FR3122565B1 - Dispositif médical de pénétration d’une structure anatomique et système médical comprenant un tel dispositif médical - Google Patents

Dispositif médical de pénétration d’une structure anatomique et système médical comprenant un tel dispositif médical Download PDF

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Publication number
FR3122565B1
FR3122565B1 FR2104761A FR2104761A FR3122565B1 FR 3122565 B1 FR3122565 B1 FR 3122565B1 FR 2104761 A FR2104761 A FR 2104761A FR 2104761 A FR2104761 A FR 2104761A FR 3122565 B1 FR3122565 B1 FR 3122565B1
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France
Prior art keywords
conductivity
medical device
threshold
transfer function
real number
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Application number
FR2104761A
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English (en)
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FR3122565A1 (fr
Inventor
Stéphane BETTE
Silva Jimmy Da
Thibault Chandanson
Guillaume Morel
Maurice Bourlion
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Institut National de la Sante et de la Recherche Medicale INSERM
SpineGuard SA
Sorbonne Universite
Original Assignee
Centre National de la Recherche Scientifique CNRS
Institut National de la Sante et de la Recherche Medicale INSERM
SpineGuard SA
Sorbonne Universite
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Centre National de la Recherche Scientifique CNRS, Institut National de la Sante et de la Recherche Medicale INSERM, SpineGuard SA, Sorbonne Universite filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR2104761A priority Critical patent/FR3122565B1/fr
Priority to US17/661,719 priority patent/US20220361896A1/en
Priority to BR112023023039A priority patent/BR112023023039A2/pt
Priority to EP22725907.4A priority patent/EP4333762B1/fr
Priority to CN202280043649.4A priority patent/CN117545445A/zh
Priority to JP2023568557A priority patent/JP2024516871A/ja
Priority to PCT/EP2022/061868 priority patent/WO2022233882A1/fr
Priority to MX2023013037A priority patent/MX2023013037A/es
Publication of FR3122565A1 publication Critical patent/FR3122565A1/fr
Application granted granted Critical
Publication of FR3122565B1 publication Critical patent/FR3122565B1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/053—Measuring electrical impedance or conductance of a portion of the body
    • A61B5/0537—Measuring body composition by impedance, e.g. tissue hydration or fat content
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/164—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans intramedullary
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1662—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1671—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans for particular parts of the body for the spine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/053—Measuring electrical impedance or conductance of a portion of the body
    • A61B5/0538—Measuring electrical impedance or conductance of a portion of the body invasively, e.g. using a catheter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/063—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using impedance measurements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1615—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1622—Drill handpieces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00026—Conductivity or impedance, e.g. of tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/062—Measuring instruments not otherwise provided for penetration depth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4504—Bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4566—Evaluating the spine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)

