Source: https://patents.google.com/patent/FR3063006A1/en
Timestamp: 2019-11-17 03:54:51
Document Index: 180555562

Matched Legal Cases: ['art 23', 'art 23', 'arts 21', 'art 60', 'art 60', 'art 60', 'art 60', 'art 60', 'art 60', 'art 60', 'art 60', 'art 133', 'art 133', 'art 133', 'art 133', 'art 143', 'art 60']

FR3063006A1 - Surgical orientation system using bone geometry for repeatable positioning - Google Patents
Surgical orientation system using bone geometry for repeatable positioning Download PDF
FR3063006A1
FR3063006A1 FR1751334A FR1751334A FR3063006A1 FR 3063006 A1 FR3063006 A1 FR 3063006A1 FR 1751334 A FR1751334 A FR 1751334A FR 1751334 A FR1751334 A FR 1751334A FR 3063006 A1 FR3063006 A1 FR 3063006A1
FR1751334A
2017-02-20 Application filed by Vincent Pomero, Yann Glard filed Critical Vincent Pomero
2017-02-20 Priority to FR1751334A priority Critical patent/FR3063006A1/en
2018-08-24 Publication of FR3063006A1 publication Critical patent/FR3063006A1/en
The invention relates to an ancillary (20) surgical, preferably Y, comprising three contact portions (21, 22, 23) intended to come into contact with three corresponding reference areas of an operating area, and a determination means ( 24) of a reference frame of the ancillary in a Galilean orientation reference system. At least one of the first and second contact portions, preferably both, has a concave or convex end, for example a possibly rotatably mounted roller, or a gutter-shaped element. Each end comes into contact with two reference points in the corresponding reference area which is convex or concave respectively. These two points guide precisely the rotation of the ancillary to make contact with the third contact portion with the third reference zone. The orientations of the ancillary define the reference frame of orientation, whose determination is thus reproducible with precision.
SURGICAL ORIENTATION SYSTEM USING BONE GEOMETRY FOR REPEATABLE POSITIONING
The present invention relates to a surgical guidance system and ancillary usable in the context of such a system.
The internal skeletal structure of a mammal, human or animal, is sometimes composed of one hundred or more bones. The spine is a chain of bones or vertebrae allowing flexibility and freedom of 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 a top view and a side view of typical human vertebrae 1 (thoracic on the left and lumbar on the right) respectively. The vertebra 1 comprises: a vertebral body 2 oriented towards the front; 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 each other by a method in which a surgeon operates the patient, generally 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 β (the angle with respect to the plane XY), shown in FIGS. IB respectively.
Then, pedicle screws 12 having U-shaped ends 13 are inserted into the holes 11 (For the sake of clarity in 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 derived from medical images ('X' electromagnetic radiation, computed tomography, magnetic resonance imaging, etc.) taken pre-operatively, 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. In the case where the pedicle screw 12 is poorly positioned and would entail a lesion risk for the nerves, the spinal cord or the blood vessels, a second operation should be carried out, entailing additional costs and risks.
Guiding systems have been developed to help the surgeon pierce the holes 11 in the vertebra 1 and precisely place the pedicle screws 12. For example, the publication WO 2016/102898 describes tools, accessories, or surgical ancillaries, to indicate prior to the correct path to the surgeon compared to images taken preoperatively to take into account the position of the patient during the operation.
According to this publication, a surgical ancillary comprises a first point of contact intended to come into contact with a first reference point of an operating zone; a second contact point for contacting a second reference point of the operating area; and a contact area for contacting a third reference point of the operating area; The ancillary further comprises a means for determining an orientation reference frame of the ancillary in a reference Galilean orientation; and means for communicating the orientation reference frame determined by its proper positioning on the vertebra.
For example, a Y-shaped ancillary is proposed in which the first and second contact points are made using straight edges provided at the ends of two branches of the Y. The two contact points are placed on the first two corresponding reference points before rotating the ancillary around the axis formed by the two contact points to come to put the contact area on the third reference point. In a more general manner, such an ancillary device makes it possible to guide any operator performing an intervention, not necessarily surgical, on an intervention zone, for example on a mechanical part whose precise orientation is desired to be known in a Galilean frame of reference.
Although the edges forming points of contact can be provided with anti-slip "pins", the pivoting of the ancillary while maintaining the two points of contact placed on the corresponding reference points proves perilous and requires great dexterity on the part of the operator or surgeon. In addition, the positioning of the ancillary is difficult to achieve on the two points of contact exactly as initially determined.
This results in a repeatability defect, for the operator, of the exact positioning of the ancillary on the reference points. This defect can lead to an erroneous estimation of the reference frame of the vertebra, damaging to the precise realization of the surgical act or the mechanical work.
As a result, there is a need for simple operator and surgeon assistance systems and tools that allow more precise and less dependent positioning of the ancillary operator to determine, with better repeatability, the orientation of the operator. of the vertebra during surgery.
SUMMARY OF LINVEISTTION
The present invention aims to solve the above limitations of known tools.
In this context, embodiments of the invention relate to a surgical ancillary device comprising at least: a first contact part intended to come into contact with a first reference zone of an operating zone; a second contact portion intended to come into contact with a second reference zone of the operating zone; a third contact part intended to come into contact with a third reference zone of the operating zone; and a means for determining an orientation reference frame for the ancillary in a Galilean orientation reference frame.
In this surgical ancillary device, at least one of the first and second contact portions has a concave or convex end, for example curved or curved, intended to come into contact with at least two reference points in the first or second corresponding reference zone which is of convex or concave shape respectively (that is to say of substantially complementary shape to the end considered). For example, the ancillary can be Y-shaped with a handle and two cylinders at the ends of two of the branches, so that each cylinder is housed in a concave area of the vertebra, for example. example the blades. The positioning of the cylinders in the concave zones is done naturally taking into account their respective geometries. The points of contact are then those actually planned initially.
Another example is a Y-shaped ancillary having a handle and two gutter-shaped elements at the ends of two of the branches, so that each gutter-shaped element comes to envelop a convex zone of the vertebra, for example the transversal processes.
It is understood that the contact points are made at the concave / convex surface of the cylinder or the gutter-shaped element (and not on an edge delimiting an end thereof).
As shown by these two examples, the present invention takes advantage of the concavity / convexity of the bone geometries to create, with the aid of the convex / concave end, a repetitive positioning of the ancillary and a rotation guide thereof. ci to the position ensuring the contact of the third contact part. Indeed, the contact points generated by the two ends allow for example to define at least one pivot connection between the ancillary and the operating area.
The rotation between the convex part and the corresponding concave part (according to the two points of contact indicated) secures the rotation of the ancillary. The operator can thus focus on bringing the ancillary into contact at the level of the third contact zone.
Greater accuracy of positioning, better reproducibility of operations and a reduction in the handling time of the ancillary are thus obtained.
According to one embodiment, the first and second contact portions each comprise a concave or convex end intended to come into contact with at least two reference points of the corresponding convex or concave reference zone. This arrangement further secures the positioning of the ancillary, while freeing the operator from a verification of the permanent contact of the first two parts contact with the operating area. Indeed, a double guidance by rotation is thus obtained.
According to one embodiment, the two ends are of curved section with substantially coaxial generating axes. Both ends may be concave, both convex or of a different type.
This arrangement facilitates the rotation, and thus the tilting / pivoting, of the ancillary in the search for a contact of the third contact part with the operating area. Indeed, a rotation of the ancillary along this common axis, by the two guide zones, is thus obtained.
According to another embodiment, the two ends have curved cross-sections (concave or convex) and have longitudinal sections that belong to the same conical curve. The most classic examples of conic curves are the circle, the ellipse or the parabola.
