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:
- (A) acquiring 3D image data of the skeletal portion;
- (B) subsequently:
- (i) positioning one or more radiopaque elements with respect to the body of the subject, wherein positioning the one or more radiopaque elements with respect to the body of the subject comprises a step selected from the group consisting of:
- positioning one or more radiopaque markers with respect to the body of the subject, the one or more radiopaque elements comprising the one or more radiopaque markers, and
- inserting at least a portion of the tool into the body of the subject, the one or more radiopaque elements comprising the at least a portion of the tool,
- (ii) sequentially:
- acquiring a first 2D x-ray image of the one or more radiopaque elements and the skeletal portion from a first view, using a 2D x-ray imaging device that is unregistered with respect to the subject's body and that is disposed at a first pose with respect to the subject's body;
- moving the 2D x-ray imaging device to a second pose with respect to the subject's body;
- and
- while the 2D x-ray imaging device is at the second pose, acquiring a second 2D x-ray image of the one or more radiopaque elements and the skeletal portion from a second view;
- (iii) 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 one or more radiopaque elements with respect to the skeletal portion, within the first and second 2D x-ray images;
- and
- based upon the identified location of the one or more radiopaque elements within the first and second 2D x-ray images, and the registration of the first and second 2D x-ray images to the 3D image data, determining the location of the one or more radiopaque elements with respect to the 3D image data;
- (iv) acquiring an optical image of the body of the subject and the one or more radiopaque elements;
- and
- (v) using the at least one computer processor:
- identifying the location of the one or more radiopaque elements within the optical image;
- overlaying the 3D image data upon the optical image by aligning (a) the location of the one or more radiopaque elements within the 3D image data with (b) the location of the one or more radiopaque elements within the optical image;
- and
- driving a display to display the 3D image data overlaid upon the optical image;
- and
- (C) in the case that the selected step is inserting at least a portion of the tool into the body of the subject, the location of the one or more radiopaque elements with respect to the skeletal portion is a first location of the at least a portion of the tool along the longitudinal insertion path, and the method further comprises:
- moving the at least a portion of the tool to a second location along the longitudinal insertion path with respect to the skeletal portion;
- and
- subsequently to moving the at least a portion of the tool to the second location:
- (I) acquiring an additional optical image of the body of the subject and the at least a portion of the tool;
- and
- (II) using the at least one computer processor:
- updating the location of the at least a portion of the tool with respect to the 3D image data, and
- overlaying the 3D image data upon the optical image by aligning (a) the second location of the at least a portion of the tool within the 3D image data with (b) the second location of the at least a portion of the tool within the additional optical image;
- and
- (D) in the case that the selected step is positioning one or more radiopaque markers with respect to the body of the subject, the method further comprises:
- (1) inserting at least a portion of the tool into the body of the subject to a first location of the at least a portion of the tool along the longitudinal insertion path,
- (2) acquiring a first additional 2D x-ray image of the at least a portion of the tool and the skeletal portion from one view, using the 2D x-ray imaging device;
- (3) moving the 2D x-ray imaging with respect to the subject's body;
- (4) subsequently to moving the 2D x-ray imaging device with respect to the subject's body, acquiring a second additional 2D x-ray image of the at least a portion of the tool and the skeletal portion from another view;
- (5) using the at least one computer processor;
- registering the first and second additional 2D x-ray images to the 3D image data;
- identifying a location of the at least a portion of the tool with respect to the skeletal portion, within the first and second additional 2D x-ray images;
- and
- based upon the identified location of the at least a portion of the tool within the first and second additional 2D x-ray images, and the registration of the first and second additional 2D x-ray images to the 3D image data, determining the first location of at least a portion of the tool with respect to the 3D image data that is overlaid upon the optical image;
- (6) moving the at least a portion of the tool to a second location along the longitudinal insertion path with respect to the skeletal portion;
- and
- (7) using the at least one computer processor, updating the location of the at least a portion of the tool with respect to the 3D image data that is overlaid upon the optical image.