Abstract

Dispositif médical de pénétration (25) d’une structure osseuse, comprenant une unité de traitement (50) établissant une fonction de transfert associant une valeur de conductivité électrique S à une valeur de profondeur d, et configurée pour émettre un signal d’avertissement lorsque la fonction de transfert vérifie au moins un des critères suivants :- franchissement de seuil de conductivité : la valeur de conductivité électrique franchit un seuil de conductivité choisi parmi un seuil de conductivité absolu : Na x Ds, où Ds est une étendue de valeurs de conductivité électrique, et Na est un nombre réel compris entre 0 et 1, etun seuil de conductivité relatif : Nr x MS(d) où MS est une moyenne des valeurs de conductivité électrique, et Nr est un nombre réel compris entre 0 et 5,- franchissement d’un gradient de conductivité critique : une pente p(d) de la fonction de transfert franchit un gradient de conductivité critique, la pente p(d) étant telle que où Ec est une épaisseur de couche d’os cortical en millimètre, k est un nombre réel positif compris entre 0 et 5. Figure de l’abrégé : Figure 1
FR2104761A 2021-05-05 2021-05-05 Dispositif médical de pénétration d’une structure anatomique et système médical comprenant un tel dispositif médical Active FR3122565B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
FR2104761A FR3122565B1 (fr) 2021-05-05 2021-05-05 Dispositif médical de pénétration d’une structure anatomique et système médical comprenant un tel dispositif médical
US17/661,719 US20220361896A1 (en) 2021-05-05 2022-05-02 Medical devices and methods for penetrating an anatomical structure based on sensed electrical characteristics
EP22725907.4A EP4333762B1 (fr) 2021-05-05 2022-05-03 Dispositifs médicaux de pénétration d'une structure anatomique sur la base de caractéristiques électriques détectées
CN202280043649.4A CN117545445A (zh) 2021-05-05 2022-05-03 用于基于感测的电特性穿透解剖结构的医疗设备和方法
BR112023023039A BR112023023039A2 (pt) 2021-05-05 2022-05-03 Dispositivos médicos e métodos para penetrar uma estrutura anatômica com base nas características elétricas sensoreadas
JP2023568557A JP2024516871A (ja) 2021-05-05 2022-05-03 感知された電気特性に基づいて解剖学的構造に穿刺するための医療装置及び方法
PCT/EP2022/061868 WO2022233882A1 (fr) 2021-05-05 2022-05-03 Dispositifs médicaux et procédés de pénétration d'une structure anatomique sur la base de caractéristiques électriques détectées
MX2023013037A MX2023013037A (es) 2021-05-05 2022-05-03 Dispositivos médicos y métodos para penetrar una estructura anatómica en base a características eléctricas detectadas.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2104761 2021-05-05
FR2104761A FR3122565B1 (fr) 2021-05-05 2021-05-05 Dispositif médical de pénétration d’une structure anatomique et système médical comprenant un tel dispositif médical

Publications (2)

Publication Number Publication Date
FR3122565A1 FR3122565A1 (fr) 2022-11-11
FR3122565B1 true FR3122565B1 (fr) 2023-12-22

Family

ID=76375274

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2104761A Active FR3122565B1 (fr) 2021-05-05 2021-05-05 Dispositif médical de pénétration d’une structure anatomique et système médical comprenant un tel dispositif médical

Country Status (8)

Country Link
US (1) US20220361896A1 (fr)
EP (1) EP4333762B1 (fr)
JP (1) JP2024516871A (fr)
CN (1) CN117545445A (fr)
BR (1) BR112023023039A2 (fr)
FR (1) FR3122565B1 (fr)
MX (1) MX2023013037A (fr)
WO (1) WO2022233882A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12458367B2 (en) * 2021-09-28 2025-11-04 Spineguard Universal adapter for handheld surgical systems
US12569259B2 (en) * 2021-09-28 2026-03-10 Spineguard Universal adapter for handheld surgical systems
US20250040942A1 (en) 2023-07-27 2025-02-06 Spineguard Statistical methods and systems for detecting perforations during surgical drilling based on sensed electrical characteristics

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2691623B1 (fr) * 1992-05-26 1999-10-08 Satelec Sa Procede et dispositif destines a assurer un controle automatique du positionnement d'un instrument chirurgical.
US8235979B2 (en) * 2001-08-15 2012-08-07 Nuortho Surgical, Inc. Interfacing media manipulation with non-ablation radiofrequency energy system and method
FR2835732B1 (fr) * 2002-02-11 2004-11-12 Spinevision Dispositif permettant le suivi de la penetration d'un moyen de penetration dans des elements anatomiques
US8996169B2 (en) * 2011-12-29 2015-03-31 Mako Surgical Corp. Neural monitor-based dynamic haptics
FR3034643B1 (fr) * 2015-04-07 2021-09-24 Spineguard Systeme medical destine a penetrer dans une structure anatomique d'un patient
FR3072559B1 (fr) * 2017-10-24 2023-03-24 Spineguard Systeme medical comprenant un bras robotise et un dispositif medical destine a penetrer dans une structure anatomique

Also Published As

Publication number Publication date
WO2022233882A1 (fr) 2022-11-10
EP4333762A1 (fr) 2024-03-13
FR3122565A1 (fr) 2022-11-11
JP2024516871A (ja) 2024-04-17
US20220361896A1 (en) 2022-11-17
EP4333762B1 (fr) 2026-01-21
CN117545445A (zh) 2024-02-09
BR112023023039A2 (pt) 2024-01-23
EP4333762C0 (fr) 2026-01-21
MX2023013037A (es) 2023-12-14

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