From CAMI - Page d'accueil / Lirmm.fr / - lirmm · Measurements of the 3D motion: Optotrak:...
Transcript of From CAMI - Page d'accueil / Lirmm.fr / - lirmm · Measurements of the 3D motion: Optotrak:...
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P. CINQUINTIMC-IMAG (UJF&CNRS)& SIIM- CHU [email protected]
From CAMI(Computer Assisted Medical Interventions)
…
to QIS(Quality Inspired Surgery)
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Multiple Challenges
Initial Vision : CAMI
Achievements of CAMI
Present Vision of QIS
Preliminary Research on “µ-QIS”
Quality Inspired Surgery (QIS)Quality Inspired Surgery (QIS)
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Perform classical interventions with enhanced:– Safety– Efficiency– Efficacy– Reproducibility
Enable performance of new interventions, especially minimally invasive procedures, by surpassing human limitations
Medical Challenges: Medical Challenges: Enhanced and Quantified QualityEnhanced and Quantified Quality
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cross-fertilisation of multi-modal information
quantified surgical planning
enhanced performance of the action
Information Technology ChallengesInformation Technology ChallengesIntroduce IT in the Operating RoomIntroduce IT in the Operating Room
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Heard in 1987 from a leading medical imaging company:
“it is so difficult and dangerous to contribute
to diagnosis: nobody shall ever dare
contributing to surgical intervention
performing”
Industrial Challenges Industrial Challenges Create a new industrial domainCreate a new industrial domain
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Multiple Challenges
Initial Vision : CAMI
Achievements of CAMI
Present Vision of QIS
Preliminary Research on “µ-QIS”
Quality Inspired Surgery (QIS)Quality Inspired Surgery (QIS)
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CAMI (Computer Assisted Medical Interventions) CAMI (Computer Assisted Medical Interventions) a multia multi--disciplinary challengedisciplinary challenge
Sciences, Medicine Sciences, Medicine andand IndustryIndustry cooperation for mutual benefitcooperation for mutual benefit
Patient
Medical Specifications Verification Clinical ValidationMedicine
Applied Mathematics
- inverse problems- approximation - optimization- PDE
ComputerScience
- segmentation- registration- simulators- augmented reality- system design
Medical Robotics
- calibration- safety issues- synergystic devices- redundant control
Quality Insurance
Prototype design
Large scale diffusion
Physician
Researcher Engineer
Sciences Industry
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Grenoble University Hospital: 12 departments, 25
Hospital Practitionners
CAMI-TIMC-IMAG (UJF&CNRS): 35 researchers
PRAXIM SA: 50 employees
International cooperation (4th FP CAMI, 5th FP IGOS
1&2, VOEU, MI3)
CAMI: organizational visionCAMI: organizational visionmultidisciplinary team and efforts, multidisciplinary team and efforts,
framework for mutual respect and benefitframework for mutual respect and benefit
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deep understanding of surgical requirements
importance of clinical validation:– multi-centric validation
– participation of independent international experts
IT education of surgeons and physicians
CAMI: Medical VisionCAMI: Medical VisionMedical objectives driven projectMedical objectives driven project
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Medical immersion of engineersFavour the “lightest” solutions:– Simple intra-operative information acquisition,– Surgical navigation, – Light and synergistic robotics;
Favour generic solutionsPatent and publish
CAMI: IT VisionCAMI: IT Vision
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Partnerships with companies: – Philips, Siemens, GE, Medtronic, Aesculap,
France-Telecom, …
Creation of PRAXIM in 1995:– > 100 SURGETICS®, >300 surgeons, > 2000
patients
CAMI: Industrial VisionCAMI: Industrial Vision
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PRODUCT : MultiPRODUCT : Multi--application Surgetics Stationapplication Surgetics Station
TIMC LaboratoryTIMC Laboratory
M.M.I M.M.I C.S.PC.S.P
Bone MorphingBone Morphing
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Multiple Challenges
Initial Vision : CAMI
Achievements of CAMI
Present Vision of QIS
Preliminary Research on “µ-QIS”
Quality Inspired Surgery (QIS)Quality Inspired Surgery (QIS)
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Virtual Patient
Surgical Strategy
PERCEPTION
DECISION
ACTION
Physiological models
Statistical Models
Guiding Systems
Atlas
S. Lavallée Ph D Thesis, 1989
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TWO categories of human beings:– The patient– The surgical team
Perception level:– The most relevant information is often purely virtual!– Highly multi-modal
Decision level:– Distributed over time, space, and medical specialists
Action level:– Man-Machine Co-operation
Specificities of the Specificities of the Perception Perception -- Decision Decision -- Action loop Action loop
in CAMI Applicationsin CAMI Applications
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Position (3D), Orientation (3D)Shape (nD)Cinematics:– Rigid movements (6D + time)– Deformations (nD)
Dynamics (6D + 3D forces +3D torques)Organs characteristics (X-ray, Ultrasound, Color, …)Physiological signals (EMG, ECG, EEG, …)…
A Highly MultiA Highly Multi--Modal Modal PerceptionPerception
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Grenoble 1Grenoble 1
X
YZ
A typical Perception system A typical Perception system for “Navigational Surgery”: for “Navigational Surgery”:
“GPS” for Surgery“GPS” for Surgery
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Acquisition of position, shape and Acquisition of position, shape and cinematics cinematics with a 3D digitizer: the instance of Anterior with a 3D digitizer: the instance of Anterior
Cruciate Cruciate Ligament ReplacementLigament Replacement
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QuickTime™ et undécompresseur 3ivx D4 4.0PR2
sont requis pour visionner cette image.
