US 12,217,442 B2
Systems and methods for registration between patient space and image space using registration frame apertures
Ryan D. Datteri, Denver, CO (US); Ganesh Saiprasad, Broomfield, CO (US); Steven Hartmann, Superior, CO (US); Matthew F. Dicorleto, Boulder, CO (US); and Brandon Merkl, Arvada, CO (US)
Assigned to Medtronic Navigation, Inc., Lafayette, CO (US)
Filed by Medtronic Navigation, Inc., Louisville, CO (US)
Filed on Feb. 4, 2022, as Appl. No. 17/650,053.
Claims priority of provisional application 63/147,897, filed on Feb. 10, 2021.
Prior Publication US 2022/0254040 A1, Aug. 11, 2022
Int. Cl. G06T 7/00 (2017.01); A61B 6/03 (2006.01); A61B 34/20 (2016.01); G06T 3/14 (2024.01); G06T 7/174 (2017.01); G06T 7/246 (2017.01); G06T 7/33 (2017.01); G06T 7/68 (2017.01); G06T 7/73 (2017.01)
CPC G06T 7/337 (2017.01) [A61B 6/032 (2013.01); A61B 34/20 (2016.02); G06T 3/14 (2024.01); G06T 7/0014 (2013.01); G06T 7/174 (2017.01); G06T 7/248 (2017.01); G06T 7/68 (2017.01); G06T 7/74 (2017.01); A61B 2034/2065 (2016.02); G06T 2207/10081 (2013.01); G06T 2207/20132 (2013.01); G06T 2207/20224 (2013.01); G06T 2207/30004 (2013.01); G06T 2207/30204 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of performing registration between a patient space and an image space, comprising:
imaging the patient space to generate image data of the image space, the image data comprising an image of a registration frame that is located in the patient space, the registration frame comprising a plurality of apertures;
identifying a plurality of registration frame aperture locations within the image data, each of the plurality of aperture locations within the image data respectively corresponding to one of the plurality of apertures of the registration frame;
identifying a pose of the registration frame within the patient space using a tracking system for the patient space;
determining a pose of the registration frame within the image space using the plurality of registration frame aperture locations within the image data; and
computing a transform between the patient space and the image space based on the pose of the registration frame within the patient space and the pose of the registration frame within the image space;
wherein the image of the registration frame comprises high intensity voxels corresponding to the material of the registration frame and low intensity voxels corresponding to each of the plurality of apertures of the registration frame, and wherein identifying the plurality of registration frame aperture locations within the image data using the image of the registration frame comprises:
performing a closing operation on the image of the registration frame to generate a closed image of the registration frame having high intensity voxels corresponding to the material of the registration frame and high intensity voxels corresponding to each of the plurality of apertures of the registration frame;
subtracting the image of the registration frame from the closed image of the registration frame to generate an inverted image of the registration frame comprising low intensity voxels corresponding to the material of the registration frame and high intensity voxels corresponding to each of the plurality of apertures of the registration frame; and
identifying centroids of groupings of the high intensity voxels in the inverted image of the registration frame that correspond to an expected aperture dimension as the plurality of registration frame aperture locations.