imaging procedure for an implanted implant

Abstract

The invention relates to a method (100) for imaging an implant implanted in a body, comprising at least one iteration of a characterization phase (102) comprising the following steps: measurement (104), by at least one sensor, referred to as the measurement sensor, disposed outside said body, providing at least one electrical signal, referred to as the measured signal, relating to said implant; determination (106), by a processing unit, of at least one data point relating to the positioning (orientation, position, folded state, etc.) of said implant as a function of said measured signal and a previously established model linking the at least one measured signal to the at least one data point relating to the positioning; and provision (108), by a processing unit, of an image, referred to as the measured image, from the at least one data point relating to the positioning and a visual model relating to said implant (302). The invention also relates to an imaging device (300, 400, 500) implementing this method (100). Figure for the abstract: Fig. 1

Description

Title of the invention: method for imaging an implanted implant Technical field

[0001] The present invention relates to a method for imaging an implant, preferably comprising at least one metal part, implanted in a body, in particular of a living being. It also relates to an imaging device implementing this imaging method.

[0002] The field of the invention is that of imaging methods and devices in the medical field, for example those which make it possible to evaluate the quality of placement and the correct functioning of an implant and / or a prosthesis implanted in a body. State of the art

[0003] Methods for imaging elements implanted in the human body are known. These devices are functional but pose various problems, in particular: - difficulty of implementation because these methods use bulky devices and often require the use of a mobile imaging device to image the entire area of ​​interest, - safety because they require the use of X-ray imaging which can be restrictive because it involves paying attention to the dose of X-rays used for imaging the living being, - time because such processes require the acquisition of several images in time and space to be able to image the entire area of ​​interest, and - cost because such processes are expensive, which is often linked to the means used to carry them out and the constraints which result from them, such as the calculation and production times necessary for their implementation.

[0004] One aim of the invention is to remedy at least one of the aforementioned drawbacks.

[0005] Another aim of the invention is to propose a method for imaging an implant implanted in a body which is easier to implement.

[0006] Another aim of the invention is to propose a more secure imaging device.

[0007] Another object of the invention is to propose a faster imaging method.

[0008] Another object of the invention is to propose a less expensive imaging method. Statement of the invention

[0009] The invention makes it possible to achieve at least one of the aforementioned aims by an imaging method of an implant implanted in a body, comprising at least one iteration of a characterization phase comprising the following steps: - measurement, by at least one sensor, called a measurement sensor, placed outside said body, providing at least one electrical signal, called a measured signal, relating to said implant, - determination, by a processing unit, of at least one piece of data relating to the positioning of said implant as a function of said measured signal and of a previously established model linking the at least one measured signal to the at least one piece of data relating to the positioning, and - provision, by a processing unit, of an image, called measured, from at least one positioning datum and a visual model relating to said implant.

[0010] Such a method is implemented by the use of one or more measuring sensors and a processing unit, which denotes its ease of implementation.

[0011] The method according to the invention is also easy and faster to implement because it does not require taking an image of the implant itself implanted in the body but electrical signals relating to the implant, which is simpler to carry out and to process compared to taking an image. Furthermore, since it uses a measured signal, and a visual model relating to said implant already recorded, said imaging method limits the calculation time necessary to provide the measured image and the implementation costs associated with these calculation times.

[0012] The method according to the invention is also safer because it is based on a measurement that does not require any X-rays, which makes it simple to use and makes it safer and less harmful to the health of the body in which the implant is implanted.

[0013] The method according to the invention does not require the combination of several images to display the measured image. Therefore, the device according to the invention is faster.

[0014] As the process is simpler to implement, more secure and faster, the associated costs are therefore less expensive.

[0015] The at least one item of data relating to positioning may comprise at least one item of position data and / or at least one item of inclination data and / or at least one item of orientation data and / or at least one state (folded and / or elongated) of said implant.

[0016] Preferably, the at least one item of data relating to positioning may comprise three position data and three orientation data of said implant.

[0017] If the implant is in several parts or comprises several parts, the at least one positioning data item may comprise three position data items and three orientation data items, for example three spatial positions and three inclination angles, per part of the implant.

[0018] The providing step may comprise a step of modifying the visual model relating to said implant from at least one positioning datum, such as for example a change in orientation of the visual model or of a part of the model. visual.

[0019] The measuring step may measure at least one magnetic signal to provide the at least one measured signal.

[0020] The visual model may be a real image of said implant, i.e. an image from which the real dimensions of the implant can be extracted.

[0021] The visual model may be a pre-recorded image of said implant, for example an image provided by the manufacturer of said implant. In another variant, the visual model may be generated by scanner imaging.

[0022] The term body is assimilated to the body of an object, or a robot, or of a living being such as an animal or a human.

[0023] The imaged implant may be a single-piece implant, such as, for example, a femoral or tibial implant.

[0024] The imaged implant may consist of several parts, for example a hip or shoulder implant in which two parts fit together, or an ankle implant composed of three parts.

[0025] Alternatively, the implant may comprise at least two parts, at least one of which is movable relative to the rest of the implant, such as, for example, a knee implant composed of, for example, a femoral and tibial implant, an elbow implant, etc.

[0026] The visual model relating to said implant may be a three-dimensional image of said implant.

[0027] The measured image may be a three-dimensional image.

[0028] Thus, the method according to the invention can provide a three-dimensional image of said implant while being easy to implement, fast, secure and less expensive.

[0029] The measuring step of the method according to the invention may comprise a measurement, by at least one inertial sensor, of at least one inertial datum relating to the body, and in that the step of providing the measured image comprises an adjustment of the orientation of the visual model.

[0030] The measurement of the inertial data makes it possible to position said implant in space, in particular to assign it at least one orientation, for example an exact angle of inclination as it is found during the measurement step in the body in which it is implanted.

