US 12,226,169 B2
Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
Norbert Johnson, North Andover, MA (US); Paden Troxell, Conshohocken, PA (US); Caroline Conrad, Emmaus, PA (US); Mert Erad, Malden, MA (US); Nicholas Maritato, Cambridge, MA (US); Michael Brauckmann, Woburn, MA (US); and Neil R. Crawford, Chandler, AZ (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Mar. 31, 2023, as Appl. No. 18/193,800.
Application 18/193,800 is a continuation of application No. 18/184,192, filed on Mar. 15, 2023.
Claims priority of provisional application 63/389,691, filed on Jul. 15, 2022.
Prior Publication US 2024/0016549 A1, Jan. 18, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01); G06V 10/74 (2022.01)
CPC A61B 34/20 (2016.02) [A61B 34/32 (2016.02); G06T 7/337 (2017.01); G06T 7/70 (2017.01); G06V 10/74 (2022.01); A61B 2034/107 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/3937 (2016.02); G06T 2207/10121 (2013.01); G06T 2207/10124 (2013.01); G06T 2207/30008 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for recovering registration of a 3D image volume comprising:
a portable imaging system having an imaging tracking marker array (ITMA);
a dynamic reference base (DRB) including patient tracking markers and attachable to a patient;
a tracking device configured to track a position and orientation of both the ITMA and the DRB simultaneously;
a surgical robot configured to assist in a surgical operation of the patient and be in communication with the imaging system, the surgical robot including a base, a robot arm coupled to the base and an end effector coupled to the robot arm;
a processor operable to control movement of the robot arm and the end effector and adapted to detect a compromise of registration of the 3D image volume to the patient and if so perform the following after the detection:
receive first and second 2D images at different orientations that have been captured intra-operatively by the imaging system;
receive corresponding optical images of the patient from the tracking device at the time of image capture, the optical images containing the ITMA and the DRB;
register the first and second 2D images to the patient using the captured images from the imaging system and the optical images containing the ITMA and the DRB;
match the first and second 2D images to corresponding simulated 2D images generated from the 3D image volume;
recover a registration of the 3D image volume to the patient based on the matched simulated 2D images.