• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to an ancillary (20) surgical comprising at least a first point (21) intended to come into contact with a first reference point of an operating area, a second point (22) intended to come into contact with a second reference point of the operating area, a planar tangential contact area (23) for contacting a third reference point of the operating area. The ancillary device further comprises or is capable of being coupled to a means for determining (24) an ancillary orientation reference frame in a Galilean orientation reference frame, and a means of communication (25) of the reference frame. determined orientation.
    公开号:FR3030222A1
    申请号:FR1463223
    申请日:2014-12-23
    公开日:2016-06-24
    发明作者:Yann Glard
    申请人:Yann Glard；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a surgical guidance system and ancillary usable in the context of such a system.
    [0002] The internal skeletal structure of a mammal, human or animal, is sometimes composed of a hundred or so bones. The spine is a chain of bones or vertebrae allowing flexibility and movement, while protecting nerve and vascular structures in and around the spine. The spine begins at the base of the skull, extends to the pelvis and is composed of four regions - cervical, thoracic, lumbar and pelvic. Figures 1A, 1B show respectively a top view and a side view of a typical vertebra 1. The vertebra 1 comprises: a vertebral body 2 facing forward; a vertebral foramina 3 in the form of a hole allowing the spinal cord to pass; two transverse processes 4A, 4B, oriented rearward and outward; a thorny process between transversal processes 4A, 4B and downward; two blades 6A, 6B which connect the transverse processes 4A, 4B to the spinous process 5; two pedicles 7A, 7B which connect the vertebral body 2 to the transverse processes 4A, 4B; two upper articular facets 8A (not shown), 8B and two lower articular facets 9A (not shown), 9B which allow the articulation of the vertebrae 1 between them. Normal or ideal vertebral alignment may be disrupted following trauma or disease, for example scoliosis. The vertebrae can pivot around three axes (X, Y, Z), sometimes requiring surgery to correct abnormalities and find an ideal alignment or, at least improved, the spine. In this case, at least two adjacent vertebrae 1 are generally fused to one another by a method in which a surgeon opens the patient, usually by the back, determines an entry point 10 and pierces holes 11 in the pedicles 7A, 7B of the vertebrae 1. The holes are pierced with an axial angle alpha a (the angle with respect to the plane XZ) and a sagittal angle beta 3 (the angle with respect to the plane XY), shown in FIGS. 1A, 1B respectively. Then, pedicle screws 12 having U-shaped ends 13 are inserted into the holes 11. (For the sake of clarity of FIG. 1A, a single entry point 10, hole 11, pedicle screw 12, and end 13 are shown.) The ends 13 receive connecting elements (not shown), for example bars, which make it possible to reduce the deformation and to merge the vertebrae 1 with each other. Then, the connecting elements are connected between the pedicle screws of two adjacent vertebrae 1 in order to correct, as and when, the alignment of the vertebral column, which is based on approximate correction objectives for each level of the column. vertebral and are derived from medical images ('X' electromagnetic radiation, computed tomography, magnetic resonance imaging, etc.) taken preoperatively, ie before surgery. As a result, all the drilled holes 11 and the pedicle screws 12 placed in the vertebrae 1 must be carefully positioned and aligned so as not to injure the adjacent nerve and vascular structures, or even cause the patient to die. At the very least, there should be a second operation, entailing additional costs and risks.
    [0003] Guiding systems have been developed to assist the surgeon in piercing the holes 11 in the vertebra 1 and accurately placing the pedicle screws 12. The article "Guided pedicle screw insertion and training" by Manbachi et al. describes a surgical orientation system based on optoelectronic navigation. Computed tomography (CT) is a medical imaging technique performed during a preoperative phase to construct a three-dimensional model of the area to be operated, for example one or more vertebrae. During an intraoperative phase, ie the actual operation, optical markers arranged on the surgical tools are captured by a plurality of cameras that film the operating room in real time, in order to locate the positions of the tools relative to the model.