This arrangement facilitates the rotation of the ancillary in a plane containing the ancillary (in its substantially flat embodiment as illustrated later). This ease of rotation may, for example, compensate for a tilt / pivot fault due to undesirable contacts with the operating zone.
According to one embodiment, the other contact portion among the first and second contact portions is formed by a straight edge or a needle intended to come into contact with a single reference point of the corresponding reference zone. This configuration makes it possible to adapt to an anatomical asymmetry (either resulting from a malformation, or because of the asymmetrical operating zone considered).
According to one embodiment, the convex end comprises an element in the form of a roller, roller, cylinder or sphere (that is to say a convex shape that is substantially regular with manufacturing uncertainties) intended to engage in the zone corresponding concave reference numeral, or the concave end comprises a gutter-shaped element (typically a semi-cylindrical or substantially semi-cylindrical end wall, that is to say a hollow cylinder truncated longitudinally) or spherical cup (Also substantially regular shape), intended to engage the corresponding convex reference area.
These regular shapes allow in particular a regular rotation, without modification of the two points of contact at least (three points of contact for a sphere for example) for each end. The handling comfort for the operator is improved. Preferably, the two ends are formed of coaxial elements, ensuring this regular rotation along the same axis.
According to one embodiment, the first and second contact portions comprise convex or concave elements of the same shape (but potentially of different dimensions to respond to anatomical variations) at their end to come into contact with their respective reference zone.
This contributes to a rotation or a smooth tilting of the ancillary, for the operator.
Of course, alternatively, elements of different shapes can be used to adapt to asymmetric anatomies, as already mentioned above.
According to one embodiment, the convex or concave end element is rotatably mounted on the ancillary. It may be for example a roller or rotating cylinder, or a profile of rotating gutter type
This arrangement makes it possible to keep the two points of contact unchanged for each convex / concave end, especially when rotated about the axis of revolution (or generator axis) of this end. This avoids any risk of slipping or skidding of the points of contact already established during the switchover. The handling comfort for the operator is thus further improved.
According to one embodiment, the convex or concave end has a radius of curvature greater than a local radius of curvature (that is to say in the contact zone) of the corresponding concave or convex reference zone.
This arrangement contributes to the fact that there are only two points of contact between the end and the operating zone opposite, given the anatomical irregularities of the latter. The rotation guidance and thus the ease of handling are improved.
According to one embodiment, the third contact portion is intended to come into contact with the third reference zone by tilting the ancillary while the first and second contact portions are in contact with the first and second reference areas respectively . In particular, the concave or convex contact portion makes a two-point contact with the corresponding reference zone.
According to one embodiment, the concave or convex end has a curved surface area around an axis of revolution, and the tilting takes place around the axis of revolution, for example the axis of rotation of a convex or concave end element rotatably mounted on the ancillary. Preferably, the ends forming first and second contact portions are of the same type, with collinear axes of revolution, to allow easy rotation.
According to one embodiment, the first contact portion, the second contact portion, the third contact portion, the determination means and possibly a communication means discussed below are integrated in a single part of the ancillary.
According to one embodiment, the first contact part, the second contact part and the third contact part are integrated in a first part of the ancillary, and the determination means and possibly the communication means are integrated into a second part of the ancillary part. part adapted to be recessed on the first part, that is to say to be secured to the first part of the ancillary using mechanical means.
According to one embodiment, the third contact portion is a substantially planar tangential contact zone.
According to one embodiment, the third contact portion is formed of a concave or convex zone intended to come into contact with at least two reference points of the third reference zone which is of convex or concave shape respectively. This arrangement greatly facilitates the exact positioning of the ancillary on the operating area, given the reference points (determined for example preoperatively by computer). Obtaining the orientation reference frame with exact positioning is thus highly reproducible, these two contact points in the third contact part making it possible to remove the uncertainty of the positioning of the ancillary device defined by the axis of rotation created by the points. contacting the first and second contact parts.
According to one embodiment, the third contact portion is formed of two plane surfaces, each intended to come into contact with a single reference point in the third reference zone. This configuration is simple to implement at the level of the third part of contact. In addition, a flat surface facilitates the sliding of the ancillary along the single reference point (contact) corresponding to position the other surface in contact with the other single reference point. Thus, the positioning of the ancillary is totally controlled and reproducible.
According to one embodiment, the third contact portion has an inverted V or V shape, depending on whether the third reference zone is concave or convex. Of course variant shapes can be provided as long as they allow contact at two reference points between the third contact and reference parts: a groove of any shape, for example parabolic or inverted parabolic.
According to one embodiment, the first and second contact portions and one of the two flat surfaces of the third contact portion are part of the same one-piece part, and the other flat surface of the third contact part is constituted a mechanical part reported (preferably integrally) on the one-piece piece. This makes it easy to design this third contact part (allowing precise positioning) from a flat surface, as proposed in known ancillaries.
According to one embodiment, the ancillary orientation reference frame makes it possible to determine a reference frame for orienting the operating area with respect to the Galilean orientation reference frame by means, for example, of a rotation matrix.
According to one embodiment, the ancillary is in the form of a Y-Greek ') and comprises: - at least two branches at the ends of which the first and second contact portions are arranged; - a third branch shaped handle; and a central zone having a lower face which forms the third contact part.
According to one embodiment, the ancillary device further comprises means for validating the third contact part.
According to one embodiment, the third contact portion is transparent and arranged in a grid pattern and marked to allow an operator to determine where exactly the third contact portion is in contact with a point of the third reference portion. This allows to completely determine the position and orientation of the ancillary.
According to one embodiment, the length, the angle, and / or the inclination of at least one branch of the ancillary device can be adjusted.
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 ancillary device further comprises a means for communicating the determined orientation reference frame.
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.
Embodiments of the invention further relate to an assembly comprising at least two different ancillaries according to the invention, 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 the invention and a surgical tool comprising: - a means for determining an orientation reference of the tool; and a means for communicating the orientation reference of the tool.
According to one embodiment, the ancillary and the surgical tool are configured to be coupled to a same orientation reference determination and communication device.
Embodiments of the invention further relate to an operating room equipped with a surgical ancillary device according to the invention and an image display and data processing device comprising: a screen or a projection means to display 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 preoperatively preparing a surgical procedure, comprising the steps of: - taking at least one three-dimensional image of an operating area; - determining at least two reference points in a first reference area of the operating area, and at least two other reference points of a second reference area (potentially two other pairs of points for the second and third reference areas) of the operating area, from the three-dimensional image. In practice, it can be envisaged that an operator indicates only anatomical zones corresponding to the reference zones, and that a computer algorithm determines the reference points in these zones taking into account the geometric dimensions of the ancillary to be used; calculating an operating reference point by means of the reference points, the operating reference frame being subsequently identifiable by an ancillary device according to the invention; and determining at least one local axis in the operative reference for a surgical procedure to be performed. Other embodiments of the invention to provide simple systems and tools to help the operator (non-surgeon) or the surgeon are an ancillary tool or shaped compass with two branches. The ancillary comprises at least: a first branch having a first terminal end intended to come into contact with a first reference zone of an intervention zone; a second branch having a second terminal contact end intended to come into contact with a second reference zone of the intervention zone; a fixed part relative to which the two branches move to open or close the ancillary, so that, when opening or closing the ancillary, the first and second end ends form an axis constantly parallel to a reference axis of the fixed part; and a means for determining an orientation of the ancillary device. It is preferentially the orientation of the axis formed by the first and second ends.
As mentioned below, the means for determining an orientation of the ancillary, typically an inertial unit, makes it possible to determine two orientations during two measurements, and thus to determine an orientation reference frame of the ancillary (reference frame of intervention) in a Galilean reference system.
