US 12,109,075 B2
Systems and methods for generating a corrected image
Dany Junio, Tel Aviv-Jaffa (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Sep. 1, 2021, as Appl. No. 17/464,356.
Claims priority of provisional application 63/078,751, filed on Sep. 15, 2020.
Prior Publication US 2022/0079704 A1, Mar. 17, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01)
CPC A61B 90/361 (2016.02) [A61B 34/70 (2016.02); A61B 90/37 (2016.02); A61B 2090/363 (2016.02); A61B 2090/376 (2016.02)] 10 Claims
OG exemplary drawing
 
1. A method for generating a corrected image comprising:
calculating a plurality of poses for an imaging device based on information about an object within a patient's anatomy that saturates attenuation in an image of the patient's anatomy;
calculating one or more trajectories of a robotic arm orienting the imaging device based on the plurality of poses, wherein the robotic arm has at least five degrees of freedom of movement;
receiving an image from the imaging device at each pose of the plurality of poses to yield an image set, each image in the image set depicting at least a portion of an anatomical element of the patient and the object;
identifying, in the images of the image set, a set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation; and
generating a corrected image by combining data from the set of unsaturated areas, the corrected image depicting the anatomical element with fewer than all of the saturated areas in the set of saturated areas.