    [0004] In addition, the patient is usually lying on his back for taking pictures, while he is lying on his stomach for the operation. As a result, the positions of the vertebrae do not match between the images taken and the position of the patient during the operation. Finally, such a system is expensive, cumbersome in an operating room, and may be inaccurate if for example some markers are closed during the operation. In the case of a system that relies on imaging taken during the intraoperative phase, staff and the patient are exposed to electromagnetic radiation (X-rays) and the duration of the operation is longer.
    [0005] No. 8,419,746 discloses a surgical tool comprising a rod, at least two electrodes arranged on the rod, and means for measuring the impedance between the electrodes. An impedance change indicates a vacuum, which means that the end of the rod is out of the bone. Nevertheless, such a tool does not allow the surgeon to determine the ideal path, it only reports a wrong path a posteriori, report that may be too late. Accordingly, there is a need for systems and tools to indicate beforehand the correct path to the surgeon with respect to the images taken preoperatively and the position of the patient during the operation.
    [0006] Embodiments of the invention provide a surgical ancillary device comprising at least: a first contact point for contacting a first reference point of an operating area; a second contact point intended to come into contact with a second reference point of the operating zone; a contact zone intended to come into contact with a third reference point of the operating zone; the ancillary further comprising or capable of being coupled to: a means for determining an orientation reference frame of the ancillary in a Galilean orientation reference frame; and a communication means of the determined orientation reference frame. According to one embodiment, the contact zone is a substantially plane tangential zone. According to one embodiment, the orientation reference frame of the ancillary device makes it possible to know a reference frame of orientation of the operating zone with respect to the Galilean orientation reference frame. According to one embodiment, the ancillary is in the form of a compass and comprises at least two branches at the lower ends of which the first point and the second point are arranged, and a third branch at the lower end of which the tangential contact zone. in the form of a palpation tray is arranged. According to one embodiment, the ancillary is in the form of i-Greek and comprises at least two branches at the ends of which the first point and the second point are arranged in the form of rectilinear edges, a third branch in the form of a handle, and a central zone having a lower face which forms the contact zone.
    [0007] According to one embodiment, it is possible to adjust the length, the angle, and / or the inclination of at least one branch. According to one embodiment, the first point, the second point, and the tangential contact zone are coplanar.
    [0008] According to one embodiment, the means for determining the reference frame is a device comprising at least one of the following components: a tri-axis accelerometer, a tri-axis magnetometer, and / or a tri-axis gyroscope. According to one embodiment, the means for determining the orientation reference frame is a device comprising at least three non-aligned optical markers intended to be visible by at least one camera filming the operating area. According to one embodiment, the communication means of the orientation reference system is a visual display. According to one embodiment, the communication means of the orientation reference frame is a wired or non-wired link.
    [0009] Embodiments of the invention further relate to an assembly comprising at least two ancillaries according to one embodiment, the ancillaries being designed for operating areas different from each other. Embodiments of the invention further relate to a surgical guidance system comprising at least one ancillary device according to one embodiment and a surgical tool comprising or being capable of being coupled to a repository determining means. orientation of the tool, and a means of communication of the reference frame of the tool. According to one embodiment, the ancillary and the surgical tool are capable of being coupled to the same orientation reference determination and communication device. Embodiments of the invention further relate to an operating room equipped with a surgical ancillary according to one embodiment. According to one embodiment, the operating room further comprises an image display and data processing device comprising: a screen for displaying images taken from the operating area; a processor; input and data manipulation means; and means for receiving the data communicated by the ancillary. Embodiments of the invention further relate to a method of preoperative preparation of a surgical procedure, comprising the steps of: taking at least one three-dimensional image of an operating area; determining at least three reference points of the operating area from the three-dimensional image; calculating an operating reference point by means of the reference points, the operating referential being subsequently identifiable by an ancillary according to one embodiment; and determine at least one local reference for the surgical procedure to be performed. Embodiments of the invention further provide a computer-readable non-transitory medium comprising a computer executable instruction program for performing the method according to one embodiment.