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Interfaces for Interfaces for DecisionDecision: : the the instance ofinstance ofPerPer--operative operative planningplanning
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MULTIMODAL INFORMATION REGISTRATION
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RIGID 3D/3DMi
SURFACE S
distM(p) = [R(p),T(p)]
E(p) =1
i2σi=1
n
∑ dist 2 S,R(p)Mi + T(p)( )
with : p = tx, ty, tz,ϕ,θ,ψ( )
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3D Kinematic Study of the Spine(A. Hamadeh)
Aim Aim ::Detect Detect spinalspinal instability instability by 3Dby 3D measurement measurement of the of the motion ofmotion of vertebraevertebrae..
Data :Data :Functional Functional Radiographies:Radiographies: different different positions of thepositions of thespine spine (flexion (flexion -- extension,extension, lateral lateral inflexion ...)inflexion ...)
MethodsMethods::Qualitative Qualitative interpretation interpretation : : easyeasy, subjective, not, subjective, notaccurateaccurate....The spinal motionThe spinal motion is is threethree--dimensionaldimensional::
3D techniques:3D techniques: accurateaccurate,, simultaneous simultaneous estimation of the 6 estimation of the 6 parameters parameters of motion (3 rotations, 3 translations)of motion (3 rotations, 3 translations)
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3D Motions of the Lumbar Spine
Flexion - Extension of the lumbar spine.(source: Kapanji)
Lateral Inflexion of the lumbar spine(source: Kapanji)
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Principle of the method
L2
L3 Flexion Extension
T2E
T2F
T3F
T3E
RdataRmodel
Rmodel
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3D/2D Registration The problem !
Radiography Radiography 11
Radiography Radiography 22
RRdatadata
Where is Where is thethe vertebravertebra??
?
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3D/2D Registration methodology
RRmodelmodel
Transform Transform the model of thethe model of the vertebra within vertebra within RRdatadata such that such that all registrationall registration lines lines LLii
become become tangenttangent to the 3D surface of theto the 3D surface of the vertebravertebra
Dynamic Pose of the vertebra / Rdata
RRdonnéesdonnées
Radiography Radiography 11
Radiography Radiography 22
Extraction of contour Extraction of contour points of thepoints of the vertebravertebra((SEGMENTATIONSEGMENTATION))
3D Reconstruction of 3D Reconstruction of registrationregistration lineslines
(CALIBRATION)(CALIBRATION)
Li
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3D/2D Registration Results
3D/2D registration3D/2D registration between between 3D3D prepre--operative operative model ofmodel ofthethe vertebravertebra and and intraintra--operative operative registrationregistration lineslines
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Experimental Setup
Measurements Measurements of the 3D motion:of the 3D motion:OptotrakOptotrak::
Registration:Registration:
Validation:Validation:Compare Compare MM2reg2reg and and MM2opto2opto
M T T Topto rb frb e
optotrakrb e
rb foptotrak2 2
2 22= = .
M T T Treg FE
dataE
Fdata2 2
2 22= = .
