US 12,220,182 B2
Navigation method for positioning a medical robot
Bertin Nahum, Castelnau-le-Lez (FR); Fernand Badano, Lyons (FR); and Lucien Blondel, Montpellier (FR)
Assigned to QUANTUM SURGICAL, Montpellier (FR)
Appl. No. 17/756,172
Filed by Quantum Surgical, Montpellier (FR)
PCT Filed Nov. 17, 2020, PCT No. PCT/FR2020/052100
§ 371(c)(1), (2) Date May 18, 2022,
PCT Pub. No. WO2021/099729, PCT Pub. Date May 27, 2021.
Claims priority of application No. 1912907 (FR), filed on Nov. 19, 2019.
Prior Publication US 2022/0409288 A1, Dec. 29, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G06T 7/73 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 90/39 (2016.02); G06T 7/73 (2017.01); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2090/3618 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3979 (2016.02); A61B 2090/3983 (2016.02)] 19 Claims
OG exemplary drawing
 
1. An optical navigation system for determining the position of an anatomy of interest of a patient, comprising:
a locating device comprising at least two optical sensors,
a control unit,
a patient reference comprising at least three optical markers, the respective positions of the optical markers relative to each other being known a priori by the control unit, said patient reference being intended to be positioned on the patient at the anatomy of interest,
a reflecting device whose position in a frame of reference of the locating device can be determined by the control unit,
wherein when a direct line of sight between the patient reference and each optical sensor is available, the optical sensors are configured to measure, for each optical marker of the patient reference, a parameter representative of the position of said optical marker in the frame of reference of the locating device, on the basis of optical radiation coming from said optical marker and having for each optical sensor a direct path between said optical marker and said optical sensor,
wherein when a direct line of sight between the patient reference and an optical sensor is cut by an obstacle, the optical sensors are configured to measure, for each optical marker of the patient reference, a parameter representative of the position of said optical marker in the frame of reference of the locating device, on the basis of optical radiation coming from said optical marker and having a path reflected by the reflecting device toward each optical sensor,
and wherein the control unit is configured to determine, from the measurements carried out by the optical sensors, the position of the patient reference in the frame of reference of the locating device, and to deduce therefrom the position of the anatomy of interest in said frame of reference.