This tool is easy to handle for an operator or surgeon. In addition, the geometric property of the terminal ends (forming a constantly parallel axis) makes it possible to use a single means of determining an orientation for the determination of a reference frame of intervention of the intervention zone, within a referential of Galilean orientation. This eliminates any need for relative calibration of two sensors that would be mounted on each of the branches. For this purpose, these embodiments also provide a method for determining in situ an intervention reference frame of an intervention zone, in a reference system of Galilean orientation, with the aid of a compass-type ancillary device. two branches equipped with a means for determining an orientation of the ancillary, the two branches of the ancillary moving, when opening or closing the ancillary, so that their end ends form a axis constantly parallel to a reference axis of a fixed part of the ancillary. The method comprises the steps of: obtaining, from the means for determining an orientation, at least two non-parallel orientations in the Galilean orientation reference frame between two pairs of reference zones within the intervention zone, in successively positioning the two terminal ends of the ancillary on each of the two pairs of reference areas; and - determine the intervention frame of reference from the two orientations obtained.
Thus, the operator can determine an intervention repository, within the Galilean reference system, by simple and few operations. The measurement of only two orientations through two successive positions only of the compass is sufficient.
The method is advantageously applicable to the determination of references of mechanical parts on which interventions requiring precision are provided, for example to make holes or place fixing means. By way of example, a plan of the intervention frame of reference can be formed by the plane defined by the two orientations obtained. In addition, an axis of the intervention referential may be according to one of the orientations obtained, for example the first.
Thus, there is also provided a guiding method for intervention on an intervention zone, comprising the steps of: obtaining at least three reference zones in the intervention zone; - obtain an intervention reference system using the reference areas; - to determine at least one axis of intervention in the reference system of intervention, for a gesture of intervention to achieve; determining in situ said intervention reference frame of the intervention zone in a Galilean orientation reference frame, using the above method; and - to carry out a gesture of intervention on the intervention zone by means of an intervention tool, at least one axis of the intervention tool being determined in the Galilean orientation reference frame and being put in correspondence with the intervention axis in the intervention reference system.
This correspondence may for example be performed by converting at least one of said axes from one repository to another. Of course, several intervention axes (2 or 3) can be initially determined in order to exactly match them to the corresponding axes of the intervention tool. Such control of the orientation of the tool can be important when it is desired to control the positioning and orientation of a part to be fixed in the area of intervention. As an illustration only, this may be the case of the sensitive positioning of an implant in an anatomical area.
The conversion may simply include the application of a rotation matrix on a vector defining either the intervention axis or the intervention tool axis.
Different versions of the ancillary compass type can be used.
For example, the first and second branches can be rotatably mounted on the fixed part and arranged to open or close symmetrically relative to the fixed part. Such a version of the ancillary is easily usable by an operator. Preferably, the means for determining an orientation is of the inertial central type mounted integral with the fixed part. The inertial unit, fixed relative to the reference axis, thus allows to know, without calculation or additional means, the orientation between two reference areas in contact with the two terminal ends of the compass.
According to an alternative embodiment, the first and second branches are movably mounted in translation relative to the fixed part and are arranged to slide in translation, possibly symmetrically, relative to the fixed part. In this case, the means for determining an orientation may be of the inertial central type mounted integral with the first or second branch, or may be mounted integral with the fixed part.
In one embodiment, at least one of the two or both ends is formed of a contact tip for contacting a reference point of the corresponding reference area. Thus, with regard to the method of determining in situ an intervention reference frame, two pairs of reference areas comprise at least three non-aligned reference points, and the terminal ends of the branches of the ancillary are formed of points intended to come into contact with the reference points.
In a variant, at least one of the two or both of the ends is formed of a concave or convex end intended to come into contact with at least two reference points of the corresponding first or second reference zone which is convex or concave shape respectively. Note that in this case, the axis which remains constantly parallel can be defined by the centers of the concave / convex ends (for example a central point on the axis of a cylinder or roller, or the center of a sphere). The different configurations mentioned in the embodiments above are applicable to the ends of the compass type ancillary defined here.
In one embodiment, the orientation determining means comprises at least one of the following components: a tri-axis accelerometer; a tri-axis gyroscope; and / or a tri-axis magnetometer.
In one embodiment, obtaining the three reference areas, the intervention reference frame and the determination of the intervention axis are performed on a three-dimensional numerical model of the intervention zone. This arrangement makes it possible to take advantage of the computing capabilities of computer systems.
In an embodiment that aims at simplifying the intervention of the operator, performing the intervention gesture comprises the following steps: - displaying, on a screen, a three-dimensional numerical model of the intervention zone, said display being preferentially (but not necessarily) realized according to the axis of intervention; - Display, on the screen, an indicator of an intervention point on the intervention zone and an orientation indicator, in the display repository, of the intervention tool positioned on the point of intervention. intervention; and - carry out the intervention gesture on the intervention zone when the two indicators are confused. Note that additional indicators (eg rotation) can be used to match a second axis of the intervention tool (first additional indicator) with a second axis of intervention (second additional indicator).
Embodiments of the invention further provide a computer-readable non-transitory medium comprising a computer-executable instruction program for performing one of the methods of the invention.
BRIEF DESCRIPTION OF THE FIGURES 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 typical thoracic and lumbar vertebrae; FIG. 2A is a top view of two surgical orientation systems each comprising a surgical ancillary and a surgical tool according to one embodiment; FIG. 2B represents two thoracic and lumbar vertebrae with zones; 3A, 3B are respectively a top view and a side view of the surgical ancillaries shown in FIG. 2A in use on thoracic and lumbar vertebrae, FIG. referral system of an operating room and a referral system of a Fig. 5 shows schematically a surgical orientation system according to another embodiment; Fig. 6 schematically shows a surgical orientation system according to another embodiment; Fig. 7 schematically shows a surgical system according to another embodiment; According to another embodiment, FIGS. 8A, 8B show respectively a perspective view of an orientation system according to two other embodiments and a sectional view, at the level of the thorny process, of their use. on thoracic and lumbar vertebrae; FIG. 9 shows an operating room equipped with a surgical orientation system according to one embodiment; FIG. 10 represents a flowchart of a preoperative phase; FIG. 11 represents a flowchart; of an intraoperative phase, FIG. 12 represents a non-transitory support readable by a computer and comprising a computer-executable instruction program; FIGS. 13A and 13B show perspective views of a simplified orientation system according to another embodiment, in two different measurement positions; FIGS. 14A and 14B show views. in perspective of a variant of a simplified orientation system, in two different measurement positions, FIG. 14C represents a top view of the system of FIGS. 14A and 14B; FIG. 15 represents a flow diagram of a phase prior to an intervention on a zone of intervention, - figure 16 represents a flowchart of an operational phase of intervention, - figure 17 illustrates a help display for guiding an operator during an intervention, and - the Figure 18 illustrates a variant of the orientation system according to Figures 8A, 8B.
Figure 2A shows two SYS1, SYS2 surgical guidance systems according to embodiments.
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 portions 21, 22; a third contact portion, here a planar tangential contact area 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 an operating area ZO (for example the vertebra 1) and therefore allows to know the reference frame of orientation RO in a reference frame. Galilean orientation RS, for example of an operating room ZS (shown in Figure 9). In what follows, 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 contact portions 21, 22 being concave elements, in particular coaxial elements in the form of gutters (that is, say semi-cylindrical walls) positioned at the ends of a first leg 26 and a second leg 27 respectively, and a third leg 28 serving as a handle. The branches 26, 27 are the upper left and right ends of ΙΎ respectively, the branch 28 is the lower central end of ΙΎ, and the third contact portion 23 is disposed in the center of ΙΎ and comprises a flat lower face (more or less). The inner wall 29 of the concave elements 21, 22 is preferably smooth to allow a sliding of reference points of the operating area during a manipulation of the ancillary 20 as explained below.