PlasticPlastic phantomphantom::Rigid Rigid bodybody fixed fixed on L2:on L2: Tracking Tracking by the 3Dby the 3D localizerlocalizerFlexion Flexion -- Extension positions.Extension positions.Two functional Two functional radiographies / positionradiographies / position
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Experimental Setup
Lumbar spine phantom in flexion
Rigid Body
rb2f
rb2e
Roptotrak
Trb foptotrak
2 Trb eoptotrak
2
Lumbar spine phantom in extension
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Functional Radiographies
Functional radiographies of the phantom of a lumbar spine in flexion (left) and extension (right) positions
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Results (2D)
Superimposition of projective contours of the vertebrae L2 and L3 on thefunctional radiographies in flexion (left) and extension (right) positions
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Results (3D)
3D representation of the lumbar vertebrae L2 and L3 in flexion and extension positions
L2-flexion
L3-flexion
L2-extension
L3-extension
Relative 3D motion of thevertebrae L2 and L3
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Interfaces for ActionInterfaces for Action
Physician’s natural senses versus artificial sensorsPhysician’s intelligence versus artificial intelligencePhysician’s dexterity versus guiding devices
Physician and Physician and Machine Machine CoCo--operationoperation
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HumansHumans
StrengthsSuperb eyesightSuperb dexterityHand-eye coordinationJudgementComprehensionInstructableAdaptable
WeaknessesCannot see thru tissuesTremor, imprecisionGeometric inaccuracyBulkyInattention, fatigueSusceptible to radiationHard to keep sterile
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RobotsStrengths• Multiple sensors• Direct connection to
data• Very precise• Geometric accuracy• Untiring, stable• Work in hostile
environments• Sterilizable
Weaknesses• Poor judgement• Often expensive• Hard to instruct• Limited ability to do
complex tasks or to react to unexpected events
• Poor hand-eye coordination
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Tasks with a complex geometryThird hand Intra-body tasksTasks on moving targetsCarry or hold heavy toolsForce controlled actionsRemote actionMotion and force augmentation or scaling
A robot: A robot: what what for?for?
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Robots in Robots in the the OR: a OR: a classificationclassification
Passive systems – give information to the surgeon
Active systems– realize the intervention with human supervision
Interactive systems: mechanical guides – Semi-active devices– Synergistic devices
Teleoperated devices
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GO
Active, interactive or tele-operated?
STOP
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Surgical Navigation: an instance with visual Surgical Navigation: an instance with visual feedbackfeedback
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Action: semiAction: semi--active toolsactive tools
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Modelledenvironment
Surgeon’s - sensing- know-how- ability to react to unexpected events
Robot’s- accuracy- connection to patient’s data and surgical plan
Benefit from:Un-modelledenvironment
Action: synergistic devicesAction: synergistic devices
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PADyCPADyC(Passive(Passive Arm with Dynamic Arm with Dynamic
constraintsconstraints))
Computer
Taskconstraints
Patient’s data
Surgical plan
Synergistic device
sensors
surgical action
desired motions
Selection ofadmissiblemotions
J. Troccaz, TIMC, F
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66 DOFs DOFs prototypeprototype
x
y
z
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TeleTele--operated toolsoperated tools:: the the instance of Da Vinci®instance of Da Vinci®
3D master console
3 more dofs
3 robotic arms
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DaVinci DaVinci in usein use
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Dental Implantology
Computer Assisted Medical Interventions at Computer Assisted Medical Interventions at GrenobleGrenoble
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Enhanced: – Precision and Reproducibility– Implant lifetime
Reduction of:– failure or complications rates– “variance” around the objective– invasiveness– X-ray dose– Post-operative pain– Hospitalization length
Quantified and accurate surgical reports
Proven clinical benefits: Proven clinical benefits: Enhanced QualityEnhanced Quality
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Total Knee Arthroplasty (TKA): 10 years survival rate should raise from 90% to 97% [Computer Assisted Implantation of Total Knee Prostheses: A Case Control Comparative Study With Classical Instrumentation, Jenny J.Y., Computer Aided Surgery 6:217-220 (2001)]
– 187 000 TKA/year in Europe– 10 000 € / TKA– Potential saving = 187000 x 10000 x 0.07 = 131 M€/year
Total Hip Arthroplasty (THA): 10 years survival rate should raise from 93% to 98% [Comparison of a Mechanical Acetabular Alignement Guide with Computer Placement of the Socket, A.M. DiGioia III, B. Jaramaz et al. The Journal of Arthroplasty, Vol. 17 N° 3 2002, pp 359- 364]
– 450 000 THA/year in Europe– 11 000 € / THA– Potential saving = 450000 x 11000 x 0.05 = 245 M€/year
Potential economical benefits:Potential economical benefits:
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Multiple Challenges
Initial Vision : CAMI
Achievements of CAMI
Present Vision of QIS
Preliminary Research on “µ-QIS”
Quality Inspired Surgery (QIS)Quality Inspired Surgery (QIS)
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From Computer Assisted Medical Interventions (introduce IT in the OR) …
to Quality Inspired Surgery (Model Driven Medical and Surgical Interventions),
thanks to a Virtual SURGETICA University
Present Vision of Present Vision of Quality Inspired SurgeryQuality Inspired Surgery
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Consensually defining Quality in Surgery,Thanks to massive use of IT-based Models,Thus enabling development of completely innovative solutions to renew Surgical Practice.
