ablation
region; software, tools and applications to assist in
real-time decision-making using deep learning technologies,
algorithm-based machine learning, automatic imaging-based
inspection and analysis for planning, guiding and assessment
of minimally invasive procedures; computer software for
managing databases; computer software for access to
databases containing information in the field of
robot-assisted minimally invasive surgery; electronic
database in the field of robot-assisted minimally invasive
surgery and results, including preoperative and
postoperative information corresponding to minimally
invasive procedures, recorded on computer media; computer
hardware, firmware and software for minimally invasive
procedures, including positioning and guidance for the
insertion of surgical and medical instruments; computer
software and telecommunications apparatus, including modems,
intended to enable the connection to databases, computer
networks, global computer networks and the Internet for
minimally invasive procedures, including positioning and
guidance for the insertion of surgical and medical
instruments; electronic control units connected to computer
hardware, software and medical devices for minimally
invasive procedures, including positioning and guidance for
the insertion of surgical and medical instruments;
electronic control units connected to computer hardware,
software and medical devices, all being integrated into
robotic positioning and guidance systems. Medical devices for positioning, guidance and insertion of
medical and surgical instruments such as needles, probes and
catheters; robotic medical apparatus for minimally invasive
surgery; surgical robots; robotic arms for surgical use;
robotic arms for medical use; robotic surgical system for
conducting minimally invasive procedures composed of a
surgical platform, computer hardware and software for the
control of robotic arms, a work station composed of robotic
control devices and one or several surgical devices and
instruments, such as needles, probes and catheters;
surgical drapes; sensors and markers for medical use;
devices for displaying the operating area; medical
apparatus for monitoring vital signs, blood pressure, heart
rate and breathing; respiratory cycle monitoring device;
guidance device for medical and surgical instruments such as
needles, probes and catheters; X-ray apparatus for medical
use; lasers for medical use; apparatus and installations
for the production of X-rays for medical use; X-ray tubes
for medical use; protection devices against X-rays, for
medical use; electrodes for medical use; medical scanner;
ultrasound apparatus for medical use; catheters;
respirators for medical use; abdominal belts; suture
material; surgical apparatus and instruments, medical. Chemical analysis; chemical research; chemistry services;
biological research; clinical trials; design and
development of software for medical technology related to
minimally invasive procedures, including positioning and
guidance of insertion of surgical and medical instruments;
design, development and implementation of software for
medical apparatus and instruments related to minimally
invasive procedures, including positioning and guidance for
the insertion of surgical and medical instruments; providing
temporary use of non-downloadable software for data analysis
with respect to minimally invasive procedures, including
positioning and guidance for the insertion of surgical and
medical instruments; providing temporary use of
non-downloadable software enabling the viewing of images
related to image-guided procedures; providing temporary use
of non-downloadable software for medical use with respect to
minimally invasive procedures, including the positioning and
guidance of the insertion of medical and surgical
instruments; providing temporary use of non-downloadable
software, tools and software applications for monitoring and
processing medical data enabling the recording, monitoring
and analysis of medical data, patient data, and providing
risk assessments for patients; providing temporary use of
non-downloadable software for assisting real-time decision
making with respect to minimally invasive procedures,
including positioning and guidance for the insertion of
surgical and medical instruments; providing temporary use
of non-downloadable software, tools and applications using
deep learning technologies, algorithm-based machine
learning, machine vision and automatic imaging-based
inspection and analysis; research, design, development,
improvement and updating of software for minimally invasive
procedures, including positioning and guidance for the
insertion of surgical and medical instruments; technical
support services, namely, troubleshooting of positioning and
guidance of robotic medical instruments through computerized
imagery from remote locations via the Internet and global
computer networks; cloud computing software for use with
medical and surgical robots for minimally invasive
procedures.
59.
