US 12,446,967 B2
Systems and methods for aiming and aligning of a treatment tool within an X-ray device or an ultrasound device environment
Ari Hananel, Alpharetta, GA (US); Ron Aginsky, Haifa (IL); and Guy Medan, Haifa (IL)
Assigned to Fus Mobile Inc.
Appl. No. 17/442,183
Filed by Fus Mobile Inc., Alpharetta, GA (US)
PCT Filed Mar. 25, 2020, PCT No. PCT/IL2020/050355
§ 371(c)(1), (2) Date Sep. 23, 2021,
PCT Pub. No. WO2020/194302, PCT Pub. Date Oct. 1, 2020.
Claims priority of provisional application 62/823,020, filed on Mar. 25, 2019.
Claims priority of provisional application 62/934,002, filed on Nov. 12, 2019.
Prior Publication US 2022/0175461 A1, Jun. 9, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 90/00 (2016.01); G06T 7/73 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 90/37 (2016.02); A61B 90/39 (2016.02); G06T 7/73 (2017.01); A61B 2034/2055 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3966 (2016.02); G06T 2207/10116 (2013.01); G06T 2207/30204 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A system for aiming and aligning of a treatment tool in an X-ray device, the X-Ray device comprising an X-Ray source, an X-Ray intensifier and an X-Ray imaging unit, the system comprising:
a calibration plate attachable to the X-Ray device and comprising at least one radiopaque marker and at least one optical marker at predetermined positions within the calibration plate;
a camera attachable to the treatment tool at a predetermined position and orientation with respect to the treatment tool; and
a processor in communication with the camera and the X-Ray imaging unit of the X-Ray device, the processor configured to, upon attachment of the calibration plate to the X-Ray device and attachment of the camera to the treatment tool:
receive, from the X-Ray imaging unit, an X-Ray image comprising a visual representation of the at least one radiopaque marker;
determine a position and orientation of the calibration plate with respect to the X-Ray device based on the visual representation of the at least one radiopaque marker in the X-Ray image, the predetermined position of the at least one radiopaque marker within the calibration plate and specified parameters of the X-Ray device, the specified parameters comprising a distance value between the X-Ray source and the X-Ray intensifier;
receive, from the camera, a camera image comprising a visual representation of the at least one optical marker;
determine a position and orientation of the camera with respect to the calibration plate based on the visual representation of the at least one optical marker in the camera image and the predetermined position of the at least one optical marker within the calibration plate; and
determine a position and orientation of the treatment tool with respect to the X-Ray device based on the determined position and orientation of the calibration plate with respect to the X-Ray device, the determined position and orientation of the camera with respect to the calibration plate and the predetermined position and orientation of the camera with respect to the treatment tool.