Quality Inspired SurgeryQuality Inspired Surgery
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February 2000 - June2003
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VOEU project overview General Goal: compensate for the limits of
the apprenticeship of specialist skills of Orthopaedics
Absence of consensual and quantitatively based “gold standard”.“Chapel effect”. Variance of surgeons’ skillsLimited surgical influence upon the introduction of ICT techniques.
Great variation in Orthopaedic Practice Throughout Europe,
due to the limits of the present learning process
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Project Objective: enhanced student-teacher interaction in Orthopaedics
1) Enhanced learning material,2) Enhanced remote learning and interaction,3) Enhanced skill acquisition and evaluation.
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The VOEU “Visual Integrator”The VOEU “Visual Integrator”http://www.voeu.http://www.voeu.rwthrwth--aachenaachen.de/.de/defaultdefault.htm.htm
VOEU Information Server
Visual Integrator
VOU User 1
VOEU User 2
User 3
... ...
User N-1
VOE User N
An internet entry point for VOEU users from the geographically distributed sites
A common platform with homogenous interface for users to utilize the VOEU service
Visual Integrator:.
.
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WP03: Virtual Observatory System WP03: Virtual Observatory System Architecture Architecture
-- a WWW based Client/Server DB System a WWW based Client/Server DB System --
WWW-ServerWWW-Server
VO DatabaseSQL-ServerWWW-Server
Data Collection:
- image files - movie files - executable files- HTML files
- ...
Data Collection:
- image files - movie files - executable files- HTML files
- ...
SQL statement
Results
WWW-Browser
Query
HTMLdocument
User (Client) Central Server
Distributed Data Collections
... ...
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Consensually defining Quality in Surgery,Thanks to massive use of IT-based Models,Thus enabling development of completely innovative solutions to renew Surgical Practice.
Quality Inspired SurgeryQuality Inspired Surgery
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Modelling the surgical protocolModelling the biomechanical behaviour of relevant organs…
ITIT--based models for Quality based models for Quality Inspired SurgeryInspired Surgery
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ITIT--based models of Surgical Procedures:based models of Surgical Procedures:Taking ergonomics into account…Taking ergonomics into account…
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The instance of CASPER (Computer The instance of CASPER (Computer ASsisted PERicardial ASsisted PERicardial puncture)puncture)
O. Chavanon, D. Blin, J. TroccazSce de Chirurgie Vasculaire, CHUG, TIMC-IMAG
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ErgonomicsErgonomicsVisual continuity while performing the task
Present CASPER Future CASPER
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S : Computer
Ot : Puncture NeedleP : SurgeonOA : Screen
IA: 3-D localizer
Oo : Patient
S
Ot
IA OA P
Oo
Relationships :
Components identification:
Ergonomics Ergonomics Modelling Modelling (E. Dubois, L. (E. Dubois, L. NigayNigay))
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Physical level– Perceptual environment– For instance in CASPER: the screen and the
operating fieldCognitive level– Distance between information pertinent for a
single concept– For instance in CASPER : 2D representation
of a 3D needle
Ergonomics Ergonomics ModellingModelling
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perceptual level: a new adaptor
Cognitive level: a 3-D stereoscopic representation
3-D cone = the trajectorySimultaneous Representation of thereal and planned trajectory
Ergonomics Ergonomics ModellingModelling
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Shoulder Shoulder ArhtroplastyArhtroplasty
Omoplate
Ciment Implant
Force
Encastrement
3-D Finite Element Model
Geometrical and mechanical criteria
Optimal Position (Geometric + mechanical + bone characteristics)
Implant Navigation
RNTS
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Consensually defining Quality in Surgery,Thanks to massive use of IT-based Models,Thus enabling development of completely innovative solutions to renew Surgical Practice.
