| CPC G06T 7/0012 (2013.01) [A61B 34/30 (2016.02); G06T 7/13 (2017.01); G06T 2207/10116 (2013.01); G06T 2207/10132 (2013.01); G06T 2207/30012 (2013.01)] | 19 Claims |
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1. A method of generating a virtual magnetic resonance imaging (MRI) image, the method comprising:
receiving, from an MRI imaging device, an initial preoperative MRI image of a patient in a supine position, the initial preoperative MRI image depicting at least a portion of an anatomy of the patient;
receiving, from an imaging device different from the MRI imaging device, a plurality of intraoperative images of the patient in a prone position, each of the plurality of intraoperative images depicting at least a plurality of bony elements within the portion of the patient's anatomy;
segmenting the initial preoperative MRI image to identify a depiction of each of the plurality of bony elements and each of a plurality of soft tissue elements within the initial preoperative MRI image, wherein the segmenting enables each of the plurality of soft tissue elements to be modified relative to one another within the initial preoperative MRI image;
determining a range of deformation and a range of movement of one or more elements of the plurality of bony elements;
generating the virtual MRI image based on the initial preoperative MRI image, the plurality of intraoperative images of the patient in the prone position, and a biomechanical model corresponding to at least the plurality of soft tissue elements associated with the patient, wherein generating the virtual MRI image comprises modifying a first soft tissue element of the plurality of soft tissue elements using the biomechanical model without modifying a second soft tissue element of the plurality of soft tissue elements; and
guiding, using the virtual MRI image, a robotic arm relative to the anatomy of the patient.
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