US 11,806,183 B2
Apparatus and methods for use with image-guided skeletal procedures
David Tolkowsky, Tel Aviv (IL)
Assigned to Vuze Medical Ltd., Tel Aviv (IL)
Filed by Vuze Medical Ltd., Tel Aviv (IL)
Filed on Jun. 28, 2022, as Appl. No. 17/851,964.
Application 17/851,964 is a continuation of application No. 16/629,449, granted, now 11,406,338, previously published as PCT/IL2018/050732, filed on Jul. 5, 2018.
Claims priority of provisional application 62/641,359, filed on Mar. 11, 2018.
Claims priority of provisional application 62/599,802, filed on Dec. 18, 2017.
Claims priority of provisional application 62/556,436, filed on Sep. 10, 2017.
Claims priority of provisional application 62/530,123, filed on Jul. 8, 2017.
Prior Publication US 2022/0323033 A1, Oct. 13, 2022
Int. Cl. A61B 5/05 (2021.01); A61B 6/00 (2006.01); A61B 90/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); G06N 20/00 (2019.01)
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
OG exemplary drawing
 
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.