US 12,290,325 B2
Automatic determination of an appropriate positioning of a patient-specific instrumentation with a depth camera
Guillaume Dardenne, Guipavas (FR); Salaheddine Sta, Brest (FR); Eric Stindel, Plougonvelin (FR); and Thomas Gicquel, Guidel (FR)
Assigned to INSTITUT NATIONAL DE LA SANTE ET DE LA RECHERCHE MEDICALE, Paris (FR); UNIVERSITE BREST BRETAGNE OCCIDENTALE, Brest (FR); CENTRE HOSPITALIER ET UNIVERSITAIRE DE BREST, Brest (FR); and INSTITUT MINES TELECOM, Nantes (FR)
Appl. No. 18/557,555
Filed by INSTITUT NATIONAL DE LA SANTE ET DE LA RECHERCHE MEDICALE, Paris (FR); UNIVERSITE BREST BRETAGNE OCCIDENTALE, Brest (FR); CENTRE HOSPITALIER ET UNIVERSITAIRE DE BREST, Brest (FR); and INSTITUT MINES TELECOM, Nantes (FR)
PCT Filed Apr. 14, 2022, PCT No. PCT/EP2022/060130
§ 371(c)(1), (2) Date Oct. 26, 2023,
PCT Pub. No. WO2022/228918, PCT Pub. Date Nov. 3, 2022.
Claims priority of application No. 21305535 (EP), filed on Apr. 26, 2021.
Prior Publication US 2024/0225751 A1, Jul. 11, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); G06T 7/00 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 90/361 (2016.02); G06T 7/0012 (2013.01); A61B 2034/102 (2016.02); A61B 2034/2057 (2016.02); G06T 2207/10028 (2013.01); G06T 2207/30008 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A computerized system for performing a surgical procedure on a patient, said computerized system comprising a computer device for determining during a surgical procedure an appropriate positioning of an instrumentation on a target bone area of a patient according to a planned relative positioning of said instrumentation to said target bone area defined by a surgical planning, a 3D camera, and a database or memory adapted to store the surgical planning, said computer device comprising;
an interface for receiving from the 3D camera a depth map and RGB data of a captured scene comprising at least said target bone area and said instrumentation;
a computing tool comprising at least one processor; and at least one memory including computer program code, the at least one memory and computer program code configured to, with the at least one processor, cause the computer device to perform determining a position element of said target bone area only from said depth map, comprising a first positioned shape corresponding to a measured positioning of said target bone area; determining a positioned shape of said instrumentation from said depth map and the RGB data, wherein markers placed on said instrumentations are detected using the RGB data, determining a second positioned shape of said target bone area according to said positioned shape, corresponding to a planned positioning and said planned relative positioning, and determining data representative of said appropriate positioning based on said second positioned shape and said first positioned shape, wherein said determining comprises computing a distance map between said second positioned shape and said first positioned shape;
a human-machine interface for providing said data as feedback, wherein said human-machine interface is configured to display the distance map as an overlay to the images provided by the 3D camera, so as to allow a user check and improve an accuracy of an actual placement of said instrumentation according to the surgical planning.