US 11,672,607 B2
Systems, devices, and methods for surgical navigation with anatomical tracking
Jeffrey N. Wickham, Ooltewah, TN (US); Nikita Pandey, Broomfield, CO (US); James B. Kelley, Thronton, CO (US); Jerald Redmond, Germantown, TN (US); and Mark Dace, Collierville, TN (US)
Assigned to WARSAW ORTHOPEDIC, INC., Warsaw, IN (US)
Filed by Warsaw Orthopedic, Inc., Warsaw, IN (US)
Filed on Aug. 14, 2019, as Appl. No. 16/540,881.
Prior Publication US 2021/0045813 A1, Feb. 18, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A system for performing an image guided procedure in an operating theater, the system comprising:
an imaging device configured to acquire first image data of at least one object of a subject, the subject being in a first position with respect to a first coordinate system;
one or more smartglasses configured to acquire second image data of the at least one object of the subject with respect to a second coordinate system, the smartglasses including a localizer configured to track a position of at least one surgical tool or implant in a third coordinate system;
a plurality of fiducial portions configured to facilitate registration of the first and second image data;
a plurality of sockets incorporated into the plurality of fiducial portions, each said socket having a first end configured to be coupled to the at least one object of the subject and a second opposing end to which a tracker is removably coupleable;
the tracker configured to be coupled to and decoupled from the second opposing end of each of the plurality of sockets; and
the navigation system configured to (i) produce first registered image data by registering the first coordinate system and the second coordinate system of the first image data and second image data based on positions of the plurality of fiducial portions, (ii) produce second registered image data by transforming the first coordinate system of the first image data into a fourth coordinate system, and (iii) produce third registered image data by transforming the first coordinate system of the first image data into the third coordinate system of the localizer, the third and fourth coordinate systems being different than each other and registered to each other;
wherein the one or more smartglasses are further configured to:
display at least a portion of the first image data so as to be superimposed over the at least one object in an environment being viewed by a person using the smartglasses; and
align the portion of the first image data which is displayed to correspond with a position of the at least one object using the plurality of fiducial portions; and
wherein the navigation system is further configured to:
obtain positions of the tracker while the tracker is coupled to the plurality of sockets at different times;
determine a misalignment of a portion of the first image data to a current position of a respective socket of the plurality of sockets based on the positions of the tracker which were obtained; and
cause the one or more smartglasses to re-align the portion of the first image data being displayed to the current position of the respective socket during performance of the image guided procedure.