DEVICE AND METHOD FOR CONTACTLESS RECALIBRATION BETWEEN A ROBOT, A PATIENT AND MEDICAL IMAGING

Abstract

TITLE OF THE INVENTION: DEVICE AND METHOD FOR CONTACTLESS REGISTERING BETWEEN A ROBOT, A PATIENT AND A MEDICAL IMAGING The device (10) for contactless resetting between a robot (17), a patient (12) and a medical imaging system comprises: - a means (27) for projecting a laser line (21) onto an area of ​​interest (22) of the patient's body, - a means (25) for capturing geometric coordinates of points of the laser line to form a point cloud of the area of ​​interest, and - a means (13) for matching a point cloud of the medical imaging and the point cloud of the area of ​​interest. Figure for the abstract: Figure 1

Description

Title of the invention: DEVICE AND METHOD FOR CONTACTLESS RECALIBRATION BETWEEN A ROBOT, A PATIENT AND MEDICAL IMAGING Technical field of the invention

[0001] The present invention relates to a device and a method for contactless registration between a robot, a patient and medical imaging. It applies, in particular to the field of surgery with robotic assistance and more particularly to contactless and non-invasive registration between a robotic arm (active or passive), a patient to be operated on and at least one medical imaging (from magnetic resonance imaging, acronym MRI, or a scanner, for example) of a part of the patient's body to be operated on. State of the art

[0002] The approaches described in this section are approaches that could be pursued, but not necessarily approaches that have been conceived or pursued previously. Therefore, unless otherwise indicated, it should not be assumed that any of the approaches described in this section constitute prior art solely because of its inclusion in this section.

[0003] During a surgical intervention using a robotic aiming assistance device, it is necessary to perform geometric registration between the robotic assistance device, the intervention area on the patient's body, as well as their medical imaging. Registration makes it possible to connect the different geometric coordinate systems in order to allow them to interact. Different registration techniques exist today. There are so-called "invasive" techniques and others, called "non-invasive", for human anatomy. One of the non-invasive techniques is described in document FR 2 963 693. It uses a laser pointer to scan the surface of the anatomy by a succession of light point emissions on the part of the patient's body to be operated on and to locate, in three dimensions, their geometric coordinates in the robot's frame of reference.This type of technique has the disadvantage of being time-consuming, due to the time it takes for the laser pointer to cover the entire area of ​​interest (between 15 and 25 minutes per recalibration attempt). In addition, the precision obtained depends heavily on the precision of the manipulations carried out by the operator. Summary of the invention

[0004] The general concept of the invention consists of contactless resetting preferably using a robotic arm carrying a resetting unit forming, on the area of ​​interest of the patient's body a point from a laser pointer as well as a line whose width is adjustable in this area of ​​interest. The robotic arm is preferably used by the operator in so-called cooperative mode, under planar / axial constraint in order to scan, in a single linear movement, the area of ​​interest to be registered with the surface extracted from the medical imaging of said anatomy.

[0005] The cooperative mode is implemented by means of at least one force sensor placed at the end of the robotic arm, or directly in the joints of the arm, if the robotic arm is a so-called “active” arm. Brief description of the figures

[0006] Other advantages, aims and particular characteristics of the invention will emerge from the following non-limiting description of at least one particular embodiment of the device and method which are the subject of the present invention, with reference to the appended drawings, in which:

[0007] [Fig.l] represents, schematically and in side view, a first particular embodiment of the device which is the subject of the invention, during a positioning step of the method which is the subject of the invention,

[0008] [Fig.2] represents, schematically and in side view, the device illustrated in [Fig.l], during a scanning step of the method which is the subject of the invention,

[0009] [Fig.3] is an example of a point cloud from a three-dimensional laser scan obtained by implementing a device which is the subject of the invention,

[0010] [Fig.4] is an example of a point cloud resulting from a surface extraction of a three-dimensional medical imaging,

[0011] [Fig.5] represents, in the form of a flowchart, steps of an embodiment particular of the process which is the subject of the invention, and

[0012] [Fig.6] represents, schematically and in side view, a second mode of rea particular use of the device which is the subject of the invention, during a scanning step of the method which is the subject of the invention. Description of the embodiments

[0013] The present description is given without limitation, each characteristic of an embodiment being able to be combined with any other characteristic of any other embodiment in an advantageous manner.

[0014] It should be noted, from now on, that the figures are not to scale.