[0031] The method according to the invention can calculate from the inertial data: - the position and orientation, for example at least one angle of inclination, preferably three angles, in the three-dimensional space of the implant, and / or - the position and orientation, for example at least one angle of inclination, preferably three angles, of the implant relative to a chosen reference frame, for example the ground.

[0032] The method according to the invention can, by this measurement, know the relative movement of the part of the body comprising the implant, relative to a chosen reference frame, for example the ground. The method according to the invention can therefore determine whether the patient is lying down or standing during the examination and also reconstruct a lateralized measured image, i.e. capable of giving a right or left view of the part of the body comprising the implant.

[0033] The method according to the invention may comprise several iterations of the characterization phase, each providing a measured image, said method further comprising a generation of a video from said measured images.

[0034] The method according to the invention thus makes it possible to generate a video image of the implant and therefore to reconstruct the dynamics of a movement of a part of the body on which the implant is implanted. Dynamic imaging of said implant can therefore be recorded.

[0035] Such a video makes it possible to follow the movements of the implant and in particular of the different parts of the implant when the latter comprises parts moving relative to each other.

[0036] The at least one measured signal may comprise: - an electrical impedance, called individual or independent, for each measuring sensor, or - an electrical impedance, called mutual impedance, for each measuring sensor coupled to at least one other measuring sensor, or - an electrical voltage.

[0037] The measuring sensors used to measure the measured signals can be made from components available on the market or, conversely, be made entirely to measure, for example from copper tracks.

[0038] The measuring sensor may be arranged to measure at least one magnetic signal and provide, at output, the at least one measured signal. The signal at the output of the measuring sensor may be proportional to the signal at the input of the measuring sensor.

[0039] The visual model of said implant can be recorded on a database.

[0040] For at least one implant, the visual model relating to said implant can be stored in association with an implant identifier. In this case, the method according to the invention may comprise a step of identifying the implant in order to find said visual model relating to said implant.

[0041] The implant implanted in the body can be identified by the patient or person in whose body the implant is implanted, by providing an identification data of the implant.

[0042] Alternatively, the method according to the invention may comprise a step of identifying the implant by reading identification data provided by said implant. For example, the identification step may comprise a step of reading identification data stored in an electronic device integrated into the implant. Such an electronic device may comprise a radio tag comprising an antenna associated with an electronic chip containing at least one item of identification data for the implant, and optionally additional data. The identification data stored in such an electronic device may be read by an electronic reader. The electronic reader may be external to said implant.

[0043] The reading of the implant identification data may be similar to that described in French patent 3,017,227 AL

[0044] According to yet another alternative, the visual model relating to said implant can be directly recovered from the patient, which allows the method according to the invention to be implemented by any practitioner who has the elements allowing said method to be implemented.

[0045] The visual model of the method according to the invention can be recorded on a database, said method being able to comprise a step of exchanging data between said processing unit and said database to carry out the provision step.

[0046] The method according to the invention can also recover the visual model from a database.

[0047] Any database mentioned may be local, as stored on a local server, or external by being stored on an external server. The database may be connected with the processing unit of the method according to the invention. The connection with this local or external server may be wired, or wireless via an internet connection such as WIFI, the cellular, mobile telephone or GSM network for example the 4G or 5G network. It may be made by a network and / or internet connection. The local or external server may be able to communicate with the processing unit used in the method according to the invention.

[0048] The method according to the invention may comprise a search on a database of the visual model from the implant identification data.

[0049] The implant identification data can be determined from the patient record. The patient record can be retrieved by a specialist in charge of the person including the implant and / or from the patient record stored locally or on a network database.

[0050] The implant identification data can make it possible to find other information, for example the manufacturer, the implant model and its dimensions.

[0051] Thus, in the method according to the invention, the exact geometry of the implant is known beforehand. The exact geometry of the implant can therefore be obtained from the patient file recorded on a database or from the electronic device combined with the radio-tag reader.

[0052] The method according to the invention may comprise, prior to the first iteration of the characterization phase, a preliminary phase carried out when said implant is outside said body, said preliminary phase comprising at least one iteration of the following steps of: - measurement, by at least one sensor, called a measurement sensor, arranged outside said body, providing at least one electrical signal, called a reference signal, and - storage of at least one reference signal in association with at least one positioning datum, called reference positioning datum, of said implant.

[0053] Thus, according to the method according to the invention, each measured reference signal is associated with at least one reference positioning datum of said implant.

[0054] The preliminary phase makes it possible to record positions of said implant which is going to be implanted in order to know orientations, inclinations, positions, exact states of said implant in relation to at least one reference signal. By exact state is meant, for example, a folded or elongated state of said implant.

[0055] The preliminary phase can then be used by the processing unit in the determination step in order to determine the at least one item of data relating to the positioning of said implant implanted in said body. In this case, the reference positioning data can be associated with the at least one item of positioning data used by the processing unit in the step of providing the measured image.

[0056] The at least one measurement sensor used in the preliminary phase may be similar to, identical to, or different from the at least one measurement sensor used during the measurement step.

[0057] The at least one reference positioning data item of said implant comprises at least one inclination data item and / or at least one positioning data item.

[0058] Preferably, the reference signal can be stored in the storage step with three inclination data and three positioning data relative to said implant.

[0059] Preferably, the implant is positioned on a mobile support in the preliminary phase. The mobile support comprises at least one degree of freedom in rotation, and / or in translation. This makes it possible to record different positioning data of the implant associated with at least one reference signal.

[0060] Preferably, the mobile support of said implant comprises three degrees of freedom in rotation and three degrees of freedom in translation.

[0061] In this way, all positions and orientations of the implant can be recorded. The data recorded in the preliminary phase are accurate and complete.

[0062] The implant is preferably imaged from all of its viewing angles.

