• 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 invention relates to a method and an automated registration device for a surgical robot allowing registration between a first three-dimensional positioning system comprising an optical distance sensor and a second three-dimensional positioning system comprising optical acquisition means. The method includes: - a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and; a second stage of intraoperative registration of the two three-dimensional localization systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a cloud of points acquired by the optical sensor during the first intraoperative registration. .
    公开号:FR3048872A1
    申请号:FR1652414
    申请日:2016-03-21
    公开日:2017-09-22
    发明作者:Bertin Nahum；Lucien Blondel；Pierre Maillet
    申请人:Medtech SA；
    IPC主号:
    专利说明:

    Automated registration method and device for a surgical robot
    The present invention is applicable in the medical field, and more particularly in the field of robotic assisted surgery, typically used when high accuracy of operation is required.
    It concerns the so-called registration, that is to say a mapping of the reference frames in the space of the various elements, devices, tools that are parties to the operation (including the patient, or more specifically the area or regions of intervention in the patient). More precisely, the invention relates to an automated registration method between two three-dimensional localization systems and to a robotic device for assistance with surgery implementing said method.
    This registration is done in-phase, intraoperatively, in practice at the beginning of the operation, just before the surgical procedure begins. Such a registration is absolutely fundamental to ensure an acceptable degree of precision of the automated operating procedures, since it leads to all the instruments used as well as the intervention zone, failing to be directly calibrated on the same repository. , are in any case connected by matrices passing from one frame to another. In this case, the transition matrices, calculated during the registration phase, allow each coordinate system linked to a repository to be transformed and therefore intelligible in another repository. The idea underlying the registration procedure is to unify the working reference of all parties involved in a robotic assisted surgical procedure, which implies that each device can exploit in real time positioning measurements the case performed in a repository that is not his, for example related to other instruments used during the surgical operation. The problem results from the factual existence of several different reference frames which coexist. As an example of such reference marks, it is possible to cite the benchmark of measurements taken from a medical examination. marker of a helper, surgical, the marker of an optical navigator, the marker from the anatomical region to. to treat on. the body of the. patient lying on the operating table. They are all to be taken into consideration in order to work.
    A registration requires, measurements and, in this area, is. in particular based on optical imaging techniques since it is especially to locate anatomical surfaces of the patient in the vicinity of the operative region. Before any other treatment, it is necessary to put them in correspondence with imaging data obtained from medical examinations carried out by conventional means (radiological examinations with CT scans, resonance-magnetic imaging, etc.) so that the objectives The surgeon's operational procedures can be implemented in the reality of the operating theater, integrating the various instruments required and their respective locations and markings, a first registration which is then implemented more precisely in the configurations of the operating theater. surgical operations using assistance robots which will be developed in the following, for example, the assistance robot equipped with tools, or surgeon-assisted surgical instruments is thus obligatorily subjected to such a procedure, This involves the acquisition of a cloud of points on the anatomical surface, or at least a few points of a face of the patient, from which he. It is possible to make a comparison: between the robot-specific reference mark on which the instruments are tributary and, on the other hand, the reference used for the description of the robot. part, concerned of the body of the patient.
    In practice, it is a surface scan that is implemented during said first registration procedure, allowing the acquisition of the targeted anatomical surface. The system then constitutes a three-dimensional representation in the form of a numerical model, formed of a cloud of points, which is, if necessary, treated by the selection of remarkable points in True to make a comparison with data from radiological examinations or. IBM. (Magnetic resonance imaging) concerning the same patient which have been prerecorded and from which it is possible to obtain surface parameters adapted to the comparison / and thus to the desired registration.
    A surgical assistance robot locates the instruments it carries with the information from the coders of each of its axes, in a reference generally defined at its base and aligned on the first axis. It actually behaves like a three-dimensional localization system. The surgical procedures in which it is used (surgery of the brain, operations on the spine) requiring an extreme precision of positioning of the instruments and the surgical gestures, it must if necessary be able to adapt to movements of the anatomical surfaces to the where it is used. For example, it may involve movements of the spine resulting from the breathing of the patient, or possible head movements during a neurosurgical operation. It has to adapt, in real time, the position of the tools with respect to the projected operating targets, and thus receive permanent information on the possible movements of said targets.
    An optical navigator, which is another three-dimensional localization system, is at this point. more and more effect, often associated with robots. surgical assistance in the current operative protocols · navigator that works next, its own mark, and must .bien also be calibrated on benchmarks related to the patient · on the one hand, and the surgical robot on the other hand .
    In this hypothesis of existence of an optical navigator in addition to the surgical assistance robot, a. Once the patient is positioned on an operating theater table and immobilized with respect thereto, the mark which is linked to it and that which relates to the surgical assistance robot during a first registration is set as indicated in correspondence. . At this stage, however, the optical navigator has no information relating to the position of the robot and that of the anatomical surfaces concerned by the current operation. It is therefore necessary to carry out a second registration operation to link the three references that exist in this case.
