Patent ID: 11903659
Assignee: QUANTUM SURGICAL
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A robotic device for performing a medical intervention on an anatomical area located inside a body of a patient using a medical instrument, comprising:
a robot arm having several degrees of freedom and having an end configured to receive the medical instrument,
an image capture system configured to capture position information concerning anatomy of the body of the patient,
a storage medium comprising a biomechanical model of anatomical structures of a human body,
a processing circuit configured to determine a position setpoint and an orientation setpoint for the medical instrument based on the biomechanical model, the position information concerning the anatomy of the body of the patient and a trajectory to be followed by the medical instrument in order to perform the medical intervention, and wherein the processing circuit is further configured to determine a position of a point of entry and a position of a target point of the trajectory in a reference frame, and
a control circuit configured to control the robot arm to place, or help to place, the medical instrument in the position setpoint and the orientation setpoint,
wherein the image capture system includes at least one non-contact device configured to capture position information without contact with the body of the patient,
wherein the captured position information is based on a position of the anatomy of the patient, and a calculation for coordinating the biomechanical model with information concerning the position of the anatomy of the patient are carried out in real time;
wherein the determined position of the point of entry and the position of the target point of the trajectory in a reference frame is based on deformations of anatomical structures of the patient with respect to the anatomical structures of the patient under consideration to determine the trajectory; and
wherein the position of the point of entry and the position of the target point in the reference frame are updated in real time to monitor movements and deformations of the anatomical structures of the patient.