US 11,911,110 B2
System and method for registration between coordinate systems and navigation of selected members
Victor D. Snyder, Erie, CO (US); Brad Jacobsen, Erie, CO (US); Joseph Moctezuma, Golden, CO (US); Jerald Lamont Redmond, Germantown, TN (US); Katharine E. Darling, Arvada, CO (US); Justin Kemp, Erie, CO (US); and Andrew Wald, Denver, CO (US)
Assigned to Medtronic Navigation, Inc., Louisville, CO (US)
Filed by Medtronic Navigation, Inc., Louisville, CO (US)
Filed on Jan. 30, 2019, as Appl. No. 16/261,866.
Prior Publication US 2020/0237444 A1, Jul. 30, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 5/00 (2006.01); A61B 5/06 (2006.01); G06T 7/13 (2017.01); G06T 7/33 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 5/0077 (2013.01); A61B 5/062 (2013.01); A61B 5/7425 (2013.01); G06T 7/13 (2017.01); G06T 7/337 (2017.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2065 (2016.02); G06T 2207/30004 (2013.01); G06T 2207/30204 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method of performing a navigated procedure relative to a subject, comprising:
accessing first image data of at least a region of interest of the subject, wherein the first image data includes at least a first segmented portion, a second segmented portion, and a third segmented portion;
tracking a reference point at least by (i) tracking a first tracking device in a first coordinate system and (ii) tracking a second tracking device in a second coordinate system;
registering a first image data coordinate system of the first image data to the first coordinate system;
correlating the first coordinate system and the second coordinate system based at least on the tracking the reference point;
tracking a third tracking device that is correlated to the first coordinate system due at least to the correlation of the first coordinate system and the second coordinate system;
tracking a fourth tracking device that is correlated to the first coordinate system due at least to the correlation of the first coordinate system and the second coordinate system;
associating the third tracking device with the first segmented portion in the first image data, wherein the third tracking device is configured to be attached to the subject;
associating the fourth tracking device with the second segmented portion in the first image data, wherein the fourth tracking device is configured to be attached to the subject;
displaying, with a display device, a first image based on the first image data; and
displaying, with the display device, a second image that includes a changed position of the third segmented portion based upon a tracked movement of at least one of the third tracking device or the fourth tracking device;
wherein the third tracking device and the fourth tracking device are tracked in only the second coordinate system;
wherein the third segmented portion is not directly associated with any tracking device.