As shown in the left-hand part of FIG. 2B, the operating zone ZO (here a thoracic vertebra 1) comprises at least three reference zones Z1, Z2, Z3 for use with the SYS1 system. In the case of a thoracic vertebra 1, the zones Z1, Z2 are constituted, for example, by the posterior walls of the transverse processes 4A, 4B respectively (downward convex walls of FIG. 1A), and are very easy to locate at the same time. naked eye, especially by an experienced surgeon. The contact zone Z3, here simplified to a single point R3, is arranged on the spinous process 5 in a tangential zone, as will be explained later. Consequently, the concave contact portions 21, 22 are each intended to come into contact with the convex reference areas Z1, Z2 respectively and the third contact part 23 is placed on the point R3 in order to determine a coordinate system or " orientation reference system »RO of the ZO operating zone compared to the RS orientation reference system of the operating theater ZS.
The SYS2 system also comprises a tool 20 (hereinafter "ancillary") and a surgical tool 30, for example a drill.
Compared to SYS1, the SYS2 system comprises an Y-shaped ancillary device 20 whose contact portions 21, 22 are convex elements, in particular coaxial elements in the form of rolls, rollers or rollers (that is to say walls substantially cylindrical not necessarily closed) positioned at the ends of the branches 26, 27 respectively.
The convex elements 21, 22 may be smooth to allow a sliding of reference points of the operating area during a manipulation of the ancillary 20 as explained below. As a variant, these convex elements 21, 22 may be mounted rotatably on the ancillary, preferably along the same axis Δ, in which case their surfaces may be provided with a non-slip coating in order to ensure a durable contact with points. corresponding reference areas Z1, Z2.
In the right-hand part of FIG. 2B, an operating zone Z0 (here a lumbar vertebra 1) again comprises at least three reference zones Z1, Z2, Z3 for use with the SYS2 system. In the case of this lumbar vertebra 1, the zones Z1, Z2 consist for example of the blades 6A, 6B respectively (forming concave cavities under the transverse processes), and are very easy to identify with the naked eye, in particular by an experienced surgeon. The contact zone Z3 is again a single point R3 disposed on the spinous process 5 in a tangential zone. As a result, the convex contact portions 21, 22 are each intended to come into contact with the concave reference areas Z1, Z2 respectively and the third contact portion 23 is placed on the point R3 to determine a coordinate system or " orientation reference system »RO of the ZO operating zone compared to the RS orientation reference system of the operating theater 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 inclinometer, 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.
In a variant, the determining means 24, 34 may be "MEMS" or "electromechanical microsystem" systems which determine the plane of the ancillary 20. These means may comprise a tri-axis accelerometer, a tri-axis gyroscope, and / or or a tri-axis magnetometer, as known to those skilled in the art and therefore not explained in more detail. The communication means 45 may be a wired connection (cable) or non-wired (non-contact), for example by Wi-Fi or Bluetooth.
In the embodiments illustrated in FIG. 2A, the two concave / convex elements 21, 22 are of substantially regular shape around an axis, and their generating axes are coaxial (along the axis Δ).
The upper portions of FIGS. 3A, 3B respectively represent a top view and a side view of the ancillary 20 of the SYS1 placed on a thoracic vertebra 1. The lower portions of FIGS. 3A, 3B respectively represent a view from above and a view side of the ancillary 20 SYS2 placed on a lumbar vertebra 1.
The dimensions of the ancillary 20 are adapted to the intended application, for example about 10 cm wide, 15 cm long, and 0.50 cm thick for operations on the human spine, with a diameter of the gutters. about 1 cm.
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 zones Z1, Z2, Z3 are determined to define the orientation reference frame RO of the operating zone. It may be for an operator to indicate areas of interest. Then, for example, two reference points R1, R1 ', R2, R2' are determined for each of the zones Z1, Z2. These points are easily determinable by a computer given the 3D representation of the vertebra considered and the ancillary used. It is for example the most prominent or prominent points (outward or inward) that will come into contact with the elements 21, 22 of the ancillary. In other words, it is contact points given the dimensions of the ancillary retained (diameter of the convex / concave part, etc.).
In some embodiments, the point R3 is a point in the tangential zone Z3, which will be more difficult to determine with the naked eye but easily determinable by a computer program, which will come into contact with the third contact part 23 by simple installation of the ancillary 20 on the zone Z3.
FIG. 3B shows that the concave contact portion 22 comes into contact with only two points R2, R2 'of the reference zone Z2 formed of the transverse process 4B (although the figure shows contact points in the same transverse plane, those can be offset longitudinally). It is the same for the concave contact portion 21 (not shown). The choice of concave contact portions 21, 22 having a radius of curvature greater than the local radius of curvature of the corresponding convex reference zones Z1, Z2 ensures, thanks to the anatomical irregularities of the reference zone, that the contact is made only at the two points. The local radius of curvature may correspond to the radius of an approximation of the reference zone, that is to say substantially the area where one or two contacts will take place. The radius of the concave portion and the local radius of curvature are assessed according to the same cross section.
Similarly, the convex contact portion 22 comes into contact with only two points R2, R2 'of the reference zone Z2 formed of the blade 6B (likewise for the convex contact portion 21 not shown). The choice of convex contact portions 21, 22 having a radius of curvature greater than the radius of curvature of the corresponding concave reference areas Z1, Z2 ensures that contact is made only at two points.
It can be seen from these figures that the rotation in rotation of the ancillary device 20 is facilitated by a guidance of the latter by the reference points RI, RI ', R2, R2', which make it possible to define the axis of rotation. Δ with respect to the bone.
Then, in the case of the 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). The OR reference repository for the operating area is not necessarily aligned with the OR repository of the operating room, as shown in Figure 4.
Then, during the intraoperative phase, the surgeon positions the ancillary device 20 on the vertebra 1, as shown in FIGS. 3A, 3B, putting the contact parts 21, 22 in contact with the reference zones Z1, Z2, that is that is, until contact is made with the reference points RI, RI 'and R2, R2' respectively, and then rotating, by rotation, the ancillary device 20 while the contact portions 21, 22 are in contact with each other. constant with the reference areas respectively, so as to put the contact portion 23 on the reference zone Z3. It is noted that the tilting is carried out by rotation about the axis of the contact portions 21, 22, that is to say around the axis of revolution of the curved portions forming these contact portions (the axis Δ ).
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 Repository of orientation 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).
Alternatively, the director vector [V] ro and the orientation of the tool 30 can be converted into a third repository, for example a repository used for a display, to allow the surgeon to visualize when the orientation of the tool 30 corresponds to the orientation of the surgical gesture, in this frame of reference.
FIG. 5 represents a view from above of a SYS3 surgical orientation system according to another embodiment. The SYS3 system includes an ancillary device 50 and a surgical tool (not shown for the sake of simplicity). The ancillary device 50 comprises: at least two contact portions 51, 52, concave and / or convex as previously described; a third contact portion 53, for example tangential; and determining and communicating means 54-55A, 54-55B, 54-55C of the RA (RO) orientation reference frame. The means 54-55A, 54-55B, 54-55C 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 by compared to the model.
Similarly to the ancillary device 20 described in connection with FIG. 2A, in this embodiment, the ancillary device 50 is Y-shaped ("i-Greek"), the contact portions 51, 52 being concave elements and / or convex (for example one gutter shaped and the other cylinder shaped) of a first leg 56 and a second leg 57 respectively, and a third leg 58 serving as a handle. The branches 56, 57 are the upper left and right ends of ΙΎ respectively, the branch 58 is the central lower end of ΙΎ and the contact portion 53 is disposed in the center of ΙΎ. The surgical tool may be similar to the tool 30 described in connection with FIG. 2A (including inclinometers), comprise MEMS determination means and wired or non-wired communication (non-contact) or even include optical markers.
