Robotic fluoroscopic navigation
Inventors
Crawford, Neil R. • Johnson, Norbert • Weber, Wes • Krull, Alexander
Assignees
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Publication Number
US-12472008-B2
Publication Date
2025-11-18
Expiration Date
Abstract
A registration fixture for use with a surgical navigation system for registration of a medical image or images to a three-dimensional tracking space that includes a first ring having at least one tracking marker, a second ring coupled to the first ring having at least one tracking marker and wherein the first ring and the second ring are spaced apart from one another and further include optical markers.
Core Innovation
A surgical navigation system performs registration of 2-dimensional medical images to a three-dimensional camera tracking space using a registration fixture and surgical system components that track markers. The registration fixture is adapted to attach to an x-ray imaging device and includes a first structure and a second structure spaced from each other, each having a plurality of spaced radiopaque markers in a first pattern and in a second pattern, and a plurality of fixed optical markers.
During operation, tracking cameras track the optical markers of the registration fixture while the x-ray imaging device takes first and second 2-dimensional medical images at different angles. A processor receives the first and second 2-dimensional medical images and registers them with the 3-dimensional optical tracking space using a conical pattern based on vectors extending between an emitter and a collector of the imaging device.
In the registration approach, the mapping between image points and the three-dimensional tracking space is based on the imaging-device geometry expressed through emitter and collector vectors that form a conical pattern. The registration fixture patterns and the optical marker tracking provide the information used to register multiple 2D fluoroscopic views into a 3D optical tracking space, enabling image-to-tracking co-registration using differing imaging angles.
Claims Coverage
The partial claims content provided includes two independent claims. Together, they define a registration fixture-based surgical navigation system that registers first and second 2-dimensional x-ray images taken at different angles into a three-dimensional optical tracking space using a conical pattern formed by vectors between an emitter and a collector, with optical marker tracking used to establish the registration relationship.
Conical-pattern registration using emitter-collector vectors
Register the received first and second medical images with a 3-dimensional optical tracking space based on vectors extending between an emitter and a collector of the imaging device that form a conical pattern so as to map points on the first and second medical images to the 3-dimensional optical tracking space.
Registration fixture with spaced radiopaque marker structures and fixed optical markers
A registration fixture adapted to be attached to an x-ray imaging device and including a first structure having a plurality of spaced radiopaque markers in a first pattern; a second structure having a plurality of spaced radiopaque markers in a second pattern, the first and second structures being spaced from each other; and a plurality of fixed optical markers.
Register based on tracked optical-marker locations and conical-pattern vectors
Register the received first and second medical images with a 3-dimensional optical tracking space based on locations of the optical markers tracked by the tracking cameras at the time of taking the first and second medical images and based on vectors extending between an emitter and a collector of the imaging device that form a conical pattern.
Across the independent claims, the core claim coverage centers on using a registration fixture with spaced radiopaque marker structures and fixed optical markers, tracking the optical markers while capturing first and second 2-dimensional images at different angles, and performing 3-dimensional registration using emitter-collector vectors forming a conical pattern. One independent claim additionally specifies registering by mapping points based on the conical pattern, while the other emphasizes basing the registration on tracked optical-marker locations at image capture time.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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