# US 12,004,905 B2 · Medical imaging systems using robotic actuators and related methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,905 B2 - Document ID: US12004905B2 - Status: Granted - Kind: B2 - Application number: 16/002,223 - Filed: 2018-06-07 - Published: 2018-10-04 - Granted: 2024-06-11 - Earliest claimed: 2012-06-21 - Assignees: Globus Medical, Inc. - Applicants: Globus Medical, Inc. - Inventors: Neil R. Crawford; Norbert Johnson - Web page: https://patentgrep.com/patent/US12004905B2 ## CPC - A61B 8/4218: {characterised by articulated arms} - A61B 8/14: Echotomography - A61B 8/4254: {using sensors mounted on the probe} - A61B 8/4263: {using sensors not mounted on the probe, e.g. mounted on an external reference frame} - A61B 8/429: {characterised by determining or monitoring the contact between the transducer and the tissue} - A61B 8/483: {involving the acquisition of a 3D volume of data} - A61B 8/5207: {involving processing of raw data to produce diagnostic data, e.g. for generating an image} - A61B 8/54: {Control of the diagnostic device} - A61B 17/7082: {for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws} - A61B 34/30: Surgical robots - A61B 34/32: operating autonomously - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - G06T 7/30: Determination of transform parameters for the alignment of images, i.e. image registration - G06T 7/66: of image moments or centre of gravity - A61B 17/1757: {for the spine} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2057: {Details of tracking cameras} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2034/2072: {Reference field transducer attached to an instrument or patient} - A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61F 2/4611: {of spinal prostheses} - A61F 2002/4632: {using computer-controlled surgery, e.g. robotic surgery} - G06T 2207/10136: 3D ultrasound image - G06T 2207/20221: Image fusion; Image merging - G06T 2207/30004: Biomedical image processing - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) ## Abstract Methods may be provided to operate an imaging system using a contact imaging probe to generate imaging of a body. A robotic actuator may be controlled to position the contact imaging probe at a first location on a surface of the body such that the contact imaging probe is in a first radial alignment with an imaging isocenter. The robotic actuator may then be controlled to position the contact imaging probe at a second location on the surface of the body such that the contact imaging probe is in a second radial alignment with the imaging isocenter. Moreover, the first and second radial alignments may be different. ## Claims ### Claim 1 A method of operating an imaging system using a contact imaging probe to generate imaging of a body, the method comprising: controlling a robotic actuator to position the contact imaging probe at a first location on a surface of the body such that the contact imaging probe is in a first radial alignment with an imaging isocenter; and controlling the robotic actuator to position the contact imaging probe at a second location on the surface of the body such that the contact imaging probe is in a second radial alignment with the imaging isocenter, wherein the first and second radial alignments are different, wherein the contact imaging probe has a first tracking array and a second tracking array is rigidly attached to the body, wherein an initial distance between the contact imaging probe and the imaging isocenter is determined using optical tracking of optical markers on the first tracking array and the second tracking array, wherein controlling the robotic actuator to position the contact imaging probe at the first location comprises providing contact at the first location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback, and/or optical feedback, and/or wherein controlling the robotic actuator to position the contact imaging probe at the second location comprises providing contact at the second location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback, and/or optical feedback, wherein a first definition of the imaging isocenter is determined by a user manually touching at least three points on the surface of the body using a digitizing probe and a processor defining a circle based on the at least three points, and wherein the first definition of the imaging isocenter is a center of the circle. ### Claim 2 (depends on 1) The method of claim 1, the method further comprising: providing a coordinate system used to define locations of the contact imaging probe and the imaging isocenter; wherein the first radial alignment with the imaging isocenter is based on the first definition of the imaging isocenter in the coordinate system; and providing a second definition of the imaging isocenter in the coordinate system responsive to detecting movement of the body relative to the coordinate system after controlling the robotic actuator to position the contact imaging probe at the first location, wherein the second radial alignment with the imaging isocenter is based on the second definition of the imaging isocenter in the coordinate system. ### Claim 3 (depends on 2) The method of claim 2, wherein the imaging isocenter is later determined by registering a prior image in the coordinate system, rendering the prior image on a display, and accepting user input to define the imaging isocenter using the prior