METHOD FOR AUTOMATICALLY PLANNING A TRAJECTORY FOR A MEDICAL INTERVENTION
The invention relates to a method for automatically planning a trajectory to be followed during a medical intervention by a medical instrument (120) targeting an anatomy of interest (130) of a patient (110), said automatic planning method comprising the steps of: - acquiring at least one medical image of the anatomy of interest (130); - determining a target point (145) on the previously acquired image; - generating a set of trajectory planning parameters from the medical image of the anatomy of interest and the previously determined target point, the set of planning parameters comprising coordinates of an entry point on the medical image. The set of parameters is generated using a machine learning method of neural network type. The invention also relates to a guiding device (150) implementing the set of planning parameters obtained.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
60.
METHOD FOR AUTOMATICALLY PLANNING A TRAJECTORY FOR A MEDICAL INTERVENTION
The invention relates to a method for automatically planning a trajectory to be followed during a medical intervention by a medical instrument (120) targeting an anatomy of interest (130) of a patient (110), said automatic planning method comprising the steps of: - acquiring at least one medical image of the anatomy of interest (130); - determining a target point (145) on the previously acquired image; - generating a set of trajectory planning parameters from the medical image of the anatomy of interest and the previously determined target point, the set of planning parameters comprising coordinates of an entry point on the medical image. The set of parameters is generated using a machine learning method of neural network type. The invention also relates to a guiding device (150) implementing the set of planning parameters obtained.
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
The invention relates to an optical navigation system (100) for determining the position of a patient's anatomy of interest. The system comprises a locating device (40) having at least two optical sensors (41) and a patient reference (21) having at least three optical markers (26). The system also comprises a reflecting device (30). When the line of sight between the patient reference and an optical sensor is intersected by an obstacle (60), 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.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
The invention relates to an optical navigation system (100) for determining the position of a patient's anatomy of interest. The system comprises a locating device (40) having at least two optical sensors (41) and a patient reference (21) having at least three optical markers (26). The system also comprises a reflecting device (30). When the line of sight between the patient reference and an optical sensor is intersected by an obstacle (60), 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.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Electronic remote controls for robotic medical devices for minimally invasive surgery, namely, percutaneous ablation in the thorax or abdomen; video recorders; cameras; downloadable and recorded computer software for the analysis of medical images, in particular multimodal image fusion, display of medical images and segmentation of anatomical structures; downloadable and recorded computer software for the planning of minimally invasive procedures, in particular the selection of an ablation technique, planning the trajectory of a medical instrument and adjusting the parameters of an ablation treatment; downloadable and recorded computer software for guidance of minimally invasive procedures, in particular the identification of medical instruments in a medical image, monitoring a patient's movement and registration methods; downloadable and recorded software for the assessment of minimally invasive procedures, in particular the identification of the ablation area, evaluation of the ablation cover, predicting the recurrence of a condition and the proposal for additional medical treatment; downloadable and recorded artificial intelligence and machine learning software for planning minimally invasive procedures, in particular the segmentation of anatomical structures in medical images, planning the trajectory of a medical instrument, determining the parameters of ablation treatment, the identification and assessment of an ablation region; downloadable and recorded software, software tools and applications to assist in real-time decision-making using deep learning technologies, algorithm-based machine learning, automatic imaging-based inspection and analysis for planning, guiding and assessment of minimally invasive procedures; downloadable computer software for managing databases; computer firmware and downloadable and recorded software for minimally invasive procedures, in particular positioning and guidance for the insertion of surgical and medical instruments; downloadable and recorded computer software and telecommunications apparatus, in particular modems, intended to enable the connection to databases, computer networks, global computer networks and the Internet for minimally invasive procedures for operating surgical robots, in particular positioning and guidance for the insertion of surgical and medical instruments; electronic control units connected to computer hardware, recorded software and medical devices all for minimally invasive procedures, in particular for positioning and guidance for the insertion of surgical and medical instruments; electronic control units connected to computer hardware, recorded software and medical devices, all being integrated into and for operating robotic positioning and guidance systems Software design and development for medical technology related to minimally invasive procedures, in