Title of the invention: device and method for acquiring the three-dimensional geometric shape of an object

Abstract

The device for acquiring and navigating and / or robotically targeting the geometric shape of an object (22) comprises: - a sensor (25) for sensing distances between the object and an acquisition unit, - a computer (12) for computing a three-dimensional geometric model of the object, - a navigation camera for determining a position and an orientation of a first fixed navigation reference on the object, relative to the object bearing on a mechanical reference; and - a calculation unit for determining, during movements of the object that are captured by the navigation camera, the position and the orientation of the mechanical reference and then the position and the orientation of the object, and positioning and orienting the geometric model of the object in a virtual space in compliance with this position and this orientation of the object.

Description

[0001] DESCRIPTION

[0002] TITLE OF THE INVENTION: DEVICE AND METHOD FOR ACQUIRING THE THREE-DIMENSIONAL GEOMETRIC SHAPE OF AN OBJECT

[0003] TECHNICAL FIELD OF THE INVENTION

[0004] The present invention relates to a method for acquiring the three-dimensional geometric shape of an object and a device for acquiring and using this three-dimensional geometric shape in a navigation system and / or a robotic aiming system, particularly for a surgical instrument and / or an implant. It is applicable, in particular, to the field of computer-assisted surgery and, more specifically, to the use of the geometric shape of a surgical instrument and / or an implant in a navigation system and / or a robotic aiming system.

[0005] STATE OF THE ART

[0006] The approaches described in this section are approaches that could be pursued, but not necessarily approaches that have been previously conceived or pursued. Therefore, unless otherwise stated, it should not be assumed that any of the approaches described in this section constitutes prior art simply because of its inclusion in this section.

[0007] During computer-assisted surgical procedures using a navigation system and / or a robotic aiming system, the surgical instruments and / or implants used are represented in real time on medical images using 3D models or their 2D cross-sectional representation.

[0008] Today, each robotic navigation and / or aiming system has its own set of instruments and implants. This forces medical facilities to adapt the range of instruments and / or implants associated with the navigation or aiming system they have chosen to use. This makes medical facilities dependent on the consumables from the manufacturers of these systems and increases the operating costs of these systems and, consequently, the cost of surgical procedures.

[0009] We know of US patent application US 2021 / 236 207, US patent application US 2018 / 049 622 and US patent application US 2024 / 299 100 which disclose the state of the art.

[0010] SUMMARY OF THE INVENTION

[0011] The general concept of the invention consists of a device and a method for navigating, that is, virtually manipulating, any type of object within a captured image. This manipulation can be purely virtual, for example, by moving a digital model of the object within the captured image using a pointing device, such as a computer mouse. This virtual manipulation can also correspond to the movement of the object in the real world, a movement captured by a camera and transmitted to the navigation software. The captured image is, for example, an image of the patient's body based on medical images. The object can be a surgical instrument and / or an implant held by an instrument for insertion into the patient's body.

[0012] For this purpose, a 3D acquisition device (e.g., structured light, line laser, time-of-flight, or photogrammetry) is used manually and / or robotically to create a three-dimensional geometric model of the instrument and / or implant to be navigated. This model is then used by a navigation system and / or a robotic aiming system to be displayed in real time on the medical images, thus allowing the surgeon to track the movement of the instrument and / or implant in space in real time.

[0013] PRESENTATION OF THE INVENTION

[0014] The present invention aims to remedy all or part of the drawbacks of the state of the art.

[0015] To this end, according to a first aspect, the present invention relates to a device for the acquisition and navigation and / or robotic targeting of the geometric shape of an object, which comprises:

[0016] - an acquisition unit comprising a distance sensor between points on the object and this acquisition unit,

[0017] - a computer configured to construct a three-dimensional geometric model of the object from the measured distances,

[0018] - a navigation camera,

[0019] - a mechanical reference,

[0020] - a computing unit configured to determine a position and orientation of the object supported on the mechanical reference relative to a navigation camera as a function of at least one image of a first navigation reference fixed on the object captured by the navigation camera; and to determine, during movements of the object captured by the navigation camera, the position and orientation of the mechanical reference and then the position and orientation of the object, and to position and orient the geometric model of the object in a virtual space with navigation or robotic aiming software in accordance with this position and orientation of the object.

