| CPC A61B 17/3403 (2013.01) [A61B 90/50 (2016.02); A61B 2034/107 (2016.02); A61B 2090/374 (2016.02)] | 19 Claims |
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8. A method for performing arthrography, comprising:
receiving, by processing circuitry, medical images of a patient, the received medical images being acquired by a same imaging modality and having visible a portion of a physical grid positioned on skin of the patient proximate a region of interest of a joint on which the arthrography is to be performed, the physical grid being flexible, non-magnetic and including non-repeating entry point shapes as features of the physical grid, the non-repeating entry point shapes not repeating in an entire row or in an entire column of the physical grid, each row including a plurality of non-repeating entry point shapes;
determining, by the processing circuitry, a trajectory between an entry point, corresponding to an entry point shape of the non-repeating entry point shapes, identified on the physical grid and a target point identified within the region of interest of the joint, the identified entry point and the identified target point being identified within the received medical images of the patient;
generating, by the processing circuitry, a target entry angle based on the determined trajectory between the identified entry point and the identified target point; and
instructing positioning of a needle guide device, configured to releasably-hold a needle, according to the identified entry point and the target entry angle such that the needle is deliverable to the region of interest of the joint along the determined trajectory,
wherein the physical grid further includes numbers in addition to non-repeating entry point shapes, and
wherein every non-repeating entry point shape repeats on a diagonal in the physical grid such that in each column a particular entry point shape is on a different adjacent row and the diagonal only includes entry shapes that are repeating on the diagonal.
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