Quality Inspired SurgeryQuality Inspired Surgery
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Innovative solutions for Innovative solutions for PERCEPTIONPERCEPTION
Minimally Invasive Intra-operative Imaging (MI3)Articular Space Exploration
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QuickTime™ et undécompresseur 3ivx D4 4.0PR2
sont requis pour visionner cette image.
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• HKA alignment of 180 degrees
• Ligament balance = Equilibrium of Articular pressures
• Extension
• Flexion
Bone cuts & Ligament releases
Model Driven Perception for Ligament Balance in Total Knee Arthroplasty
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Classical method
Measures the laxities with a localizing system
Position information
• CASurgery
Model Driven Perception for Ligament Balance in Total Knee Arthroplasty
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ExampleExamplessof spacerof spacerss
Cores
Insall
Freeman
Balansys
Muratsu
Ritschl Centerpulse
Model Driven Perception for Ligament Balance in Total Knee Arthroplasty
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Robotized Spacer Robotized Spacer (C. (C. MarmignonMarmignon))☺ « Closed » Envelope☺ Real time measures☺ Dynamic information☺ Envelope modelling
Model Driven Perception for Ligament Balance in Total Knee Arthroplasty
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Results
☺ Allows the distraction of the knee
☺ Measures the forces of distraction
☺ Measures their lengths at every time
☺ Helps to choose the bone cuts
☺ Helps to release
Model Driven Perception for Ligament Balance in Total Knee Arthroplasty
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Automatic segmentation of bones from USV. Daanen 3D set of US points
for registration with CT data
Innovative solutions for DECISIONInnovative solutions for DECISIONThe instance of CTThe instance of CT--US automatic registration for US automatic registration for
sacrosacro--iliac screw insertioniliac screw insertion
J. Tonnetti, P. Merloz, CHU Grenoble
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Innovative solutions for ACTIONInnovative solutions for ACTIONTongue Display Unit Tongue Display Unit (J. Vazquez, Y. (J. Vazquez, Y. PayanPayan, J. , J. DemongeotDemongeot))
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Tongue Display UnitTongue Display Unit
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Innovative solutions for ACTIONInnovative solutions for ACTIONLight Light Endoscopic Endoscopic Robot Robot (P. (P. BerkelmanBerkelman, E. , E. BoidardBoidard, J.A. , J.A.
Long)Long)
QuickTime™ et un décompresseur TIFF (non compressé) sont requis pour visionner cette image.
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Lightweight TeleLightweight Tele--EndoscopyEndoscopy
QuickTime™ et undécompresseur 3ivx D4 4.0PR2
sont requis pour visionner cette image.
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Combining ACTION and PerceptionCombining ACTION and Perception(S. (S. VorosVoros, E. , E. OrvainOrvain))
Déplacement de la cible dans l'image
0
288
576
0 384 768u
v
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Slav
e St
atio
n
Tele-Echographic System
Audio
Video
Networks:•ISDN •LAN•ADSL•VTHD
Master Station
Hap
tic F
low
Robot Control
Arc
hite
ctur
eUltrasound and Doppler Images
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Innovative solutions for ACTIONInnovative solutions for ACTIONLight Robotized TeleLight Robotized Tele--EchographyEchography
QuickTime™ et undécompresseur codec YUV420
sont requis pour visionner cette image.
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Innovative solutions for ACTIONInnovative solutions for ACTIONLight Puncture Robot Light Puncture Robot (E. (E. TaillantTaillant, C. , C. AllegriniAllegrini, D. Arnaud, I. , D. Arnaud, I.
BricaultBricault))
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Robot ArchitectureRobot ArchitectureCT/MR compatibleInterdependent of patient's bodySterilizable
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Robot ArchitectureRobot Architecture
5 Degrees of Freedom
Compressed air powered
Embedded Localization Device
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LocalizationLocalization
No active sensors (CT/MR compliance)
Passive localization devices using CT/MR image processing.
Fully determined attitude.