[0021] Thus, any surgical instrument or implant can give rise to a three-dimensional model which is then used by robotic navigation and / or targeting software.

[0022] In some embodiments, the device includes a robotic arm to support the acquisition unit during the capture of distances between the points of the object and the acquisition unit.

[0023] The robot can thus be controlled to acquire the three-dimensional model of the surgical object.

[0024] In some embodiments, the robotic arm is configured to operate in cooperative mode during the capture of distances between points on the object and the acquisition unit. The robot can thus be used in cooperative mode to acquire the three-dimensional model of the surgical object, under the control of an operator.

[0025] In some embodiments, the distance sensor includes a matrix camera equipped with a lens, the device further comprising a support for the object in the optical field of the camera, this support bearing contrasting optical markers on its surface oriented towards the camera.

[0026] This matrix camera captures all the points on the surface of the surgical object visible to the camera. By successively capturing several images so that the sum of these visible areas covers the entire surface of the surgical object, a three-dimensional modeling software with shape recognition defines the three-dimensional model of the surgical object.

[0027] In some embodiments, the computer is configured to construct a three-dimensional geometric model of the object from the distances captured in at least two images acquired by the matrix camera.

[0028] Thanks to these provisions, any object can be modeled quickly.

[0029] In some embodiments, the computer implements a three-dimensional pattern recognition modeling algorithm to construct the three-dimensional geometric model of the object.

[0030] Thanks to these provisions, only the shape of the object is taken into account, which limits the calculation time.

[0031] In some embodiments, the device includes a means of recording the three-dimensional geometric model of the object in a computer memory.

[0032] Thanks to these provisions, modeling can be done prior to navigation.

[0033] In some embodiments, the device includes a second navigation reference fixed on the acquisition unit, the position of the acquisition unit being determined based on images of the second navigation reference fixed on the acquisition unit obtained by the navigation camera.

[0034] Thanks to the navigation camera and the navigation reference, the position of the acquisition unit can be determined, as well as its movements between two image captures.

[0035] In some embodiments, the calibration means comprises a calibration tool carrying the mechanical reference and a third navigation reference. The object carrying the first navigation reference is positioned in contact with the mechanical reference. The computing unit is configured to determine the positions and orientations of the calibration tool and then of the object based on images of these first and third navigation references obtained by the navigation camera. In other embodiments, the mechanical reference is carried by a robotic arm. The calibration of the object is performed based on the position of the mechanical reference carried by the robotic arm, as located by the robotic arm.

[0036] Thanks to each of these arrangements, the respective position of the navigation reference and the surgical object can be determined, which makes it possible to position the three-dimensional model of the surgical object in medical imaging in correspondence with the real position of this object in real space, regardless of the movements of this object.

[0037] According to a second aspect, the present invention relates to a method for acquiring and navigating the geometric shape of an object, which comprises:

[0038] - a step of capturing distances between points on the object and an acquisition unit,

[0039] - a step involving the construction of a three-dimensional geometric model of the object based on the measured distances, and

[0040] - a calibration step, during which the position and orientation of the object, supported by a mechanical reference, are determined relative to a navigation camera based on at least one image of a first navigation reference fixed to the object and captured by the navigation camera,

[0041] - a determination step, during object movements captured by the navigation camera, of the position and orientation of the mechanical reference and then of the position and orientation of the object and

[0042] - a positioning and orientation step of the geometric model of the object in a virtual space with navigation or robotic aiming software in accordance with this position and orientation of the object.

[0043] In some embodiments, during the distance capture step, a second navigation reference is fixed on the acquisition unit, the position of the acquisition unit being determined based on images of the second navigation reference fixed on the acquisition unit obtained by the navigation camera.

[0044] In some embodiments, during the calibration step, a calibration tool carrying the mechanical reference and a third navigation reference is implemented, the object carrying the first navigation reference being positioned in contact with the mechanical reference, the determination of the positions and orientations of the calibration tool and then of the object being carried out according to images of these first and third navigation references obtained by the navigation camera.