particular positioning and guidance for the insertion of surgical and medical instruments; design, development and implementation of software for medical apparatus and instruments related to minimally invasive procedures, in particular positioning and guidance for the insertion of surgical and medical instruments; providing temporary use of non-downloadable software for data analysis with respect to minimally invasive procedures, in particular positioning and guidance for the insertion of surgical and medical instruments; providing temporary use of non-downloadable software enabling the viewing of images related to image-guided procedures; providing temporary use of non-downloadable software for medical use for planning minimally invasive procedures, in particular the positioning and guidance of the insertion of medical and surgical instruments; providing temporary use of non-downloadable software, software tools and software applications for monitoring and processing medical data enabling the recording, monitoring and analysis of medical data, patient data, and providing risk assessments for patients; providing temporary use of non-downloadable software for assisting real-time decision making with respect to minimally invasive procedures, in particular positioning and guidance for the insertion of surgical and medical instruments; providing temporary use of non-downloadable software, software tools and applications using artificial intelligence for deep learning technologies, algorithm-based machine learning, machine vision and automatic imaging-based inspection and analysis; research, design, development, improvement and updating of software for minimally invasive procedures, in particular positioning and guidance for the insertion of surgical and medical instruments; technical support services, namely, diagnosing problems related to the positioning and guidance of robotic medical instruments through computerized imagery from remote locations via the Internet and global computer networks; providing temporary use of online non-downloadable cloud computing software for use with medical and surgical robots for performing minimally invasive procedures
Medical devices for positioning, guidance and insertion of medical and surgical instruments, in particular needles, probes and catheters; surgical robots for minimally invasive surgery, namely, percutaneous ablation in the thorax or abdomen; surgical robots; surgical robots, namely, robotic arms; surgical robots, namely, surgical robotic arms for medical use; robotic surgical system for conducting minimally invasive procedures, namely, percutaneous ablation in the thorax or abdomen, composed of a surgical robot in the form of a surgical robotic arm, also featuring computer hardware and recorded software for the control of robotic arms, a work station composed of electronic robotic control devices and one or several surgical devices and instruments, in particular needles, probes and catheters; surgical drapes for percutaneous ablation in the thorax or abdomen; medical apparatus in the nature of sensors and self-adhesive identification markers that are attached to the skin for the guidance of percutaneous ablation in the thorax or abdomen for medical use, namely, patient reference markers, patient reference sensors, tool reference markers, tool reference sensors, robot reference markers, robot reference sensors, respiratory sensors, optical markers, optical sensors, electromagnetic markers, and electromagnetic sensors; devices for displaying the operating area, namely, endoscopy cameras for medical purposes and cameras for the guidance of percutaneous ablation in the thorax or abdomen; medical apparatus for monitoring vital signs, blood pressure, heart rate and breathing; medical apparatus in the nature of respiratory cycle monitoring device; medical guidewires for medical and surgical instruments, in particular needles, probes and catheters
65.
METHOD FOR PLANNING TISSUE ABLATION BASED ON DEEP LEARNING
The invention relates to a method (100) and device for planning a surgical procedure aiming to ablate a tissue (32) in an anatomical area of interest (31) of a patient (30). On the basis of a preoperative image (50) of the anatomical area of interest and of a set of planning parameters (P), a simulated image (51) 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 (50) of the anatomical area of interest of a patient, planning parameters (P) used for the surgical procedure on this patient, and a postoperative image (52) of the anatomical area of interest of this patient after the surgical procedure. An estimated ablation region (34) may be segmented in the simulated image (51) in order to be compared with a segmented region to be treated (33) in the preoperative image (50).
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 18/04 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage
A61N 5/10 - RadiothérapieTraitement aux rayons gammaTraitement par irradiation de particules
G16H 50/00 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies
66.
METHOD FOR PLANNING TISSUE ABLATION BASED ON DEEP LEARNING
The invention relates to a method (100) and device for planning a surgical procedure aiming to ablate a tissue (32) in an anatomical area of interest (31) of a patient (30). On the basis of a preoperative image (50) of the anatomical area of interest and of a set of planning parameters (P), a simulated image (51) 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 (50) of the anatomical area of interest of a patient, planning parameters (P) used for the surgical procedure on this patient, and a postoperative image (52) of the anatomical area of interest of this patient after the surgical procedure. An estimated ablation region (34) may be segmented in the simulated image (51) in order to be compared with a segmented region to be treated (33) in the preoperative image (50).