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. 6 is a perspective view of a SYS4 surgical guidance system according to another embodiment. The SYS4 system comprises an ancillary 60 and a surgical tool 70. In this embodiment, the ancillary 60 is divided into two parts, a first part 60-1 for making contact with the operating area, and a second part 60 -2 of determination and communication of the reference guide of the operating room.
The first portion 60-1 of the ancillary 60 is similar to any of the ancillaries 20, 50 described above, and comprises: at least two contact portions 61, 62; a tangential contact portion 63; branches 66, 67, 68; and an end 69 for receiving the second portion 60-2.
The second part 60-2 comprises: a body 81; a front end 82 digs to receive the rear end 69 of the first portion 60-1; determination means 84 of the reference frame RA, RT (RO) of the part 60-1 of the ancillary 60; and a means of communication 85 of the reference frame of the ancillary 60. The surgical tool 70 comprises: a rod 71; a point 72 at the front end of the stem; and one end behind 73.
Preferably, the ancillary 60 and the surgical tool 70 cooperate so that the second portion 60-2 of the ancillary 60 can be recessed on the first part 60-1 and the tool 70 in a non-definitive manner (it can be removed), accurate (no play between the elements) and repeatable (reproducible). For this purpose, the rear ends 69, 73 of the first portion 60-1 of the ancillary 60 and the surgical tool 70 respectively may comprise projections received in a notch inside the front end 82 hollow, causing the second portion 60-2 to be embedded in a previously defined manner.
The second part 60-2 is first recessed on the end 69 of the first part 60-1 of the ancillary 60. Once the reference frame RA determined and communicated, the part 60-1 is set aside and the portion 60-2 is removed and placed on the end of the surgical tool 70 to determine and communicate again the orientation reference frame RT of the tool 70. This system allows a cost reduction because a single device Determination and repository communication is required, and can be used in the case where the operating area is not likely to change position during operation.
Figure 7 shows a top view of a SYS5 surgical guidance system according to another embodiment. The SYS5 system includes an ancillary 90 and a surgical tool (not shown for the sake of simplicity). The ancillary 90 comprises at least two contact portions 91, 92; a third contact portion 93, for example tangential; determination means 94 of the orientation reference system, for example a "MEMS" system, and communication means 95 of the orientation reference frame, for example a non-wire link (non-contact).
Similarly to the ancillary 50 described in connection with FIG. 5, in this embodiment, the ancillary 90 is Y-shaped ("i-Greek") with the concave and / or convex contact portions (cylinders on 91, 92 disposed at the end of a first branch 96 and a second branch 97 respectively, and with a third branch 98 serving as a handle. The branches 96, 97 are the upper left and right ends of ΙΎ respectively, the branch 98 is the central lower end of ΙΎ and the contact portion 93 is disposed in the center of ΙΎ. The ancillary 90 further comprises validation means 93A of the tangential contact portion 93. For this purpose, in this embodiment, the contact portion 93 is transparent and arranged in a grid pattern and preferably marked for example by numbers (1 to 3) and letters (A to C) to enable a surgeon to determine where exactly the tangential area is in contact with a reference point R3 of the third reference area Z3. For example, during the preoperative phase, it can be determined that the reference point R3 must be in contact with the zone A3 of the tangential zone. The contact portions 91, 92 may also be equipped with markers (not shown) to facilitate the identification of the contact points RI, RI ', R2, R2'.
In another embodiment, the validation means is a sensitive contact area which detects the contact with the third reference point, and communicates it for example by the communication means.
Figure 8A shows perspective views of a SYS6 surgical guidance system according to another embodiment. The SYS6 system includes an ancillary device 200 and a surgical tool (not shown for simplicity). The ancillary 200 is Y-shaped and comprises two first concave and / or convex contact portions (cylinders in the figure) 210, 220 disposed at the ends of a first branch 260 and a second branch 270 respectively. The two contact portions 210, 220 may be of any type previously mentioned. The possible means for determining an orientation and communication reference frame are not represented. Ancillary 200 is distinguished by the geometry of the third contact portion 230, which is no longer a simple flat surface tangential contact with the operating area. The third contact portion 230 is formed of a concave (as in the figure) or convex (not shown) zone intended to come into contact with two reference points R3, R3 'of the third reference zone Z3 which has a shape inverse, that is to say convex or concave respectively.
In the example of FIG. 1A, the upper surface of the spinous process 5 has a convex shape. A third concave contact portion 230 is therefore preferably used.
As shown in FIG. 8A, the third contact portion 230 may be formed of two plane surfaces 231, 232, preferably arranged in inverted V or T, and each intended to come into contact with a single reference point R3 or R3 'of the third reference zone Z3.
In the first example of FIG. 8A, the first place surface 231 is made up of the central body of the Y anchor, meaning that the first and second contact portions 210, 220 (and therefore the branches 260, 270) and this surface plane 231 are part of the same monobloc part. The second surface 232 then consists of a mechanically mounted part (preferably integrally, possibly removable) on the one-piece piece forming Y.
In the other example, the third leg 280 forming a handle is not flat but made of two flat plates 231, 232 forming, in section, an inverted V. Thus, the third zone is of gutter type having an inverted V-shaped section profile.
FIG. 8B shows a sectional view of the ancillary device 200 in position in the examples of FIGS. 3A and 3B, at the spinous process 5 where the third reference zone Z3 is located. The presence of the two contact points R3, R3 '(shown here in the same sectional section for the sake of clarity, while in practice they can be shifted along the longitudinal axis of the thorny process) ensures exact positioning, and therefore reproducible, the ancillary 200 on the operating area, here a vertebra.
The concave or convex zone forming the third contact portion 230 is not necessarily the union of two flat surfaces as in FIGS. 8A and 8B. It may be for example an arrangement (gutter, cylinder, etc.) having a partially or completely circular section wall or parabolic section.
These examples of ancillaries are only embodiments of the invention which is not limited thereto. For example, the embodiments illustrated above mainly have two curved section ends 21, 22 (or 51, 52; 61, 62; 91, 92; 210, 220) having substantially coaxial generating axes (Δ).
In a variant illustrated in FIG. 18, the two ends always have curved cross-sections (convex or concave, according to the section T-Τ '), but also have longitudinal sections (section according to the plane of the ancillary) which belong to the same conical curve, for example a circle of perpendicular axis formed by the plane of the ancillary Y, an ellipse in the same plane, or a parabola. This facilitates the rotation of the ancillary in a plane containing the ancillary. This ease of rotation may, for example, compensate for a tilt / pivot fault due to undesirable contacts with the operating zone ZO. This ease of rotation can also be used to reach the position in which the two planar surfaces 231, 232 of the third contact portion 230 (see the embodiments of FIG. 8) are brought into contact with the operating zone at the points R3 and R3 '. .
Figure 9 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 110 for displaying images and for processing data, such as a computer. The device 110 comprises a screen 111, a processor 112, input and data manipulation means 113 (a keyboard, a mouse, a voice sensor, a touch-sensitive surface, etc.), and means 114 for receiving the data. data communicated by the ancillary 20 'and / or the tool 30'.
The operating room furthermore comprises an "operating entity" 100 comprising a surgeon 101 who operates on a patient 102 lying on an operating table 103. The screen 111 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 dynamics, it is understood that the references of the ancillary 20 'and / or the surgical tool 30' are determined, communicated to the computer 110, and displayed on the screen 111 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.
Figure 10 shows a flowchart of a preoperative phase P1, and Figure 11 shows a flowchart of an intraoperative phase P2.
