Patent ID: 11925500
Assignee: QUANTUM SURGICAL
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 17:
18. An assembly for implementation of the method of claim 14 comprising:
a medical robot comprising a base, an articulated arm, one end of the articulated arm is connected to the base, and a control unit:
an X-ray imaging device, and
a synchronization device comprising:
a locating device, configured to continuously record movements of the reference device, the movements of the reference device corresponding to the respiratory cycle of the patient, and to transmit them to the control unit,
a reference device, configured to be positioned on a body of the patient, and including radiopaque markers, at least one locating element configured to be detectable by the locating device, and an X-ray detector intended to cooperate with the X-ray imaging device,
a processor for recording data from the locating device and the reference device, and configured to:
determine the positions of the reference device during acquisition of the medical image, during a period of exposure to X-rays, from the at least one locating element, positioned on the reference device, and from the X-ray detector,
determine a target position of the reference device from all the positions of the reference device during the acquisition of the medical image,
determine a candidate position of the reference device, from the at least one locating element positioned on the reference device,
compare the candidate position and the target position,
estimate, from a predictive model of the respiratory cycle of the patient, a moment of blocking of breathing of the patient during the determination of the candidate position.