[0015] As understood from the present description, various inventive concepts may be implemented by one or more methods or devices described below, several examples of which are provided herein. The actions or steps performed in carrying out the method or device may be ordered in any appropriate manner. Accordingly, it is possible to construct embodiments in which the actions or steps are performed in a different order than illustrated, which may include performing certain acts simultaneously, even if they are shown as sequential acts in the illustrated embodiments.

[0016] The indefinite articles "a" and "an", as used in the description, are to be understood as meaning "at least one", unless otherwise clearly indicated.

[0017] The expression "and / or", as used herein, is to be understood to mean "either or both" of the elements so conjoined, i.e., elements which are present conjunctively in some cases and disjunctively in other cases. Multiple elements listed with "and / or" are to be interpreted in the same way, i.e., "one or more" of the elements so conjoined. Other elements may optionally be present, other than the elements specifically identified by the "and / or" clause, whether or not they are related to these specifically identified elements.Thus, by way of non-limiting example, a reference to "A and / or B", when used in conjunction with open language such as "comprising" may refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc.

[0018] As used herein in the description, "or" is to be understood inclusively.

[0019] As used herein, the term "at least one," with reference to a list of one or more elements, is to be understood to mean at least one element selected from one or more elements in the list of elements, but not necessarily including at least one of each element specifically listed in the list of elements and not excluding any combination of elements in the list of elements. This definition also allows for the optional presence of elements other than the specifically identified elements in the list of elements to which the term "at least one" refers, whether or not related to those specifically identified elements.Thus, by way of non-limiting example, "at least one of A and B" (or, equivalently, "at least one of A or B", or, equivalently, "at least one of A and / or B") may refer, in one embodiment, to at least one, optionally including more than one, A, without B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, without A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc.

[0020] In the description below, all transitional expressions such as "comprising", "including", "carrying", "having", "containing", "involving", "holding", "composed of", and the like, are to be understood as open, i.e., as meaning including but not limited to. Only the transitional expressions "consisting of" and "consisting essentially of" are to be understood as closed or semi-closed transitional expressions, respectively.

[0021] Throughout the description, the terms "upper" and "top" designate what is at the top when the device that is the subject of the present invention is in operational configuration. The terms "lower" and "bottom" designate what is at the bottom when the device that is the subject of the present invention is in operational configuration. The term "inner" designates what is inside the device. The term "outer" designates what is outside the device.

[0022] [Fig.l], which is not to scale, shows a device 10 for contactless registration between a robot 11, a patient 12 and medical imaging stored in memory, for example in a memory 13 of the robot 11. The patient 12 is positioned on a surgical table 14, for a surgical operation. The robot comprises a mobile carriage 15 provided with wheels 16, and supporting an anthropomorphic robotic arm 17 comprising joints 18. The robotic arm 17 supports, at its free end, a contactless registration unit 19 comprising a means 27 for projecting a laser line 21 formed on the surgical intervention area on the patient 12, here the head 22 of the patient 12. The registration unit 19 also comprises a means for projecting a laser point 20, also called a laser pointer, configured to measure a distance, in a known manner.

[0023] The unit 19 is also provided with a distance sensor 25 of the points of the laser line 21 and a handle 24 with which the operator 23 can manipulate this unit 19. The distance sensor 25 comprises, for example, an image sensor and a means of measuring distance by triangulation, according to known techniques.

[0024] The resetting unit 19 can be installed by the operator 23 at the free end of the arm 17 as a “tool”. Alternatively, the resetting unit 19 is integrated at this end of the arm 17. The advantage of the integration is to avoid having to remove and replace the resetting unit 19 during a surgical intervention, in case the resetting is lost during this intervention. This integration also avoids assembly errors by the operator 23 when installing the resetting unit 19 at the end of the arm 17, these assembly errors being able to lead to inaccuracies in resetting.

[0025] In [Fig.2], we find the same elements as in [Fig.1] during a step of scanning the head 22 of the patient 12. The arrow 26 represents the direction of scanning of the user's head by the laser line 21.

[0026] [Fig.3] is an example of a cloud 30 of points 31 from a three-dimensional laser scan dimensions obtained by implementing the device which is the subject of the invention. The cloud 30 of points 31 comes from a three-dimensional surface extraction captured by the unit 19 by implementing the projection of a laser line 21 and the distance sensor 25. Each point 31 of this cloud 30 is located according to a geometric reference linked to the conditions for capturing the three-dimensional image and therefore to the position of the robot 11.

[0027] [Fig.4] is an example of a cloud 40 of points 41 extracted from medical imaging. Each point 41 of this cloud 40 is located according to a geometric reference linked to the conditions for carrying out medical imaging.