The PI phase comprises the steps SI to S5. In step S1, at least one image I of at least one operating zone Z0 is taken, for example by means of a tomodensitometry device. In step S2, at least three reference areas Z1, Z2, Z3 are determined or indicated by an operator and recorded in the case of a dynamic system, or simply noted in the case of a static system. At least one of the zones Z1 and Z2 is defined by means of two reference points R1, R1 'or R2, R2' for which contact with the ancillary 20 'will be sought.
In the case of FIGS. 2 to 7, two pairs of two reference points (R1, R10 and (R2, R20 are determined, and a single reference point R3 is determined for the reference zone Z3 located on the spinous process 5 in FIG. these examples.
In the case of FIGS. 8A and 8B, three pairs of two reference points (R1, R10, (R2, R20 and (R3, R30 are determined.
These multiple reference points are determined by the computer 110, especially as being salient or prominent points on the indicated reference areas, on which the ancillary 20 'will come into contact. For example, given the geometric dimensions of an ancillary chosen, the computer 110 is able to determine which among a set of salient points will come into contact with the ancillary. The ancillary is chosen in particular to satisfy the conditions of radius of curvature mentioned above, it being understood that the radius of curvature of the target reference areas can be estimated by modeling and approximation of the surface (concave or convex) of these reference areas. In step S3, a process 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 S4, at least one director vector [V] ro is determined for the surgical procedure to be performed and then recorded or noted. In step S5, the process is repeated if necessary for other operating areas.
Phase P2 comprises the steps SU to S16. In step SU, the operating zone ZO is exposed. In step S12, a contact portion 21 'of the ancillary 20' is brought into contact with the corresponding reference zone Z1, for example in contact with two reference points RI, RI '. It may be to engage the convex contact portion in the corresponding concave reference area (as in the right portion of FIG. 3B with a cylinder), or to engage the concave contact portion on the reference area corresponding convex (that is to say to wrap the convex reference area as shown in the left-hand part of Figure 3B with a gutter). In step S13, the other contact portion 22 'of the ancillary 20' is brought into contact with the second reference zone Z2, identically to the first contact part if they are both concave and / or convex. At this stage, the ancillary 20 'is engaged, by the two contact portions 21', 22 ', on the operating area. The three or four points of contact RI, RI ', R2, R2' can thus serve as guidance in rotation of the ancillary. Advantageously, these four contact points are tangent by the concave or convex cylinder (depending on the ancillary used) which thus determines an axis of rotation. In step S14, the ancillary 20 'is tilted in rotation, keeping the contacts RI, RI', R2, R2 'without great effort of the operator. The third contact portion 230 of the ancillary 20 'is then brought into contact with the third reference zone Z3, for example simply placed on the reference point R3 (examples of FIGS. 2 to 7), or brought into contact with the two reference points R3, R3 '(examples of FIGS. 8A and 8B). In step S15, 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 using equation 1. Thus , the ancillary according to the invention allows to simply and quickly determine the orientation of the operating area, for example a vertebra, for the purpose of performing an act, for example a surgical act. In step S16, the surgical tool is used to perform a surgical procedure according to the calculated directional vector.
Fig. 12 shows a computer-readable non-transitory medium 120 comprising a computer-executable instruction program 121. The instruction program may include the calculation algorithm described in connection with FIG. 4.
Embodiments further relate to an assembly or "kit" of at least two ancillaries 20, 20 ', 50, 60, 90, 200, each ancillary being designed for ZO operating zones different from each other, for example. example having different dimensions, different angles between the branches, first and second different contact parts, third different contact parts, etc. This allows to cover a range of anatomical variations. In one embodiment, the ancillaries 20, 20 ', 50, 60, 90, 200 have different sizes, for example small, medium, and wide.
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, 55, 65 may be a digital screen, LEDs ("LED" or "Light-Emitting Diode" for example) green, orange and red that light, wired links (a cable connected to the surgical tool or the data processing device), non-wired (Wi-Fi, NFC, Bluetooth, etc.), an auditory signal and, more generally, any means of communication of information.
In the foregoing, the contact areas 23, 53, 63, 93 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.
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.
It will be understood by those skilled in the art that certain elements described in relation to an embodiment (for example the determination and communication means, the "MEMS", etc.) may be applied to the other embodiments.
In particular, a convex contact portion may be combined with a concave contact portion (see, for example, FIG. 5) within the same ancillary device. In addition, a first contact portion (concave or convex) may be combined with a second contact portion that can make contact with the operating area at a single point. For example, the second contact portion may be formed of a straight edge (with or without anti-slip pins) or a needle intended to come into contact with a single reference point of the second reference zone Z2.
Furthermore, a convex part can be of any type: roller, roller, cylinder, sphere, half-cylinder or partial cylinder (the section is a partial circle), or more generally a rounded shape. A concave part can be of any type: gutter of partially circular or parabolic section or V, spherical cup, end wall semi-cylindrical or partially cylindrical.
These convex / concave end portions of the branches of the ancillary Y can be secured to the branches, or be rotatably mounted.
The axes of revolution of the convex / concave portions (the axes of rotation if any) may be coaxial or offset or even inclined relative to each other (i.e. non-parallel), depending on the anatomy of the operating area. 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 means for determining and communicating the orientation. In some cases, once the OR reference frame has been obtained, the surgeon can easily determine himself the correct angle, for example an angle of 90 ° with respect to the ancillary orientation reference frame.
In some embodiments, the branches of the ancillary 20, 20 ', 50, 60, 90, 200 may be articulated around the central zone, for example by means of the hinges arranged between the central zone and each branch.
Finally, other modes of calculating the guidance vectors can be implemented.
Figs. 13A and 13B show perspective views of a simplified orientation system SYS7 according to another embodiment, in two different measurement positions.
The SYS7 system includes an ancillary 130 and a tool (not shown for the sake of simplicity). The ancillary 130 is in the form of a compass with two branches. It comprises: a first branch 136 having a first contact end end 131 intended to come into contact with a first reference zone ZI of an intervention zone 1; a second branch 137 having a second end contact end 132 intended to come into contact with a second reference zone Z2 of the intervention zone 1; a fixed part or "housing" 133 relative to which the two branches 136, 137 move to open or close the ancillary 130, so that when opening or closing the ancillary, the first and second end ends 131, 132 form an axis (Al-Al7) constantly parallel to a reference axis (A-A7) of the fixed part 133. The housing 133 can serve as a gripping means (or handle) for an operator to manipulate the ancillary. The ancillary 130 further comprises a means 134 for determining an orientation of the ancillary in a Galilean frame of reference and, optionally, a means of communication 135 of the orientations thus determined by the means 134 (not shown in detail). As explained below, the means for determining an orientation 134 may be included in a means for determining an orientation or intervention reference frame RA (and consequently RO) in a Galilean frame of reference. In this case, the communication means 135 is better able to communicate the orientation reference thus determined.
These means 134, 135 may optionally be provided as removable as in FIG.
In this embodiment, the determining means 134 is a "MEMS" or "electromechanical microsystem" system, of inertial central type, which determines the orientation of the axis (Al-Al7) in the Galilean reference system. This means may comprise a tri-axis accelerometer, a tri-axis gyroscope, and / or a tri-axis magnetometer, as known to those skilled in the art and will not be explained in more detail. The communication means 135 is a wired connection (cable) or non-wired (non-contact), for example by Wi-Fi or Bluetooth, to transmit this orientation to a remote computing system.
In the embodiment illustrated here, the first and second legs 136, 137 of substantially equal dimensions are rotatably mounted on the fixed part 133 and are arranged to open or close symmetrically relative to the fixed part 133.
