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

Abstract: Disclosed is a surgical robotic system comprising a robotic arm holding an end-effector and a control unit for controllably moving the robotic arm and maintaining the end-effector in at least one target position relative to a patient. The control unit can, based on a first input continuously applied onto the robotic arm, activate a hand guiding mode wherein the robotic arm is freely movable by the user; based on a second input different from the first input, continuously applied onto the robotic arm, activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory; when the computed trajectory is activated, detect that the end-effector meets a predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm is automatically movable to maintain the end-effector in the target position relative to a tracker attached to the patient.

Abstract: A device, as disclosed, may be suitable for use with a tomographic imager comprising an X-ray source and a plane detector that are movable in rotation. The device (e.g., radiopaque device) includes a registration phantom that includes several radiopaque markers and that is placeable along a part of the spine of a patient at a predetermined distance from a volume of interest to be imaged. Several radiopaque screens, integral with the registration phantom, include a lower face, an internal face oriented toward the registration phantom, and an external face oriented toward the X-ray source (410), respectively towards the detector. The radiopaque device is configured so that, when it is placed on the back of a patient, at least part of the X-rays that pass from the X-ray source to the plane detector through the registration phantom see their intensity attenuated by passing through the radiopaque screens.

Abstract: A modular fluoro-navigation instrument including a base made of a substantially radiotransparent material. The base is intended to be rigidly secured to a patient's bone and a tracker rigidly attachable to the base. The instrument has a registration phantom separate from the tracker which includes a plurality of radiopaque fiducials. The base and the registration phantom includes respective attachment members for reproducibly attaching the registration phantom to the base.

Abstract: A fluoro-navigation system for navigating a tool relative to a medical image. The system includes a motorized X-ray imaging system for acquiring a plurality of images of a region of interest of a patient, the position of each image being known. Also included is a localization system, a registration phantom with a plurality of radiopaque fiducials, a tracker for being tracked by the localization system, a processor for receiving the plurality of images and for reconstructing a 3D medical image from the images using radiopaque fiducials visible in the plurality of images. Also included is base made of a substantially radiotransparent material, to be rigidly secured to a patient's bone and having a reproducible fixation system for attaching the registration phantom and/or tracker.

Abstract: The invention relates to a device for minimally invasive attachment of a tracker (20) and/or a registration phantom (30) to a patient's bone, comprising a base (10) made of a substantially radiotransparent material, characterized in that the base (10) comprises: a support surface (11) intended to face the bone, a plurality of non-parallel through holes (14) for passing a respective percutaneous pin (2) through the base (10); at least one slot (15) extending from an edge of the base (10) in a direction transversal to the through holes (14), said slot (15) passing throughout the base (10) until the support surface (11) and being intended to engage a percutaneous pin (2) implanted into the patient's bone so as to allow the base (10) to slide along said pin (2); and a reproducible fixation system for attaching the tracker (20) and/or the registration phantom (30) to the base.