[0028] In order for the robot 11 to be able to virtually position the medical imagery 40 in space relative to the real space of the patient 12, a matching operation (also called “registration”) of the clouds 30 and 40 of points 31 and 41 is necessary. The medical imagery 40 is thus located in the geometric reference frame of the robot 11.

[0029] To this end, the implementation of the device 10 follows the following steps of the method 50 illustrated in [Fig.5].

[0030] During a step 51, the robot 11, and in particular the carriage 15, is placed opposite the area of ​​interest, i.e. the surgical intervention area on the body of the patient 12 (the head in FIGS. 1 and 2). The carriage 15 no longer moves after step 51, until the end of the surgical intervention. Preferably, the carriage 15 is equipped with jack feet (not shown) which are deployed during step 51 to prevent any movement of the carriage 15. At the end of step 51, the robot, and in particular its robotic arm 17, is started.

[0031] During a step 52, the robotic arm 17 performs automatic prepositioning so that its free end is located close to the area of ​​interest, in a position where the operator 23 can easily install the registration unit 19 if it is not integrated into the arm 17. During this step 52, the robotic arm moves from a so-called “storage” position in which it is connected above the carriage 15 to a deployed position allowing easy installation of the registration unit 19 at the free end of the arm 17. If the unit 19 is integrated into the arm 17, the position reached by the arm 17 is a position allowing the operator 23 to grasp the handle 24 to move it, in cooperative mode, to the area of ​​interest to be scanned.

[0032] During a step 53, in the case where the resetting unit 19 is not integrated into the arm 17, it is installed at the free end of the robotic arm 17.

[0033] During a step 54, the operator 23 roughly positions the contactless registration unit 19 parallel to the area of ​​interest, using the handle 24 of the registration unit 19 and the cooperative mode of the robotic arm 17. Alternatively, this posi- coarse operation is carried out automatically by the robotic arm 17.

[0034] The cooperative mode is implemented by means of at least one force sensor placed at the end of the robotic arm 17, or directly in the joints of the robotic arm, if it is a so-called “active” arm. In this cooperative mode, the arm can apply constraints to the movements of its end. For example, the only movements authorized, in cooperative mode, at the free end of the robotic arm 17 are in a plane roughly parallel to the area of ​​interest or along a straight line roughly parallel to an axis of symmetry of the area of ​​interest, for example the face of the patient 12. Alternatively, the plane is parallel to the upper surface of the operating table 14 and / or the axis is the axis parallel to the longitudinal axis of the operating table 14. This is the configuration during step 54 which is illustrated in [Fig. 1].

[0035] During a step 55, the laser pointer provides a distance between the registration unit 19 and the area of ​​interest. On the basis of this initially measured distance, automatically or manually, this distance is adjusted by moving the registration unit 19. This adjustment is carried out taking into account that too small a distance can pose difficulties in terms of the distance measurement surface covered by the registration unit 19 and in terms of sterility of the operating field. Conversely, too large a distance increases the uncertainty of distance measurement. Typically, the adjusted distance is of the order of 40 centimeters.

[0036] During a step 56, the projection angle of the plane laser light beam is adjusted, which provides a light line on the patient's skin in the area of ​​interest. The length of the laser beam line is adjusted via a user interface (not shown), for example a touch screen carried by a trolley other than the trolley 15. This light line is thus sized on the scanned surface in order to avoid illuminating elements external to the patient, for example a stereotaxy frame. Alternatively, the laser pointer is used to define the ends of the projection field to be covered.

[0037] During a step 57, the laser registration unit is switched on and the coordinates, in the geometric reference frame of the robot, of the starting position of the scanning of the area of ​​interest with the laser light line are recorded, by means of a control button (not shown) on the handle of the registration unit or the user interface.

[0038] During a step 58, the robotic arm 17 switches to cooperative mode under axial or planar constraint parallel to the area of ​​interest.

[0039] During a step 59, the operator 23 moves the robotic arm 17 under axial or planar constraint parallel to the area of ​​interest in order to scan this area of ​​interest and measure the distance to the registration unit 19 of each point illuminated by the light line. It is the configuration at the start of step 59 which is illustrated in [Fig.2].

[0040] During a step 60, a calculation unit (not shown) performs an extraction of a point cloud (3D surface similar to the cloud 30 of points 31) as output data from the laser scan. It is noted that this three-dimensional output data from the laser scan can be used in so-called “open” surgery, that is to say by exposing to air the bony part of the area concerned in the patient's body, for example a part of the spine, a knee or a hip) without “intraoperative” imaging (during the operation), but with “preop” (preoperative) imaging.

