US 12,402,952 B2
Registration method and navigation system
Dirk Mucha, Glienicke/Nordbahn (DE); Kai Desinger, Berlin (DE); Nicholas Norman, Charlotte, NC (US); and Robert Hedermann, Berlin (DE)
Assigned to Fiagon GMBH, Henningsdorf (DE)
Filed by Intersect ENT International GmbH, Hennigsdorf (DE)
Filed on Apr. 7, 2022, as Appl. No. 17/715,595.
Application 17/715,595 is a continuation of application No. PCT/EP2020/078634, filed on Oct. 12, 2020.
Claims priority of application No. 10 2019 127 387.0 (DE), filed on Oct. 10, 2019.
Prior Publication US 2022/0273375 A1, Sep. 1, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 10/02 (2006.01); A61B 90/00 (2016.01); G06T 7/246 (2017.01); G06T 7/33 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 10/025 (2013.01); A61B 10/0283 (2013.01); G06T 7/251 (2017.01); G06T 7/344 (2017.01); A61B 2010/0258 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/397 (2016.02); G06T 2207/10064 (2013.01); G06T 2207/30012 (2013.01); G06T 2207/30204 (2013.01)] 27 Claims
OG exemplary drawing
 
27. A marker carrier for use in a registration method, wherein
the marker carrier is flexible and has a plurality of fluoroscopically detectable markers and at least one marker localization element comprising at least one sensor coil fixed on the marker carrier,
the at least one marker localization element being configured to provide a sensor signal representing position and orientation of the marker localization element in an electromagnetic field, and
relative distance and orientation between at least one marker localization element and at least one marker of the plurality of markers are known, and
wherein the registration method comprises
providing a preoperatively obtained model of the object,
providing at least one marker carrier having a plurality of fluoroscopically detectable markers and at least one marker localization element comprising at least one sensor coil fixed on the marker carrier, wherein the at least one marker localization element being configured to provide a sensor signal representing position and orientation of the marker localization element in an electromagnetic field, and relative distance and orientation between at least one marker localization element and at least one marker of the plurality of markers are known,
arranging at least one marker carrier on an outer surface of the object,
generating at least one fluoroscopic image of at least one marker carrier arranged on the outer surface together with at least one segment of the object in such a way that at least two markers of at least one marker carrier are visible in the generated fluoroscopic image together with at least one segment of the object,
determining position and orientation at least of one marker localization element of the arranged marker carrier in an electromagnetic field, and
relating image points of the generated fluoroscopic image to model points of said preoperatively obtained model using the determined position and orientation of at least one marker localization element and the known relative distance and orientation between at least one marker localization element and at least one marker of the plurality of markers and/or a known spatial relation between a further marker of the plurality of markers and the at least one marker that has a known relative distance and orientation to at least one marker localization element,
characterized by the step of
detecting a relative movement of an element of the object by determining a deviation of at least one model point of the preoperatively obtained model from a corresponding image point of the generated fluoroscopic image.