Abstract: The invention relates to a method for determining a prohibited volume for a surgical robotic system comprising a control unit, a robotic arm (102) and an end-effector (105) adapted to treat a region of interest of a patient's body, comprising:—implementing a first path of a motorized C-arm (403) supporting an X-ray source (401), an X-ray image detector (402) and an anti-collision device (404), said first path comprising at least two different angular positions around a rotation axis of the C-arm;—at each angular position of the C-arm along said first path, detecting with the anti-collision device an external surface of the patient's body and recording volumetric data of at least a portion of said external surface enclosing the region of interest based on measurement data generated by the anti-collision device;—computing a volumetric model of a patient's body portion based on said volumetric data;-sending the volumetric model to the control unit of the surgical robotic system,—based on said volumetric model, d

Abstract: The invention relates to a method for registering a 3D medical image obtained by an X-ray imaging system with a registration phantom (1), wherein the registration phantom (1) is positioned onto the patient and comprises a set of radiopaque fiducials (10) having a known position in a coordinate system of said registration phantom (1), said set of radiopaque fiducials not being detectable in the 3D image, the method comprising the steps of:—obtaining at least two 2D X-ray images acquired by the X-ray imaging system wherein at least one radiopaque fiducial (10) of the registration phantom (1) is detectable in each 2D image;—for each of said at least two 2D images, registering the 2D X-ray image with the registration phantom (1) by detecting and determining the position of the at least one radiopaque fiducial (10) in the respective 2D image;-registering each of said at least two 2D X-ray images with the 3D image using an image-to-image registration technique;—registering the registration phantom (1) with the 3D m

Abstract: The invention relates to a method for reconstructing a 3D medical image of a region of interest of a patient's body (P) lying on an operating table (200) with an X-ray imaging system comprising a motorized C-arm (100) supporting an X-ray source (101), an X-ray image detector (102) and an anti-collision device (104), comprising: —implementing a first path of the motorized C-arm without acquiring any X-ray image, said first path comprising at least two different angular positions around a rotation axis of the C-arm; —at each angular position of the C-arm along said first path, detecting with the anti-collision device (104) an external surface (S) of the patient's body and recording volumetric data of a patient's body portion enclosing the region of interest; —computing a volumetric model of the patient's body portion based on said volumetric data and on an estimation of X-ray absorption of patient's body tissues surrounding the region of interest, said volumetric model comprising a first part including the regi

Abstract: The invention relates to a method for registering a 3D medical image obtained by an X-ray imaging system with a registration phantom (1), wherein the registration phantom (1) is positioned onto the patient and comprises a set of radiopaque fiducials (10) having a known position in a coordinate system of said registration phantom (1), said set of radiopaque fiducials not being detectable in the 3D image, the method comprising the steps of: —obtaining at least one 2D X-ray image acquired by the X-ray imaging system wherein at least three radiopaque fiducials (10) of the registration phantom (1) is detectable in each 2D image; —for each of said at least one 2D image, registering the 2D X-ray image with the registration phantom (1) by detecting and determining the position of the at least three radiopaque fiducials (10) in the respective 2D image; —registering each of said at least one 2D X-ray image with the 3D medical image based on the determined position of said radiopaque fiducials in each 2D image and on a

Abstract: The invention relates to a method for reconstructing a 3D medical image of a region of interest from a set of 2D X-ray images acquired by an X-ray imaging system comprising an X-ray source(S) and an image detector (D), comprising the steps of: —computing n paths of the X-ray imaging system, n being an integer greater than or equal to 2, said paths being adapted to acquire n respective subsets of 2D X-ray images together forming the set of 2D X-ray images, each image (IA, IB, IC) of a subset defining a respective cone of projection (CA, CB, CC) of the region of interest onto the image detector, such that, for a same position of the X-ray source(S) along the n paths, the cone of projection of an image of any subset is contiguous to the cone of projection of an image of at least one other subset, wherein computing said n paths comprises: —placing a virtual isocenter (O) of the X-ray imaging system at a given position or set of positions relative to a center (C) of the region of interest, and —defining, for each

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: 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: The invention relates to a method for reconstructing a 3D medical image of a region of interest of a patient's body (P) lying on an operating table (200) with an X-ray imaging system comprising a motorized C-arm (100) supporting an X-ray source (101), an X-ray image detector (102) and an anti-collision device (104), comprising:—implementing a first path of the motorized C-arm without acquiring any X-ray image, said first path comprising at least two different angular positions around a rotation axis of the C-arm; —at each angular position of the C-arm along said first path, detecting with the anti-collision device (104) an external surface (S) of the patient's body and recording volumetric data of a patient's body portion enclosing the region of interest; —computing a volumetric model of the patient's body portion based on said volumetric data and on an estimation of X-ray absorption of patient's body tissues surrounding the region of interest, said volumetric model comprising a first part including the regio

