US 12,171,608 B2
Apparatus and methods for use with image-guided skeletal procedures
David Tolkowsky, Tel Aviv (IL); and Ran Cohen, Petah Tikva (IL)
Assigned to Vuze Medical Ltd., Tel Aviv (IL)
Filed by Vuze Medical Ltd., Tel Aviv (IL)
Filed on Oct. 6, 2023, as Appl. No. 18/377,568.
Application 18/377,568 is a continuation of application No. 17/851,964, filed on Jun. 28, 2022, granted, now 11,806,183.
Application 17/851,964 is a continuation of application No. 16/629,449, granted, now 11,406,338, issued on Aug. 9, 2022, previously published as PCT/IL2018/050732, filed on Jul. 5, 2018.
Claims priority of provisional application 62/641,359, filed on Mar. 11, 2018.
Claims priority of provisional application 62/599,802, filed on Dec. 18, 2017.
Claims priority of provisional application 62/556,436, filed on Sep. 10, 2017.
Claims priority of provisional application 62/530,123, filed on Jul. 8, 2017.
Prior Publication US 2024/0138794 A1, May 2, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 8/00 (2006.01); A61B 6/46 (2024.01); A61B 6/50 (2024.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G06N 20/00 (2019.01)
CPC A61B 6/505 (2013.01) [A61B 6/466 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/36 (2016.02); A61B 90/39 (2016.02); G06N 20/00 (2019.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/303 (2016.02); A61B 2090/364 (2016.02); A61B 2090/367 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3966 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A method for performing a procedure using a tool configured to be advanced into a skeletal portion within a body of a subject along a longitudinal insertion path, the method comprising:
acquiring 3D image data of the skeletal portion;
while a portion of the tool is disposed at a first location along the longitudinal insertion path with respect to the skeletal portion, sequentially:
1. acquiring a first 2D x-ray image of at least the portion of the tool and the skeletal portion from a first view, using a 2D x-ray imaging device that is disposed at a first pose with respect to the subject's body;
2. moving the 2D x-ray imaging device to a second pose with respect to the subject's body; and
3. while the 2D x-ray imaging device is at the second pose, acquiring a second 2D x-ray image of at least the portion of the tool and the skeletal portion from a second view; using at least one computer processor:
registering the first and second 2D x-ray images to the 3D image data;
identifying a location of the portion of the tool with respect to the skeletal portion, within the first and second 2D x-ray images,
based upon (a) the identified location of the portion of the tool within the first and second 2D x-ray images, and (b) the registration of the first and second 2D x-ray images to the 3D image data, identifying the first location of the portion of the tool with respect to the 3D image data; and
computing an anticipated longitudinal forward path of the tool within the 3D image data based on the first and second 2D x-ray images;
subsequently, moving the portion of the tool to a second location along the longitudinal insertion path with respect to the skeletal portion;
subsequent to moving the portion of the tool to the second location, acquiring one or more additional 2D x-ray images of at least the portion of the tool and the skeletal portion from a single image view; and
using the computer processor, facilitating identifying whether or not the tool has deviated from the anticipated longitudinal forward path by:
registering the additional one or more 2D x-ray images to the 3D image data, such that the anticipated longitudinal forward path of the tool is registered with the additional one or more 2D x-ray images, and
identifying a location of the portion of the tool with respect to the skeletal portion, within the additional one or more 2D x-ray images.