US 12,033,295 B2
Method and system for non-contact patient registration in image-guided surgery
Ryan D. Datteri, Denver, CO (US); Yvan Paitel, Louisville, CO (US); Kevin E. Mark, Hawthorn Woods, IL (US); Samantha Joanne Preston, Denver, CO (US); Andrew Summers, Denver, CO (US); and Ganesh Saiprasad, Broomfield, CO (US)
Assigned to Medtronic Navigation, Inc., Louisville, CO (US)
Filed by Medtronic Navigation, Inc., Louisville, CO (US)
Filed on Mar. 11, 2022, as Appl. No. 17/654,438.
Claims priority of provisional application 63/162,420, filed on Mar. 17, 2021.
Prior Publication US 2023/0074362 A1, Mar. 9, 2023
Int. Cl. G06T 19/20 (2011.01); A61B 34/20 (2016.01); G06T 7/73 (2017.01); G06T 17/20 (2006.01); G06T 19/00 (2011.01); G06V 10/25 (2022.01); G06V 40/16 (2022.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC G06T 19/20 (2013.01) [A61B 34/20 (2016.02); G06T 7/75 (2017.01); G06T 17/20 (2013.01); G06T 19/003 (2013.01); G06V 10/25 (2022.01); G06V 40/165 (2022.01); G06V 40/171 (2022.01); A61B 2034/102 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/364 (2016.02); G06T 2200/04 (2013.01); G06T 2200/08 (2013.01); G06T 2207/10076 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/30201 (2013.01); G06T 2210/41 (2013.01); G06T 2219/2004 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method of touchless registration for a surgical procedure, comprising:
scanning a region of interest (ROI) of a patient and a reference frame using a 3-D scanning device to capture a collection of spatial data points;
constructing an ROI digital mesh model from the collection of spatial data points;
detecting the reference frame in the collection of spatial data points;
constructing a reference frame digital mesh from the spatial data points;
registering a reference frame registration model with the reference frame mesh model;
detecting an anatomical feature of the ROI digital mesh model and a corresponding anatomical feature of a patient registration model utilizing a facial detection algorithm;
weighting the anatomical feature of the ROI digital mesh model and the corresponding anatomical feature of the patient registration model; and
registering the ROI digital mesh model with the patient registration model utilizing the weighted anatomical features of the ROI digital mesh model and the patient registration model to generate a navigation space;
wherein the weighting of the anatomical feature is based on a level of repeatability of positions of the anatomical features relative to the ROI.