    [0010] Other particular features and advantages of the present invention will become apparent from the detailed description given with reference to the figures in which: FIGS. 1A, 1B, previously described, respectively represent a view from above and a side view of a typical vertebra Fig. 2A shows a top view of a surgical guidance system comprising a surgical ancillary and a surgical tool according to one embodiment; Fig. 2B shows a vertebra with reference points for the operation; FIGS. 3A, 3B show respectively a top view and a side view of the surgical ancillary device shown in FIG. 2A in use; FIG. 4 represents a reference frame of a operating room and a reference frame; 5A, 5B respectively represent a perspective view and a top view of an orientation system. According to another embodiment, FIG. 6 represents a top view of a surgical orientation system according to another embodiment, FIG. 7 represents a perspective view of a surgical orientation system. according to another embodiment, FIG. 8 represents an operating room equipped with a surgical orientation system according to one embodiment, FIG. 9 represents a flowchart of a preoperative phase, FIG. 10 represents a flowchart. of an intraoperative phase, and - Figure 11 shows a non-transitory computer readable medium and comprising a computer executable program of instructions.
    [0011] Figure 2A shows a SYS1 surgical guidance system according to one embodiment. The SYS1 system comprises a tool 20 (hereinafter "ancillary") and a surgical tool 30, for example a drill. Ancillary device 20 comprises: at least two contact points 21, 22; a tangential plane contact zone 23; a means 24 for determining an orientation reference frame RA of the ancillary device and a means 25 for communicating the orientation reference frame RA of the ancillary device. The reference frame RA of the ancillary 20 can be likened to a reference frame RO of a ZO operating area (for example the vertebra 1) and therefore allows to know the reference frame RO in a repository of Galilean orientation RS, for example a ZS operating room (shown in Figure 8). In the following, the RO reference referential term of the operating area will be used. In this embodiment, the ancillary device 20 is Y-shaped ("i-Greek"), the points 21, 22 being rectilinear edges of a first branch 26 and a second branch 27 respectively, and a third branch 28 serving as a handle. The branches 26, 27 are the upper left and right ends of the Y respectively, the branch 28 is the lower central end of the Y, and the zone 23 is arranged in the center of the Y and comprises a flat lower face. (more or less). The ancillary device 20 further comprises "pins" 29 on the points 21, 22 which prevent the ancillary 20 from sliding once in contact with the vertebra. The points 21, 22 and the plane contact zone 23 are coplanar. As shown in FIG. 2B, the operating zone ZO (here vertebra 1) comprises at least three reference points R1, R2, R3. In the case of a vertebra 1, the points R1, R2 are arranged for example at the top of the transverse processes 4A, 4B respectively, and are fairly easy to identify with the naked eye, in particular by an experienced surgeon. The point R3 is arranged on the spinous process 5 in a tangential zone ZT, as will be explained later. Accordingly, the contact points 21, 22 are each intended to come into contact with the points R1, R2 respectively, and the zone 23 is placed on the point R3, in order to determine a coordinate system or "reference frame" RO of the ZO operating area compared to the RS orientation reference system of the operating room ZS. The surgical tool 30 is for example a tool for piercing the vertebra 1, and comprises: a rod 31; a point 32 at the front end of the stem; a handle 33; means 34 for determining an orientation reference frame RT of the tool; and means for communicating the orientation reference frame RT of the tool. In the simplest case, the determination means 24, 34 are bubble levels, also sometimes called level, and the communication means 25, 36 are visual indicators, for example numbers marked around the spirit level or even a simple circle in the center of the level. FIGS. 3A, 3B respectively represent a view from above and a side view of the ancillary device 20 placed on a vertebra 1. The dimensions of the ancillary device 20 are adapted to the intended application, for example approximately 10 cm in width, 15 cm in length, and 0.50 cm thick for operations on the human spine. In a preoperative phase, images are obtained, for example from the entire spine, to make three-dimensional reconstructions of the operating area. Then, for each vertebra, the reference points R1, R2, R3 are determined to define the orientation reference frame RO of the operating zone. In some embodiments, the point R3 is a point in the tangential zone ZT, which will be more difficult to determine with the naked eye but will be contacted by the contact zone 23 by simply placing the ancillary on the ZT zone. Then, in the case of placement of the pedicle screws, grasping