    The problem is, if not old, at least posed since one seeks to enslave surgical robots to navigators able to detect the movements of the bodies likely to distort the positioning of the instruments and surgical tools. In this regard, at least two types of methods are known for identifying the anatomical surfaces in the robot's reference system, and to harmonize or in any case to allow the interlocking of the robot's references, the anatomical surfaces of the operated patient and the optical browser.
    A first type of known method of relative location between a surgical assistance robot and an optical navigator, described in the document US 2012/109150, involves on the one hand a robotic arm · equipped with an optical target (for example reflecting spheres) and having six degrees of freedom, and secondly an optical navigator provided with optical detection means. Following a first registration aimed at the. robot, and anatomical surfaces, a second registration aims to rigidly match the repositories of the robot and the browser. For this purpose, the robotic arm carries at least one target of known geometry placed at the level of the tool or instrument fitted to the arm, and which carries, for example, reflective spheres. to precisely locate the instruments equipped with an optical target thanks to the information deposition of the reflective spheres, obtained by triangulation based on the information detected by an optical acquisition system equipping the browser.
    The procedure of the registration is as follows; the robotic arm is moved to take a number of predetermined fixed positions (e.g. six) flanking the workspace. An acquisition of the coordinates of each position is carried out both in the reference of the robotic arm "by recording the positions of the tool in the reference system of the robot, and in the optical browser repository" following the triangulation. This acquisition generates a cloud of coordinates in each repository, and a computer processing makes it possible to rigidly match the repositories of the robot and the optical browser by calculating a matrix for passing the coordinates of the point cloud from a repository to the repository. other.
    This type of relative locating method has the disadvantage of requiring two different acquisition steps, firstly to locate the anatomical surfaces of the patient in the robot mark and secondly to calculate the correspondence between the mark of the arm robotic and navigator landmark, resulting in an increase in operative time, It then requires a succession of. particular implementations of the robot arm relative to the optical browser "and. consequently, some movements creating a risk of collision due to the usual crowding of the operating theaters. Finally, it requires additional equipment, namely the target (s) to; reflective spheres.
    Another family of registration methods described in US Pat. No. 6,298,262 makes an acquisition of the anatomical surfaces of the patient using an optical pointer (laser) equipped with at least one optical target manipulated by an operator so that to target a succession of points of the anatomical surface concerned by or close to the surgical operation. The operator sweeps this surface, anatomical with the laser emitter (and y.pointe about -2.00 points). During this. scanning, an optical browser performs • an acquisition of the dotted positions- so as to build a point cloud in its own repository, üne recalage step is then performed to match the repository of the optical browser and that of the patient, such as derived from medical images previously acquired by traditional imaging techniques (scans or MRI).
    This second type of method, which does not rely on a robot / browser registration, has the disadvantage of lacking precision and not having a high degree of reproducibility. The acquisition of anatomical surfaces depends in fact on a human operator and his know-how. In addition, it requires additional hardware, the optical pointer used by the operator for manual scanning.
    The present invention overcomes the aforementioned deficiencies and problems, and proposes a method of registration between two simplified three-dimensional localization systems compared to its predecessors. This simplification affects the process itself, by eliminating steps, but it also finds its source in the corresponding deletion of additional materials used in the processes of the prior art. The reliability of the process obtained is thus significantly improved.
    The method of registration of the invention, implemented generally between two-three-dimensional localization systems used in robotic surgery to map localization data from reference references distinct to each specific system, s' Applies to a first system, three-dimensional localization comprising an optical distance sensor and: a second, three-dimensional location system comprising optical acquisition means.
    It is implemented by implementing a first step, intraoperative registration between the first location system and data recorded on an anatomical surface of a patient, obtained in a surface manner according to a technique described in WO 2012 / 017167, involving a mapping of at least one point of a cloud of points acquired in. intraoperative phase on said surface by means of the optical distance sensor and at least one. point of a set of points of said data, and it comprises a second step, of. intraoperative registration of the two three-dimensional localization systems.
    Finally, it is such that said second resetting step is performed. at the same time as the first step of registration by detection, by the optical acquisition means, of at least one point of the cloud of points acquired by the optical sensor during the first intraoperative registration. in particular in that the method makes it possible to dispense with the specific registration phase between the robot and the robot. optical navigator, as examples · of systems, of three-dimensional localization, using, directly, the available data coming from the registration made between the .robot and the. patient from a surface method. In other words, the two readjustments are combined using the same data of. starting, which leads to reduced operating time and. to suppress the manipulations and movements of materials due to existence, targets. The benefits of innovation are therefore multiple, both in terms of methodology and in terms of the materials needed.