[0041] During a step 61, the calculation unit performs an extraction of a cloud of points from the medical imaging, similar to the cloud 40 of points 41.

[0042] During a step 62, the calculation unit uses a point cloud matching algorithm, for example of the ICP type (acronym for “iterative closest point”) in order to calculate the transition matrix between the real space reference frame of the area of ​​interest (in geometric coordinates of the robot 10) and the reference frame of the associated medical imaging. The point clouds are thus made to coincide, in the geometric reference frame of the robot, minimizing the error between these two clouds. Preferably, before using this algorithm, the operator performs a quick “manual” coarse registration step. This step makes it possible to accelerate the convergence of the automatic ICP algorithm. For this purpose, the operator identifies in the point clouds of the laser scan and the medical imaging, equivalent anatomical zones (or points), in each cloud. A first, so-called “rough” recalibration is then carried out on this basis.The ICP algorithm uses this coarse registration as input data.

[0043] Preferably, a confidence index is assigned to the finally obtained matching, for example by measuring an average distance between matched points, and, in the case where the confidence index is too low (for example, this average distance is greater than a predetermined limit value), steps 55 to 61 are carried out again. Two examples of confidence index are described below:

[0044] 1. An average global index of the RMS type (“root mean square error”) for root mean square error dratic average) over the entire cloud. The RMS value (e.g. 0.26 mm) obtained is displayed on the user interface, with a two-color code (green acceptable, red not acceptable). If the index is green, the operator can continue the procedure. A red index on the user interface requires the operator to repeat a surface laser scan.

[0045] 2. One index per point (distance between two points matched between the two point clouds) which can be represented as a color map directly on the 3D extraction of medical imaging or on the 3D surface obtained via laser scanning. If the rate of points further away than a predetermined limit distance completed (e.g. one millimeter) exceeds a limit value (e.g. 10%) or if a distance between corresponding points exceeds another predetermined limit distance (e.g. three millimeters), a red hint on the user interface forces the operator to repeat a surface laser scan.

[0046] During a step 63, the calculation unit creates a prohibited zone (“NoGo” zone) for the robotic arm 17 and its instrument holder from the scanned 3D surface and / or the 3D reconstruction of the medical imaging registered with the laser-scanned 3D surface. This NoGo Zone prohibits collisions between the robotic arm 17 and the body of the patient 12 at least in the zone of interest (the complete volume of the head 22 in the case shown in FIGS. 1 and 2).

[0047] In the second embodiment of the device 70 which is the subject of the invention shown in [Fig. 6], we find a patient 12 on an operating table 14, and an operator 23. However, unlike the first embodiment, no robotic arm is used to follow the movement of a contactless registration unit 71 comprising a means for projecting a laser point 20 and a laser line 21 formed on the area of ​​interest on the body of the patient 12, here his head 22. The unit 71 is also provided with a distance sensor 25 and a handle 72 with which the operator 23 can manipulate this unit 71. The distance sensor 25 comprises, for example, an image sensor and a means for measuring distance by triangulation, according to known techniques.

[0048] A navigation camera 77 is carried by an articulated positioning arm 76, itself carried by a camera support carriage 75. To locate, in space, the registration unit 71, this unit 71 is provided with at least one navigation reference 74 fixed to the unit 71. The optical field 79 of the camera 77 covers the different positions of the positioning reference 74 during the movement of the unit 71.

[0049] Alternatively, so that the operator 23 does not have to carry the registration unit 71 at arm's length and so that the movement of the registration unit 71 is a translation parallel to the longitudinal axis of the operating table 14, a translation sliding support 78 is carried, in a removable manner, by the operating table 14. For example, this support 78 has, in the upper part, two horizontal rails parallel to the longitudinal axis of the operating table 14 on either side of the head 22 of the patient 12, rails on which the unit 71 slides or rolls on rollers (not shown) in translation. This movement is imparted by the operator 23 and, possibly, braked at the rollers so that the capture of points of the surface of interest is sufficiently dense.

