Method and system for computer guided surgery
AssigneeGanymed Robotics
InventorsBlaise BLEUNVEN, Cyril MOULIN, Sophie CAHEN, Nicolas LOY RODAS, Michel BONNIN, Tarik AIT SI SELMI, Marion DECROUEZ
Life of this patent
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Abstract
A computer-implemented method and a system for computer guided surgery, which include a transposition of an action, planned in a virtual environment with respect to a virtual referential RP, to a physical action performed with a surgical tool in a real operating theatre environment for orthopedic surgery of a patient.
Claims20
A system for computer guided surgery comprising performing a transposition of an action planned in a virtual environment with respect to a virtual referential RP, to a physical action performed with a surgical tool in a real operating theatre environment for orthopedic surgery of a patient, said surgical tool is fixed to a kinematic chain comprising a sensor unit having at least one sensor configured to follow in real time a spatial configuration of the kinematic chain;
- said system comprising:
- at least one input adapted to receive at least one 3D image acquired from at least one 3D imaging sensor;
- said 3D image comprising at least one portion of a target anatomical structure of the patient;
- at least one processor configured to:
- calculate a transformation CTP between the virtual referential RP and a target referential RC by registration of a digital model of the target anatomical structure with the at least one portion of the target anatomical structure comprised in the 3D image;
- apply the transformation CTP so as to register said digital model of the target anatomical structure in the target referential RC so that each point comprised in the digital model of the target anatomical structure has a known position in the target referential RC;
- calculate a transformation CTO between a referential of the surgical tool RO and the target referential RC;
- apply the transformation CTO to the referential of the surgical tool RO so as to know the position and spatial orientation of the surgical tool in the target referential RC;
- so as to know the position and spatial orientation of said surgical tool in both the virtual referential RP and the target referential RC in order to reproduce the action planned in the virtual referential RP in the target referential RC.
A computer-implemented method for guiding a surgical tool in a real operating theatre environment suitable for orthopedic surgery of a patient, said surgical tool is fixed to a kinematic chain comprising a sensor unit having at least one sensor configured to follow in real time a spatial configuration of the kinematic chain;
- said method comprising:
- receiving of at least one 3D image acquired from at least one 3D imaging sensor;
- said 3D image comprising at least one portion of a target anatomical structure of the patient;
- calculating a transformation CTP between the virtual referential RP and a target referential RC by a registration of a digital model of the target anatomical structure with the at least one portion of the target anatomical structure comprised in the 3D image;
- applying the transformation CTP so as to register said digital model of the target anatomical structure in the target referential RC so that each point comprised in the digital model of the target anatomical structure has a known position in the target referential RC;
- calculating a transformation CTO between a referential of the surgical tool RO and the target referential RC;
- applying the transformation CTO to the referential of the surgical tool RO so as to know the position and spatial orientation of the surgical tool in the target referential RC;
- so as to know the position and spatial orientation of said surgical tool in both the virtual referential RP and the target referential RC in order to reproduce the action planned in the virtual referential RP in the target referential RC.
Dependencies are inferred from the claim text.