公开(公告)号：USD1064284S1

公开(公告)日：2025-02-25

申请号：US29864156

申请日：2022-05-11

Applicant: Quantum Surgical

Designer： Matthieu Bouisson ,  Sébastien Olive ,  Olivier Piard

公开(公告)号：US20240257339A1

公开(公告)日：2024-08-01

申请号：US18290385

申请日：2022-05-06

Applicant: Quantum Surgical

Inventor： Michael GIRARDOT ,  Lucien BLONDEL ,  Bertin NAHUM ,  Fernand BADANO

IPC: G06T7/00 ,  G06T3/40 ,  G06T5/50 ,  G06T7/11 ,  G06V10/25 ,  G16H30/40

CPC classification number: G06T7/0012 ,  G06T3/40 ,  G06T5/50 ,  G06T7/11 ,  G06V10/25 ,  G16H30/40 ,  G06T2207/20084 ,  G06T2207/20221 ,  G06T2207/30096

Abstract: The invention relates to a method for generating synthetic medical images representing an anatomy of interest and an anomaly within said anatomy of interest. The method comprises generating majority segmentation masks associated with real medical images without anomaly, generating minority segmentation masks associated with real medical images with an anomaly, training a neural network to generate a synthetic medical image on the basis of a segmentation mask, generating artificial segmentation masks on the basis of the majority and minority segmentation masks by combining a segmentation of the anatomy of interest by a majority segmentation mask with a segmentation of the anomaly by a minority segmentation mask, and generating synthetic medical images on the basis of the artificial segmentation masks and using the previously trained neural network.

公开(公告)号：US11992280B2

公开(公告)日：2024-05-28

申请号：US17280670

申请日：2019-09-25

Applicant: Quantum Surgical

Inventor： Lucien Blondel ,  Frédéric Banegas ,  Sébastien Olive ,  Fernand Badano ,  Bertin Nahum

IPC: B25J5/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B90/00 ,  B25J9/16 ,  G05B13/04 ,  G16H40/63 ,  A61B34/10 ,  A61B34/20 ,  G05D1/246 ,  G05D1/689

CPC classification number: A61B34/32 ,  A61B34/25 ,  A61B34/30 ,  A61B90/39 ,  B25J5/007 ,  B25J9/162 ,  G05B13/04 ,  G16H40/63 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/3945 ,  G05D1/2462 ,  G05D1/6895

Abstract: The invention relates to a medical robot (10) comprising a motorized mobile base (13), spatial-location sensors (17) secured to the mobile base, and a control unit (16) that stores in memory an intervention plan comprising at least one action to be performed on the anatomy of interest of a patient (30). The control unit is configured to: —detect, from information coming from the spatial-location sensors (17), a position of the anatomy of interest of the patient with respect to the medical robot, —identify, from the position of the anatomy of interest of the patient and from the intervention plan, at least one favourable position of the mobile base of the medical robot for which position the medical robot is capable of performing the action or actions from the intervention plan, —move the mobile base of the medical robot into an optimal position selected from among the favourable position or positions identified.

公开(公告)号：US20230177681A1

公开(公告)日：2023-06-08

申请号：US17925755

申请日：2021-05-20

Applicant: Quantum Surgical

Inventor： Estanislao OUBEL ,  Lucien BLONDEL ,  Bertin NAHUM ,  Fernand BADANO ,  Michael GIRARDOT

IPC: G06T7/00 ,  A61B34/10

CPC classification number: G06T7/0012 ,  A61B34/10 ,  G06T2207/20021

Abstract: The invention relates to a method for evaluating in post-treatment an ablation of a portion of an anatomy of interest of an individual, the anatomy of interest comprising at least one lesion. The evaluation method comprises in particular a step of automatically determining a contour of the ablation region by means of an automatic learning method, such as a neural network, analyzing the post-treatment image of the anatomy of interest of the individual, said automatic learning method being preloaded during a so-called training phase using a database comprising a plurality of post-operative medical images of an anatomy of identical interest of a set of patients, each medical image of the database being associated with an ablation region of the anatomy of interest of said patient. The invention also relates to an electronic device comprising a processor and a computer memory storing instructions of such an evaluation method.

公开(公告)号：USD981558S1

公开(公告)日：2023-03-21

申请号：US29710961

申请日：2019-10-28

Applicant: QUANTUM SURGICAL

Designer： Lucien Blondel

公开(公告)号：US20220233242A1

公开(公告)日：2022-07-28

申请号：US17597042

申请日：2020-06-25

Applicant: Quantum Surgical

Inventor： Estanislao OUBEL ,  Lucien BLONDEL ,  Fernand BADANO ,  Bertin NAHUM

IPC: A61B34/10 ,  A61B18/02 ,  A61B18/04 ,  A61B18/18 ,  A61B18/20 ,  A61B34/20 ,  G06N3/04 ,  G06N3/08 ,  G16H20/40 ,  G16H30/40 ,  G16H50/50 ,  G16H50/70

Abstract: The invention relates to a method and device for planning a surgical procedure aiming to ablate a tissue in an anatomical area of interest of a patient. On the basis of a preoperative image of the anatomical area of interest and of a set of planning parameters (P), a simulated image is generated by a neural network that has been previously trained using learning elements corresponding, respectively, to a similar surgical procedure for ablating a tissue in an anatomical area of interest for another patient. Each learning element comprises a preoperative image of the anatomical area of interest of a patient, planning parameters (P) used for the surgical procedure on this patient, and a postoperative image of the anatomical area of interest of this patient after the surgical procedure. An estimated ablation region may be segmented in the simulated image in order to be compared with a segmented region to be treated in the preoperative image.