[0050] Thanks to the geometric location of the registration unit 71, carried out by the navigation camera 77 via each navigation reference 74, the coordinates of the points of the area of ​​interest in the space of the operating room can be obtained. Once a robotic arm is in place, its free end is, in turn, located in this space, for example by implementing at least one other navigation reference. To this end, a recalibration between the robotic arm and the navigation camera must be carried out, in the following manner. A navigation reference is positioned at the free end of the robotic arm, like a tool to be carried or by being integrated into this end of the arm. The robotic arm then moves automatically to different known positions in space. These different positions are recorded by the camera and located in its geometric reference frame. We can then make the link between the positions seen by the camera and the positions of the joints (via the joint encoders) of the robotic arm.Alternatively, in order to avoid the time required to mount the navigation reference (which can lead to poor mounting and therefore inaccuracies) and to move the arm to different positions, a navigation reference can be permanently placed on the carriage of the robotic arm. Knowing by design the location of this reference relative to the base of the robotic arm (and therefore to its reference frame), the camera will only have to locate this reference in order to carry out the matching with the reference frame of the robotic arm. The coordinates of the points in the area of ​​interest, in three dimensions, can then be matched with the coordinates of the robotic arm and with the previously stored medical imagery.

[0051] The resetting unit 71 comprises the same means for adjusting the projection angle of the laser line 21 or the length of the laser line 21 as the resetting unit 19 described with reference to FIGS. 1 and 2.

[0052] Although, in the embodiments of the device that is the subject of the invention described above, the distance sensor 25 is mounted on the robotic arm 17, in other embodiments, this distance sensor is mounted on a carriage other than the robotic arm. Of course, the geometric reference frame of this distance sensor is then fixed and the transformation matrix of coordinates in this reference frame into coordinates in the reference frame of the robot is then preliminarily determined. Presentation of the invention

[0053] The present invention aims to remedy all or part of the drawbacks of the state of the art.

[0054] To this end, according to a first aspect, the present invention aims at a contactless registration device between a robot, a patient and medical imaging, which comprises: - a means of projecting a laser line onto an area of ​​interest of the patient, - a means of capturing geometric coordinates of points of the laser line to form a point cloud of the area of ​​interest, and - a means of matching a point cloud of medical imaging and the point cloud of the area of ​​interest.

[0055] Thus, the projection means forms, on the area of ​​interest of the patient's body, at least one line allowing the simultaneous capture of three-dimensional geometric coordinates of points of the area of ​​interest. A single linear movement of the projection means thus makes it possible to capture the three-dimensional geometric coordinates of the entire area of ​​interest to be realigned with the surface extracted from the medical imaging of said anatomy.

[0056] The implementation of the present invention allows geometric registration between the robot, the area of ​​interest on the patient's body and the medical imaging. This registration is carried out without contact with the patient's body, therefore in a non-invasive manner. The implementation of the invention considerably reduces the time required to carry out a point cloud acquisition of the anatomical surface of interest. Typically, it goes from 15 to 20 minutes, in the prior art using laser pointer registration, to less than five minutes. This time saving allows a reduction in the operating room occupancy time and the anesthesia duration and its harmful consequences for the patient, especially if the registration must be renewed during the surgical procedure, in the event that the registration is lost, for example if the robot has moved. The invention also reduces the dependence of the registration accuracy on the operator and improves the operator's user experience.

[0057] In embodiments, the means for projecting the laser line further comprises means for adjusting the projection angle of the laser line and / or the length of the laser line.

[0058] The laser line is thus dimensioned on the scanned surface in order to avoid illuminating elements external to the patient, for example a stereotaxic frame. This avoids artifacts from capturing geometric coordinates of points of the laser line on the area of ​​interest.

[0059] In embodiments, the device which is the subject of the invention further comprises a laser pointer for measuring the distance between the geometric coordinate capture unit and the area of ​​interest.

[0060] This adjustment is made taking into account that too small a distance can pose difficulties in terms of the distance measurement surface covered by the capture means and in terms of sterility of the operating field. Conversely, too large a distance increases the uncertainty of distance measurement.

[0061] In embodiments, the device which is the subject of the invention further comprises the robot provided with an arm comprising at least one force sensor, the robot being configured to operate in cooperative mode.

[0062] The movements of the operator implementing the device which is the subject of the invention are thus measured by the force sensors, which allows the robot to know the geometric coordinates of the capture unit in its own geometric reference frame. The geometry of the capture unit is known, by design, relative to the robotic arm. The capture unit is mounted at the end of the arm or directly incorporated into the arm. The encoders of the joints of the robotic arm make it possible to obtain the coordinates of the end of the arm in the robot's reference frame. Knowing the geometry of the capture unit, the coordinates of the capture unit are deduced relative to the coordinates of the end of the arm.