Abstract: The invention relates to a method for optimizing a trajectory of a motorized C-arm for an acquisition of a 3D image of a region of interest (ROI) of a body (P) lying on an operating table (T), said C-arm comprising an X-ray source (S) and an X-ray image detector (D), said trajectory comprising at least two different angular positions of acquisition around a rotation axis of the C-arm, said method comprising the following steps: determining a center (C) of the region of interest (ROI) for each angular position of the C-arm of said trajectory, computing a translation (TA) of the C-arm along a central axis extending between the X-ray source (S) and a center of the X-ray image detector (D) and passing by said center (C) of the region of interest to reduce a distance between the X-ray image detector (D) and the center (C) of the region of interest whilst avoiding collisions between the X-ray source and detector and the operating table (T) and/or the body (P).

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: 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: 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.

Abstract: The invention relates to a method for determining a trajectory of a motorized X-ray imaging system for acquiring images of a patient to whom a phantom comprising radiopaque fiducials having a known spatial arrangement has been attached so as to be visible on at least one 2D image of a body region of interest acquired by the X-ray imaging system by acquiring one first 2D image of the phantom by the X-ray imaging system in a given position; detecting the fiducials of the phantom in the acquired first image; based on the detected fiducials, determining the position of the phantom in a referential of the X-ray imaging system; determining a set of positions of the X-ray imaging system configured to acquire a set of 2D X-ray images of the region of interest such that the set of 2D X-ray images complies with at least one imposed requirement on the position of the phantom relative to a part of the set of images and combining the set of determined positions to determine a trajectory of the X-ray imaging system with re

Abstract: The invention relates to a method for controlling movement of a motorized C-arm, comprising: receiving position information of a user (U) relative to the C-arm (1), continuously receiving current position information of the C-arm (1) relative to a reference position of the C-arm, from said current position information and from the position information of the user, computing a graphical representation of the current position of the C-arm according to the user's point of view, from the computed graphical representation of the current position of the C-arm, computing a graphical representation of at least one command button suited to the current position information of the C-arm and to the user's point of view to move the C-arm in a determined direction according to a respective degree of freedom, displaying on a control panel a graphical user interface (7) comprising said computed representation (70) of the current position of the C-arm and said at least one command button (710).

Abstract: The invention relates to a method for determining a trajectory of a motorized X-ray imaging system for acquiring images of a patient to whom a phantom (30) comprising radiopaque fiducials having a known spatial arrangement has been attached so as to be visible on at least one 2D image of a body region of interest acquired by the X-ray imaging system, the method comprising the following steps: acquiring one first 2D image of the phantom (30) by the X-ray imaging system in a given position; detecting the fiducials of the phantom (30) in said acquired first image; based on said detected fiducials, determining the position of the phantom in a referential of the X-ray imaging system; determining a set of positions of the X-ray imaging system adapted to acquire a set of 2D X-ray images of the region of interest such that said set of 2D X-ray images complies with at least one imposed requirement on the position of the phantom relative to a part of said set of images, combining said set of determined positions to

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.

Abstract: The invention relates to a fluoro-navigation system for navigating a tool relative to a medical image, comprising: a motorized X-ray imaging system adapted to acquire a plurality of images of a region of interest of a patient, the position of each image being known in a referential of the imaging system, a localization system; a registration phantom (30) comprising a plurality of radiopaque fiducials (31); a tracker (20) adapted for being tracked by the localization system; a processor configured for receiving the plurality of images acquired by the motorized X-ray imaging system and for reconstructing a 3D medical image from said images using radiopaque fiducials (31) visible in the plurality of images; a base (10) made of a substantially radiotransparent material, the base (10) being adapted to be rigidly secured to a patient's bone (B) and comprising a reproducible fixation system for attaching said registration phantom (30) and/or said tracker (20).

Abstract: The invention relates to a method for controlling movement of a motorized C-arm, comprising: receiving position information of a user (U) relative to the C-arm (1), continuously receiving current position information of the C-arm (1) relative to a reference position of the C-arm, from said current position information and from the position information of the user, computing a graphical representation of the current position of the C-arm according to the user's point of view, from the computed graphical representation of the current position of the C-arm, computing a graphical representation of at least one command button suited to the current position information of the C-arm and to the user's point of view to move the C-arm in a determined direction according to a respective degree of freedom, displaying on a control panel a graphical user interface (7) comprising said computed representation (70) of the current position of the C-arm and said at least one command button (710).