A61B 18/04 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
67.
SYNCHRONISATION DEVICE AND METHOD FOR DETERMINING AN INSTANT OF THE RESPIRATORY CYCLE OF A PATIENT, AND ASSEMBLY COMPRISING A MEDICAL ROBOT
The invention relates to a synchronisation 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 (20), - a patient reference (10), intended to be positioned on the body of the patient (1), and comprising radio-opaque markers (11), at least one locating element (12) configured to be detectable by the locating device (20), and an X-ray detector (13) intended to cooperate with an X-ray imaging device (40), - a control unit (30) for recording and processing data from the locating device and the patient reference. The invention likewise relates to
A61B 5/11 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre
A61B 5/113 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre se produisant au cours de la respiration
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
68.
SYNCHRONISATION DEVICE AND METHOD FOR DETERMINING AN INSTANT OF THE RESPIRATORY CYCLE OF A PATIENT, AND ASSEMBLY COMPRISING A MEDICAL ROBOT
The invention relates to a synchronisation 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 (20), - a patient reference (10), intended to be positioned on the body of the patient (1), and comprising radio-opaque markers (11), at least one locating element (12) configured to be detectable by the locating device (20), and an X-ray detector (13) intended to cooperate with an X-ray imaging device (40), - a control unit (30) 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 (1) in order to assist a medical intervention on said patient.
A61B 5/11 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre
A61B 5/113 - Mesure du mouvement du corps entier ou de parties de celui-ci, p. ex. tremblement de la tête ou des mains ou mobilité d'un membre se produisant au cours de la respiration
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
The guide device (20) for a needle comprises a tool holder (21) intended to be attached to the end of a medical-assistance robot arm (10), said tool holder (21) supporting a needle guide (22), the needle guide comprising two jaws (30, 40) respectively provided with a groove (35, 45), said grooves both extending along parallel longitudinal axes, said jaws (30, 40) being supported by the tool holder in such a way as to allow the jaws (30, 40) rotational mobility relative to one another between a position referred to as the "guiding position" in which the grooves (35, 45) are contiguous and define a guide passage (23) for guiding a needle, and a position referred to as the "disengaged position" in which the grooves (35, 45) are separated from one another and define a zone in which a needle can be disengaged laterally.
A61B 17/04 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
The guide device (20) for a needle comprises a tool holder (21) intended to be attached to the end of a medical-assistance robot arm (10), said tool holder (21) supporting a needle guide (22), the needle guide comprising two jaws (30, 40) respectively provided with a groove (35, 45), said grooves both extending along parallel longitudinal axes, said jaws (30, 40) being supported by the tool holder in such a way as to allow the jaws (30, 40) rotational mobility relative to one another between a position referred to as the "guiding position" in which the grooves (35, 45) are contiguous and define a guide passage (23) for guiding a needle, and a position referred to as the "disengaged position" in which the grooves (35, 45) are separated from one another and define a zone in which a needle can be disengaged laterally.
A61B 17/04 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
The invention relates to a system (10) for fixing in position a movable device (20), such as a medical assistance robot comprising: - a linkage mechanism (30) which connects at least three feet (100) to each other and which is intended to be attached to the frame of the movable device (20), the linkage mechanism (30) being arranged in order to slide the feet (100) in guides (110) which are intended to be attached to the frame of the movable device (20), respectively, - an actuator (40) which is connected to the linkage mechanism (30) so as to move the feet (100) between a position for abutment against the ground, in which the fixing system (10) is capable of fixing the movable device (20) in position, and a withdrawn position, in which the fixing system (10) is capable of enabling the the movable device (20) to move.