[0063] The previously established model may include: - a supervised neural network trained with a database and taking as input at least one measured signal, said database linking a measured signal with positioning data, or - a pre-recorded table, for example an abacus, associating at least one electrical signal with at least one piece of data relating to the positioning of said implant, or - a mathematical relationship linking the at least one measured signal to the at least one piece of data relating to positioning.

[0064] The training of the neural network can be carried out with data previously recorded in the preliminary phase, for example those recorded in the database following the storage step. For example, the training can be carried out from 100 reference signals associated with three position data and three reference inclination data and 20 unknown measured signals, i.e. not associated with at least one positioning data. Of course, the supervised neural network can be tested with test data, for example 20 unknown measured signals.

[0065] The table may be recorded in the prior step of said method. In this case, the processing unit may be arranged to calculate the correlation between the electrical signals recorded in the table and those measured in the measuring step. The processing unit may be arranged to select the at least one position data item associated with the electrical signal of the table having the strongest correlation with the at least one measured signal.

[0066] The mathematical relationship may be a matrix or a transfer function linking the at least one measured signal to the at least one positioning data item.

[0067] According to another aspect of the invention, there is provided a device for imaging an implant implanted in a body, comprising means arranged to implement the imaging method according to the invention.

[0068] In particular, said imaging device according to the invention may comprise: - at least one sensor, called a measurement sensor, arranged outside said body and arranged to provide at least one electrical signal, called a measured signal, relating to said implant, - a processing unit arranged to: • determine at least one piece of data relating to the positioning of said implant as a function of the measured signal and a previously established model linking the at least one measured signal to the at least one piece of data relating to the positioning, and • provide an image, called measured, from at least one positioning data and a visual model relating to said implant.

[0069] The at least one sensor may preferably be arranged to measure at least one magnetic signal and provide at least one electrical signal.

[0070] The imaging device according to the invention requires the use of one or more measuring sensors and a processing unit, which denotes its ease of implementation.

[0071] The device according to the invention does not require the use of an X-ray imaging system, which makes it simpler to implement, more secure and less expensive.

[0072] Generally speaking, the imaging device according to the invention makes it possible to obtain advantages similar to those developed for the imaging method according to the invention because it is arranged to implement it.

[0073] The at least one measuring sensor may preferably be an inductive sensor.

[0074] The processing unit may comprise a first calculation module configured to determine at least one positioning data based on at least one measured signal and the previously established model.

[0075] The processing unit may comprise a second calculation module for providing the measured image as a function of the at least one positioning data item and the visual model of the implant. Optionally, the second module may take into account the inertial data item in order to adjust the orientation of said visual model.

[0076] The processing unit may comprise a communication module for exchanging data with a database.

[0077] The imaging device according to the invention may comprise at least one inertial sensor arranged to measure at least one inertial data item relating to the body, said inertial data item being able to be used by the processing unit to adjust the orientation of the visual model.

[0078] At least one inertial sensor may comprise a contact sensor in contact with a surface of said body.

[0079] Thus, the device according to the invention can know the relative movement of the part of the body comprising the implant in space with respect to a chosen reference frame, such as the ground.

[0080] The at least one measuring sensor carrying out the measurement of said measured signal may comprise, or be, a near-field sensor.

[0081] The at least one electrical sensor may be inductive.

[0082] Thus, the imaging device according to the invention can use measurement sensors without contact with said body.

[0083] The at least one measurement sensor may comprise a proximity sensor, preferably detecting conductive materials (e.g., metal), or magnetic materials.

[0084] The at least one measuring sensor of the device according to the invention may comprise a contactless sensor.

[0085] The at least one measurement and / or inertial sensor may be mobile.

[0086] The imaging device according to the invention may comprise several measurement sensors forming a sensor matrix, said matrix being arranged to surround at least one part of the body comprising said implant.

[0087] Thus, the device according to the invention may comprise several measuring sensors measuring the measured signal. These several measuring sensors are arranged in an arrangement which allows them to surround the area of ​​the body comprising the implant (area of ​​interest). A map of the area can be obtained by such an arrangement. The measurement of the measured signal is therefore carried out according to a multitude of capture angles. Such an arrangement of the measuring sensors makes it possible to precisely determine the position of one or more implants or particular areas of the implant.

[0088] The device according to the invention may comprise a measuring sensor used as a receiver. For example, the implant may be arranged to send at least one signal which can then be received by the measuring sensor used as a receiver. In another variant of the device according to the invention, the measuring sensor used as a receiver may receive a signal reflected by the implant.

[0089] The device according to the invention may comprise several measurement sensors comprising at least one measurement sensor used as a receiver and one measurement sensor used as a transmitter. For example, one of the measurement sensors used as a transmitter may be arranged to send a signal to the implant. This signal may preferably be magnetic. Upon receipt of the signal, the implant may switch from a standby mode to an active mode and thus re-emit a signal which may be received by the measurement sensor used as a receiver.

[0090] The implant can therefore reflect a part of the signal, preferably a part of the magnetic field, incident emitted by the at least one measuring sensor used as a transmitter. This reflected magnetic field can be received by a receiving measuring sensor.

[0091] In a variant, the sensor used as a receiver and the at least one sensor used as a transmitter can be included in the same measuring sensor (i.e. the same assembly).

[0092] The measuring sensor used as a transmitter may comprise an inductance, for example a coil, arranged to send a signal, preferably to the implant. The signal may be modified depending on the position and / or orientation and / or movement of the implant.

[0093] The signal emitted by the measuring sensor used as a transmitter may be an electrical signal, or preferably a magnetic signal, for example inductive, or electromagnetic.

[0094] The signal received by the measuring sensor used as a receiver may be an electrical signal, or preferably magnetic, for example inductive, or electromagnetic.

[0095] The coupling between several measuring sensors may preferably be inductive or capacitive.

[0096] The at least one measuring sensor may comprise a part used as a receiver and a part used as a transmitter.