公开(公告)号：US20200281667A1

公开(公告)日：2020-09-10

申请号：US16762876

申请日：2018-11-08

Applicant: QUANTUM SURGICAL

Inventor： Lucien BLONDEL ,  Fernand BADANO ,  Bertin NAHUM

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/13 ,  A61B34/00 ,  A61B10/02 ,  A61N7/00 ,  A61B1/00 ,  A61B18/02 ,  A61B18/12 ,  A61N5/10 ,  A61B8/00

Abstract: The disclosure relates to a robotic device for performing a medical intervention on a patient using a medical instrument, comprising: a robot arm having several degrees of freedom and having an end suitable for receiving the medical instrument, an image capture system suitable for capturing position information concerning the anatomy of the patient, a storage medium having a biomechanical model of the human body, a processing circuit configured to determine a position setpoint and an orientation setpoint for said medical instrument on the basis of the biomechanical model, on the basis of the position information and on the basis of a trajectory to be followed by the medical instrument in order to perform the medical intervention, and a control circuit configured to control the robot arm in order to place the medical instrument in the position setpoint and the orientation setpoint.

公开(公告)号：US12127794B2

公开(公告)日：2024-10-29

申请号：US17597042

申请日：2020-06-25

Applicant: Quantum Surgical

Inventor： Estanislao Oubel ,  Lucien Blondel ,  Fernand Badano ,  Bertin Nahum

IPC: A61B18/00 ,  A61B18/02 ,  A61B18/04 ,  A61B18/18 ,  A61B18/20 ,  A61B34/10 ,  G06N3/045 ,  G06N3/08 ,  G16H20/40 ,  G16H30/40 ,  G16H50/50 ,  G16H50/70

CPC classification number: A61B34/10 ,  A61B18/02 ,  A61B18/04 ,  A61B18/1815 ,  A61B18/20 ,  G06N3/045 ,  G06N3/08 ,  G16H20/40 ,  G16H30/40 ,  G16H50/50 ,  G16H50/70 ,  A61B2018/00577 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108

Abstract: The invention relates to a method and device for planning a surgical procedure aiming to ablate a tissue in an anatomical area of interest of a patient. On the basis of a preoperative image of the anatomical area of interest and of a set of planning parameters (P), a simulated image is generated by a neural network that has been previously trained using learning elements corresponding, respectively, to a similar surgical procedure for ablating a tissue in an anatomical area of interest for another patient. Each learning element comprises a preoperative image of the anatomical area of interest of a patient, planning parameters (P) used for the surgical procedure on this patient, and a postoperative image of the anatomical area of interest of this patient after the surgical procedure. An estimated ablation region may be segmented in the simulated image in order to be compared with a segmented region to be treated in the preoperative image.

公开(公告)号：US20240350208A1

公开(公告)日：2024-10-24

申请号：US18571467

申请日：2022-06-14

Applicant: Quantum Surgical

Inventor： Mathieu SUDRE ,  Lucien BLONDEL ,  Bertin NAHUM ,  Fernand BADANO

IPC: A61B34/30 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  A61B90/11

CPC classification number: A61B34/30 ,  A61B90/11 ,  A61B2034/107 ,  A61B2034/2063 ,  A61B2090/364 ,  A61B2090/378 ,  A61B2090/3925

Abstract: A medical robot (10) comprises a robotic arm (13) equipped with a tool guide (14) for guiding a medical instrument (15) along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomy of interest of the patient. The medical robot cooperates with an ultrasound probe (40) and with a navigation system (30) for determining the position of the robot, the position of the ultrasound probe, and the position of a patient marker (22). The robot is configured to generate a model of the position of the target point and the position of the entry point according to the position of the patient marker on the basis of ultrasound images acquired by the ultrasound probe during at least one respiratory cycle of the patient. The model thus generated then allows the robotic arm to be controlled in real time according to the position of the patient marker in order to guide the medical instrument with precision.

公开(公告)号：US20240285355A1

公开(公告)日：2024-08-29

申请号：US18571438

申请日：2022-06-14

Applicant: Quantum Surgical

Inventor： Mathieu SUDRE ,  Lucien BLONDEL ,  Bertin NAHUM ,  Fernand BADANO

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/11

CPC classification number: A61B34/30 ,  A61B90/11 ,  A61B2034/2059

Abstract: The invention relates to a medical robot comprising a robotic arm equipped with a tool guide for guiding a medical instrument along a trajectory defined by an entry point at the patient's skin and a target point at a lesion to be treated in an anatomical region of interest of the patient. The robotic arm is also provided with an ultrasound probe. The medical robot cooperates with a navigation system allowing determination of the position of a robot marker and the position of a patient marker. During a prepararatory phase, the robot is configured to place the ultrasound probe in contact with the patient and in a plane containing the lesion and the trajectory to be followed. During a guiding phase, the medical robot is configured to control the robotic arm in real time based on the ultrasound images acquired by the ultrasound probe, in order to guide the medical instrument along the trajectory to be followed.