Thus, the spacing of the branches 136, 137 of the ancillary can be adjusted according to the spacing between the reference areas Z1, Z2, to fit, with a single ancillary, to the highly variable dimensions of several zones. 'intervention.
Still in this embodiment, the inertial unit 134 and the possible transmission means 135 are mounted integral with the fixed part 133. Thus, the orientation (Al-Al7) to be determined is the same as the orientation (A-A7 ) of the inertial unit 134 (and the housing 133). A single determination means 134 (for example a single inertial unit) is therefore sufficient.
In the figure, three reference areas Z1, Z2, Z3 are defined which each comprise a single reference point. The three points RI, R2, R3 are non-aligned. The end ends 131, 132 of the branches 136, 137 of the ancillary 130 are formed of points intended to come into contact with each of the reference points R1, R2, R3.
Of course, in one variant, one or the other of the two ends 131, 132 (or both) may be formed of a concave or convex end intended to come into contact with at least two reference points of the first or second corresponding reference area which is convex or concave respectively. It may be any of the configurations described above in connection with FIGS. 1 to 12. The ancillary device 130 may be used in a simple manner to determine in situ an intervention reference frame of a zone of intervention, in a reference system of Galilean orientation.
To do this, two measurements are performed as shown in FIGS. 13A and 13B, successively positioning the two terminal ends 131, 132 of the ancillary on each of two pairs of reference zones (Z1 and Z2 in FIG. 13A, and Z2 and Z3 in Figure 13B). The determination means 134 thus obtains at least two non-parallel orientations in the Galilean orientation reference system: (Al-Al7) during the measurement in FIG. 13A and (A2-A27) during the measurement in FIG. 13B.
These two orientations alone make it possible to determine the orientation or intervention referential of the intervention zone 1, in the Galilean frame of reference.
The first measured axis (Al-Al7) can be used as the first axis of the intervention frame, and it can be associated with a unit vector. The vector product of this unit vector with a vector carried by the second measured axis (A2-A27) then makes it possible to define a second axis of the intervention reference frame. It can also be associated with a unit vector. The vector product of the two unit vectors makes it possible to define the third axis of the intervention referential, in the Galilean orientation reference frame. It is also associated with a unit vector. Thus, an orthonormal referential is obtained.
These operations can be performed in the determining means 134 or in a remote computing system to which the orientations (Al-Al7) and (A2-A27) have been transmitted by the communication means 135.
Figs. 14A and 14B show perspective views of a simplified orientation system SYS8 according to another embodiment, in two different measurement positions. Figure 14C shows a view from above of the SYS8 system.
The SYS8 system includes an ancillary tool 140 and a tool (not shown for simplicity). Like the ancillary 130, the ancillary 140 is in the form of a compass with two branches 146, 147, and has two end contact ends 141, 142 intended to come into contact with the reference areas Z1, Z2, Z3; a fixed part or "housing" 143 relative to which the two branches 146, 147 move to open or close the ancillary 140, so that when opening or closing the ancillary, the first and second end ends 141, 142 form an axis (Al-Al *) constantly parallel to a reference axis (AA *) of the fixed portion 143. The ancillary 140 further comprises a means 144 for determining an orientation of the ancillary in a Galilean frame (possibly within a means for determining an orientation or intervention reference frame RA), inertial central type described above. The ancillary 140 optionally includes a communication means 145 of the determined orientations (not shown in detail). These means 134, 135 may optionally be removable as in FIG. 6. The ancillary device 140 differs from the ancillary device 130 in that the first and second branches 146, 147 are movably mounted in translation relative to the fixed portion and are arranged to slide in translation, possibly in a symmetrical manner, relative to the fixed part 143. The displacement in translation of the branches 136, 137 of the ancillary can be adjusted as a function of the spacing between the reference areas Z1, Z2, to adapt, with a single ancillary, to highly variable dimensions of several areas of intervention.
In this embodiment, the lengths of the branches 146, 147 can be adjusted along the axis AA 'by means of a pinion 149 which engages in adjustment rails provided on the branches 146, 147 (FIG. 14C). .
In this embodiment, the terminal ends 141, 142 are tips. Alternatively, the configurations discussed above in Figures 1 to 12 may be used.
In the example of the figure, the determination means 134 is of the inertial central type mounted integral with the fixed part. As a variant, such an inertial unit may be mounted integral with the first or second branch 146, 147. The ancillary 140 is used in a similar way to the ancillary 130 to determine in situ an intervention reference of an intervention zone, in a reference system of Galilean orientation. To do this, the two end ends 141, 142 of the ancillary 140 are positioned successively on each of two pairs of reference zones (Z1 and Z2 in FIG. 14A, and Z2 and Z3 in FIG. 14B), allowing obtain the two non-parallel orientations (Al-Al ') and (AZ-AZ').
The simplified SYS7 and SYS8 orientation systems can be used first for surgical procedures, in a process quite similar to that of Figures 10 and 11. They can also be used to intervene accurately on mechanical parts, out of context surgical, for example to pierce a workpiece or screw an element in a room along a precise axis (sometimes with a desired orientation along a second axis).
A guidance method for an intervention on an intervention zone then comprises a prior phase aiming at obtaining at least three reference zones in the intervention zone; to obtain a reference system of intervention by means of the reference areas; and to determine at least one intervention axis (or even two) in the intervention referential, for an intervention gesture to be performed. This process is illustrated in Figures 15 and 16.
This prior phase PI illustrated in FIG. 15 may be similar to that of FIG. 10, consisting in obtaining, by any means, a three-dimensional modeling of the part on which to carry out the intervention (step S1). Three reference areas Z1, Z2, Z3, preferably three reference points R1, R2, R3, are then determined, for example by an operator (step S2). The intervention reference system is then calculated from the three reference points (step S3), then at least one director vector [V] ro (or even two) is determined for the intervention gesture to be performed (step S4). In step S5, the process is repeated if necessary for other areas of intervention.
Following the preliminary phase, the intervention consists in determining in situ the intervention repository of the intervention zone in a Galilean reference frame in which the operator is located, then to carry out the intervention gesture on the intervention zone.
In a manner similar to FIG. 11, this intervention phase P2 illustrated in FIG. 16 may include access to the intervention zone (step S21).
Then, the ancillary 130, 140 is placed on the intervention zone 1 for a first measurement. The ends 131, 132, 141, 142 are placed on the reference areas Z1, Z2. An axis (Al-Al *) is formed between the two ends. If necessary, the distance between the ends 141, 142 is modified by the pinion 149 or the distance between the ends 131, 132 is changed by opening / closing the compass 130. This measurement position is illustrated in Figures 13A and 14A.
After stabilization of the ancillary, a measurement of the orientation of the axis (Al-Al *) is performed by the inertial unit 134, 144 (step S22). Alternatively, a push button (not shown) may be provided on the casing 133,143 of the ancillary to allow the operator to trigger the measurement on demand.
A first orientation of the intervention frame of reference is thus obtained.
Then, the ancillary 130, 140 is moved to the intervention zone 1 for a second measurement. The ends 131, 132, 141, 142 are placed on another pair of reference areas, here Z2, Z3 (it could be two different areas from those used for the first measurement). An axis (A2-A2 *) is formed between the two ends. If necessary, the distance between the ends 141, 142 is modified by the pinion 149 or the distance between the ends 131, 132 is changed by opening / closing the compass 130. This measurement position is illustrated in Figures 13B and 14B.
After stabilization of the ancillary or pressing on the push button, a measurement of the orientation of the axis (A2-A23 is performed by the inertial unit 134, 144 (step S23). A second orientation, not parallel to the first The orientation reference frame is thus obtained With the aid of these two measured orientations, the intervention reference frame of the intervention zone is determined for example by the determination means 134, 144 and communicated outside the control area. the ancillary 130, 140 by the communication means 135, 145 (step S24) This determination then makes it possible, using equation 1, to calculate the rotation matrix Mrors and the direction vector [V] rs of the gesture to be made in the Galilean frame of reference.