    Preferably, according to the invention, the second registration step comprises the calculation of a matrix ·, of passage between the two reference marks of the two three-dimensional localization systems.
    Furthermore, according to one possibility, the optical distance sensor of the first three-dimensional location system may be a laser rangefinder projecting a laser beam on the anatomical surface of the patient. The optical acquisition means of the second three-dimensional localization system may consist of at least one optical signal acquisition camera in the form of light spots projected onto a surface.
    The method is in practice applicable to all systems equipped with a three-dimensional location device comprising a laser, and a three-dimensional location system based on detection cameras. In this respect, the optical distance sensor and at least one optical signal acquisition means are tuned to the same wavelengths.
    Preferably, according to the invention, the wavelengths used may be in the infrared range, although it is obvious that it is a choice that can be modified according to the required technical characteristics. More particularly, according to a preferred application which has been taken as an example up to now but is also not limiting of the invention, the first three-dimensional positioning system can be a surgical assistance robot and the second three-dimensional positioning system. can consist of an optical browser. The invention also relates to a robotic medical assistance device for surgery such that the first three-dimensional location system can be a surgical assistance robot and the second three-dimensional location system can consist of an optical browser.
    More specifically, it is apparent from what has been described before that the surgical assistance robot can then be provided with a robotic arm whose free end is provided with an optical distance sensor of the laser rangefinder type. Preferably, surgical assist robot (2) is at six degrees of freedom.
    Similarly, the optical browser can be equipped with means for acquiring optical signals of the infrared camera type. Other features and advantages of the invention will appear in the following detailed description of two exemplary embodiments, illustrated by the appended figures, for which: FIG. 1 is a perspective view of the complete operating device set up in FIG. works for an operation at the level of the head, for example of the brain; and. Figure 2 shows in perspective view an equivalent operative device but for a surgical operation performed at the spine.
    With reference to FIGS. 1 and 2, the patient is lying on his back (FIG. 1) or on his stomach (FIG. 2) on an operating table (1), near a surgical assistance robot (2) which comprises a box, mobile on wheels surmounted by a robotic arm (3) whose free end may be provided with at least one surgical tool or at least one optical distance sensor (4). The robot illustrated in FIG. 1 is intended for neurosurgical operations, whereas that of FIG. 2 relates to spinal surgery. It also has a support screen {5.). allowing the operator, in this case the-surgeon, to view the current operation and more specifically the work of the tool equipping the robotic arm (3). The end of the robotic arm (3) also comprises a laser range finder operating for example in the field of 1 infra-red. It is moved by the robot (2) above the patient's face (in the example of Figure 1) and more generally above the anatomical area to be scanned by the optical distance sensor, points a succession of dots forming a cloud of points that the system continuously records on the surface of. the skin to proceed to the first registration between the reference linked to the patient (from recorded images) and the reference to the robot (2). For an operation of the brain, these points are located on the patient's temples, nose and forehead. When it comes to an operation of the vertebral column, the. Saved points are located near the area to be operated.
    This cloud of points, constituting in practice a surface, is obtained in the reference of the robot {-2) .- A specific algorithm seeks the best possible correspondence between the two models resulting from the examination and acquired with the optical sensor of the robot ( 2). An identified transformation then makes it possible to go from one marker to another with a known accuracy. This is the first recalibration necessary for the process of the invention.
    An optical navigator (10), also mobile on wheels, completes the operating device, comprising at least one means for acquiring optical signals (11) and a display screen (12) for data from sensors, at least some of which can be placed in the area of intervention.
    This screen (12) makes it possible, for example, to visualize a virtual tool on intraoperative imaging, by means of which the surgeon observes in real time the progress of his tool, providing valuable assistance in the case of a three-way navigation. · Dimensions (313). According to an important function provided by the three-dimensional optical navigator (-10), the possible movements of the anatomical zone which is in the course of operation, in particular the displacements due to the breathing of the patient in the case of operations on the column vertebral, are monitored in real time by adapted sensors monitored by the browser (10), and movements of the robotic arm (3) of the robot (2) are slaved to said movements.
    The cloud of points created by the laser range finder reported to the arm (3) of the robot (2) mentioned above, is formed by a laser beam operating in the infrared range, whose point of contact with the surface moves on said surface of the patient considered and is detected by infrared cameras of the browser. The browser therefore actually acquires a cloud of points equivalent to that recorded at the same time by the robot. The second registration specific to the method of the invention is therefore performed from the same point cloud recorded simultaneously by the robot (2) and the optical browser (10) '. Each record is, however, related to the repositories, distinct from the one and from. 'the other. Subsequent computer processing makes it possible to calculate: the matrix ·, of passage between the two, reference frames.
