Method of fluoroscopic surgical registration
Inventors
Ruff, Evan • Bennett, Paul • VISHWAKARMA, Dhruv • KOLOVICH, Gregory • KIM, Jacqueline
Assignees
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Publication Number
US-12324630-B2
Publication Date
2025-06-10
Expiration Date
Abstract
Methods and systems for x-ray and fluoroscopic image capture and, in particular, to a versatile, multimode imaging system incorporating a hand-held x-ray emitter operative to capture digital or thermal images of a target; a stage operative to capture static x-ray and dynamic fluoroscopic images of the target; a system for the tracking and positioning of the x-ray emission; a device to automatically limit the field of the x-ray emission; and methods of use and use of such systems to register a virtual model of an anatomic structure to the corresponding anatomic structure.
Core Innovation
A method prepares a surgical robot for navigating an end effector relative to an anatomic structure positioned on an operating surface using a virtual model of the anatomic structure. The anatomic structure includes a plurality of fiducial markers secured relative to the anatomic structure, and a handheld emitting apparatus is positioned in free space to a location relative to the anatomic structure to obtain positioning information comprising a distance and an orientation relative to each of the plurality of fiducial markers.
Energy is emitted from the handheld emitting apparatus onto the anatomic structure such that the energy is received by an imaging sensor. The imaging sensor produces an image signal sufficient to produce a fluoroscopic image of the anatomic structure, and the handheld emitting apparatus produces positioning information data associated with the fluoroscopic image. The fluoroscopic image is mapped to the virtual model of the anatomic structure using the positioning information data.
In a related method, a virtual model of an anatomic structure is registered such that the virtual model and the plurality of fiducial markers can be used to navigate a device relative to the anatomic structure. The handheld emitting apparatus is positioned relative to the anatomic structure, positioning information comprising a distance and an orientation relative to each fiducial marker is obtained, and a fluoroscopic image is produced by emitting energy to the imaging sensor and mapped to the virtual model using the positioning information data.
Claims Coverage
The partial content provides two independent method claims, each centered on mapping fluoroscopic images to a virtual model using positioning information comprising distance and orientation relative to fiducial markers, with navigation as the intended outcome. Across both independent claims, the core inventive features are the handheld emitting apparatus with distance and orientation-based positioning information, producing fluoroscopic images via an imaging sensor, and mapping those images to a virtual model for navigation.
Mapping fluoroscopic image to virtual model for end effector navigation using distance and orientation to fiducial markers
Positioning a handheld emitting apparatus relative to an anatomic structure with a plurality of fiducial markers, obtaining positioning information comprising a distance and an orientation relative to each fiducial marker, emitting energy to produce a fluoroscopic image via an imaging sensor with positioning information data associated with the fluoroscopic image, and mapping the fluoroscopic image to the virtual model using the positioning information data such that a surgical robot can navigate a robotic end effector relative to the anatomic structure.
Mapping fluoroscopic image to virtual model for device navigation using distance and orientation to fiducial markers
Positioning a handheld emitting apparatus relative to an anatomic structure with a plurality of fiducial markers, obtaining positioning information comprising a distance and an orientation relative to each fiducial marker, emitting energy to produce a fluoroscopic image via an imaging sensor with positioning information data associated with the fluoroscopic image, and mapping the fluoroscopic image to the virtual model using the positioning information data such that the virtual model and the plurality of fiducial markers can be used to navigate a device relative to the anatomic structure.
Both independent claims define a common inventive construct: a handheld emitting apparatus provides positioning information including distance and orientation relative to fiducial markers, fluoroscopic imaging is produced with associated positioning data, and the fluoroscopic image is mapped to a virtual model to enable navigation of a robotic end effector or a device relative to the anatomic structure.
Stated Advantages
Enables a surgical robot to navigate a robotic end effector relative to the anatomic structure using the virtual model and the plurality of fiducial markers.
Enables navigation of a device relative to the anatomic structure using the virtual model of the anatomic structure and the plurality of fiducial markers.
Documented Applications
Robot-assisted surgical navigation of a robotic end effector relative to an anatomic structure positioned on an operating surface using a virtual model.
Registering a virtual model of an anatomic structure for navigating a device relative to the anatomic structure.
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