[0045] The advantages, purposes and particular characteristics of this process being similar to those of the process which is the subject of the invention, they are not recalled here.

[0046] BRIEF DESCRIPTION OF THE FIGURES

[0047] Other advantages, purposes and particular features of the invention will become apparent from the following non-limiting description of at least one particular embodiment of the device and method of the present invention, with reference to the accompanying drawings, in which:

[0048] Figure 1 schematically represents, in side view, a first particular embodiment of a modeling device,

[0049] Figure 2 schematically represents, in side view, a second specific embodiment of a modeling device. Figure 3 schematically represents, in side view, a third specific embodiment of a modeling device.

[0050] Figure 4 schematically represents, in side view, a first particular embodiment of a calibration device,

[0051] Figure 5 schematically represents, in side view, a second specific embodiment of a calibration device,

[0052] Figure 6 schematically represents, in side view, a third specific embodiment of a calibration device,

[0053] Figure 7 schematically represents three successive configurations of a surgical instrument or implant for acquiring its complete geometry, in the case of a geometry that does not exhibit rotational symmetry and has at least one concavity, and

[0054] Figure 8 represents, in the form of a flowchart, the steps of a first particular embodiment of the process which is the subject of the invention.

[0055] DESCRIPTION OF IMPLEMENTATION METHODS

[0056] The present description is given by way of non-limiting attribution, each feature of an embodiment being able to be advantageously combined with any other feature of any other embodiment.

[0057] It should be noted from the outset that the figures are not to scale.

[0058] As can be understood from this description, various inventive concepts can be implemented by one or more of the methods or devices described below, several examples of which are provided herein. The actions or steps performed in the implementation of the method or device can be ordered in any appropriate manner. Consequently, it is possible to construct embodiments in which the actions or steps are performed in a different order than that illustrated, which may include performing certain acts simultaneously, even if they are presented as sequential acts in the illustrated embodiments.

[0059] The indefinite articles "un" and "une", as used in the description, should be understood as meaning "at least one", unless clearly stated otherwise.

[0060] The expression "and / or," as used in this document, should be understood as meaning "one or the other or both" of the elements thus joined, that is, elements that are present conjunctively in some cases and disjunctively in others. Multiple elements listed with "and / or" should be interpreted in the same way, that is, "one or more" of the elements thus joined. Other elements may also be present, other than those specifically identified by the "and / or" clause, whether or not they are related to those specifically identified elements.Thus, by way of non-limiting example, a reference to "A and / or B", when used in conjunction with an open language such as "including", may refer, in one embodiment, to A only (possibly including elements other than B); in another embodiment, to B only (possibly including elements other than A); in yet another embodiment, to A and B (possibly including other elements); etc.

[0061] As used here in the description, "or" should be understood inclusively.

[0062] As used in this description, the expression "at least one," when referring to a list of one or more items, should be understood as meaning at least one item chosen from one or more items in the list of items, but not necessarily including at least one of each item specifically listed in the list of items and not excluding any combination of items in the list of items. This definition also allows for the optional presence of items other than those specifically identified in the list of items to which the expression "at least one" refers, whether or not they are related to those specifically identified items.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, possibly including more than one, A, without B present (and possibly including elements other than B); in another embodiment, to at least one, possibly including more than one, B, without A present (and possibly including elements other than A); in yet another embodiment, to at least one, possibly including more than one, A, and at least one, possibly including more than one, B (and possibly including other elements); etc.

[0063] In the description below, all transitive expressions such as "comprising", "including", "carrying", "having", "containing", "implying", "holding", "composed of", and others, should be understood as open, that is, as meaning including but not limited to. Only the transitive expressions "consisting of" and "consisting essentially of" should be understood as closed or semi-closed transitive expressions, respectively.

[0064] Throughout this description, the terms "upper" and "top" refer to what is at the top when the device of the present invention is in its operational configuration. The terms "lower" and "bottom" refer to what is at the bottom when the device of the present invention is in its operational configuration. The term "inside" refers to what is inside the device. The term "outside" refers to what is outside the device.

[0065] Throughout this description, a surgical instrument or surgical implant is referred to as a "surgical object".