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Localisation Localisation device device for MRfor MR
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Experiments & ResultsExperiments & Results
Open Loop PerformanceTranslation Accuracy : 5% of distance
Rotation Accuracy : less than 1°
Image Processing PerformanceEntry Point Localization Accuracy : ~1mm
Angles Determination Accuracy : ~2°
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Experiments & ResultsExperiments & ResultsPhantom Experiments
2 attempts (1vertical,1 inclined)Targeting Accuracy : less than
1.5mm
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First tests on animalsFirst tests on animals
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First tests on animalsFirst tests on animals
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QuickTime™ et undécompresseur DV - PAL
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Internal/External Rotation
Varus/Valgus RotationSagittal Rotation
AP PositioningPD Positioning
5 cutting planes
2 DoF Planar Milling Guide
Hybrid Passive / Motorized Architecture
Praxiteles mini-robot (C. Plaskos)
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Multiple Challenges
Initial Vision : CAMI
Achievements of CAMI
Present Vision of QIS
Preliminary Research on “µ-QIS”
Praxiteles Praxiteles (C. (C. PlaskosPlaskos))
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Multiple Challenges
Initial Vision : CAMI
Achievements of CAMI
Present Vision of QIS
Preliminary Research on “µ-QIS”
Quality Inspired Surgery (QIS)Quality Inspired Surgery (QIS)
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Objective: implantable micro-robots and micro-systems, capable of assisting weakening functions (cardio-vascular, kidney, breathing, bladder, …)
Common issue: need for a renewable and controllable source of energy
Sources of Energy Sources of Energy for “for “µµ--QIS” systemsQIS” systems
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Osmotic “Osmotic “µµ--muscle”: muscle”: preventing revascularisation of grafts in preventing revascularisation of grafts in
endovascular surgery of endovascular surgery of Abdominal Aortic Aneurisms (AAA)Abdominal Aortic Aneurisms (AAA)
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W1 W2 = 0
h
Solvent
Π = ρ g h = ∆W R T
Pure Water
Semi-Permeable Membrane
Pure Water
Osmotic “Osmotic “µµ--muscle”: muscle”: preventing revascularisation of grafts in preventing revascularisation of grafts in
endovascular surgery of endovascular surgery of Abdominal Aortic Aneurisms (AAA)Abdominal Aortic Aneurisms (AAA)
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Osmotic “Osmotic “µµ--muscle”: muscle”: preventing revascularisation of grafts in preventing revascularisation of grafts in
endovascular surgery of endovascular surgery of Abdominal Aortic Aneurisms (AAA)Abdominal Aortic Aneurisms (AAA)
Outer wall of the graft
Semi-permeable membrane,with the shape of a “chamber”, containing osmotic substances
Centre of the artery
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Biochemical Biochemical control of control of osmotic osmotic pressurepressure
Semi-Permeable Membrane Matrix
AvidinHABA
« Heavy » molecule
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Biotin
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D
S
OSMOTOR: conversion of biochemichal energy into mechanical energy
Expected Pressure: 0,2 bar
S
D
Synthesis : Π int < Π ext water flows out
D
S
Dégradation : Π int > Π ext water flows in
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Osmotor demonstrator
D
S
semi-permeable membrane, 2
chambers (10 mL, 25cm2)
container (37°C)
spring (2 bars)
Pressure divider
Expected Pressure : 0,2 bar
gate
piston
piston
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Dead volume
Osmotor demonstrator
semi-permeable membrane, 2
chambers (10 mL, 25cm2)
container (37°C)
spring (2 bars)
Pressure divider
Expected Pressure : 0,2 bar
gate
piston
piston
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Creation of energy
Glucose polymer
More than 50% of α(1 6) links
bacterial origin
bio-compatible
enzymatic synthesis and degradation
Dextran
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Dextranase
dextranase
+Iso-maltoseIso-maltotriose
dextran
Energy Creation: degradation
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étalon
DP3
DP2
dextran
DP4DP5DP6DP7
DP8DP9
DP1
HPLC spectra: Dextran
Dextran degradation products
Energy Creation: degradation
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Dextransucrase
DP 8
DP 6DP 7
DP 3DP 2
+
+
To be eliminated
Energy Creation: synthesis
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Osmotor: Status
Demonstrator (Osmotor V1) ready for tests
Consumes Dextran and produces glucose
Quantification of Power/Mass to be performed. First results lead to hope about 4 W/kg (human heart uses some Watts)
Osmotor (V2) will use encapsulated mammalcells capable of transforming glucose into sucrose. A lot of research ahead!
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From CAMI to QIS …From QIS to µ-QIS …
Prosperous future for the marriage between Prosperous future for the marriage between Surgical ArtSurgical Art and and Information TechnologyInformation Technology !