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.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/13 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule guidés par la lumière, p. ex. pointeurs lasers
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
A61B 10/02 - Instruments pour prélever des échantillons cellulaires ou pour la biopsie
A61B 18/02 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par refroidissement, p. ex. techniques cryogéniques
A61B 18/12 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage en faisant passer des courants à travers les tissus à chauffer, p. ex. des courants à haute fréquence
A61N 5/10 - RadiothérapieTraitement aux rayons gammaTraitement par irradiation de particules
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
The invention relates to a system (10) for immobilizing a movable device (20), such as a medical assistance robot, comprising: - a linkage mechanism (30) which connects at least three feet (100) to each other and which is intended to be attached to the frame of the movable device (20), the linkage mechanism (30) being arranged in order to slide the feet (100) in guides (110) which are intended to be attached to the frame of the movable device (20), respectively, - an actuator (40) which is connected to the linkage mechanism (30) so as to move the feet (100) between a position for abutment against the ground, in which the fixing system (10) is capable of immobilizing the movable device (20), and a withdrawn position, in which the fixing system (10) is capable of allowing the movable device (20) to move.
The invention relates to a method for positioning a jointed arm of a medical robot assisted by a navigation system including an electromagnetic field generator and two sensors. The generated field forms a measurement zone in which the position of a sensor may be determined by the navigation system and communicated to the robot. A first sensor is positioned at an anatomical location of interest on a patient. A second sensor is positioned on the jointed arm. When the two sensors are located in the measurement zone, a region referred to as the "region of reduced influence" of the measurement zone is determined, in which the introduction of a metal object has almost no influence on the determination of the position of the sensors by the navigation system. The jointed arm is then configured so that any metal part of the jointed arm located in the measurement zone is located inside the region of reduced influence.
The invention relates to a method for positioning a jointed arm of a medical robot assisted by a navigation system including an electromagnetic field generator and two sensors. The generated field forms a measurement zone in which the position of a sensor may be determined by the navigation system and communicated to the robot. A first sensor is positioned at an anatomical location of interest on a patient. A second sensor is positioned on the jointed arm. When the two sensors are located in the measurement zone, a region referred to as the "region of reduced influence" of the measurement zone is determined, in which the introduction of a metal object has almost no influence on the determination of the position of the sensors by the navigation system. The jointed arm is then configured so that any metal part of the jointed arm located in the measurement zone is located inside the region of reduced influence.
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
3D spectacles; audio, voice and video display monitors;
controllers for audio, voice and video display monitors;
computer screens; video screens; touch screens; tablet
computers; touchscreen tablets; computers; remote controls
for robotic medical devices; video recorders; cameras;
computer software for the analysis of medical images,
including multimodal image fusion, display of medical images
and segmentation of anatomical structures; computer software
for the planning of minimally invasive procedures including
the selection of an ablation technique, planning the
trajectory of a medical instrument and adjusting the
parameters of an ablation treatment; computer software for
guidance of minimally invasive procedures including the
identification of medical instruments in a medical image,
monitoring a patient's movement and registration methods;
software for the assessment of minimally invasive procedures
including the identification of the ablation area,
evaluation of the ablation cover, predicting the recurrence
of a condition and the proposal for additional medical
treatment; artificial intelligence and machine learning
software for minimally invasive procedures including the
segmentation of anatomical structures in medical images,
planning the trajectory of a medical instrument, determining
the parameters of ablation treatment, the identification and
assessment of an ablation region; software, tools and
applications to assist in real-time decision-making using
deep learning technologies, algorithm-based machine
learning, automatic imaging-based inspection and analysis
for planning, guiding and assessment of minimally invasive
procedures; computer software for managing databases;
computer software for access to databases containing
information in the field of robot-assisted minimally
invasive surgery; electronic database in the field of
robot-assisted minimally invasive surgery and results,
including preoperative and postoperative information
corresponding to minimally invasive procedures, recorded on
computer media; computer hardware, firmware and software for
minimally invasive procedures, including positioning and
guidance for the insertion of surgical and medical
instruments; computer software and telecommunications
apparatus, including modems, intended to enable the
connection to databases, computer networks, global computer
networks and the Internet for minimally invasive procedures,
including positioning and guidance for the insertion of
surgical and medical instruments; electronic control units
connected to computer hardware, software and medical devices
for minimally invasive procedures, including positioning and
guidance for the insertion of surgical and medical
instruments; electronic control units connected to computer
hardware, software and medical devices, all being integrated