[0066] As briefly described above, the invention proposes to overcome the problems of the prior art by providing a device and a method enabling the use, by a surgical navigation system or a robotic aiming system, of a geometric model of any type of instrument and / or implant (the implants being held by instruments for insertion into the patient's body). To this end, at least one three-dimensional acquisition, for example, of the structured light, laser scanning, laser line projection, or time-of-flight type, is performed manually and / or robotically. Based on each acquisition, the three-dimensional geometric model is calculated and stored in memory. The device of the present invention includes a means for recording the three-dimensional geometric model of the object in computer memory.

[0067] This three-dimensional geometric model is then used by a navigation system and / or a robotic aiming system, to be represented in real time on medical images, thus allowing the surgeon to follow in real time the evolution in space of the instrument and / or implant that he is manipulating.

[0068] [Fig. 1] represents a first embodiment of a modeling device, i.e., a three-dimensional acquisition of points on the external surface of a surgical object 22.

[0069] The surgical instrument 12 is positioned on a support 14. In Figure 1, this support 14 is a table. Preferably, the support 14 allows the surgical instrument to be rotated around an axis and locked in a position. This type of support allows for multiple distance measurements of points on the instrument in different configurations, as shown opposite Figure 7. A robot 11 includes a mobile carriage 15 equipped with wheels 16, supporting an anthropomorphic robotic arm 17 with joints 18. The robotic arm 17 supports, at its free end, an acquisition unit 19 comprising a projection means 27 for a laser line 21 formed on the instrument 22. Note that the laser line 21 can be obtained by using optics placed in front of a laser source, comprising at least one cylindrical lens, or by scanning the line 21 with a moving linear laser beam.

[0070] The acquisition unit 19 is also equipped with a distance sensor 25 and a handle 24 with which an operator 23 can manipulate this acquisition unit 19. The laser line 21 is perpendicular to the direction of movement of the acquisition unit 19, this movement being, in [Fig. 1], from left to right.

[0071] During this movement, the robotic arm operates in cooperative mode. This cooperative mode is implemented via at least one force sensor (not shown) located at the free end of the robotic arm 17, or directly in the joints 18 of the robotic arm 17, if it is an "active" arm. In this cooperative mode, the robotic arm 17 applies constraints to the movements of its end. For example, the only movements permitted, in cooperative mode, at the free end of the robotic arm 17 are in a plane roughly parallel to the upper surface of the support 14, or, preferably, along a straight line roughly parallel to a longitudinal axis of the support 14.

[0072] It is worth noting here that cooperative mode is well-known in robotics, particularly in the context of cobots. Cooperative mode is also referred to as "collaborative mode" in the field. The term comes from the English word "cobot," a neologism combining "cooperation" and "robotics." The word cobot designates a category of (non-autonomous) robots dedicated to manipulating objects in collaboration with a human operator. More generally, it can refer to an automated system involved in cobotic tasks or interactions. A cobot (or collaborative robot) is a type of robot designed to be used in the same workspace as human operators without risk to them, even without physical barriers, thanks to sensors and programs (possibly incorporating artificial intelligence) that trigger a slowdown or complete stop if a risk of collision is detected.

[0073] Alternatively, motors of the robotic arm 17 are actuated to make the acquisition unit 19 travel a path in relation to the surgical object 22. This path makes the laser line 21 travel over the entire surface of the surgical object 22 visible from the projection means 27. Alternatively, the surgical object is positioned on a conveyor belt which moves this object at a constant speed during the measurement of distances.

[0074] The distance sensor operates within a certain range of distances relative to the object being modeled. Since this range of distances is known to the operator, they position the distance sensor within this range.

[0075] Alternatively, the acquisition unit 19 also includes a laser pointer 26. The laser pointer 26 provides a distance between the acquisition unit 19 and the surgical object 22. This laser pointer 26 thus constitutes a means of determining a geometric reference of the object, in the field of vision of the distance sensor 25. Then, this distance between the acquisition unit 19 and the surgical object 22 is adjusted, automatically or manually, by moving the acquisition unit 19. Typically, the adjusted distance is on the order of 10 to 40 centimeters for a surgical instrument.

