Abstract: Methods and systems for guiding position and orientation of a robotic device holding a surgical tool are disclosed herein. For example, a method for guiding a robotic device holding a surgical tool configured for working a planned region of an anatomical structure can include detecting a presence of a distal tip of the tool in a target region on the anatomical structure, changing a visual aspect of a virtual representation of the target region when the tool tip is detected in said target region, computing a virtual goal defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region, displaying the virtual goal and a representation of a tool base axis, and changing a visual aspect of the virtual goal when the representation of the base axis is inside the virtual goal.

Abstract: The present invention concerns an electromagnetic localization system (1) comprising at least one locating unit (10) and one processing unit (5), the locating unit (10) comprising at least two locating transducers (A. AA) wherein at least one locating transducer is a transmitter adapted to emit at least one magnetic field and at least one locating transducer is a receiver adapted to receive and measure the magnetic field emitted by the transmitter, wherein at least one first locating transducer (A) is adapted to be locked in a fixed position with respect to a first object (100) and at least one second locating transducer (AA) is adapted to be locked in a fixed position with respect to a second object (110), the processing unit (5) being configured to: a. determine a pose of the first locating transducer (A) with respect to the second locating transducer (AA) based on the measurement of the magnetic field emitted by the transmitter of the locating unit, b.

Abstract: Described are surgical systems comprising a robotic device comprising a cutting tool, an actuation unit having at least two motorized rotational degrees of freedom about respective rotational axes that are substantially orthogonal to each other, and configured for adjusting a position and orientation of the cutting tool relative to each target plane, a planar mechanism connecting the last segment of the actuation unit to the cutting tool, a passive articulated lockable holding arm supporting the actuation unit, a tracking unit configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, a control unit configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit to bring the cutting plane into alignment with the target plane.

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 a system for guiding a surgical tool (200) held by a user relative to at least one target axis (T) defined in a coordinate system of a patient's spine, comprising: (i) a robotic device (300) comprising: —a base (301), —a guiding device (303) configured for constraining the tool to a guiding axis (G), —a compact motorized actuation unit (304) movable relative to the base (301), coupled to the guiding device (303) for adjusting a position and orientation of said guiding device relative to the target axis, —a support unit (305) connected to the base (301), comprising at least one element designed to make contact with the spine or a region of the patient's body adjacent to the spine so as to provide a partial mechanical link between the guiding device and the spine, (ii) a passive articulated lockable holding arm (400) supporting the base (301) of the robotic device, (iii) a tracking unit (500) configured to determine in real time the pose of the guiding axis with respect to the coordinat

Abstract: Described are surgical systems comprising a robotic device comprising a cutting tool, an actuation unit having at least two motorized rotational degrees of freedom about respective rotational axes that are substantially orthogonal to each other, and configured for adjusting a position and orientation of the cutting tool relative to each target plane, a planar mechanism connecting the last segment of the actuation unit to the cutting tool, a passive articulated lockable holding arm supporting the actuation unit, a tracking unit configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, a control unit configured to determine the pose of the cutting plane with respect to the target plane and to control the actuation unit to bring the cutting plane into alignment with the target plane.

Abstract: A device for computer aided surgery, including: a body; an optical element coupled to the body; a fiducial coupled to the body; and a calibration element. The calibration element be a pointer tip or a divot, either individually or in combination.

Abstract: The invention relates to an X-ray imaging system comprising a mobile base (10), a motorized arm (20), and a C-arm (30) adapted to be mounted on the mobile base (10) by means of the motorized arm (20), wherein the C-arm (30) comprises an X-ray source (31) and an X-ray detector (32), wherein the motorized arm (20) presents at least three rotation axes (Z1, Z2, Z3) directed along a substantially common vertical direction (Z).

