CPC A61B 6/505 (2013.01) [A61B 6/466 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/36 (2016.02); A61B 90/39 (2016.02); G06N 20/00 (2019.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/303 (2016.02); A61B 2090/364 (2016.02); A61B 2090/367 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3966 (2016.02)] | 22 Claims |
1. A method for use with at least two tools configured to be advanced into a skeletal portion within a body of a subject along respective longitudinal insertion paths, the method comprising:
acquiring 3D image data of the skeletal portion;
planning the respective longitudinal insertion paths for each of the at least two tools;
associating the respective longitudinal insertion paths with the 3D image data;
while respective portions of the at least two tools are disposed at first respective locations along their respective longitudinal insertion paths with respect to the skeletal portion, sequentially:
acquiring a first 2D x-ray image of at least the respective portions of the at least two tools and the skeletal portion from a first view, using a 2D x-ray imaging device that is disposed at a first pose with respect to the body of the subject;
moving the 2D x-ray imaging device to a second pose with respect to the body of the subject; and
while the 2D x-ray imaging device is at the second pose, acquiring a second 2D x-ray image of at least the respective portions of the at least two tools and the skeletal portion from a second view; and
using at least one computer processor, automatically matching between one of the at least two tools in the first 2D x-ray image and the same one of the at least two tools in the second 2D x-ray image, the matching comprising:
(A) identifying respective tool elements of each of the at least two tools within each of the first 2D x-ray image and the second 2D x-ray image;
(B) registering the first 2D x-ray image and the second 2D x-ray image to the 3D image data; and
(C) based upon the respective tool elements that were identified within the first 2D x-ray image and the second 2D x-ray image, and the registration of the first 2D x-ray image and the second 2D x-ray image to the 3D image data, identifying for at least one tool element within the first 2D x-ray image and the second 2D x-ray image a correspondence between (i) the at least one tool element and (ii) one of the respective longitudinal insertion paths.
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