[0076] It is noted that the distance sensor 25 can also be used as a means of determining a geometric reference frame of the object, within its field of vision.

[0077] The distance sensor 25 includes, for example, an image sensor 25 and a means for calculating the distances of the points of the object 22 illuminated by the laser line 21 projected by the projection means 27. This calculation is carried out by triangulation, according to known techniques.

[0078] Alternatively, the three-dimensional acquisition of points on the surface of the surgical object 22 is of the structured light type or time-of-flight measurement type.

[0079] The second embodiment of the modeling device 20 shown in [Fig. 2] contains the same elements as the first embodiment. However, unlike the first embodiment, no robotic arm is used to track the movement of the acquisition unit 19 in three dimensions.

[0080] A navigation camera 37 is mounted on an articulated positioning arm 36, itself supported by a camera support trolley 35. To locate the acquisition unit 19 in space, at least one second navigation reference 34 is fixed to the acquisition unit 19.

[0081] A navigation reference is a set of at least four pre-mounted markers, fixed and predetermined, on a rigid support, itself fixed on the acquisition unit 19. An image of this second navigation reference 34, captured by the camera 37, thus makes it possible to locate the position (three coordinates in an orthonormal frame) and the orientation (three angular coordinates in this frame) of this second navigation reference 34 and, consequently, of the acquisition unit 19.

[0082] The optical field 39 of the camera 37 covers the various positions of the second navigation reference 34 during the movement of the acquisition unit 19. Alternatively, to avoid the operator 23 having to hold the acquisition unit 19 at arm's length and to ensure that the movement of the acquisition unit 19 is a translation parallel to the longitudinal axis of the support 14, a sliding support 28 is provided. This translation is preferably parallel to an axis of the support 14, for example, the axis of rotation of the support 14. For example, this support 28 has, at its upper end, two horizontal rails parallel to the longitudinal axis of the support 14 on either side of the object 22, rails on which the acquisition unit 19 slides or rolls on casters (not shown) in translation.This movement is imparted by the operator 23 and, possibly, braked at the level of the rollers so that the capture of points of the surface of interest is sufficiently dense.

[0083] In the third embodiment of the modeling device 40 shown in [Fig. 3], this device includes a matrix camera 41 equipped with a lens 42 and a mat 44 supporting the surgical object 22. This surgical object is entirely within the optical field 43 of the camera 41.

[0084] The support mat 44 carries contrasting optical markers 45 on its upper surface facing the camera 41. These markers 45 are, for example, white or reflective circles or discs on a black background. These optical markers 45, arranged in positions known to image processing software, allow the dimensions of the surgical object 22 to be acquired. They can also be distributed non-uniformly. These markers 45 thus form visual references easily recognized by the image processing software for images acquired by the camera 41.

[0085] To create a model of the surgical object 22, it is placed on the mat 44 and an initial image acquisition is performed. The surgical object 22 is then rotated around its principal axis of inertia and a second image acquisition is performed, and so on, depending on the complexity of the surgical object 22, as described opposite [Fig. 7]. The images thus acquired are then processed by a computer 12 to generate a complete three-dimensional model of the surgical object 22, using a 3D modeling algorithm with shape recognition. The computer 12 can be located locally or remotely, for example, as a web server.

[0086] Once the three-dimensional model is generated by the calculator 12, it is transferred into memory.

[0087] Once the three-dimensional model has been defined by one of the modeling devices 10, 20 or 40 described above, it can be used in different ways during a surgical procedure.

[0088] In cases where the operating room is equipped only with a robotic aiming system, this system includes the means to register medical imaging with respect to the coordinates of the robotic arm's reference frame. Typically, the arm is used in cooperative mode to position a mechanical pointer, whose coordinates are constantly known in the robotic arm's reference frame, on at least three characteristic points of the patient's body identified in the medical imaging. Other types of pointers, such as laser beams located in the robotic arm's geometric reference frame, can also be used. From the coordinates of these characteristic points in the robotic arm's geometric reference frame, a geometric transformation is determined that maps the geometric coordinates in the medical imaging to the geometric coordinates in real space.The model of the surgical instrument can then be integrated into the medical imaging during the movements of the robotic arm, provided that the position of this surgical instrument is located within the robotic arm's geometric reference frame. Conversely, medical imaging allows for the definition of a no-go zone for the robotic arm, including the surgical instrument, to prevent injury to the patient.

