US 12,354,263 B2
Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
Norbert Johnson, North Andover, MA (US); Paden Troxell, Conshohocken, PA (US); Caroline Conrad, Emmaus, PA (US); Mert Erad, Malden, MA (US); Nicholas Maritato, Cambridge, MA (US); Michael Brauckmann, Woburn, MA (US); and Neil R. Crawford, Chandler, AZ (US)
Assigned to Globus Medical Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Mar. 31, 2023, as Appl. No. 18/194,170.
Application 18/194,170 is a continuation of application No. 18/184,192, filed on Mar. 15, 2023.
Claims priority of provisional application 63/389,691, filed on Jul. 15, 2022.
Prior Publication US 2024/0020862 A1, Jan. 18, 2024
Int. Cl. G06T 7/00 (2017.01); A61B 6/00 (2006.01); A61B 6/58 (2024.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G06F 3/14 (2006.01); G06T 7/30 (2017.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01); G06T 7/73 (2017.01); G06T 15/08 (2011.01); G06T 15/20 (2011.01); G06T 17/00 (2006.01); G06T 19/00 (2011.01); G16H 30/20 (2018.01)
CPC G06T 7/0012 (2013.01) [A61B 6/4441 (2013.01); A61B 6/582 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/39 (2016.02); G06F 3/14 (2013.01); G06T 7/0014 (2013.01); G06T 7/30 (2017.01); G06T 7/344 (2017.01); G06T 7/70 (2017.01); G06T 7/75 (2017.01); G06T 15/08 (2013.01); G06T 15/205 (2013.01); G06T 17/00 (2013.01); G06T 19/00 (2013.01); G16H 30/20 (2018.01); A61B 2034/2055 (2016.02); A61B 2090/3966 (2016.02); G06T 2200/04 (2013.01); G06T 2207/10132 (2013.01); G06T 2207/30004 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30208 (2013.01); G06T 2207/30244 (2013.01); G06T 2210/41 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for intra-operatively registering a 3D patient image comprising:
a portable imaging system having an outer c-arm, an inner c-arm rotatably coupled to the outer c-arm, and a transmitter and a detector both attached to one of the c-arms, the outer and inner c-arms together providing a 360 degree rotation of the detector, the imaging system further having an imaging tracking marker array (ITMA);
a dynamic reference base (DRB) including patient tracking markers and attachable to a patient;
a tracking device having a plurality of cameras configured to track a position and orientation of both the ITMA and the DRB simultaneously;
a processor adapted to generate a 3D image volume from intra-operative medical images that have been captured from a 360 degree rotation of the detector around the patient and register the 3D image volume relative to the patient by performing the following:
receive optical images of the patient from the tracking device at the time of image capture, the optical images containing the ITMA and the DRB;
determine transform A representing the pose of the imaging system in the imaging space relative to the DRB in the physical space at the time the medical images are captured based on the received optical images;
determine transform B representing the pose of the medical images in the imaging space relative to the imaging system in the physical space based on the received optical images; and
determine transform C by multiplying transform A with transform B, the transform C representing a registration of the 3D image volume relative to the DRB in the physical space.