US 12,472,008 B2
Robotic fluoroscopic navigation
Neil R. Crawford, Chandler, AZ (US); Norbert Johnson, North Andover, MA (US); Wes Weber, Golden, CO (US); and Alexander Krull, Boston, MA (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Oct. 31, 2023, as Appl. No. 18/498,335.
Application 18/498,335 is a continuation of application No. 16/991,250, filed on Aug. 12, 2020, granted, now 11,801,097.
Application 16/991,250 is a continuation of application No. 15/267,950, filed on Sep. 16, 2016, granted, now 10,799,298, issued on Oct. 13, 2020.
Application 15/267,950 is a continuation in part of application No. 15/157,444, filed on May 18, 2016, granted, now 11,896,446.
Application 15/157,444 is a continuation in part of application No. 15/095,883, filed on Apr. 11, 2016, granted, now 10,893,912, issued on Jan. 19, 2021.
Application 15/095,883 is a continuation in part of application No. 14/062,707, filed on Oct. 24, 2013, granted, now 10,357,184, issued on Jul. 23, 2019.
Application 14/062,707 is a continuation in part of application No. 13/924,505, filed on Jun. 21, 2013, granted, now 9,782,229, issued on Oct. 10, 2017.
Claims priority of provisional application 61/800,527, filed on Mar. 15, 2013.
Claims priority of provisional application 61/662,702, filed on Jun. 21, 2012.
Prior Publication US 2024/0074819 A1, Mar. 7, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 5/06 (2006.01); A61B 6/00 (2024.01); A61B 17/00 (2006.01); A61B 17/17 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/11 (2016.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 5/064 (2013.01); A61B 6/485 (2013.01); A61B 6/547 (2013.01); A61B 34/30 (2016.02); A61B 90/37 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02); A61B 2017/00876 (2013.01); A61B 17/17 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/034 (2016.02); A61B 2090/0811 (2016.02); A61B 90/11 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3983 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical navigation system with a registration fixture for registration of 2-dimensional medical images to a three-dimensional camera tracking space comprising:
a registration fixture adapted to be attached to an x-ray imaging device and including:
a first structure having a plurality of spaced radiopaque markers in a first pattern;
a second structure having a plurality of spaced radiopaque markers in a second pattern, the first and second structures being spaced from each other; and
a plurality of fixed optical markers;
a surgical system including:
tracking cameras for tracking the optical markers of the registration fixture;
a processor configured to:
receive first and second 2-dimensional medical images taken by the x-ray imaging device at different angles while the tracking cameras are tracking the optical markers of the registration fixture; and
register the received first and second medical images with a 3-dimensional optical tracking space based on vectors extending between an emitter and a collector of the imaging device that form a conical pattern so as to map points on the first and second medical images to the 3-dimensional optical tracking space.