[0089] In the case where the operating room has a navigation system combining a camera and a display screen showing medical imaging.

[0090] To insert the model of the surgical object 22 into this image, the surgical object 22 is calibrated by attaching a first navigation reference 32 to it. During this calibration, the tip of the surgical object 22 is placed in a mechanical reference 31, for example, a divot, of a calibration tool 38 with a geometry known to the navigation system. A third navigation reference 33 is attached to this calibration tool at a position known to the navigation system.

[0091] The navigation camera 37 then captures images containing:

[0092] - the first navigation reference 32 mechanically fixed to the surgical object 22, and

[0093] - the third navigation reference 33 mechanically fixed on the calibration tool 38, and The third navigation reference 33 allows a computing unit 13 to determine the position, in space, of the mechanical reference where the tip of the surgical object 22 is located. The first navigation reference 32 allows the computing unit 13 to determine the orientation of this tip relative to this first navigation reference 32 and the distance between this tip and this first navigation reference 32. The computing unit 13, which includes the calibration tool 38 and the navigation camera 37, thus performs the calibration of the object 22.

[0094] Two methods can be used to align the medical imaging coordinate system with the operating room coordinate system. The first method, which does not involve a robot, uses a camera to locate different positions of a mechanical pointer to which a navigation reference is attached. These positions correspond to characteristic points on the patient's body identified in the medical imaging. The transformation function from real-space coordinates to medical imaging coordinates is then determined.

[0095] In the second method using a robot, medical imaging registration methods are used with respect to the coordinates of the robotic arm's reference frame described above, by following, with the camera, the position of the pointer on which a navigation reference is fixed.

[0096] Next, the geometric model of the surgical instrument can be inserted into the patient's medical imaging, corresponding to the surgical instrument's position relative to the patient's body. The movements of this model follow those of the surgical instrument, via the camera which captures images from the second navigation reference and the coordinate transformation between real space and the medical imaging space.

[0097] During a surgical procedure, the surgeon only has to perform the instrument calibration procedure, using a calibration tool 38 carried manually (see [Fig. 4]) or carried by the aiming robot (see [Fig. 5]) or a mechanical reference directly integrated into the end of the aiming robot arm (see [Fig. 6]), before starting the navigated surgery.

[0098] In its first embodiment illustrated in [Fig. 4], the calibration device 50 includes the navigation trolley already described opposite [Fig. 2] and a computing unit 13, positioned locally or remotely.

[0099] The operator 23 carries the surgical object 22, on which the first navigation reference 32 is fixed in the optical field of the navigation camera 37, resting on a mechanical reference 31, for example a divot, of the calibration tool 38, itself fixed to the third navigation reference 33.

[0100] In its second embodiment illustrated in [Fig. 5], the calibration device 60 includes the navigation trolley already described opposite [Fig. 2], the robot 11 described opposite [Fig. 1] and the computing unit 13.

[0101] The operator 23 carries the surgical object 22, on which the first navigation reference 32 is fixed in the optical field of the navigation camera 37, supported on a mechanical reference 31, for example a divot, of the calibration tool 38, itself fixed to the third navigation reference 33 and carried by the robotic arm 7.

[0102] In its third embodiment illustrated in [Fig. 6], the calibration device 70 includes the navigation trolley already described opposite [Fig. 2], the robot 11 described opposite [Fig. 1] and the computing unit 13.

[0103] The operator 23 carries the surgical object 22, on which the first navigation reference 32 is fixed in the optical field of the navigation camera 37, supported on a mechanical reference 71, for example a divot, at the end of the robotic arm 17.

[0104] The computing unit 13 is thus configured, by software, to determine, in a calibration step, the position and orientation of the object 22 resting on the mechanical reference 31 or 71 relative to the navigation camera 37, based on at least one image of a first navigation reference 32 fixed to the object 22 and captured by the navigation camera 37. Then, during the preparation of the surgical operation and / or during the execution of the surgical operation, the computing unit 13:

[0105] - determines, during object movements captured by the navigation camera, the position and orientation of the mechanical reference and then the position and orientation of the object, and

[0106] - positions and orients the geometric model of the object in a virtual space with robotic navigation or targeting software in accordance with this position and orientation of the object.