into robotic positioning and guidance systems. Medical devices for positioning, guidance and insertion of
medical and surgical instruments such as needles, probes and
catheters; robotic medical apparatus for minimally invasive
surgery; surgical robots; robotic arms for surgical use;
robotic arms for medical use; robotic surgical system for
conducting minimally invasive procedures composed of a
surgical platform, computer hardware and software for the
control of robotic arms, a work station composed of robotic
control devices and one or several surgical devices and
instruments, such as needles, probes and catheters; surgical
drapes; sensors and markers for medical use; devices for
displaying the operating area; medical apparatus for
monitoring vital signs, blood pressure, heart rate and
breathing; respiratory cycle monitoring device; guidance
device for medical and surgical instruments such as needles,
probes and catheters. Training in the use and operation of robotic medical devices
and instruments to assist in minimally invasive procedures
and in the use of software and associated hardware. Software design and development of medical technology
related to minimally invasive procedures, including
positioning and guidance for the insertion of surgical and
medical instruments; design, development and implementation
of software for medical apparatus and instruments related to
minimally invasive procedures, including positioning and
guidance for the insertion of surgical and medical
instruments; providing temporary use of non-downloadable
software for data analysis with respect to minimally
invasive procedures, including positioning and guidance for
the insertion of surgical and medical instruments; providing
temporary use of non-downloadable software enabling the
viewing of images related to image-guided procedures;
providing temporary use of non-downloadable software for
medical use with respect to minimally invasive procedures,
including the positioning and guidance of the insertion of
medical and surgical instruments; providing temporary use of
non-downloadable software, tools and software applications
for monitoring and processing medical data enabling the
recording, monitoring and analysis of medical data, patient
data, and providing risk assessments for patients; providing
temporary use of non-downloadable software for assisting
real-time decision making with respect to minimally invasive
procedures, including positioning and guidance for the
insertion of surgical and medical instruments; providing
temporary use of non-downloadable software, tools and
applications using deep learning technologies,
algorithm-based machine learning, machine vision and
automatic imaging-based inspection and analysis; research,
design, development, improvement and updating of software
for minimally invasive procedures, including positioning and
guidance for the insertion of surgical and medical
instruments; technical support services, namely,
troubleshooting of positioning and guidance of robotic
medical instruments through computerized imagery from remote
locations via the Internet and global computer networks;
cloud computing software for use with medical and surgical
robots for minimally invasive procedures.
77.
MEDICAL ROBOT COMPRISING AUTOMATIC POSITIONING MEANS
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.
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.
09 - Appareils et instruments scientifiques et électriques
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
electronic remote controls for robotic medical devices for minimally invasive surgery, namely, percutaneous ablation in the thorax or abdomen; video recorders; cameras; downloadable computer software for the analysis of medical images, including multimodal image fusion, display of medical images and segmentation of anatomical structures for carrying out minimally invasive procedures; downloadable or recorded computer software for the planning of minimally invasive procedures including the selection of an ablation technique, planning the trajectory of a medical instrument and adjusting the parameters of an ablation treatment; downloadable or recorded computer software for guidance of minimally invasive procedures including the identification of medical instruments in a medical image, monitoring a patient's movement and registration methods; downloadable or recorded software for the assessment of minimally invasive procedures including the identification of the ablation area, evaluation of the ablation cover, predicting the recurrence of a condition and the proposal for additional medical treatment; downloadable or recorded artificial intelligence and machine learning software for planning minimally invasive procedures including the segmentation of anatomical structures in medical images, planning the trajectory of a medical instrument, determining the parameters of ablation treatment, the identification and assessment of an ablation region; downloadable or recorded software, software tools and software applications to assist in real-time decision-making using deep learning technologies, algorithm-based machine learning, automatic imaging-based inspection and analysis for planning, guiding and assessment of minimally invasive procedures; computer hardware, downloadable or recorded firmware and downloadable or recorded software for planning minimally invasive procedures, including positioning and guidance for the insertion of surgical and medical instruments; downloadable or recorded computer software and telecommunications apparatus, namely, modems, intended to enable the connection to databases, computer networks, global computer networks and the Internet for minimally invasive procedures, including positioning and guidance for the insertion of surgical and medical instruments; electronic control units connected to computer hardware, software and medical devices for minimally invasive procedures for operating surgical robots, including positioning and guidance for the insertion of surgical and medical instruments; electronic control units connected to computer hardware, software and medical devices, all being integrated into and for operating robotic positioning and guidance systems Training in the use and operation of robotic medical devices and instruments to assist in minimally invasive procedures and in the use of software and