[0097] The imaging device according to the invention may comprise several measurement sensors forming a plurality of measurement sensor matrices arranged to surround at least one part of the body comprising said implant, each matrix being able to comprise: - a measuring sensor used as a transmitter, and - a plurality of measuring sensors used as receivers and positioned on the measuring sensor used as transmitter.

[0098] Such an arrangement makes it possible to improve the accuracy of the measurement of the measured signals because the measurement sensors are more sensitive to changes in the field induced by movements of the implant.

[0099] The measuring sensor used as a transmitter may be a loop and / or form a loop. The loop is preferably closed and / or circular in shape.

[0100] The measuring sensors used as receivers can be positioned around the entire perimeter of the measuring sensor used as transmitter.

[0101] Each matrix of measurement sensors is arranged to provide a number n of measurements of the measured signal depending on the number of measurement sensors used as receivers in said matrix.

[0102] The measuring sensors of each loop can be coupled to each other by mutual induction.

[0103] Each measurement sensor coupled to another measurement sensor in the matrix can be arranged to provide a measurement of the measured signal relating to said implant.

[0104] The measurement provided by each measurement sensor coupled to another measurement sensor may comprise a mutual inductance.

[0105] At least one measuring sensor measuring said measured signal may comprise: - at least one capacitive sensor, and / or - at least one inductive sensor.

[0106] Each inductive measuring sensor may comprise a coil.

[0107] The measurement sensor matrices may be similar or of a different arrangement. For example, the device may comprise three matrices, two of which are similar and one comprising at least one measurement sensor more or less than the other two matrices.

[0108] The imaging device according to the invention may comprise at least one recording means arranged to acquire over time the at least one electrical signal.

[0109] The device according to the invention can therefore produce a video or sequence of images of the implant.

[0110] The at least one electrical signal measured by the sensor or the several measuring sensors may comprise: - the electrical impedance of each measuring sensor, and / or - the electrical impedance, called mutual impedance, for each measuring sensor coupled to at least one other measuring sensor, and / or - a voltage for each measuring sensor.

[0111] The value of the self and / or mutual impedance and / or voltage may be a function of an orientation of the at least one implant.

[0112] The processing unit can be arranged to calculate from the self or mutual impedance or the voltage measured by the at least one sensor for measuring the rotation angles and / or a movement of said implant.

[0113] The imaging device according to the invention may comprise at least one electronic reader which can be arranged to read identification data stored in an electronic device integrated into said implant in order to find said visual model relating to said implant.

[0114] Such an electronic device may comprise a radio tag comprising an antenna associated with an electronic chip containing the implant identification data, and optionally, additional data.

[0115] The implant identification data may comprise the identifier of said implant.

[0116] The electronic device may comprise the visual model relating to said implant. Thus, the device according to the invention may be arranged to read the visual model included in said radio tag.

[0117] The radio tag may be an RFID device, for example a passive or active RFID. The radio tag may be a transponder, an RFID tag.

[0118] The electronic device may comprise at least one sensor arranged to record the additional data.

[0119] The electronic device, and / or electronic reader and / or the processing unit according to the invention may be similar to those described in French patent application 3 017 227 A1 relating to an implant data management device, system comprising this device and use of this system.

[0120] The visual model relating to said implant can be recorded on a database capable of communicating with said device according to the invention.

[0121] Consequently, the visual model can be communicated by the electronic device or taken from, for example, the medical record of said implant (record saved on a network for example) recorded on a database or a local or external server or any other storage means to which said device according to the invention is connected.

[0122] Said implant may comprise at least one location indicator.

[0123] The location indicator may be arranged to provide at least one landmark spatial of said implant and / or parts or areas of said implant.

[0124] The location indicator may comprise at least one protrusion and / or notch in said implant.

[0125] The location indicator may comprise an insert composed of a material different from the implant. The material of the insert may be metallic, dielectric or magnetic.

[0126] The location indicator may comprise a resonator positioned on said implant arranged to amplify a magnetic and / or electric field intended for the measurement sensor(s) measuring the measured signal.

[0127] The implant may be composed of or include metal.

[0128] The device and / or method according to the invention can therefore be effective on implants which cannot be imaged with standard imaging techniques such as Magnetic Resonance Imaging (MRI) or scanners. Brief description of the drawings

[0129] Other advantages and particularities of the invention will appear on reading the detailed description of implementations and embodiments which are in no way limiting, and the following appended drawings. [Fig.l] [Fig.l] is a schematic representation of a first non-limiting example of embodiment of a method according to the invention; [Fig.2] [Fig.2] is a schematic representation of a second exemplary embodiment of a method according to the invention; [Fig.3] [Fig.3] is a schematic representation of a first non-limiting example embodiment of a device according to the invention; [Fig.4] [Fig.4] is a schematic representation of a second non-limiting exemplary embodiment of a device according to the invention; [Fig.5] [Fig.5] is a schematic representation of a third non-limiting example embodiment of a device according to the invention; [Fig.6] [Fig.6] is a schematic representation of a non-limiting example of the processing unit of a device according to the invention. Detailed description of the figures

[0130] It is understood that the embodiments which will be described below are in no way limiting. In particular, it will be possible to imagine variants of the invention comprising only a selection of characteristics described below isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection comprises at least one preferably functional characteristic without structural detail, or with only part of the details structural if this part alone is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art.

[0131] In particular, all the variants and all the embodiments described can be combined with each other if nothing prevents this combination from a technical point of view.

[0132] In the figures, the elements common to several figures retain the same reference.

[0133] [Fig.l] is a schematic representation of a first non-limiting example embodiment of a method 100 according to the invention.

[0134] The method 100 is implemented by computer.

[0135] The method 100 is an imaging method 100 of an implant implanted in a body, comprising at least one iteration of a characterization phase 102.