[0107] Figure 7 illustrates the case where the surgical object 71 lacks rotational symmetry, or even exhibits a concavity 75. In this case, its modeling requires multiple three-dimensional coordinate acquisitions of points on its surface, viewed from different angles. Three successive positions 72, 73, and 74 of the surgical object 71 are shown in Figure 7, with the camera positioned above the object. Thus, its entire surface can be covered, and the points on its concave parts are also located in three dimensions to form a point cloud during each acquisition.

[0108] Once the three-dimensional model of the surgical object has been reconstructed on the basis of these point clouds, using known techniques, this model is transferred into the memory of the navigation system and / or the robotic aiming system.

[0109] Preferably, during the installation of the navigation and / or aiming robotics system within the hospital facility, a three-dimensional model of all the instruments and / or implants used by the facility is created. All the data from the three-dimensional models is then transferred to a memory accessible by the navigation and / or aiming robotics system.

[0110] As an example, the implementation of device 10 follows the following steps of process 80 illustrated in [Fig. 8].

[0111] During step 81, the operator turns on the robotic unit.

[0112] During step 82, the operator turns on the 3D acquisition unit.

[0113] During a distance capture step 83, the operator performs 3D acquisition of the object using the cooperative mode of the robotic arm or by manually controlling the movement of the robotic arm, and memorizing the position in the real space of the acquisition unit during each distance capture. It should be noted that step 83 is performed, possibly in several passes with different viewing angles of the surgical object, preferably rotated between two passes of the acquisition unit. As described opposite [Fig. 2], in some embodiments, during the distance capture step 83, a second navigation reference 34 is fixed on the acquisition unit 19, the position of the acquisition unit being determined based on images of the second navigation reference fixed on the acquisition unit obtained by the navigation camera 37.

[0114] During step 84, the three-dimensional geometric model of the object is constructed based on the captured distances, and stored.

[0115] During step 85, the stored 3D model is transferred to the robotic navigation and / or aiming system.

[0116] During step 86, the surgical object is equipped with a navigation reference.

[0117] During step 87, the object is brought into contact with a mechanical reference, for example a divot, of a calibration tool.

[0118] During step 88, the calibration of the surgical object is performed within the field of view of the navigation camera.

[0119] Steps 86, 87, and 88 perform the calibration, during which the position and orientation of the object, supported by a mechanical reference, are determined relative to the navigation camera based on at least one image of a first navigation reference fixed to the object and captured by the navigation camera. As described opposite Figures 4 and 5, in some embodiments, during calibration steps 86, 87, and 88, a calibration tool carrying the mechanical reference and a third navigation reference is used. The object carrying the first navigation reference is positioned in contact with the mechanical reference, and the positions and orientations of the calibration tool and then the object are determined based on images of these first and third navigation references obtained by the navigation camera.

[0120] During step 89, the operator performs a verification of the correspondence of positions in real space and in medical imaging space. For example, they position the part of the tool that was previously positioned on the mechanical reference of the calibration tool on a characteristic point of the patient's body and verify that, on the medical imaging, the model of the surgical object is correctly positioned on the representation of this characteristic point.

[0121] If this verification is successful, the surgical object navigation procedure is performed in step 90. During this step, the position and orientation of the mechanical reference, and subsequently the position and orientation of the object itself, are determined while the object's movements are captured by the navigation camera. Also during step 90, the geometric model of the object is positioned and oriented in a virtual space using navigation or robotic aiming software, in accordance with this position and orientation.

[0122] As can be understood from the preceding description, the implementation of the present invention offers numerous advantages:

[0123] - It allows navigation of all types of instrumentation and / or implants,

[0124] - It ensures cost savings for the hospital structure,

[0125] - It allows the surgeon to choose the appropriate instrumentation for the intended procedure.