the optimal screwing directions of the pedicle screws 12 makes it possible to define a director vector for each pedicle screw. With reference to FIG. 4, which represents the RO orientation reference frame of the operating area and the Galilean orientation reference frame RS of the operating room, each reference frame RO, RS comprises three axes, Xo, Yo, Zo; Xs, Ys, Zs respectively. An arrow [V] ro (or "local reference") represents a director vector V of a surgical gesture (for example the installation of a pedicle screw) expressed in the OR orientation reference frame of the operating zone (currently in the vertebrate). Then, during the intraoperative phase, the surgeon positions the ancillary 20 on the vertebra 1, as shown in FIGS. 3A, 3B, by putting the points 21, 22 in contact with the reference points R1, R2 respectively, and then placing the zone 23 on the reference point R3. The orientation reference frame RO of the operating zone ZO is then determined with respect to the reference frame RS of the operating room, by means of determination and communication means 24, 25 of the reference frame RO of the operating zone ZO. A Mrors rotation matrix, which expresses the orientation reference frame RO in the orientation reference frame RS, is defined. A director vector [V] rs in the reference frame RS of the operating room ZS can be established with respect to the reference frame RO of the operating zone ZO, previously established, according to the following equation: [V] rs = Mrors - [V] ro [equation 1] Finally, the surgical tool 30 determines and communicates, thanks to the determination and communication means 34, 35 of the reference frame RT of the tool, in real time its orientation, in particular the orientation of its rod 31, in the reference frame RS of the operating room. The dynamic orientation of the rod 31 relative to the ideal orientation of the pedicle screw to be laid, allows the surgeon to adapt the orientation of the tool 30 to match the orientation of the vector director [V] ro expressed in the Galilean referential RS (ie [V] rs). Figures 5A, 5B show respectively a perspective view and a top view of a surgical orientation system 5Y52 according to another embodiment. The 5Y52 system includes an ancillary 40 and a surgical tool (not shown for simplicity). Ancillary 40 comprises: at least two contact points 41, 42; a tangential contact area or "flat palpation plateau" 43; determination means 44 of the orientation reference frame RA (and consequently RO) and a communication means 45 of the orientation reference frame (not shown in detail). In this embodiment, the ancillary device 40 is in the form of a "compass", the points 41, 42 being the lower ends of the branches 46, 47 arranged along a transverse axis A-A ', and the contact zone 43 being disposed at the lower end of a third leg 48 arranged along a longitudinal axis BB 'which bisects the axis AA' to a central vertical axis CC 'and also serves as a handle. In this embodiment, the determining means 44 is a "MEMS" or "electromechanical microsystem" system which determines the plane of the ancillary. This means may comprise a tri-axis accelerometer, a tri-axis magnetometer, and / or a tri-axis gyroscope, as known to those skilled in the art and will not be explained in more detail. The communication means 45 is a wired link (cable) or non-wired (non-contact), for example by Wi-Fi or Bluetooth. It will be noted that the vertebrae on which one operates may vary from the "typical" vertebra shown in Figure 1, depending on the reason for the operation, the age of the patient, his morphology, etc. As a result, the reference points R1, R2, R3 may be out of step with the standards. In this case, it is desirable to be able to adjust the ancillary so that the reference points R1, R2, R3 can be contacted by the ancillary. In this embodiment, the lengths of the branches 46, 47 can be adjusted along the axis A'A 'to take into account possible variations in the size of the vertebrae. To this end, the ancillary comprises a pinion 49 for adjusting the lengths of the branches 46, 47, which comprise adjustment rails. In addition, it will be noted that in FIGS. 5A, 5B, the contact zone 43 is articulated around a vertical axis D-D 'at the distal end of the branch 48.
    [0012] In other embodiments, the length of the branch 48 can be adjusted along the axis BB 'for example by means of a "telescopic" system, as well as the angles of the branches 46, 47, 48 with respect to the center , the inclination of the branches relative to the plane formed by the axes A-A ', B-B', etc. In FIG. 5A, the ancillary 40 is placed on a vertebra 1 in the intraoperative phase. First, the points 41, 42 of the branches 47, 48 are placed on the reference points R1, R2. An axis A1-A1 'is formed between the points. If necessary, the distance between the points 41, 42 is modified by the pinion 49. Then, the ancillary is pivoted about the axis A1-A1 'so that the contact zone 43 is placed on the point R3. The points 41, 42 and the contact zone 43 are then coplanar.