[0136] The characterization phase 102 comprises the following steps: - measurement 104, by at least one sensor, called a measurement sensor, arranged outside said body, providing at least one electrical signal, called a measured signal, relating to said implant, - determination 106, by a processing unit, of at least one piece of data relating to the positioning of said implant as a function of said measured signal and of a previously established model linking the at least one measured signal to the at least one piece of data relating to the positioning, and - provision 108, by a processing unit, of an image, called measured, from at least one positioning data and a visual model relating to said implant.

[0137] Preferably, the measuring sensor is arranged to measure at least one magnetic field and provide, at the output of the measuring sensor, at least one electrical signal.

[0138] The visual model may be a scaled image of said implant, for example an image provided by the manufacturer of said implant.

[0139] The previously established model may be a supervised neural network taking at least one measured signal as input. The database may link a measured signal with at least one positioning data item.

[0140] In a first method variant 100, the visual model is a two-dimensional image. The measured image can thus be two-dimensional.

[0141] In a second method variant 100, the visual model is a three-dimensional image. In this case, the measured image may be three-dimensional or two-dimensional.

[0142] In a variant of the method 100, the measurement step 104 may comprise a measurement of inertial data relating to the body. In this case, the step of generating the measured image may comprise an adjustment of the orientation of the visual model.

[0143] Each iteration of the characterization phase 102 provides a measured image.

[0144] The method 100 can carry out several iterations of the characterization phase 102. In this way, several measured images are obtained. The method 100 can, from the plurality of measured images obtained, generate a video or sequence of images. Thus, the dynamic properties of the implant can be observed and / or studied.

[0145] [Fig.2] is a schematic representation of a second exemplary embodiment of a method 200 according to the invention.

[0146] The imaging method 200 comprises the same steps as the method 100 illustrated in [Fig.l].

[0147] The method 200 further comprises a preliminary phase 202. The preliminary phase 202 was carried out before the first iteration of the characterization phase 102. In particular, the preliminary phase 202 is carried out when said implant is outside of said body.

[0148] The preliminary phase 202 comprises a step of measuring, by at least one sensor, called a measurement sensor, arranged outside said body, at least one electrical signal, called a reference signal.

[0149] The preliminary phase 202 also comprises a step of storing said at least one reference signal in association with at least one positioning datum, called reference positioning datum, of said implant.

[0150] The storage step can be carried out on a storage element such as a hard disk internal or external to the processing unit, a local or external database connected to the processing unit.

[0151] Preferably, during the preliminary phase 202, the implant is positioned on a mobile support. The mobile support comprises three degrees of freedom in rotation, three degrees of freedom in translation. This makes it possible to record different data relating to the positioning of the implant associated with at least one reference signal. The implant is preferably imaged according to all its viewing angles.

[0152] The at least one measurement sensor of the preliminary phase 202 is similar to that used for the measurement step 104.

[0153] [Fig. 3] is a schematic representation of a first exemplary embodiment of a device 300 according to the invention.

[0154] The device 300 is an imaging device 300 of an implant 302 implanted in a body 304, arranged to implement, in a non-limiting manner, the imaging method 100 or 200 illustrated in FIGURES 1 and 2.

[0155] The device 300 comprises: - at least one measuring sensor 306, arranged outside said body 304 and arranged to provide at least one measured signal relating to said implant 302, - the processing unit 308 arranged for: • determine the at least one piece of data relating to the positioning of said implant 302 as a function of the measured signal and the previously established model linking the at least one measured signal to the at least one piece of data relating to the positioning, • provide the measured image 310, from at least one positioning datum and the visual model relating to said implant 302.

[0156] The signal received by the measurement sensor 306 is preferably a magnetic field. The signal measured at the output of the measurement sensor 306 is preferably a voltage.

[0157] [Fig. 3] illustrates an implant 302 implanted in a living being, in particular a human or a robot. In a non-limiting manner, the implant corresponds to a knee prosthesis, and comprises two parts 302a and 302b, including a first part 302a corresponding to a femoral implant 302a and a second part 302b corresponding to a tibial implant 302b. The two parts 302a and 302b of the implant 302 are movable relative to each other. The implant 302 illustrated in [Fig. 3] also comprises an intermediate layer 303 positioned between the two parts 302a and 302b of the implant 302. Of course, the intermediate layer 303 as represented in [Fig. 3] can be adapted to all types of joint implants, such as pads for knee prostheses, humeral cups for shoulder prostheses, acetabular cups for hip prostheses, etc.

[0158] Preferably, the implant 302 is made of metal or comprises metal. The implant 302 may also comprise other materials, for example, plastic, and / or a polymer material. The intermediate layer may be polyethylene.

[0159] The processing unit 308 may be a calculation means, such as a processor, a computer, arranged to execute a computer program or command lines dedicated to the step or operation to be carried out.

[0160] The processing unit 308 may comprise several calculation modules, in particular all the modules may be integrated into the same processor.

[0161] The device 300 comprises a measurement sensor 306 comprising several capture sites 307 for capturing the at least one measured signal.

[0162] Optionally, the device 300 illustrated in [Fig. 3] comprises at least one inertial sensor 312. The at least one inertial sensor 312 is arranged to measure at least one inertial data item relating to the body 304, said inertial data item being used by the processing unit 308 to adjust the orientation of the visual model. In a variant, the inertial sensor 312 may be in contact with the body 304.

[0163] Optionally, the measurement sensor 306 illustrated in [Fig. 3] carrying out the measurement of the measured signal comprises at least one near-field sensor. The measurement sensor 306 is not in contact with the body 304. In the case of [Fig. 3], the measurement sensor 306 measuring said measured signal comprises inductive sensors.

[0164] Each inductive measuring sensor 306 may comprise at least one coil (not illustrated). The signal measured at the output of each measurement sensor 306 is a voltage induced on the at least one coil of said measurement sensor 306. The measurement sensor 306 is a position sensor. In particular, the measurement sensor 306 may comprise a proximity sensor 306, preferably detecting conductive materials, for example, metal. The measurement sensor 306 thus makes it possible to detect the position of the implant 302 or areas of the implant 302. In particular, and in the case illustrated in [Fig. 3], the measurement sensor 306 makes it possible to detect the position of the two parts 302a and 302b of the implant 302 and of the intermediate layer 303.

