US 12,456,276 B2
Intraoperative stereovision-based vertebral position monitoring
Keith D. Paulsen, Hanover, NH (US); Xiaoyao Fan, Hanover, NH (US); and William R. Warner, Memphis, TN (US)
Assigned to The Trustees of Dartmouth College, Hanover, NH (US)
Appl. No. 18/840,030
Filed by The Trustees of Dartmouth College, Hanover, NH (US)
PCT Filed Feb. 21, 2023, PCT No. PCT/US2023/013527
§ 371(c)(1), (2) Date Aug. 20, 2024,
PCT Pub. No. WO2023/158878, PCT Pub. Date Aug. 24, 2023.
Claims priority of provisional application 63/312,370, filed on Feb. 21, 2022.
Prior Publication US 2025/0111632 A1, Apr. 3, 2025
Int. Cl. G06T 19/20 (2011.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); G06T 7/00 (2017.01); G06T 7/33 (2017.01)
CPC G06T 19/20 (2013.01) [A61B 34/10 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); G06T 7/0014 (2013.01); G06T 7/344 (2017.01); A61B 2034/105 (2016.02); A61B 2090/371 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02); G06T 2207/10012 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/20212 (2013.01); G06T 2207/30012 (2013.01); G06T 2210/41 (2013.01); G06T 2219/2021 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An intraoperative stereovision system comprising:
a stereo imager configured to provide first stereo images at a first time and to provide second stereo images at a second time to a processor, the second time after the first time;
a computerized mechanical model of a spinal column, the computerized mechanical model modeling vertebrae as rigid, displaceable, bodies, and modeling vertebral positions at the first time; and
code in a memory that causes the processor to:
extract a first surface model from the first stereo images;
extract a second surface model from the second stereo images;
register the second surface model to the first surface model;
determine differences between the second surface model and the first surface model at vertebral levels;
prepare an adjusted computerized mechanical model by deforming the computerized mechanical model according to the differences; and
using the adjusted computerized mechanical model, evaluate alignment of spinal cord passages between vertebrae and space for spinal nerves to exit between vertebrae against criteria to determine if poor alignment or inadequate space exists.