    [0013] An axis B1-B1 'bisects the axis A1-A1' and the contact zone 43. The orientation reference frame RO of the operating zone ZO is determined by the determination means 44 and communicated outside the ancillary 40 by the means of communication 45. Once the orientation reference frame RO has been determined and communicated, the surgeon proceeds to drill the holes using the surgical tool, which may be similar to the tool 30 described in connection with FIG. 2A, or may comprise MEMS determination means and wired or non-wired (non-contact) communication, as described in connection with the ancillary 40. FIG. 6 represents a view from above of a 5Y53 surgical guidance system according to another embodiment. The 5Y53 system includes an ancillary device 50 and a surgical tool (not shown for simplicity). The ancillary device 50 comprises: at least two contact points 51, 52; a tangential contact area 53; and determining and communicating means 54-55A, 54-55B, 54-55C of the RA reference frame (RO). The means 54-55A, 54-55B, 5455C are non-aligned optical markers and intended to be picked up by a plurality of cameras that film the operating room ZS in real time, in order to locate the positions of the tools relative to the model. Similar to the ancillary device 20 described in connection with FIG. 2A, in this embodiment, the ancillary device 50 is Y-shaped ("i-Greek"), the points 51, 52 being rectilinear arrows of a first branch 56 and a second branch 57 respectively, and a third branch 58 serving as a handle. The branches 56, 57 are the left and right upper ends of the Y respectively, the branch 58 is the central lower end of the Y, and the area 53 is disposed at the center of the Y. The ancillary 50 further comprises "pins" 59 on the points 51, 52 which prevent the ancillary 50 from sliding once in contact with the vertebra. The surgical tool may be similar to the tool 30 described in connection with FIG. 2A (including levels), include means for MEMS determination and wired or non-wired (non-contact) communication, or even include markers. optics. In addition, it is not mandatory for the surgical tool to include such means of determination and communication. In this case, it can be a simple conventional surgical tool. Fig. 7 is a perspective view of a surgical orientation system 5Y54 according to another embodiment. The system 5Y54 comprises an ancillary 60, a surgical tool 70, and a tool 80 for determining and communicating the orientation reference frame of the operating room. Ancillary 60 is similar to ancillary 40 described in connection with FIG. 5A, and comprises: at least two points of contact 61, 62; a tangential contact area 30 or "palpation plateau" 63; branches 66, 67, 68; and an end 69 for receiving the tool 80. The surgical tool 70 comprises: a rod 71; a point 72 at the front end of the stem; and one end behind 73 to receive the tool 80. Finally, the tool 80 comprises: a body 81; a front end 82 digs to receive the rear ends 69, 73; determination means 84 of the reference frame RA, RT (RO) of the tool 60, 70; and a communication means 85 of the tool orientation reference frame. Preferably, the ancillary 60, the surgical tool 70, and the determination and communication tool 80 cooperate so that the tool 80 can be embedded on the ancillary 60 and the tool 70 in a non-definitive manner (It can be removed), accurate (no play between the elements) and repeatable. For this purpose, the rear ends 69, 73 of the ancillary 60 and the surgical tool 70 respectively may comprise projections received in a notch within the front end 82 hollow, forcing the tool 80 to be recessed in a previously defined manner.