[0165] Each capture site of the measurement sensor 306 is arranged to provide a voltage.

[0166] Each part 302a, 302b of the implant 302 comprises at least one electronic device 314. Each electronic device 314 illustrated in [Fig. 3] comprises at least one radio tag (not illustrated), said radio tag comprising an antenna (not illustrated) associated with an electronic chip (not illustrated) containing an implant identification data item. In the case illustrated in [Fig. 3], each electronic device 314 comprises an implant identification data item. The implant identification data item comprises at least one identifier of the implant 302, in this case that of the part 302a or 302b. Optionally, the electronic chip may comprise additional data. The electronic chip may also comprise a storage means for storing the identifier, and, optionally, the additional data.The additional data may include sensor data if the implant 302 includes at least one sensor, for example a pressure, temperature, etc. sensor.

[0167] The device 300 comprises at least one electronic reader 316 arranged to exchange data with the electronic devices 314 positioned respectively in the parts 302a and 302b of the implant 302. In particular, the electronic reader 316 is arranged to read the implant identification data stored in each electronic device 314 in order to find the visual model of each part 302a and 302b of the implant 302. The implant identification data of each part of the implant 302 comprises at least the identifier and / or the number of the part 302a, or 302b of the implant 302. This communication is done wirelessly.

[0168] In the case of the device 300, the visual model of the implant 302, in particular the visual model of each part of the implant, is recorded with the implant identification data on a database connected to the processing unit 308. Launching a search on this database by entering the implant identification data read by the electronic reader 316 therefore makes it possible to find the visual model of each part 302a, 302b of the implant 302. Data on the intermediate layers 303 can also be recorded with the visual model of each part of the implant 302. The complete visual model of the implant 302 can therefore be obtained, for example by assembling the visual models of each part 302a, 302b of the implant 302. The visual model of the implant 302 can then be communicated to the processing unit 308 by a step of exchanging data between said database and said processing unit 308 in order to carry out the step 108 of providing the measured image 310.

[0169] Other additional data recorded in each electronic device 314 can also be exchanged.

[0170] The radio tag of each electronic device 314 may be a passive RFID.

[0171] The electronic reader 316 illustrated in [Fig.3] is connected and arranged outside of the processing unit 308. Of course, in variants not illustrated, the electronic reader 316 can be positioned with the processing unit 308 in the same assembly (i.e. same housing).

[0172] In a variant, the device 100 comprises at least one recording means arranged to acquire over time the at least one measured signal. Thus, several measured images 310 can be acquired over time, which makes it possible to generate a video sequence. A three-dimensional or two-dimensional dynamic imaging of the implant 302 or of each part 302a, 302b of the implant 302 can be obtained, which can make it possible to generate a video of the movement of the implant 302. The sequence of images obtained can therefore be a sequence of images imaging the implant 302 as a whole or distinct parts of the implant 302.

[0173] It is therefore possible to model the movement of the implant 302 and also the space between the two parts 302a and 302b of the implant 302 in order to verify the kinetic operation of the implant 302. In the event of a malfunction, this modeling can make it possible, for example, to calculate the volume and the shape of the intermediate layer 303 which would be likely to improve the kinetics of the implant 302. This intermediate layer 303 can therefore be made to measure.

[0174] [Fig.4] is a schematic representation of a second exemplary embodiment of a device 400 according to the invention.

[0175] The device 400 is an imaging device 400 of an implant 302 implanted in a body 304, arranged to implement the imaging method 100 or 200 illustrated in FIGURES 1 and 2. Only the differences with the device 300 illustrated in [Fig.2] will be shown.

[0176] The device 400 illustrated in [Fig.4] comprises all the elements of the device 300 illustrated in [Fig.3], apart from the electronic devices 314 described in [Fig.3].

[0177] The device 400 comprises several measurement sensors 306 forming a matrix 402 of measurement sensors 306. The matrix 402 of measurement sensors 306 is arranged to surround the body part 304 comprising the implant 302.

[0178] The signals measured at the output of the measurement sensors 306 comprise a voltage.

[0179] As a non-limiting example, the matrix 402 comprises eight columns of seven inductive type measurement sensors 306 arranged in a circular manner around the implant 302. The measurement sensors 306 are all similar and are each in the form of a concentric planar loop with dimensions of 25 millimeters by 15 millimeters. The measurement of the specific inductance of each of the measurement sensors 306 of the matrix 402 makes it possible to obtain a map (i.e. a matrix) formed of eight times seven cells or pixels and in which each cell or pixel carries the inductance information necessary for providing the measured image 310. Thus, the more measurement sensors 306 the matrix 402 comprises, the better the resolution of the map obtained. The inductance values ​​vary depending on the geometry of the implant 302. As a non-limiting example, the mapping may be in the form of a color-coded matrix.

[0180] The at least one piece of data relating to the positioning of the implant 302 is determined from the measured mapping combined with a supervised neural network method or a correlation method or an abacus.

[0181] Furthermore, in the case illustrated in [Fig.4], the implant 302 does not include an electronic device 314. Consequently, the visual model is retrieved from a database which can be saved on a local server connected to the processing unit 308. As a non-limiting example, the visual model can be retrieved from the patient's file saved on the local network to which the processing unit 308 is connected.

[0182] Each part of the implant 302 illustrated in [Fig.4] comprises at least one location indicator 404. In the case of [Fig.4], each part of the implant 302 comprises a plurality of geographical indicators 404. Each location indicator 404 is arranged to give at least one spatial reference point of said implant and / or parts of the corresponding implant 302. The location indicators 404 of the implant 302 have a known position and also return known signals. Thus, the signal measured at the position of this location indicator 404 will have a specific shape which will make it possible to position a part of the implant 302 in space and / or to determine the orientation of this part of the implant 302 from the mapping obtained.