associated hardware Software design and development of medical technology related to minimally invasive procedures, including positioning and guidance for the insertion of surgical and medical instruments; design, development and implementation of software for medical apparatus and instruments related to minimally invasive procedures, including positioning and guidance for the insertion of surgical and medical instruments; providing temporary use of non-downloadable software for data analysis with respect to minimally invasive procedures, including positioning and guidance for the insertion of surgical and medical instruments; providing temporary use of non-downloadable software enabling the viewing of images related to image-guided minimally invasive procedures; providing temporary use of non-downloadable software for medical use for planning minimally invasive procedures, including the positioning and guidance of the insertion of medical and surgical instruments; providing temporary use of non-downloadable software for assisting real-time decision making with respect to minimally invasive procedures, including positioning and guidance for the insertion of surgical and medical instruments; research, design, development, improvement and updating of software for minimally invasive procedures, including positioning and guidance for the insertion of surgical and medical instruments; technical support services, namely, diagnosing problems related to the positioning and guidance of robotic medical instruments through computerized imagery from remote locations via the Internet and global computer networks; providing temporary use of non-downloadable cloud computing software for use with medical and surgical robots for performing minimally invasive procedures; providing online non-downloadable computer software for the analysis of medical images, including multimodal image fusion, display of medical images and segmentation of anatomical structures for carrying out minimally invasive procedures
Medical devices for positioning, guidance and insertion of medical and surgical instruments such as needles, probes and catheters; surgical robots for minimally invasive surgery, namely, percutaneous ablation in the thorax or abdomen; surgical robots; surgical robots, namely, robotic arms; surgical robotic arms for medical use; robotic surgical system for conducting minimally invasive procedures, namely, percutaneous ablation in the thorax or abdomen, composed of a surgical robotic arm, computer hardware and recorded software for the control of robotic arms, a work station composed of electronic robotic control devices and one or several surgical devices and instruments, such as needles, probes and catheters; surgical drapes for percutaneous ablation in the thorax or abdomen; sensors and self-adhesive identification markers that are attached to the skin for the guidance of percutaneous ablation in the thorax or abdomen for medical use, namely, patient reference markers, patient reference sensors, tool reference markers, tool reference sensors, robot reference markers, robot reference sensors, respiratory sensors, optical markers, optical sensors, electromagnetic markers, and electromagnetic sensors; devices for displaying the operating area, namely, endoscopy cameras for medical purposes and cameras for the guidance of percutaneous ablation in the thorax or abdomen; medical apparatus for monitoring vital signs, blood pressure, heart rate and breathing; respiratory cycle monitoring device; medical guidewires for medical and surgical instruments such as needles, probes and catheters
81.
ROBOTIC DEVICE FOR A MINIMALLY INVASIVE MEDICAL INTERVENTION ON SOFT TISSUES
The present invention relates to a robotic device (10) for performing a medical intervention on a patient (30) using a medical instrument (13), comprising: - a robot arm (11) having several degrees of freedom and having an end suitable for receiving the medical instrument, - an image capture system (14) suitable for capturing position information concerning the anatomy of the patient, - a storage medium (15) including a biomechanical model of the human body, - a processing circuit (17) 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 (13) in order to perform the medical intervention, - a control circuit (16) configured to control the robot arm (11) in order to place the medical instrument (13) in the position setpoint and the orientation setpoint.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
The present invention relates to a robotic device (10) for performing a medical intervention on a patient (30) using a medical instrument (13), comprising: - a robot arm (11) having several degrees of freedom and having an end suitable for receiving the medical instrument, - an image capture system (14) suitable for capturing position information concerning the anatomy of the patient, - a storage medium (15) including a biomechanical model of the human body, - a processing circuit (17) 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 (13) in order to perform the medical intervention, - a control circuit (16) configured to control the robot arm (11) in order to place the medical instrument (13) in the position setpoint and the orientation setpoint.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Scientific apparatus and instruments; apparatus and
instruments for recording, transmitting, reproducing sound
or images; computer programs and software; control software
for robotic devices; video monitors; 3D spectacles; all
these products being used exclusively in connection with
surgical and medical apparatus and instruments and excluding
autonomous data storage apparatus sold separately from
surgical and medical apparatus. Robots (machines) for surgical and medical use, particularly
for positioning and guiding surgical and medical apparatus
and instruments; medical and surgical apparatus,
instruments and utensils. Computer programming services; creating programs for
surgical and medical apparatus; scientific research;
technical research; cloud computing; research and
development of new products for others; all these services
being exclusively for use in connection with surgical and
medical apparatus and instruments and excluding autonomous
data storage apparatus sold separately from surgical and
medical apparatus.
