US 11,684,428 B2Granted

Adjustable registration frame

AssigneeXact Robotics Ltd.

InventorsIdo Roth, Moran Shochat, Chen Levin

Life of this patent

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Abstract

A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relationship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.

Claims17

Dependent claims

A method for determining the real-time position and orientation of an automated medical device relative to an image space during an image-guided procedure, using a mounting apparatus configured for mounting on a body of a subject and for coupling the automated medical device thereto, at least one registration member positioned either on or inside the mounting apparatus, and a processor, the method comprising:

obtaining one or more initial images of the mounting apparatus and the automated medical device coupled thereto;
detecting the at least one registration member in the one or more initial images;
calculating the position and orientation of the at least one registration member relative to the image space in the one or more initial images;
calculating the position and orientation of the automated medical device relative to the image space in the one or more initial images;
determining the position and orientation of the at least one registration member relative to the automated medical device based on the calculated positions and orientations of the automated medical device and of the at least one registration member relative to the image space in the one or more initial images;
obtaining one or more real-time images of a region of interest, the one or more real-time images including at least two portions of the at least one registration member;
detecting the at least two portions of the at least one registration member in the one or more real-time images;
determining the real-time position and orientation of the at least two portions of the at least one registration member relative to the image space in the one or more real-time images;
and
determining the real-time position and orientation of the automated medical device relative to the image space in the one or more real-time images based on the real-time position and orientation of the at least two portions of the at least one registration member relative to the image space and the position and orientation of the at least one registration member relative to the automated medical device determined based on the one or more initial images.

7 more elements

A method for determining the real-time position and orientation of an automated medical device relative to an image space during an image-guided procedure, the method comprising:

providing a system comprising:
a mounting apparatus configured for mounting on a body of a subject and for coupling the automated medical device thereto;
at least one registration member positioned either on or inside the mounting apparatus, such that during the image-guided procedure, there is substantially no relative movement between the at least one registration member and the automated medical device coupled to the mounting apparatus;
and
at least one processor;
obtaining one or more real-time images of a region of interest in the body of the subject, the one or more real-time images including at least two portions of the at least one registration member;
detecting the at least two portions of the at least one registration member in the one or more obtained real-time images;
determining the real-time position and orientation of the at least two portions of the at least one registration member relative to the image space;
and
determining the real-time position and orientation of the automated medical device relative to the image space based on the determined real-time position and orientation of the at least two portions of the at least one registration member relative to the image space and a predetermined relationship between the automated medical device and the at least one registration member.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/022,509Filed 16 Sep 2020 · continuation
Priority: 28 Dec 2015
Published: US 2021/0000549 A17 Jan 2021
Granted: 27 Jun 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification20 codes

A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 5/05
Measuring for diagnostic purposes ; Identification of persons: detecting, measuring or recording for diagnosis by means of electric currents or…
A61B 5/064
Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing…
A61B 10/0233
Instruments for taking cell samples or for biopsy: pointed or sharp biopsy instruments

Family

Application62/387,317Us provisional application · filed 28 Dec 2015
PCT/IL2016/051396Parent of this continuation · filed 28 Dec 2016
US 2021/0000549 A1Pre-grant publication · published 7 Jan 2021
Application16/065,007Parent of this continuation
US 10,806,523 B2Parent of this continuation
US 2018/0368922 A1Published application
US 11,684,428 B2This patent

From the US filing history. Foreign family members aren’t listed.