MAILLET, PIERRE,MAILLET, Pierre,NAHUM, BERTIN,NAHUM, Bertin,BADANO, FERNAND,BADANO, Fernand,DEHOUR, PATRICK,DEHOUR, Patrick
申请号：
FRFR2012/052582
公开号：
WO2013/079843A1
申请日:
2012.11.08
申请国别(地区):
FR
年份:
2013
代理人:
摘要：
The invention relates to a robotic device (2) for positioning a surgical instrument relative to the body (C1) of a patient. Said device includes a first robotic arm (35) provided, on one end, with a means for rigidly connecting to at least one surgical instrument such as to hold, move, position, and guide said surgical instrument, means for anatomical realignment of said first arm relative to said body (1), said realignment being carried out by realigning an image that is of an area of the anatomy of said patient and acquired peroperatively in relation to imaging previously acquired from sensors for real-time detection of the inner movements of said anatomical area, and means for compensating the movements of said first arm on the basis of said detected movements. One such device is characterized in that said device includes at least one second robotic arm (4) provided to one end of said sensors for detecting said inner movements of the anatomical area, said detection sensors being positioned onto said contact of said anatomical area, and means for controlling the positioning of said first arm (3) relative to said sensed inner movements and moreover relative to the outer movements induced in said second arm (4).La présente invention concerne un dispositif robotique (2} de positionnement à' instrument chirurgical par rapport au corps Cl) d'un patient, comprenant un premier bras robotisé (35 équipé à une extrémité de moyens de solidarisation avec au moins un instrument chirurgical, de maniera a maintenir, déplacer, positionner et guider ledit instrument chirurgical； des moyens de recalage anatomique dudit premier bras par rapport audit- corps {!), ledit recalage s 'effectuant, par recalage d'une image d'une zone de l'anatomie dudit patient acquise en per~opëratoire par rapport â une imagerie acquise préalablement ? des capteurs de détection en temps réel des mouvements internes de ladite zone anatomique et des moyens de compensation des déplacements dudit premier bras