[0183] In the case illustrated in [Fig.4], each implant 302 comprises three different types of location indicators 404.

[0184] A first type of location indicator 404 is a notch 406 or a protrusion 406 in the implant 302. This indicator comprises a particular shape so as to facilitate the recognition of this marker. The shape of the notch can be multiple: square, circular, rectangular, triangular, pentagonal, star, potato-shaped, etc.

[0185] A second type of large location indicator 404 is an insert 408 composed of a different material from the implant 302 to generate a significant contrast when generating the map constructed from the measurement sensors 306.

[0186] A third type of location indicator 404 is a resonator 410, of the LC type, affixed to the implant 302 and arranged to amplify a magnetic and / or electric field re-emitted towards the measurement sensors 306 so as to create a hot spot on the map.

[0187] In the device 400, the visual model is recorded on a database, consequently the device 400 is arranged to carry out a data exchange step, of the method 100 or 200, between said processing unit 308 and said database to carry out the supply step 108. Of course, in this case, the method according to the invention can optionally comprise a search on a database of the visual model from the implant identification data (i.e. identifier of the implant 302).

[0188] [Fig.5] is a schematic representation of a second exemplary embodiment of a device 500 according to the invention.

[0189] The device 500 is an imaging device 500 of an implant 302 implanted in a body 304, arranged to implement the imaging method 100 or 200 illustrated in FIGURES 1 and 2. Only the differences with the device 400 illustrated in [Fig.4] will be described.

[0190] The device 500 illustrated in [Fig.5] comprises all the elements of the device 400 illustrated in [Fig.4].

[0191] The device 500 comprises several matrices 502 of measurement sensors 306. In particular, and in a non-limiting manner, the device 500 of [Fig. 5] comprises three matrices 502 of measurement sensors 306 arranged to surround the body part 304 comprising the implant 302. Each matrix 502 comprises a plurality of measurement sensors 306, including a measurement sensor 306 used as a transmitter and several measurement sensors 306 used as receivers. The measuring sensor 306 used as a transmitter is arranged to transmit at least one signal to the implant 302, and preferably to each part 302a, 302b of the implant 302. The measuring sensors 306 used as receivers are arranged to receive at least one signal coming from each part 302a, 302b of the implant 302. The received signal may be a reflected signal (i.e.reflection of the signal emitted by the electrical sensor 306 used as a transmitter on the implant or on one or each part 302a, 302b of the implant 302) by the implant 302. The measuring sensor 306 used as a transmitter comprises an inductance (i.e. a coil) in the form of a loop 504. The measuring sensors 306 used as receivers are positioned on the loop 504. Each measuring sensor 306 used as a receiver on the same loop 504 is independent of the other measuring sensors 306 used as receivers on the same . loop 504. Loop 504 is closed and is circular in shape. The measurement sensors 306 used as receivers each comprise an inductor. The inductor may be a coil. Each matrix 502 is arranged to provide a number n of measurements of the measured signal depending on the number of measurement sensors 306 used as receivers on said loop 504. Four measurement sensors 306 used as receivers are positioned on the loop 504 of the sensor used as transmitter. Thus, the device 500 measures three times four measured signals which, as in the device of [Fig.4], will be represented in the form of a map (i.e. matrix) of size 3x4. In the device 500 illustrated in [Fig.5], the matrices 502 are similar. In a variant not illustrated, the matrices may be different in size (i.e. have more or fewer measurement sensors 306 used as receivers and / or transmitters) and / or in shape.The processing unit 308 can use all of the signals or part of the measured signals.

[0192] In the case of [Fig.5] and in a non-limiting manner, the signal measured at the output of each measurement sensor 306 used as a receiver is an electrical voltage, in particular an electrical voltage induced on each measurement sensor 306 used as a receiver.

[0193] Thus, for each matrix 502, four mutual inductance measurements are carried out in order to obtain a more contrasted mapping (i.e. better sensitivity) than the arrangement of the sensors 306 illustrated in [Fig.4].

[0194] The device 500 is connected to a computer network 506 connected to the processing unit 308. The computer network 506 is itself connected to a database comprising the visual model relating to said implant. The device 500 is therefore able to communicate with an external network 506 to retrieve at least the visual model to carry out the step 108 of providing the measured image 310. The device is also able to communicate with the external network 506 to carry out the preliminary phase 202. This communication is made via the internet, by WIFI.

[0195] [Fig.6] is a schematic representation of a non-limiting example of the processing unit 308 of the device 300, 400, 500 or 600.

[0196] The processing unit comprises a first calculation module 602 configured to determine the at least one positioning data item as a function of the at least one measured signal UmesUrée and the previously established model.

[0197] In a non-limiting example, the previously established model may be a supervised neural network trained with, for example, the data recorded following the preliminary phase 202.

[0198] In this case, the first calculation module 602 uses the at least one measured signal, for example a voltage UmesUrée provided by a measurement sensor 306. The at least one measured signal can be the inductance map.

[0199] The processing unit may comprise a second calculation module 604 for providing the measured image 310 as a function of the at least one positioning datum 0, T and the visual model of the implant.

[0200] The at least one positioning data item determined in the determination step 106 comprises at least one data item relating to the position T and the orientation 0 of the implant 302, and in this case, of each part 302a and 302b of the implant 302. The at least one position data item T and orientation data item 0 are then combined with the visual model of the implant 302 (each part 302a, 302b of the implant 302 as well as that of the intermediate layer 303) to provide the measured image 310. The visual model of the implant may comprise a three-dimensional image of each part 302a, 302b of the implant 302.

[0201] Of course, the invention is not limited to the examples which have just been described. Numerous modifications can be made to these examples without departing from the scope of the present invention as described.