    [0014] The tool 80 is first recessed on the end 69 of the ancillary 60. Once the reference frame RA determined and communicated, the ancillary 60 is set aside and the tool 80 is removed and placed on the end of the surgical tool 70 to determine and communicate again the RT orientation reference of the tool 70. This system allows a cost reduction because a single device for determining and communicating the reference is necessary, and can be used in the case where the operating area is not likely to change position during operation. Figure 8 shows a ZS operating room equipped with a surgical guidance system. By way of example, a system SYS1 'is shown here, comprising an ancillary 20' and a tool 30 'equipped by means of determination "MEMS" and non-wire communication means. The operating room ZS is equipped with a device 90 for displaying images and processing data, such as a computer. The device 90 comprises a screen 91, a processor 92, input and data manipulation means 93 (a keyboard, a mouse, a voice sensor, etc.), and means 94 for receiving data communicated by the user. 'Ancillary 20' and / or tool 30 '. The operating theater also comprises an "operating entity" 100 comprising a surgeon 101 who operates on a patient 102 lying on an operating table 103. The screen 91 makes it possible to display images I obtained from the operating zone ZO during the preoperative phase. The operating room staff, and particularly the surgeon, can view the images during the operation. These images can be "static" or advantageously "dynamic". By dynamic, it is understood that the references of the ancillary 20 'and / or the surgical tool 30' are determined, communicated to the computer 90, and displayed on the screen 91 in real time. The surgeon 101 can then have a precise idea of the orientation of his tools with respect to the vertebra. In one embodiment, the system is interactive and allows the surgeon 101 to give oral instructions, for example "Display the L5 vertebra. So that the computer displays the image corresponding to the L5 vertebra. FIG. 9 represents a flowchart of a preoperative phase P1, and FIG. 10 represents a flowchart of an intraoperative phase P2. The phase P1 comprises the steps 51 to 55. In the step 51, an image I of at least one operating zone ZO is taken, for example by a means of tomodensitometry. In step 52, at least three reference points R1, R2, R3 are determined and recorded in the case of a dynamic system, or simply noted in the case of a static system. In step 53, an operating reference RO, as described above in relation to FIG. 4, is calculated by means of the reference points and then recorded or noted. In step 54, at least one director vector [V] ro is determined for the surgical procedure to be performed and then recorded or noted. In step 55, the process is repeated if necessary for other operating areas. Phase P2 comprises steps 511 to 516. In step 511, the ZO operating zone is exposed. In step 512, a point of the ancillary is placed on the first reference point Ri. In step 513, another point of the ancillary is placed on the second reference point R2. At step 514, the contact zone of the ancillary is placed on the third reference point R3. In step 515, the orientation reference frame RO of the operating zone ZO is determined and communicated, allowing the calculation of the rotation matrix Mrors and the steering vector [V] rs. In step 516, the surgical tool is used to perform a surgical procedure according to the calculated directional vector.
    [0015] Fig. 11 shows a computer-readable non-transitory medium 110 comprising a computer-executable instruction program. The instruction program may include the calculation algorithm described with reference to FIG. 4. Embodiments further relate to an assembly or "kit" of at least two ancillaries 20, 20 ', 50, each ancillary being designed for ZO operating zones different from each other, for example having different dimensions, different angles between the branches, etc. This allows to cover a range of anatomical variations. In one embodiment, the ancillaries 20, 20 ', 50 have different sizes, for example small, medium, and wide.
    [0016] It will be understood by those skilled in the art that the embodiments described above may be modified. For example, the communication means 25, 35, 45, 55, 65 may be a digital screen, LEDs ("LED" or "Light-Emitting Diode" for example) are green, orange and red, for example. light up, wired links (a cable connected to the surgical tool or the data processing device), non-wired links (Wi-Fi, NFC, Bluetooth, etc.), an auditory signal and, more generally, any means of communication of information. In the foregoing, the contact areas 23, 43, 53, 63 have been described as essentially planar areas that arise on a tangential contact area ZT. (By "essentially flat" it is understood that the area is more or less planar within manufacturing limits). Nevertheless, it will be understood by those skilled in the art that these contact areas may have any other form designed to come into contact with a given area. For example, they may be concave to land on a rounded shape, such as spinous processes 5, convex to land in a depression, etc. In one embodiment, not shown, a tool for determining and communicating an orientation reference system is attached to the operating zone ZO itself in order to continuously check its position, for example to ensure that the patient did not move during the operation, for very delicate operations. The position of the patient, and more particularly of the operative area, can be adjusted until the correct orientation is found. Means (straps, clips, etc.) for holding the operative area (the patient) in a given position can be implemented either before the operation or during the operation.