    The method of the invention therefore allows a fine. immediate and automated calculation of the. second registration on the .base of. same cloud of points saved in them. two clean marks, of the robot (2) on the one hand and. of the optical browser {10} on the other hand, which was initially devolved to the calculation of the first registration.
    There is a separate ..recalage between the respective mark of the robot (2) and the browser (10), as existing in the processes of the prior art, which provides a gain of appreciable time. The automated nature of the presented solution finally guarantees repeatability of the process, regardless of any know-how related to an operator.
    One of the additional advantages of this solution is that it also makes it possible to calculate, directly and automatically, via computer processing, the registration between the benchmark linked to the patient and the reference of the optical navigator (10).
    No additional steps or additional hardware is required, it's just processing by the system. the examples illustrated with the aid of the figures are not exhaustive of the invention, which applies to any registration based on the acquisition of surface data of anatomical zones, or of reference surfaces, with a laser-type optical device .
    权利要求:
    Claims (7)
    [1" id="c-fr-0001]
    A method of automated registration between two three-dimensional location systems (10) used in robotic surgery, for mapping location data from distinct reference marks specific to each system, a first three-dimensional location system (2) comprising an optical distance sensor, and a second three-dimensional positioning system (10) 'comprising optical acquisition means., said method comprising: a first step of intraoperative registration between the first location system (-2) and data recorded on an anatomical surface of a patient by placing, in correspondence of at least one point of a cloud of points, acquired intraoperatively on said surface by means of the optical distance sensor and at least one point of a set of points of said data and; a second step of intraoperative registration of the two three-dimensional localization systems (2, 10), characterized in that said second registration step is performed at the same time as the first detection resetting step by the acquisition means; optical, at least one point of the cloud of points acquired by the optical sensor during the first intraoperative registration.
    [2" id="c-fr-0002]
    2. Automated registration method between two three-dimensional positioning systems (2, 10) according to the preceding claim, characterized in that the second registration step comprises calculating a matrix of passage between the two reference marks of the two systems of registration. three-dimensional localization (2, 10). 3 * method of automated registration between two three-dimensional location systems (2, 10) according to one of the preceding claims, characterized in that the optical distance sensor of the first three-dimensional positioning system (2) is a laser rangefinder projecting a . ray, laser on the anatomical surface of the patient ...
    [3" id="c-fr-0003]
    4. Automated registration method between two three-dimensional location systems (2, 10) according to one of the preceding claims, characterized in that the optical acquisition means of the second three-dimensional location system (.1.0) consist of: · Less a · camera for acquiring optical signals in the form of light spots projected on a. area. 5. A method for automated registration between two systems of three-dimensional localization (2, 10) according to one of the preceding claims, characterized in that the optical distance sensor and the optical acquisition means. are tuned to the same wavelengths.
    [4" id="c-fr-0004]
    6. Process of. automated registration between two, location systems. three-dimensional (2, 10) .according to the preceding claim, characterized in thatque the wavelengths are in the field of. infrared. 7. · Robotic medical device for assisting surgery implementing a registration method according to any one of the preceding claims, characterized in that the first three-dimensional positioning system is a surgical assistance robot (2) and the second three-dimensional location system is an optical browser (10).
    [5" id="c-fr-0005]
    8. robotic medical assistance device for surgery according to the preceding claim, characterized in that the surgical assistance robot (2) is provided with a robotic arm (3) whose free end is provided with a sensor optical distance of the laser rangefinder type.
    [6" id="c-fr-0006]
    9. robotic medical assistance device for surgery according to the preceding claim, characterized in that the surgical assistance robot (2). is at six degrees of freedom.
    [7" id="c-fr-0007]
    10. robotic surgical assistance medical device according to one of claims 6 and 7, characterized in that the optical browser is equipped with optical signal acquisition means of the infrared camera type,
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    法律状态:
    2017-02-13| PLFP| Fee payment|Year of fee payment: 2 |
    2017-09-22| PLSC| Publication of the preliminary search report|Effective date: 20170922 |
    2018-02-23| PLFP| Fee payment|Year of fee payment: 3 |
    2020-02-10| PLFP| Fee payment|Year of fee payment: 5 |
    2021-02-22| PLFP| Fee payment|Year of fee payment: 6 |
    2022-02-11| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1652414|2016-03-21|
    FR1652414A|FR3048872B1|2016-03-21|2016-03-21|AUTOMATED TRACING METHOD AND DEVICE FOR A SURGICAL ROBOT|FR1652414A| FR3048872B1|2016-03-21|2016-03-21|AUTOMATED TRACING METHOD AND DEVICE FOR A SURGICAL ROBOT|
    US16/087,011| US20190099222A1|2016-03-21|2017-03-21|Automatic registration method and device for surgical robot|
    PCT/FR2017/050662| WO2017162981A1|2016-03-21|2017-03-21|Automated registration method and device for a surgical robot|
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