[0063] In embodiments, the robot is configured to operate in cooperative mode constraining the movement of the capture means in a plane or along an axis.

[0064] The operator implementing the device which is the subject of the invention is thus helped by the robotic arm to follow a movement facilitating the 3D acquisition of the surface of interest.

[0065] In embodiments, the robot is an aiming assist robot.

[0066] Thus the robot's reference frame is recalibrated, both with respect to the area of ​​interest and with respect to medical imaging allows the robotic arm to position very precisely (to within a millimeter) and stably in real space, a surgical instrument guide allowing the surgeon to aim, via the insertion of the surgical instrument into the guide carried by the robot, an anatomical zone in real space from a target zone and an entry zone that he will have previously identified in the patient's medical images.

[0067] In embodiments, the device which is the subject of the invention further comprises a navigation camera, and a recalibration unit provided with a fixed reference relative to the recalibration unit.

[0068] This navigation camera can thus determine the geometric coordinates of the capture means, in its geometric reference frame, and therefore of the area of ​​interest still in this reference frame.

[0069] According to a second aspect, the present invention aims at a method of contactless registration between a robot, a patient and medical imaging, which comprises: - a step of projecting a laser line onto an area of ​​interest of the patient's body, - a step of capturing geometric coordinates of points of the laser line to form a point cloud of the area of ​​interest, and - a step of matching a point cloud of the medical imaging and the point cloud of the area of ​​interest.

[0070] The advantages, aims and particular characteristics of this method being similar to those of the device which is the subject of the invention, they are not recalled here.

[0071] In embodiments, the method which is the subject of the invention further comprises a step of creating a geometric zone prohibited for the robotic arm from the point cloud of the area of ​​interest and / or medical imaging registered with the point cloud of the area of ​​interest.

[0072] This ensures better patient safety, thanks to the creation of a “NoGo” zone around the patient’s body.

Claims

Claims

1. Device (10, 70) for contactless registration between a robot (17), a patient (12) and medical imaging, characterized in that it comprises: - a means (27) for projecting a laser line (21) onto an area of ​​interest (22) of the patient's body, - a means (25) for capturing geometric coordinates of points of the laser line to form a cloud (40) of points (41) of the area of ​​interest, and - a means (13) for matching a cloud (30) of points (31) of the medical imaging and the cloud of points of the area of ​​interest.

2. Device (10, 70) according to claim 1, wherein the means (27) for projecting the laser line (21) further comprises means for adjusting the projection angle of the laser line and / or the length of the laser line.

3. Device (10, 70) according to one of claims 1 or 2, which further comprises a laser pointer for measuring the distance between the geometric coordinate capture unit and the area of ​​interest.

4. Device (10) according to one of claims 1 to 3, which further comprises the robot (11) provided with an arm (17) comprising at least one force sensor, the robot being configured to operate in cooperative mode

5. Device (10) according to claim 4, wherein the robot (17) is configured to operate in cooperative mode constraining the movement of the capture means (25) in a plane or along an axis.

6. Device (10) according to one of claims 4 or 5, in which the robot (17) is an aiming assistance robot.

7. Device (10, 70) according to one of claims 1 to 6, which further comprises a navigation camera (77), and a resetting unit (19, 71) provided with a reference (74) fixed relative to the resetting unit.

8. Method (50) for contactless registration between a robot (17), a patient (12) and medical imaging, characterized in that it comprises: - a step (59) of projecting a laser line (21) onto an area of ​​interest (22) of the body of the patient (12), - a step (59, 60) of capturing geometric coordinates of points of the laser line to form a cloud (40) of points (41) of the area of ​​interest, and - a step (62) of matching a cloud (30) of points (31) of the medical imaging and the cloud of points of the area of ​​interest.

9. A method (50) according to claim 8, which further comprises a step (56) of adjusting the projection angle of the laser line (21) and / or the length of the laser line.

10. Method (50) according to one of claims 8 or 9, which further comprises a step (55) of adjusting the distance between a means (27) for projecting the laser line (21) and the area of ​​interest (22).

11. Method (50) according to one of claims 8 to 10, in which, during the capture step (59, 60), the robot (17) operates in cooperative mode constraining the movement of a capture means (25) in a plane or along an axis.

12. Method (50) according to one of claims 8 to 11, which further comprises a step (63) of creating a geometric zone prohibited for the robotic arm (17) from the cloud (30) of points (31) of the zone of interest (22) and / or from the medical imaging (40) aligned with the cloud of points of the zone of interest.

Images