| CPC A61B 34/10 (2016.02) [A61B 17/8863 (2013.01); G16H 50/50 (2018.01); A61B 2034/2055 (2016.02); G06T 2207/30012 (2013.01)] | 19 Claims |
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1. A method of intraoperatively determining an alignment parameter of a spine during a surgical procedure on the spine, the method comprising:
receiving initial image data of the spine including multiple vertebrae;
identifying a geometric feature associated with each vertebra in the initial image data, wherein the geometric features each have a pose in the initial image data; and
continuously, in substantially real-time—
receiving intraoperative image data of the spine, wherein the intraoperative image data includes depth data of the spine from a depth sensor and light field image data of the spine from multiple cameras;
registering the initial image data to the intraoperative image data based at least in part on the light field image data;
updating the pose of each geometric feature based on the registration and the intraoperative image data; and
determining the alignment parameter of the spine based on the updated poses of the geometric features associated with two or more of the vertebrae.
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