    [0017] It will be understood by those skilled in the art that certain elements described in connection with an embodiment (for example the determination and communication means, the "MEMS", the pins, etc.) can be applied to the other embodiments. . The surgical tool is for example a perforator, a screwdriver and, in general, any tool that allows a surgical act. The materials used for the ancillary and the surgical tool can preferably be sterilized and do not pose a problem of biocompatibility. As discussed above, in some embodiments, it is not mandatory that the surgical tool be provided with a position determining and communicating means. In some cases, once the OR orientation reference frame has been obtained, the surgeon can easily determine for himself the correct angle, for example an angle of 900 with respect to the ancillary orientation reference frame. In some embodiments, the branches of the ancillary 20, 20 ', 50 may be articulated around the central area, for example by means of the hinges arranged between the central zone and each branch. Finally, other modes of calculating the director vectors can be implemented.
    权利要求:
    Claims (15)
    [0001]
    REVENDICATIONS1. Surgical guidance system (SYS1, SYS1 ', SYS2, SYS3, SYS4) comprising: - a surgical tool (30, 70); and a surgical ancillary (20, 20 '; 40; 50; 60) comprising at least: - a first point of contact (21; 41; 51; 61) intended to come into contact with a first reference point (R1) an operating area (ZO); a second contact point (22; 42; 52; 62) for contacting a second reference point (R2) of the operating area; and - a contact zone (23; 43; 53; 63) intended to come into contact with a third reference point (R3) of the operating zone; the system further comprising: - a determination means (24; 44; 54A, 54B, 54C; 84) of an orientation reference frame (RA) of the ancillary in a Galilean orientation reference frame (RS); and a communication means (25; 45; 55A, 55B, 55C; 85) of the determined orientation reference frame.
    [0002]
    2. The system (SYS1, SYS1 ', SYS2, SYS3) according to claim 1, wherein the determining means (24; 44; 54A, 54B, 54C) and the communicating means (25; 45; 55A, 558; 55C) are integrated in the ancillary itself.
    [0003]
    The system (SYS1) according to one of claims 1 or 2, wherein the surgical tool (30) further comprises: - a means (34) for determining an orientation reference (RT) of the tool; and a means of communication (35) of the orientation reference frame (RT) of the tool.
    [0004]
    The system (SYS4) of claim 1, wherein the determining means (84) and the communicating means (85) are integrated in a determination and communication tool (80) further comprising a hollow front end ( 82), the ancillary (60), and the surgical tool (70) having rear ends (69, 73) for receiving the identification and communication tool (80) by embedding.
    [0005]
    5. System (SYS1, SYS1 ', SYS2, SYS3, SYS4) according to one of claims 1 to 4, wherein the contact zone (23; 43; 53; 63) of the ancillary is an essentially plane tangential zone. .
    [0006]
    6. System (SYS2, SYS4) according to one of claims 1 to 5, wherein the ancillary is in the form of a compass and comprises: - at least two branches (46, 47, 66, 67) at the lower ends of which the first point and the second point (41, 42; 61, 62) are arranged; and a third limb (48; 68) at the lower end of which the tangential contact area (43; 63) is arranged.
    [0007]
    7. System (SYS1, SYS1 ', SYS3) according to one of claims 1 to 6, wherein the ancillary is in the form of i-Greek (Y) and comprises: - at least two branches (21, 22; , 52) at the ends of which the first point and the second point (21, 22; 51, 52) are arranged in the form of straight edges; - a third leg (28; 58) shaped handle; and a central area having a lower face which forms the tangential contact area (23; 53).
    [0008]
    8. System (SYS1, SYS1 ', SYS2, SYS3, SYS4) according to one of claims 6 or 7, comprising means for adjusting: - the length, - the angle, and / or - the inclination of at at least one branch (26, 27, 28, 46, 47, 48, 56, 57, 58, 67, 68, 69) of the ancillary.
    [0009]
    9. System (SYS1, SYS1 ', SYS2, SYS3, SYS4) according to one of claims 1 to 8, wherein the first point (21; 41; 51; 61), the second point (22; 42; 52; 62), and the tangential contact area (23; 43; 53; 63) of the ancillary are coplanar.
    [0010]
    10. System (SYS1, SYS1 ', SYS2, SYS3, SYS4) according to one of claims 1 to 9, wherein the means for determining (24; 44; 54A, 54B, 54C; 84) of the reference system is a device comprising at least one of the following components: - a tri-axis accelerometer; a tri-axis magnetometer; and / or - a tri-axis gyroscope.
