Patents by Inventor Stephane Lavallee

Stephane Lavallee 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).

  • Patent number: 11998283
    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
    Type: Grant
    Filed: March 15, 2018
    Date of Patent: June 4, 2024
    Assignee: Orthotaxy S.A.S.
    Inventors: Stéphane Lavallee, Daniel Girardeau-Montaut, Nicolas Demanget
  • Patent number: 11974761
    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.
    Type: Grant
    Filed: October 25, 2017
    Date of Patent: May 7, 2024
    Assignee: Orthotaxy S.A.S.
    Inventors: Stéphane Lavallee, Nicolas Demanget, Hervé Collet, Daniel Girardeau-Montaut, Laurence Chabanas, François Urvoy
  • Publication number: 20240122654
    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.
    Type: Application
    Filed: October 18, 2022
    Publication date: April 18, 2024
    Inventors: William Frasier, Thomas Kuenzi, Philippe Lindenmann, Michael White, Marc Puls, Timothy Minogue, Montserrat Ruth Charles-Harris Ferrer, Sharmila Palani, Clement Vidale, Stephane Lavallee, Paul Mesple
  • Publication number: 20240000406
    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).
    Type: Application
    Filed: October 7, 2021
    Publication date: January 4, 2024
    Inventors: Stéphane LAVALLEE, David ARMAND, Denis ROPP, Vincent LEDIER
  • Publication number: 20230277271
    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).
    Type: Application
    Filed: September 1, 2021
    Publication date: September 7, 2023
    Inventors: Stéphane Lavallée, David ARMAND, LUCAS MICHEL
  • Patent number: 11707625
    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
    Type: Grant
    Filed: September 21, 2018
    Date of Patent: July 25, 2023
    Assignee: UROMEMS
    Inventors: Hamid Lamraoui, Marc Marien, Stephane Lavallee
  • Publication number: 20230190391
    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
    Type: Application
    Filed: May 5, 2021
    Publication date: June 22, 2023
    Inventors: Stéphane Lavallée, Adrien Léon, Christian Belly, Elie Fournier
  • Publication number: 20230140951
    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.
    Type: Application
    Filed: March 31, 2021
    Publication date: May 11, 2023
    Inventors: Stéphane LAVALLEE, David ARMAND
  • Publication number: 20230146679
    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.
    Type: Application
    Filed: April 13, 2021
    Publication date: May 11, 2023
    Inventors: Stéphane Lavallée, David Armand, Laurence Chabanas
  • Patent number: 11633233
    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.
    Type: Grant
    Filed: December 8, 2017
    Date of Patent: April 25, 2023
    Assignee: Orthotaxy S.A.S.
    Inventors: Stéphane Lavallee, Daniel Girardeau-Montaut, Hervé Collet, Anthony Leandri, Nicolas Demanget
  • Publication number: 20230085725
    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.
    Type: Application
    Filed: October 7, 2022
    Publication date: March 23, 2023
    Inventors: Thomas LONJARET, Elie FOURNIER, Christophe DEHAN, Stéphane Lavallée, Sébastien CAMET, Sylvain FONTAINE, Jérémy QUINTIN
  • Patent number: 11607229
    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
    Type: Grant
    Filed: December 7, 2017
    Date of Patent: March 21, 2023
    Assignee: Orthotaxy S.A.S.
    Inventors: Stéphane Lavallee, Nicolas Demanget, Hervé Collet, Daniel Girardeau-Montaut, Laurence Chabanas
  • Publication number: 20220409295
    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
    Type: Application
    Filed: August 29, 2022
    Publication date: December 29, 2022
    Inventors: Lionel CARRAT, Stephane LAVALLEE, Ivan BRICAULT, Florence BILLET, Patrick-Denis SIMONOVICI, Agnes LABADIE
  • Patent number: 11510734
    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
    Type: Grant
    Filed: October 19, 2015
    Date of Patent: November 29, 2022
    Assignee: IMACTIS
    Inventors: Stephane Lavallee, Lionel Carrat, Florence Billet
  • Patent number: 11510735
    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.
    Type: Grant
    Filed: October 19, 2015
    Date of Patent: November 29, 2022
    Assignee: IMACTIS
    Inventors: Stephane Lavallee, Lionel Carrat, Ivan Bricault
  • Publication number: 20220370152
    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
    Type: Application
    Filed: November 12, 2020
    Publication date: November 24, 2022
    Inventors: Stéphane LAVALLEE, David ARMAND
  • Publication number: 20220361972
    Abstract: The invention relates to a surgical robotic system comprising a robotic arm (1) holding an end-effector (11) and a control unit (13) configured to controllably move the robotic arm and maintain the end-effector (11) in at least one target position relative to a patient, wherein the control unit is configured to: (i) based on a first input continuously applied by a user onto the robotic arm (1), activate a hand guiding mode wherein the robotic arm is freely movable by the user; (ii) based on a second input different from the first input, continuously applied by the user onto the robotic arm (1), activate a computed trajectory mode wherein the robotic arm moves to a target position according to a computed trajectory; (iii) when the computed trajectory is activated, detect that the end-effector (11) meets at least one predetermined safety condition and automatically switch to a servo-controlled mode wherein the robotic arm (1) is automatically movable to maintain the end-effector (11) in the target position rela
    Type: Application
    Filed: November 12, 2020
    Publication date: November 17, 2022
    Inventors: David ARMAND, Stéphane LAVALLEE
  • Publication number: 20220354507
    Abstract: The disclosure relates to a hemostatic device (1) comprising at least a first chamber (100) configured to be fluidically connected to a fluid source and a second chamber (200) configured to be fluidically connected to a vacuum source, wherein the hemostatic device comprises a first membrane (201) fluidically isolating the second chamber (200) from the first chamber (100) and a second membrane (202) configured to be placed so as to face, at least partially, a bleeding area of a natural body cavity, the second membrane (202) comprising a plurality of through holes (203) leading into the second chamber (200) and configured to induce a negative pressure in the natural body cavity when a negative pressure is applied in the second chamber (200) by the vacuum source, the induced negative pressure being configured so that the walls of the natural body cavity are attracted to the second membrane (202).
    Type: Application
    Filed: April 1, 2022
    Publication date: November 10, 2022
    Inventors: Franck OTT, Pascal BARRIER, Stéphane LAVALLEE, Eric FALCO, Ethel CAPPELLETTI, Quentin BERTUCCHI
  • Patent number: 11278355
    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.
    Type: Grant
    Filed: October 14, 2016
    Date of Patent: March 22, 2022
    Assignee: ECENTIAL ROBOTICS
    Inventors: Laurence Van Beek, David Armand, Arnaud Pierre, Herve Collet, Elie Fournier, Stephane Lavallee
  • Patent number: 11253322
    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.
    Type: Grant
    Filed: October 14, 2016
    Date of Patent: February 22, 2022
    Assignee: ECENTIAL ROBOTICS
    Inventors: Laurence Van Beek, David Armand, Arnaud Pierre, Herve Collet, Elie Fournier, Stephane Lavallee