Abstract: The invention relates to a system for a manipulation of a surgical tool by a user to treat an anatomical structure according to a planned trajectory, said system comprising: a surgical robotic system comprising: a robotic arm; at least one load measurement mean, an end-effector comprising a tool holder to accommodate the surgical tool; a control unit coupled to the surgical robotic system and configured to implement at least one controlled loop to reduce a mechanical load applied to the anatomical structure, the controlled loop comprising: a step of measuring the mechanical load applied to the robotic arm using the at least one load measurement mean; a step of determining an adjusted command, for at least one motor; a step of applying to said at least one motor the respective adjusted command to reduce the mechanical load applied to the anatomical structure.

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

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

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 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 present invention relates to a fixation tool for clamping and rotating a lead terminal pin of a medical implantable cardiac lead. The fixation tool comprises a handle portion and a jaw portion, wherein opposing inner surfaces of a pair of jaws of the jaw portion are shaped to form a cavity system between the pair of jaws, the cavity system comprising a first cavity located proximal to an opening at the distal end of the jaw portion and having a first width between the opposing inner surfaces and being shaped to clamp a first lead terminal pin of a first diameter, and a second cavity located proximal to the first cavity and having a second width between the opposing inner surfaces, smaller than the first width and adapted to clamp, together with the first cavity, a second lead terminal pin of a second diameter larger than the first diameter.

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

Abstract: The invention relates to an endoscopic instrument (1) having an elongate body with a distal end (4) designed to be introduced into the body of the patient so as to come into proximity with an internal organ, the distal end carrying a tool (7) for intervention on the internal organ. The endoscopic instrument has a fool (10) rigidly connected to the distal end and designed to bear on the internal organ, and also controllable means (13) for conferring movements on the tool, at least in directions transverse to a longitudinal axis (X) of the distal end of the endoscopic instrument, when the foot is bearing against the internal organ.

Abstract: The invention relates to a device and a method to assist with the operation of an instrument by means of said device, the device and the method using leverage effects in order to calculate the data relative to any point of an instrument axis, instead of using low-accuracy sensors. Other improvements are also described that allow higher-quality usage performance for the operator, which reduces the risk of errors and simplifies the operations.

Abstract: The invention relates to a device and a method to assist with the operation of an instrument by means of said device, the device and the method using leverage effects in order to calculate the data relative to any point of an instrument axis, instead of using low-accuracy sensors. Other improvements are also described that allow higher-quality usage performance for the operator, which reduces the risk of errors and simplifies the operations.

Abstract: A miniaturized scanning system to generate movement of a flexible device positioned at a distal part of a medical tool. The miniaturized scanning system includes an inner shaft with a longitudinal axis, adapted to guide said flexible device along the longitudinal axis, an abutment comprising an external surface and adapted to maintain said device, and a pusher mechanism adapted to engage with said abutment. The miniaturized scanning system includes at least one end portion adapted to contact said external surface of the abutment at a contact point, wherein said end portion is configured to translate along said longitudinal axis of the inner shaft and wherein the translation of said end portion results in a bending of the device in a bending plane defined by the longitudinal axis of the inner shaft and said contact point.

Abstract: A miniaturized scanning system to generate movement of a flexible device positioned at a distal part of a medical tool. The miniaturized scanning system includes an inner shaft with a longitudinal axis, adapted to guide said flexible device along the longitudinal axis, an abutment comprising an external surface and adapted to maintain said device, and a pusher mechanism adapted to engage with said abutment. The miniaturized scanning system includes at least one end portion adapted to contact said external surface of the abutment at a contact point, wherein said end portion is configured to translate along said longitudinal axis of the inner shaft and wherein the translation of said end portion results in a bending of the device in a bending plane defined by the longitudinal axis of the inner shaft and said contact point.

Abstract: A surgical instrument having an elongated arm and a distal end mounted with a pivot joint on the elongated arm. A drive shaft substantially coaxial with the elongated arm forms a universal joint facing the pivot joint. A distal tool is securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool. The elongated arm includes a plurality of linking elements mounted in series to form the pivot joint. The universal joint is a Cardan joint.

Abstract: The invention relates to a surgical instrument (100; 200) comprising: an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and, distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterized in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).

Abstract: The invention relates to an endoscopic instrument (1) having an elongate body with a distal end (4) designed to be introduced into the body of the patient so as to come into proximity with an internal organ, the distal end carrying a tool (7) for intervention on the internal organ. The endoscopic instrument has a fool (10) rigidly connected to the distal end and designed to bear on the internal organ, and also controllable means (13) for conferring movements on the tool, at least in directions transverse to a longitudinal axis (X) of the distal end of the endoscopic instrument, when the foot is bearing against the internal organ.

Abstract: The invention relates to a surgical instrument (100; 200) comprising: an elongated arm (111; 207) according to a longitudinal axis and having a distal end (105; 204) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (103; 3), substantially coaxial with the elongated arm, comprising means forming a universal joint (104; 206) facing the pivot joint; and, distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degrees of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool, characterised in that the means forming a universal joint comprise a flexible drive sleeve (104; 206).

Abstract: The invention relates to a surgical instrument (1) comprising: an elongated arm (11; 307) according to a longitudinal axis and having a distal end (2; 305) mounted with a pivot joint on the elongated arm according to an axis substantially orthogonal to the longitudinal axis; a drive shaft (3) substantially coaxial with the elongated arm comprising means forming a universal joint facing the pivot joint; and, a distal tool (9) securely fastened on the drive shaft and rotatively mounted on and in the extension of the distal end of the elongated arm, such that the distal tool has two rotational degree of freedom, distinct and independent of each other, one being around an axis substantially perpendicular to the longitudinal axis of the elongated arm and the other being around an axis substantially collinear to an own axis of the distal tool; characterised in that the elongated arm comprises a plurality of linking elements mounted in series to form the pivot joint and in that the means forming a universal joint