Method of fluoroscopic surgical registration
Inventors
Ruff, Evan • Bennett, Paul • VISHWAKARMA, Dhruv • KOLOVICH, Gregory • KIM, Jacqueline
Assignees
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Publication Number
US-12336768-B2
Publication Date
2025-06-24
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
The disclosed invention concerns preparing and registering a surgical robot for navigating an end effector relative to an anatomic structure positioned on an operating surface by using a virtual model of the anatomic structure and a plurality of fiducial markers secured relative to the anatomic structure. The approach positions a handheld emitting apparatus at a first location relative to the anatomic structure and obtains positioning information that includes a distance and an orientation of the handheld emitting apparatus relative to each of the plurality of fiducial markers.
Energy is emitted from the handheld emitting apparatus onto the anatomic structure such that energy is received by an imaging sensor, which produces an image signal sufficient to produce a fluoroscopic image of the anatomic structure. The handheld emitting apparatus produces second positioning information data associated with the fluoroscopic image, and the second positioning information data includes the distance measurement.
Using the first positioning information and the second positioning information data, the fluoroscopic image of the anatomic structure is mapped to the virtual model of the anatomic structure. The mapping enables the virtual model to be used for navigating a device relative to the anatomic structure, including navigating the end effector relative to the anatomic structure using the virtual model.
Claims Coverage
The partial claims include two independent methods, each centered on mapping a fluoroscopic image to a virtual model using handheld emitter pose and distance information relative to fiducial markers, together with a distance measurement associated with the fluoroscopic image, to enable navigation of a device or end effector.
Handheld emitting apparatus pose-based fluoroscopic registration to a virtual model
A method that positions a handheld emitting apparatus relative to an anatomic structure and obtains first positioning information comprising a distance and an orientation of the handheld emitting apparatus relative to each of a plurality of fiducial markers.
Fluoroscopic imaging via handheld energy and associated distance positioning data
Energy is emitted from the handheld emitting apparatus onto the anatomic structure such that an imaging sensor produces a fluoroscopic image, wherein the handheld emitting apparatus produces second positioning information data associated with the fluoroscopic image including the distance measurement.
Mapping fluoroscopic image to the virtual model for robot navigation
The method maps the fluoroscopic image of the anatomic structure to the virtual model using the first positioning information and the second positioning information data such that the surgical robot is capable of navigating the end effector relative to the anatomic structure using the virtual model.
Virtual model registration permitting navigation of a device
A method of registering a virtual model of an anatomic structure with fiducial markers by positioning a handheld emitting apparatus, obtaining first positioning information comprising a distance and an orientation relative to the fiducial markers, obtaining a distance measurement between the handheld emitting apparatus and the anatomic structure, producing a fluoroscopic image via emitted energy received by an imaging sensor, and producing second positioning information data including the distance measurement.
Preparing the virtual model by mapping fluoroscopic image to enable device navigation
The method prepares the virtual model for navigating a device relative to the anatomic structure by mapping the fluoroscopic image to the virtual model using the first positioning information and the second positioning information data to permit use of the virtual model to navigate a device relative to the anatomic structure.
Both independent claims require a handheld emitting apparatus that provides distance and orientation relative to fiducial markers, fluoroscopic image acquisition by an imaging sensor from emitted energy, and mapping of the fluoroscopic image to a virtual model using first and second positioning information data including distance to enable navigation.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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