US 12,376,915 B2
Automated touchless registration for surgical navigation
Stephen C. Minne, Goleta, CA (US); George C. Polchin, Goleta, CA (US); Alan Fridman, Goleta, CA (US); and Michael Larkin, Goleta, CA (US)
Assigned to Digital Surgery Systems, Inc., Goleta, CA (US)
Appl. No. 18/281,429
Filed by Digital Surgery Systems, Inc., Goleta, CA (US)
PCT Filed Mar. 11, 2022, PCT No. PCT/US2022/019979
§ 371(c)(1), (2) Date Sep. 11, 2023,
PCT Pub. No. WO2022/192690, PCT Pub. Date Sep. 15, 2022.
Claims priority of provisional application 63/160,100, filed on Mar. 12, 2021.
Prior Publication US 2024/0299100 A1, Sep. 12, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 34/32 (2016.01); G06T 7/00 (2017.01); G06T 7/73 (2017.01); G06T 7/80 (2017.01); G06T 11/00 (2006.01); H04N 13/246 (2018.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 34/32 (2016.02); G06T 7/0014 (2013.01); G06T 7/75 (2017.01); G06T 7/85 (2017.01); G06T 11/00 (2013.01); H04N 13/246 (2018.05); A61B 2034/105 (2016.02); A61B 2034/2057 (2016.02); G06T 2207/10012 (2013.01); G06T 2207/30004 (2013.01); G06T 2210/41 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical navigation system for patient registration comprising:
a moveable arm;
a visualization camera connected to the moveable arm, the visualization camera including at least one navigation camera trackable target mounted to a housing of the visualization camera;
a navigation camera; and
a computer system communicatively coupled to the visualization camera and the navigation camera, the computer system configured to:
receive images of patient anatomy;
solve for one or more camera parameters and one or more correction coefficients;
for each received image,
store, in a localizer space, a pose of the at least one navigation camera trackable target and a patient target, respectively as a Localizer_T_Camera-Targeti transform and a Patient-Target_T_Localizeri transform;
extract a model of the patient anatomy described in a photogrammetry reference frame using a photogrammetry module;
solve for a camera optical reference frame pose relative to a photogrammetry reference frame to store as a Photogrammetry_T_Camera-Opticali transform;
detect a target within the received image and use said target to set a scale;
match the extracted model of the patient anatomy with a patient anatomy representation in patient data to obtain a Photogrammetry_T_Patient Data transform; and
calculate, for each of the respective poses associated with the received image, a Patient-Target_T_Patient_Datai transform using the Patient-Target_T_Localizeri transform, the Localizer_T_Camera-Targeti transform, a Camera-Target_T_Camera-Optical transform, the Photogrammetry_T_Camera-Opticali transform, and the Photogrammetry_T_Patient Data transform;
average some or all of the Patient-Target_T_Patient_datai transforms of each of the respective poses associated with each of the received images to determine a single Patient-Target_T_Patient_Data transformation; and
display, using the Patient-Target_T_Patient_Datai transformation, the patient data overlaid on live surgical images recorded by the visualization camera.