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for recording, transmitting, reproducing sound or images; computer programs and software, downloadable or recorded, for use with medical robots; computer programs and software, downloadable or recorded, for planning, guiding and assessing minimally invasive intervention; control software, downloadable or recorded, that is used to control robotic devices; video monitors; [ 3D spectacles; ] all these products being used exclusively in connection with surgical and medical apparatus and instruments and excluding autonomous data storage apparatus sold separately from surgical and medical apparatus Robots being machines for surgical and medical use, particularly for positioning and guiding surgical and medical apparatus and instruments; medical and surgical apparatus, instruments and utensils, namely, [ needles, ] probes, [ endoscopes, trocars, cannulae, light emitting diode (LED) apparatus for lighting, incorporated into medical instruments, electro-surgical motors being part of surgical and medical apparatus and instruments for use in general surgery, laser instruments, medical ultrasound apparatus, ] needle guides, sterile surgical drapes, medical trays for sterilization of surgical instruments [ , medical electrodes, medical guidewires, medical and surgical catheters ] [ Computer programming services; creating computer programs for use with surgical and medical apparatus; scientific research; technical research in the field of robotics and medical intervention; cloud computing featuring software for use with robots; research and development of new products for others; all these services being exclusively for use in connection with surgical and medical apparatus and instruments and excluding autonomous data storage apparatus sold separately from surgical and medical apparatus ]
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Scientific apparatus and instruments; apparatus and
instruments for recording, transmitting, reproducing sound
or images; computer programs and software; control software
for robotic devices; video monitors; 3D spectacles; all
these products being used exclusively in connection with
surgical and medical apparatus and instruments and excluding
autonomous data storage apparatus sold separately from
surgical and medical apparatus. Robots (machines) for surgical and medical use, particularly
for positioning and guiding surgical and medical apparatus
and instruments; medical and surgical apparatus,
instruments and utensils. Computer programming services; creating programs for
surgical and medical apparatus; scientific research;
technical research; cloud computing; research and
development of new products for others; all these services
being exclusively for use in connection with surgical and
medical apparatus and instruments and excluding autonomous
data storage apparatus sold separately from surgical and
medical apparatus.
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for recording, transmitting, reproducing sound or images; computer programs and software for use with medical robots; computer programs and software for planning, guiding and assessing minimally invasive intervention; control software that is used to control medical robotic devices; video monitors; [ 3D spectacles; ] all these products being used exclusively in connection with surgical and medical apparatus and instruments and excluding autonomous data storage apparatus sold separately from surgical and medical apparatus Robots being machines for surgical and medical use, particularly for positioning and guiding surgical and medical apparatus and instruments; medical and surgical apparatus and instruments, namely, surgical robots and medical robots for use in interventional oncology [ Computer programming services; creating computer programs for use with surgical and medical apparatus; scientific research; technical research in the field of robotics and medical intervention; cloud computing featuring software for use with robots for surgical and medical use; research and development of new products for others; all these services being exclusively for use in connection with surgical and medical apparatus and instruments and excluding autonomous data storage apparatus sold separately from surgical and medical apparatus ]