Claims

DEMANDS 1. Device (10, 20, 50, 60, 70) for the acquisition and navigation and / or robotic targeting of the geometric shape of an object (22), characterized in that it comprises: - an acquisition unit (19) comprising a sensor (25) for measuring distances between points on the object and this acquisition unit, - a computer (12) configured to construct a three-dimensional geometric model of the object from the captured distances, - a navigation camera (37), - a mechanical reference (31, 71), - a computing unit (13) configured for - determine a position and orientation of the object supported on the mechanical reference relative to the navigation camera as a function of at least one image of a first navigation reference (32) fixed on the object captured by the navigation camera; and - determine, during object movements captured by the navigation camera, the position and orientation of the mechanical reference and then the position and orientation of the object, and - position and orient the geometric model of the object in a virtual space with navigation or robotic aiming software in accordance with this position and orientation of the object.

2. Device (10) according to claim 1, which includes a robotic arm (17) for supporting the acquisition unit (19) during the capture of distances between the points of the object (22) and the acquisition unit.

3. Device (10) according to claim 2, wherein the robotic arm (17) is configured to operate in cooperative mode during the capture of distances between the points of the object (22) and the acquisition unit (19).

4. Device (10, 20) according to any one of claims 1 to 3, wherein the distance sensor (25) comprises a matrix camera (41) equipped with a lens (42), the device further comprising a support (44) for the object (22) in the optical field (43) of the camera, this support bearing contrasting optical markers (45) on its surface oriented towards the camera.

5. Device (10,20) according to claim 4, wherein the computer (12) is configured to construct a three-dimensional geometric model of the object from the distances captured in at least two images acquired by the matrix camera.

6. Device (10, 20) according to any one of claims 4 or 5, wherein the computer (12) implements a three-dimensional pattern recognition modeling algorithm to construct the three-dimensional geometric model of the object.

7. Device (10, 20) according to any one of claims 4 to 6, which includes a means for recording the three-dimensional geometric model of the object in a computer memory.

8. Device (20) according to any one of claims 1 to 7, which includes a second navigation reference (34) fixed on the acquisition unit (19), the position of the acquisition unit being determined as a function of images of the second navigation reference fixed on the acquisition unit obtained by the navigation camera (37).

9. Device (50, 60, 70) according to any one of claims 1 to 8, comprising a calibration tool (38) carrying the mechanical reference (31) and a third navigation reference (33) and the object (22) carrying the first navigation reference (32) is positioned in contact with the mechanical reference, the computing unit (13) being configured to determine the positions and orientations of the calibration tool and then of the object as a function of images of these first and third navigation references obtained by the navigation camera (37).

10. Device (60) according to any one of claims 1 to 8, wherein the mechanical reference (31) is carried by a robotic arm (17), the calibration of the object (22) being carried out as a function of the position of the mechanical reference carried by the robotic arm, located by this robotic arm.

11. Method (80) for acquiring and navigating the geometric shape of an object (22), characterized in that it comprises: - a step (83) for capturing distances between points of the object and an acquisition unit, - a step (84) of constructing a three-dimensional geometric model of the object from the captured distances, and - a calibration step (86, 87, 88), during which the position and orientation of the object supported by a mechanical reference are determined relative to a navigation camera based on at least one image of a first navigation reference fixed to the object and captured by the navigation camera, - a step (90) of determining, during movements of the object captured by the navigation camera, the position and orientation of the mechanical reference and then the position and orientation of the object and - a step (90) of positioning and orienting the geometric model of the object in a virtual space with a navigation or robotic aiming software in accordance with this position and orientation of the object.

12. Method (80) according to claim 11, wherein, during the distance capture step (83), a second navigation reference (34) is fixed on the acquisition unit (19), the position of the acquisition unit being determined as a function of images of the second navigation reference fixed on the acquisition unit obtained by the navigation camera (37).

13. Method (80) according to any one of claims 11 or 12, during the calibration step (86, 87, 88), a calibration tool (38) carrying the mechanical reference (31) and a third navigation reference (33) is used, the object (22) carrying the first navigation reference (32) being positioned in contact with the mechanical reference, the determination of the positions and orientations of the calibration tool and then of the object being carried out as a function of images of these first and third navigation references obtained by the navigation camera (37).

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