US 12,004,821 B2
Systems, methods, and devices for generating a hybrid image
Stephanie Elizabeth Wiegel, Lafayette, CO (US); Aditya R. Dalvi, Broomfield, CO (US); and Andrew J. Koert, Golden, CO (US)
Assigned to Medtronic Navigation, Inc., Louisville, CO (US)
Filed by Medtronic Navigation, Inc., Louisville, CO (US)
Filed on Feb. 3, 2022, as Appl. No. 17/591,904.
Prior Publication US 2023/0240756 A1, Aug. 3, 2023
Int. Cl. A61B 5/00 (2006.01); A61B 6/00 (2006.01); A61B 34/20 (2016.01); G06T 11/60 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 6/5247 (2013.01); G06T 11/60 (2013.01); A61B 2034/2063 (2016.02); G06T 2210/41 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system for generating a hybrid image comprising:
an imaging device;
a processor; and
a memory storing data for processing by the processor, the data, when processed, causing the processor to:
receive a preoperative image depicting at least one anatomical element;
receive a first intraoperative image from the imaging device depicting the at least one anatomical element;
input the preoperative image and the first intraoperative image into a hybrid model, the hybrid model configured to combine the first intraoperative image with the preoperative image;
generate, with an output of the hybrid model, a hybrid image comprising the preoperative image combined with the first intraoperative image;
receive pose information of the imaging device, the pose information correlating to one or more poses of the imaging device when the first intraoperative image was obtained;
generate a three-dimensional representation of the at least one anatomical element based on the preoperative image, the first intraoperative image, and the pose information, the three-dimensional representation including a pose of the at least one anatomical element;
receive a second intraoperative image;
detect movement in the at least one anatomical element based on a difference in the first intraoperative image and the second intraoperative image; and
update the pose of the at least one anatomical element in the three-dimensional representation when movement is detected in the at least one anatomical element.