    [0011]
    11. System (SYS3) according to one of claims 1 to 10, wherein the means for determining (54A, 54B, 54C) of the ancillary orientation reference frame is a device comprising at least three non-aligned optical markers. , intended to be visible by at least one camera filming the operating area.
    [0012]
    12. System (SYS1) according to one of claims 1 to 11, wherein the communication means (25) of the orientation reference is a visual display.
    [0013]
    13. System (SYS1 ', SYS2, SYS3, SYS4) according to one of claims 1 to 12, wherein the communication means (45; 55A, 55B, 55C; 85) of the orientation reference system is a wired connection or non-wired.
    [0014]
    14. System according to claim 1, comprising at least two ancillaries (20, 20 ', 50), the ancillaries being designed for operating zones (ZO) different from each other.
    [0015]
    15 20
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3236874B1|2019-03-20|Surgical positioning system
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    同族专利:
    公开号 | 公开日
    EP3236874A1|2017-11-01|
    US20170354426A1|2017-12-14|
    FR3030222B1|2021-09-24|
    WO2016102898A1|2016-06-30|
    US10349954B2|2019-07-16|
    ES2731051T3|2019-11-13|
    EP3236874B1|2019-03-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE69534862T2|1994-10-07|2006-08-17|St. Louis University|Surgical navigation arrangement including reference and location systems|
    KR20060003685A|2004-07-07|2006-01-11|한국과학기술원|An acetabular cup orientator in a total hip replacement|
    WO2006109983A1|2005-04-12|2006-10-19|Korea Advanced Institute Of Science And Technology|Navigation system for hip replacement surgery having reference mechanism and method using the same|
    WO2014176207A1|2013-04-22|2014-10-30|University Of Washington Through Its Center For Commercialization|Patient-specific guides to improve point registration accuracy in surgical navigation|WO2018150151A1|2017-02-20|2018-08-23|Vincent Pomero|Surgical orientation system using bone geometry for repeatable positioning|
    FR3080017A1|2018-04-16|2019-10-18|Pytheas Navigation|QUICK CALIBRATION SYSTEM FOR SURGICAL NAVIGATION|US5141512A|1989-08-28|1992-08-25|Farmer Malcolm H|Alignment of hip joint sockets in hip joint replacement|
    FR2865921B1|2004-02-11|2007-06-01|Spinevision|EXPLORATION DEVICE FOR TRACKING THE PENETRATION OF AN INSTRUMENT IN AN ANATOMICAL STRUCTURE|
    AU2007254173B2|2006-05-17|2013-07-25|Nuvasive, Inc.|Surgical trajectory monitoring system and related methods|
    JPWO2012169642A1|2011-06-06|2015-02-23|希 松本|Registration template manufacturing method|
    EP2901957A1|2014-01-31|2015-08-05|Universität Basel|Controlling a surgical intervention to a bone|CN106308946B|2016-08-17|2018-12-07|清华大学|A kind of augmented reality devices and methods therefor applied to stereotactic surgery robot|
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    法律状态:
    2015-10-28| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-24| PLSC| Publication of the preliminary search report|Effective date: 20160624 |
    2017-04-28| PLFP| Fee payment|Year of fee payment: 3 |
    2017-12-22| PLFP| Fee payment|Year of fee payment: 4 |
    2019-12-05| PLFP| Fee payment|Year of fee payment: 6 |
    2020-11-18| PLFP| Fee payment|Year of fee payment: 7 |
    2021-12-29| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1463223A|FR3030222B1|2014-12-23|2014-12-23|SURGICAL GUIDANCE SYSTEM|FR1463223A| FR3030222B1|2014-12-23|2014-12-23|SURGICAL GUIDANCE SYSTEM|
    US15/538,994| US10349954B2|2014-12-23|2015-12-22|Surgical navigation system|
    EP15823367.6A| EP3236874B1|2014-12-23|2015-12-22|Surgical positioning system|
    PCT/FR2015/053735| WO2016102898A1|2014-12-23|2015-12-22|Surgical navigation system|
    ES15823367T| ES2731051T3|2014-12-23|2015-12-22|Surgical guidance system|
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