Abstract: The invention relates to a tracking assembly (1) for a surgical robotic system, comprising at least two tracking patterns, wherein at least one of said at least two tracking patterns is adapted to be rotatably mounted relative to a tool guide (2) of the surgical GT robotic system so as to be moveable in rotation around a tool guide axis (X) normal to a reference plane (P), wherein each of said at least two tracking patterns defines a range of visibility substantially directed along a visibility axis, wherein an inclination relative to the reference plane (P) of the visibility axis of a first tracking pattern of the tracking assembly (1) is different from an inclination relative to the reference plane (P) of the visibility axis of a second tracking pattern of the tracking assembly (1).

Abstract: The invention relates to a telemetry communication system for an implantable medical device (1) comprising a radiofrequency transceiver, comprising: a remote controller (2) adapted to be used by a patient into whom said medical device (1) is implanted, said remote controller comprising a radiofrequency transceiver configured to communicate with said implantable medical device in a first frequency band (RF1), the transceiver of the remote controller (2) being paired with the transceiver of the implantable medical device (1), a programming device (3) said implantable medical device adapted to be used by a practitioner, comprising a user interface (30), and configured to communicate with the remote controller (2) through a wire connection or a wireless connection in a second frequency band (RF2) different from the first frequency band, the programming device (3) being configured to, when said connection is established between the remote controller (2) and the programming device (3), establish a communication

Abstract: The invention relates to a surgical robotic system (1) to reach a plurality of surgical targets inside a target space, said system comprising: —a robotic arm (4) having at least six degrees of freedom, the robotic arm comprising a base (40) located at a proximal end and a plurality of consecutive segments interconnected by a plurality of joints extending from the base (40) to a distal end, and said robotic arm having a first joint center (0) between the base (40) and the first segment (41), —an end effector (5) for holding a medical device such as a surgical instrument or a surgical tool guide, said end effector being mechanically coupled to the robotic arm distal end, —a movable cart (2) having a frontal side (20) comprising at least one frontal surface configured to be placed against a side (60) of an operating table (6), defining a horizontal axis (Ax) with a direction (x) orthogonal to the frontal surface and an origin point A located on the frontal surface such that all points located on the movable cart

Abstract: The invention relates to a method for determining a safety criterion during an autonomous manipulation of a surgical tool (13) by a robotic system (1) to treat an anatomical structure (B) according to a planned trajectory (T3D) in a 3D image (I3D), said 3D image being registered with a patient tracker (30), and the robotic system (1) being servo-controlled on the movements of the patient tracker (30), the method comprising: a. acquiring at least one 2D X-ray image (I2D) containing the anatomical structure and the surgical tool by an X-ray imaging system (2), and for each at least one 2D X-ray acquisition: i. synchronously localizing the surgical tool and registering the 2D X-ray image (I2D) with the 3D image (I3D) in a region of interest around the anatomical structure, iii. generating a projection onto the 2D X-ray image (I2D) of a model of the surgical tool in its position relative to the 3D image computed in step (i) (‘projected localized position’), iv.

Abstract: The present disclosure relates to a method and a data processing system for generating navigable images of at least one region of interest ROI of a patient for a fluoroscopy-based navigation system using an X-ray imaging system, a localization system and an imaging kit, said imaging kit being configured to allow images registration in a preferred referential and tracking of surgical tools.

Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: (i) a robotic device (100) comprising: —an end effector (2), —an actuation unit (4) having at least three motorized degrees of freedom, configured for adjusting a position and orientation of the end effector (2) relative to each target plane, —a passive planar mechanism (24) connecting the terminal part (40) of the actuation unit (4) to the end effector (2); (ii) a tracker (203) rigidly attached to the end effector (2), (iii) a tracking unit (200) configured to determine in real time the pose of the end effector (2) with respect to the coordinate system of the anatomical structure, a control unit (300) configured to determine the pose of the end effector with respect to the target plane and to control the actuation unit so as to bring the cutting plane into alignment with the target plane.

Abstract: A computer-assisted surgery system allows a user to control movements of a surgical tool by providing, to a control unit, inputs in the form of measured displacements via a movable part of a handle while treating a region of interest with the tool. The control unit is configured to enable motion of the tool with respect to an anatomical structure only if a user moves the movable part, receive the measured displacement of the movable part, receive from a localization unit the relative position and orientation of the tool relative to the anatomical structure, based on the measured displacement, on the surgical plan and on the relative position and orientation of the tool relative to the anatomical structure, compute an instruction to send to a motorized joint to move a robotic arm to operate the tool according to an optimal trajectory, and send the computed instruction to the motorized joint.

