Patents by Inventor Bertin Nahum
Bertin Nahum has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240156553Abstract: 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.Type: ApplicationFiled: March 14, 2022Publication date: May 16, 2024Inventors: Mohammed Foued AOUACHRIA, Lucien BLONDEL, Bertin NAHUM, Fernand BADANO
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Patent number: 11925500Abstract: 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.Type: GrantFiled: April 8, 2020Date of Patent: March 12, 2024Assignee: Quantum SurgicalInventors: Yann Le Meur, Lucien Blondel, Fernand Badano, Bertin Nahum
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Patent number: 11903659Abstract: 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.Type: GrantFiled: November 8, 2018Date of Patent: February 20, 2024Assignee: QUANTUM SURGICALInventors: Lucien Blondel, Fernand Badano, Bertin Nahum
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Publication number: 20230372050Abstract: 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.Type: ApplicationFiled: October 5, 2021Publication date: November 23, 2023Inventors: Lucien BLONDEL, Bertin NAHUM, Fernand BADANO
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Patent number: 11771519Abstract: The invention relates to a recalibration device (1) used during the acquisition of images of an anatomical area of a patient during robot-assisted surgery, including a body (3) made of radxoliacent material, which comprises fiducial markers (9) made of radiopaque material, said body (3) having a bearing surface (7) intended to be manually placed on a surface of said anatomical area of the patient. According to the invention, said fiducial markers (9) are arranged in a specific geometrical pattern enabling a certain detection of the positioning and orientation of the recalibration device (1) in a three-dimensional digital model built from the images derived from the acquisition of the anatomical area.Type: GrantFiled: December 29, 2021Date of Patent: October 3, 2023Assignee: MedTech S.A.Inventors: Sebastien Olive, Bertin Nahum, Lucien Blondel
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Patent number: 11759267Abstract: 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.Type: GrantFiled: December 11, 2019Date of Patent: September 19, 2023Assignee: QUANTUM SURGICALInventors: Bertin Nahum, Fernand Badano, Lucien Blondel, Frédéric Banegas, Sébastien Olive
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Publication number: 20230177681Abstract: 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.Type: ApplicationFiled: May 20, 2021Publication date: June 8, 2023Inventors: Estanislao OUBEL, Lucien BLONDEL, Bertin NAHUM, Fernand BADANO, Michael GIRARDOT
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Publication number: 20230172535Abstract: 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.Type: ApplicationFiled: May 20, 2021Publication date: June 8, 2023Inventors: Estanislao OUBEL, Lucien BLONDEL, Bertin NAHUM, Fernand BADANO
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Publication number: 20230008386Abstract: 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.Type: ApplicationFiled: December 17, 2020Publication date: January 12, 2023Inventors: Bertin NAHUM, Fernand BADANO, Lucien BLONDEL
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Publication number: 20220409288Abstract: 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.Type: ApplicationFiled: November 17, 2020Publication date: December 29, 2022Inventors: Bertin NAHUM, Fernand BADANO, Lucien BLONDEL
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Publication number: 20220233242Abstract: 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.Type: ApplicationFiled: June 25, 2020Publication date: July 28, 2022Inventors: Estanislao OUBEL, Lucien BLONDEL, Fernand BADANO, Bertin NAHUM
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Publication number: 20220192757Abstract: This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises: a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and; a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration.Type: ApplicationFiled: March 9, 2022Publication date: June 23, 2022Inventors: Bertin Nahum, Lucien Blondel, Pierre Maillet
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Publication number: 20220192699Abstract: 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.Type: ApplicationFiled: March 31, 2020Publication date: June 23, 2022Inventors: Bertin NAHUM, Fernand BADANO, Lucien BLONDEL, Sébastien OLIVE
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Publication number: 20220160321Abstract: The invention relates to a synchronization device for determining an instant of the respiratory cycle of a patient in order to assist a medical intervention on said patient. This device comprises: a locating device, a patient reference, intended to be positioned on the body of the patient, and comprising radio-opaque markers, at least one locating element configured to be detectable by the locating device, and an X-ray detector intended to cooperate with an X-ray imaging device, a control unit for recording and processing data from the locating device and the patient reference. The invention likewise relates to a method for determining an instant of the respiratory cycle of a patient in order to assist a medical intervention on said patient.Type: ApplicationFiled: April 8, 2020Publication date: May 26, 2022Inventors: Yann LE MEUR, Lucien BLONDEL, Fernand BADANO, Bertin NAHUM
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Publication number: 20220153364Abstract: 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.Type: ApplicationFiled: February 28, 2020Publication date: May 19, 2022Inventors: Bertin NAHUM, Fernand BADANO, Lucien BLONDEL, Estelle PESCHER
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Publication number: 20220117694Abstract: The invention relates to a recalibration device (1) used during the acquisition of images of an anatomical area of a patient during robot-assisted surgery, including a body (3) made of radxoliacent material, which comprises fiducial markers (9) made of radiopaque material, said body (3) having a bearing surface (7) intended to be manually placed on a surface of said anatomical area of the patient. According to the invention, said fiducial markers (9) are arranged in a specific geometrical pattern enabling a certain detection of the positioning and orientation of the recalibration device (1) in a three-dimensional digital model built from the images derived from the acquisition of the anatomical area.Type: ApplicationFiled: December 29, 2021Publication date: April 21, 2022Inventors: Sebastien Olive, Bertin Nahum, Lucien Blondel
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Patent number: 11298193Abstract: This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises:—a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and;—a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration.Type: GrantFiled: March 21, 2017Date of Patent: April 12, 2022Assignee: MedTech S.A.Inventors: Bertin Nahum, Lucien Blondel, Pierre Maillet
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Publication number: 20220061928Abstract: 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.Type: ApplicationFiled: December 11, 2019Publication date: March 3, 2022Inventors: Bertin NAHUM, Fernand BADANO, Lucien BLONDEL, Frédéric BANEGAS, Sébastien OLIVE
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Patent number: 11234789Abstract: The invention relates to a recalibration device (1) used during the acquisition of images of an anatomical area of a patient during robot-assisted surgery, including a body (3) made of radxoliacent material, which comprises fiducial markers (9) made of radiopaque material, said body (3) having a bearing surface (7) intended to be manually placed on a surface of said anatomical area of the patient. According to the invention, said fiducial markers (9) are arranged in a specific geometrical pattern enabling a certain detection of the positioning and orientation of the recalibration device (1) in a three-dimensional digital model built from the images derived from the acquisition of the anatomical area.Type: GrantFiled: May 6, 2020Date of Patent: February 1, 2022Assignee: MedTech S.A.Inventors: Sebastien Olive, Bertin Nahum, Lucien Blondel
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Publication number: 20210338351Abstract: 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.Type: ApplicationFiled: September 25, 2019Publication date: November 4, 2021Inventors: Lucien BLONDEL, Frédéric BANEGAS, Sébastien OLIVE, Fernand BADANO, Bertin NAHUM