US 12,322,124 B2
Methods and systems for performing image registration in a computer-assisted surgery system
Gordon Row, Groton, MA (US); Kyle Schwartz, Somerville, MA (US); Stephen Lang, Hollis, NH (US); and Edward Daley, Maynard, MA (US)
Assigned to Mobius Imaging, LLC, Shirley, MA (US)
Appl. No. 17/918,753
Filed by Mobius Imaging, LLC, Shirley, MA (US)
PCT Filed Apr. 14, 2021, PCT No. PCT/US2021/027181
§ 371(c)(1), (2) Date Oct. 13, 2022,
PCT Pub. No. WO2021/211650, PCT Pub. Date Oct. 21, 2021.
Claims priority of provisional application 63/009,622, filed on Apr. 14, 2020.
Prior Publication US 2023/0133825 A1, May 4, 2023
Int. Cl. G06T 7/33 (2017.01); A61B 34/20 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01); G06T 7/73 (2017.01)
CPC G06T 7/33 (2017.01) [A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 90/39 (2016.02); B25J 9/1664 (2013.01); G06T 7/73 (2017.01); A61B 2034/2055 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3995 (2016.02); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30004 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30204 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a patient tracker adapted for attachment to a patient, the patient tracker comprising at least one hybrid marker having:
an optical marker having a reflective coating, and
a radiological marker contained within the optical marker, the radiological marker having a spherical profile;
an upper portion defining the optical marker,
a lower portion extending from the upper portion and defining an inlet, and
an internal open portion defined extending from the inlet through the lower portion and into the upper portion to define a tapered channel, wherein the inlet is shaped to receive the radiological marker along the internal open portion and into the tapered channel, with the tapered channel terminating adjacent to a geometric center of a generally spherical profile of the optical marker and shaped to retain the radiological marker within a closed end of the tapered channel in a position substantially coincident with the geometric center of the generally spherical profile;
a motion tracking system for tracking a location of the at least one hybrid marker; and
a computing device being configured to:
obtain a three-dimensional image of a patient's anatomy and the patient tracker attached to the patient;
identify a three-dimensional portion of the radiological marker within a scan volume of the three-dimensional image;
determine a location of the hybrid marker within the scan volume based on the identified three-dimensional portion of the radiological marker;
track the location of the optical marker in three-dimensional space using the motion tracking system while the patient tracker remains fixed to the patient; and
register the three-dimensional image of the patient's anatomy in three-dimensional space based on a known geometric relationship between the location of the radiological marker within the scan volume and the location of the optical marker in three-dimensional space;
wherein the radiological marker defines a first diameter, and the optical marker has a spherical profile defining a second diameter larger than the first diameter.