Abstract: The invention relates to a surgical system for cutting an anatomical structure (F, T) of a patient according to at least one target plane defined in a coordinate system of the anatomical structure, comprising: i) a robotic device (100) comprising: —a cutting tool, —an actuation unit (4) comprising from three to five motorized degrees of freedom, said actuation unit comprising at least one portion having a parallel architecture comprising a base (40) and a platform (41) selectively orientable relative to the base (40) according to at least two of said motorized degrees of freedom, —a planar mechanism (24) connecting a terminal part of the actuation unit (4) to the cutting tool (2), ii) a passive articulated lockable holding arm (51) supporting the actuation unit, iii) a tracking unit (200) configured to determine in real time the pose of the cutting plane with respect to the coordinate system of the anatomical structure, iv) a control unit (300) configured to determine the pose of the cutting plane with respec

Abstract: The invention relates to a system for planning introduction of a needle in a patient's body, comprising: a needle guide configured to be coupled to a needle; a localization system configured for tracking the needle guide with respect to the patient's body, the localization system being coupled to a needle tracker attached to the needle guide and a reference marker adapted to be attached to the patient's body to determine a spatial position and orientation of the needle tracker relative to the reference marker; a processor configured for determining a virtual position and orientation of the needle with respect to the 3D image using localization data of the needle guide, thereby defining a virtual needle having said virtual position and orientation, detecting a part of the needle that has already been inserted into the patient's body as a trace in the 3D medical image, computing a distance between the virtual needle and the detected needle, and determining a representation of the computed distance; a disp

Abstract: The invention relates to a system for navigating a surgical instrument (1), comprising a processor configured for: obtaining a first 3D medical image of a first volume (V1) of a patient's body, said first volume (V1) comprising a reference marker (M), registering the first 3D image with said reference marker (M), obtaining a second 3D medical image of a second volume (V2) of the patient's body, said second volume (V2) being different from the first volume (V1) and not containing the reference marker (M) in its entirety, said first and second 3D images being obtained by a single imaging device, registering the second 3D medical image with the first 3D medical image, obtaining a virtual position of the surgical instrument (1) with respect to the reference marker (M) from a tracking system, determining a virtual position of the surgical instrument (1) with respect to the second 3D medical image.

Abstract: The invention relates to a medical system for use in interventional radiology, adapted to be coupled to a navigation system, comprising: a needle (1) to be inserted into a patient's body toward a target, said needle comprising a distal tip (10) and a proximal stop (110); a needle guide (2), the needle (1) being able to slide within said guide (2) along a longitudinal axis thereof, said needle guide (2) comprising a tracker for navigating the needle guide (2) with respect to a 3D medical image of a patient; a processor configured to detect a contact between the needle guide (2) and the proximal stop (110) and to determine, from navigation data of the needle guide when said needle guide (2) is in contact with the proximal stop (110) of the needle and from the length of said needle, a position of the distal needle tip (10) with respect to the 3D medical image; and a user interface coupled to said processor and configured to display, on at least one image (I) of the patient, a representation of the needle and

Abstract: The invention relates to a system for determining an optimal position of a surgical instrument relative to a patient's bone tracker, the system comprising:—a medical imaging system configured to acquire at least one cone beam computed tomography intraoperative image of the patient;—a localization device;—a computer configured to receive images from the medical imaging system and localization data from the localization device and to implement the following method: the method comprising: ?(a) receiving at least one preoperative 2D X-ray image of the bone while the patient is in a position of interest; ?(b) acquiring an intraoperative 3D medical image of the bone by cone beam computed tomography while the patient is in an operative position different from the position of interest, the 3D image being registered with the coordinate system of the bone tracker; ?(c) registering the intraoperative 3D medical image onto the at least one preoperative 2D X-ray image, so as to obtain a registered 3D image representing th