Claims

Claims

1. Method (100, 200) for imaging an implant (302) comprising at least one metal part, the implant (302) being implanted in a body (304), comprising at least one iteration of a characterization phase (102) comprising the following steps: - measurement (104), by at least one sensor (306), called a measurement sensor, arranged outside said body (304), providing at least one electrical signal, called a measured signal, relating to said implant, the at least one measurement sensor (306) being a proximity sensor configured to detect the at least one metal part of the implant (302), - determination (106), by a processing unit (308), of at least one data item relating to the positioning of said implant (302) as a function of said measured signal and of a previously established model linking the at least one measured signal to the at least one data item relating to the positioning, and - provision (108), by said ... processing (308) of an image, called measured (310),from at least one positioning data and a visual model relating to said implant (302).,

2. Method (100, 200) according to claim 1, characterized in that the visual model relating to said implant is a three-dimensional image of said implant (302), and in that the measured image (310) is a three-dimensional image.

3. Method (100, 200) according to any one of the preceding claims, characterized in that the measuring step (104) comprises a measurement, by at least one inertial sensor (312), of at least one inertial data relating to the body (304), and in that the step of providing (108) the measured image (310) comprises an adjustment of the orientation of the visual model.

4. Method (100, 200) according to any one of the preceding claims, characterized in that it comprises several iterations of the characterization phase (102) each providing a measured image (310), said method (100, 200) further comprising a generation of a video from said measured images (310).

5. Method (100, 200) according to any one of the preceding claims, characterized in that the at least one measured signal comprises: - an electrical impedance, called individual or independent, for each measurement sensor (306), or - an electrical impedance, called mutual impedance, for each measurement sensor (306) coupled to at least one other measurement sensor (306), or - an electrical voltage.

6. Method (100, 200) according to any one of the preceding claims, characterized in that it comprises an identification step with a view to finding said visual model relating to said implant, said identification step comprising a step of reading, by an electronic reader (316), identification data stored in an electronic device (314) integrated in said implant (302).

7. Method (100, 200) according to any one of the preceding claims, characterized in that the visual model is recorded on a database, said method (100, 200) comprising a step of exchanging data between said processing unit (308) and said database to carry out the providing step (108).

8. Method (100, 200) according to any one of the preceding claims, characterized in that it comprises, prior to the first iteration of the characterization phase, a preliminary phase (202) carried out when said implant (302) is outside said body (304), said preliminary phase (202) comprising at least one iteration of the following steps of: - measurement, by at least one sensor, called a measurement sensor, arranged outside said body (304), providing at least one electrical signal, called a reference signal, and - storage, on a database, of the at least one reference signal in association with at least one positioning data item, called a reference positioning data item, of said implant (302).

9. Method (100, 200) according to any one of the preceding claims, characterized in that the previously established model understand : - a supervised neural network trained with a database and taking as input at least one measured signal, said database linking an electrical signal with positioning data, or - a pre-recorded table associating at least one electrical signal with at least one piece of data relating to the positioning of said implant, or - a mathematical relationship linking the at least one measured signal to the at least one piece of data relating to positioning.

10. Device (300, 400, 500) for imaging an implant (302) comprising at least one metallic part, the implant (302) being implanted in a body (304), comprising means arranged to implement the imaging method (100, 200) according to any one of the preceding claims, said device (300, 400, 500) comprising: - at least one sensor (306), called a measurement sensor, arranged outside said body (304) and arranged to provide at least one electrical signal, called a measured signal, relating to said implant (302), the at least one measurement sensor (306) being a proximity sensor configured to detect the at least one metal part of the implant (302), - a processing unit (308) arranged for: • determine at least one piece of data relating to the positioning of said implant (302) as a function of the measured signal and a previously established model linking the at least one measured signal to the at least one piece of data relating to the positioning, and • provide an image (310), called measured, from at least one positioning datum and a visual model relating to said implant (302).

11. Device (300, 400, 500) according to claim 10, characterized in that it comprises at least one inertial sensor (312) arranged to measure at least one inertial data item relating to the body (304), said inertial data item being used by the processing unit (308) to adjust the orientation of the visual model.

12. Device (300, 400, 500) according to any one of claims 10 to 11, characterized in that at least one measuring sensor (306) carrying out the measurement of said measured signal comprises at least one near-field sensor.

13. Device (400) according to any one of claims 10 to 12, characterized in that it comprises several measurement sensors (306) forming a matrix (402) of sensors (306), said matrix (402) being arranged to surround at least one part of the body (304) comprising said implant (302).

14. Device (500) according to any one of claims 10 to 13, characterized in that it comprises several measurement sensors (306) forming a plurality of matrices (502) of measurement sensors (306) arranged to surround a part of the body (304) comprising said implant (302), each matrix (502) comprising: - a measurement sensor (306) used as a transmitter, and - a plurality of measurement sensors (306) used as receivers and positioned on the measurement sensor (306) used as a transmitter.

15. Device (300, 400, 500) according to any one of claims 10 to 14, characterized in that at least one measuring sensor (306) measuring said measured signal comprises: - at least one capacitive sensor, and / or - at least one inductive sensor.

16. Device (300, 400, 500) according to any one of claims 10 to 15, characterized in that the at least one signal measured by the at least one measuring sensor (306) comprises: - the electrical impedance of each measuring sensor (306), and / or - the electrical impedance, called mutual impedance, for each measuring sensor (306) coupled to at least one other measuring sensor (306), and / or - a voltage for each measuring sensor (306).

17. Device (300, 400, 500) according to any one of claims 10 to 16, characterized in that it comprises at least one electronic reader (316) arranged to read identification data stored in an electronic device (314) integrated in said implant (302) in order to find said visual model relating to said implant (302).

18. Device (300, 400, 500) according to any one of claims 10 to 17, characterized in that said implant (302) comprises at least one location indicator (404, 406, 408, 410).

Images