Once the intervention referential in the Galilean reference system has been determined and communicated, the operator carries out the planned intervention action on the intervention zone using an intervention tool, for example he proceeds to drill holes using the tool (step S25). The intervention tool may be of the type shown in FIG. 2A or 6.
To do this, the OO 'axis (not shown) of the intervention tool in the Galilean orientation repository is mapped to the intervention axis in the intervention repository, for example by conversion of at least one of said axes from one frame to another (for example with the rotation matrix mentioned above).
Preferably, the intervention tool comprises MEMS 34,84 and 35,85 wired or non-wired (non-contact) communication means making it possible to determine an orientation (or axis) of the tool in real time in the referential of Galilean orientation and transmit it outside. Thus, the operator can be guided effectively to align his tool with the predetermined intervention axis.
For example, as illustrated in FIG. 17, a three-dimensional numerical model 170 of the intervention zone 1 is displayed to the operator on a screen 111 along the axis of intervention. In other words, the displayed image corresponds to a view in a plane perpendicular to the axis of intervention, so that a point of intervention and the axis of intervention are combined on the screen.
Thus, an indicator 171 (for example a cross or a circle) of the intervention point on the intervention zone and an orientation indicator 172, in the display frame, of the intervention tool positioned on the Intervention point can be displayed on the screen. To obtain the indicator 172 of orientation of the tool, an angular offset between the axis of intervention and the axis of the tool can be estimated, by comparing the two associated orientations in the same reference system, for example the vector director [V] rs to a vector axis of the axis OO 'in the Galilean reference system. This angular offset can be proportionally retranscribed on the screen through a spatial shift of the orientation indicator 172 with respect to the point of intervention 171, in the offset direction in view of the display frame. Therefore, the operator seeks to adjust the inclination of his tool to merge the two indicators. Advantageously, the operator can arrange the end 32 of his tool 30 on the point 171 to align more easily the tool according to the desired intervention axis (Vrs), by moving only the handle (33, 81) of the tool 30 or 70. Then, it performs the intervention gesture on the area of intervention when the two indicators 171, 172 are combined.
Of course, it can be provided several axes of intervention defining a more precise orientation of the tool in the intervention repository. In this case, the display can provide two indicators representative of the two desired intervention axes, and two indicators representative of the corresponding axes of the tool. Thus, the operator manipulates his tool so as to match the two pairs of indicators.
Furthermore, although the ancillaries 130, 140 have been mainly described with means of determination 134, 144 of the inertial central type, other means for determining one or more orientations of the ancillary can be provided alternatively. By way of example, the compass-type ancillary device can be equipped, like the embodiment of FIG. 5, with non-aligned optical markers and intended to be picked up by a plurality of cameras that film the recording room. real-time intervention, in order to identify the positions, and therefore the orientations, of the ancillaries in the Galilean reference system. For example, an optical marker may be carried by the housing 133,143, and an optical marker may be provided on each of the branches 136,137 and 146,147, for example in an area adjacent to the end ends 131,132 and 141,142. The ancillary compass type 130, 140 may be provided in a kit also comprising an ancillary Y described above and an intervention tool. Preferably, a removable part 60-2 comprising the means for determining the intervention reference frame and the communication means can be provided, which is fixed temporarily and on demand on one of the ancillaries and tool of the kit, as in of Figure 6.
These examples are only embodiments of the invention which is not limited thereto.
1. Ancillary (20; 20 '; 50; 60; 90; 200) surgical comprising at least: - a first contact portion (21; 51; 61; 91; 210) intended to come into contact with a first reference zone (Z1) an operating zone (ZO); a second contact portion (22; 52; 62; 92; 220) intended to come into contact with a second reference zone (Z2) of the operating zone; a third contact portion (23; 53; 63; 93; 230) intended to come into contact with a third reference zone (Z3; R3) of the operating zone; and a determination means (24; 54A, 54B, 54C; 84; 94) of an orientation reference frame (RA) of the ancillary in a Galilean orientation reference frame (RS), characterized in that at least one of the first and second contact portions has a concave or convex end for engaging at least two reference points (R1; R1 '; R2; R27) in the first or second reference area (Z1; Z2); corresponding which is of convex or concave shape respectively.
2. Ancillary (20; 20 '; 50; 60; 90; 200) according to claim 1, wherein the first and second contact portions each comprise a concave or convex end intended to come into contact with at least two reference points of the corresponding convex or concave reference area.
3. Ancillary (20; 20 '; 50; 60; 90; 200) according to claim 2, wherein the two ends are of curved section with substantially coaxial generating axes (Δ).
4. Ancillary (20; 20 '; 50; 60; 90; 200) according to claim 2, wherein the two ends have curved cross-sections and have longitudinal sections which belong to the same conical curve.
5. Ancillary (20; 20 '; 50; 60; 90; 200) according to one of claims 1 to 4, wherein the convex end comprises a roller-shaped element, roller, cylinder or sphere, intended for s engage in the corresponding concave reference zone, or the concave end comprises a gutter-shaped element or spherical cup, intended to engage the corresponding convex reference zone.
Anchor (20; 20; 50; 60; 90; 200) according to claim 5, wherein the convex or concave end member is rotatably mounted on the ancillary.
7. Ancillary (20; 20 '; 50; 60; 90; 200) according to claim 1, wherein the concave or convex end has a curved section surface about an axis of revolution.
8. Ancillary (20; 20 '; 50; 60; 90; 200) according to one of claims 1 to 7, in the form of i-Greek (Y) and comprising: - at least two branches (26, 27; , 57; 66, 67; 96, 97; 260; 270) at the ends of which the first and second contact portions (21,22; 51,52; 61,62; 91,92; 260,270) are arranged; - a third leg (28; 58; 68; 98; 280) shaped handle; and a central area having a lower face which forms the third contact portion (23; 53; 63; 93; 230).
9. A surgical guidance system (SYS1, SYS1 ', SYS2, SYS3, SYS4, SYS5, SYS6) comprising at least one ancillary device (20, 20'; 50; 60; 90; 200) according to one of claims 1 to 8 and a surgical tool (30; 70) comprising: - means (34; 84) for determining an orientation reference (RT) of the tool; and a means of communication (35; 85) of the orientation reference system (RT) of the tool.
10. System (SYS4) according to claim 9, wherein the ancillary (60-1) and the surgical tool (70) are configured to be coupled to a same device (60-2) for determining and communicating the reference system. guidance (RA, RT).
FR1751334A 2017-02-20 2017-02-20 Surgical orientation system using bone geometry for repeatable positioning Pending FR3063006A1 (en)
FR1751334A FR3063006A1 (en) 2017-02-20 2017-02-20 Surgical orientation system using bone geometry for repeatable positioning
PCT/FR2018/050390 WO2018150151A1 (en) 2017-02-20 2018-02-20 Surgical orientation system using bone geometry for repeatable positioning
FR3063006A1 true FR3063006A1 (en) 2018-08-24
ID=59153008
FR1751334A Pending FR3063006A1 (en) 2017-02-20 2017-02-20 Surgical orientation system using bone geometry for repeatable positioning
FR (1) FR3063006A1 (en)
WO (1) WO2018150151A1 (en)
2017-02-20 FR FR1751334A patent/FR3063006A1/en active Pending
2018-02-20 WO PCT/FR2018/050390 patent/WO2018150151A1/en active Application Filing
WO2018150151A1 (en) 2018-08-23
US20070209220A1 (en) 2007-09-13 System and method for facilitating hip surgery