	US 12,080,005 B2
	Method and system for non-contact patient registration in image-guided surgery
Yvan Paitel, Louisville, CO (US); Ryan D. Datteri, Denver, CO (US); Samantha Joanne Preston, Denver, CO (US); Andrew Summers, Denver, CO (US); Ganesh Saiprasad, Broomfield, CO (US); and Kevin E. Mark, Hawthorn Woods, IL (US)
Assigned to Medtronic Navigation, Inc., Lafayette, CO (US)
Filed by Medtronic Navigation, Inc., Louisville, CO (US)
Filed on Mar. 11, 2022, as Appl. No. 17/654,505.
Claims priority of provisional application 63/162,421, filed on Mar. 17, 2021.
Prior Publication US 2022/0309690 A1, Sep. 29, 2022
Int. Cl. G06T 17/20 (2006.01); G06T 7/00 (2017.01); G06T 7/246 (2017.01); G06T 7/33 (2017.01); G06T 7/73 (2017.01); G16H 10/65 (2018.01); G16H 50/50 (2018.01)

CPC G06T 7/344 (2017.01) [G06T 7/0014 (2013.01); G06T 7/251 (2017.01); G06T 7/75 (2017.01); G06T 17/20 (2013.01); G16H 10/65 (2018.01); G16H 50/50 (2018.01); G06T 2200/04 (2013.01); G06T 2207/30004 (2013.01)]

20 Claims

1. A method of non-contact patient registration for a surgical procedure, comprising:

scanning a 3-D region of interest (ROI) of a patient and a reference frame using a hand-held 3-D scanning device to obtain a 3-D scan;

constructing a digital mesh model of the ROI and the reference frame from the 3-D scan;

determining a pose of the reference frame within the digital mesh model;

registering the ROI of the digital mesh model with a patient registration model of pre-acquired image data by detecting and weighting anatomical features of the ROI of the digital mesh model and detecting and weighting anatomical features of the ROI of the patient registration model;

wherein anatomical features of the digital mesh model are aligned with anatomical features of the patient registration model;

wherein the anatomical features include a first set of low weighted anatomical features and a second set of high weighted anatomical features.