image. ### Claim 4 (depends on 2) The method of claim 2, wherein the imaging isocenter is later determined based on a geometric mean, an arithmetic mean, a center of mass, and/or a moment of inertia of the body. ### Claim 5 (depends on 1) The method of claim 1 further comprising: generating first imaging information using the contact imaging probe in the first location; generating second imaging information using the contact imaging probe in the second location; and generating 3-dimensional information for an image of the body to be rendered on a display, wherein the 3-dimensional information is generated based on the first imaging information and the second imaging information. ### Claim 6 (depends on 5) The method of claim 5 further comprising: determining a first distance of the contact imaging probe from the imaging isocenter at the first location that is used to generate the first imaging information; and determining a second distance of the contact imaging probe from the imaging isocenter at the second location that is used to generate the second imaging information, wherein the first and second distances are different; wherein the 3-dimensional information is generated based on the first and second imaging information and based on the first and second distances. ### Claim 7 (depends on 5) The method of claim 5, wherein the contact imaging probe is an ultrasound transducer probe, wherein the first imaging information is generated based on first ultrasound echo information generated with the ultrasound transducer probe in the first location, and wherein the second imaging information is generated based on second ultrasound echo information generated with the ultrasound transducer probe in the second location. ### Claim 8 (depends on 1) The method of claim 1, wherein the imaging isocenter is located within the body. ### Claim 9 An imaging system configured to generate imaging of a body, the imaging system comprising: a robotic actuator configured to position a contact imaging probe; and a controller coupled with the robotic actuator, wherein the controller is configured to, control the robotic actuator to position the contact imaging probe at a first location on a surface of the body such that the contact imaging probe is in a first radial alignment with an imaging isocenter, and control the robotic actuator to position the contact imaging probe at a second location on the surface of the body such that the contact imaging probe is in a second radial alignment with the imaging isocenter, wherein the first and second radial alignments are different, wherein the contact imaging probe has a first tracking array and a second tracking array is rigidly attached to the body, wherein an initial distance between the contact imaging probe and the imaging isocenter is determined using optical tracking of optical markers on the first tracking array and the second tracking array, wherein controlling the robotic actuator to position the contact imaging probe at the first location comprises providing contact at the first location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback, and/or optical feedback, and/or wherein controlling the robotic actuator to position the contact imaging probe at the second location comprises providing contact at the second location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback, and/or optical feedback, wherein a first definition of the imaging isocenter is determined by a user manually touching at least three points on the surface of the body using a digitizing probe and a processor defining a circle based on the at least three points, and wherein the first definition of the imaging isocenter is a center of the circle. ### Claim 10 (depends on 9) The imaging system of claim 9, wherein the controller is further configured to, provide a coordinate system used to define locations of the contact imaging probe and the imaging isocenter, wherein the first radial alignment with the imaging isocenter is based on the first definition of the imaging isocenter in the coordinate system, and provide a second definition of the imaging isocenter in the coordinate system responsive to detecting movement of the body relative to the coordinate system after controlling the robotic actuator to position the contact imaging probe at the first location, wherein the second radial alignment with the imaging isocenter is based on the second definition of the imaging isocenter in the coordinate system. ### Claim 11 (depends on 9) The imaging system of claim 9, wherein the controller is further configured to, generate first imaging information using the contact imaging probe in the first location, generate second imaging information using the contact imaging probe in the second location, and generate 3-dimensional information for an image of the body to be rendered on a display, wherein the 3-dimensional information is generated based on the first imaging information and the second imaging information. ### Claim 12 (depends on 11) The imaging system of claim 11, wherein the controller is further configured to, determine a first distance of the contact imaging probe from the imaging isocenter at the first location that is used to generate the first imaging information, and determine a second distance of the contact imaging probe from the imaging isocenter at the second location that is used to generate the second imaging information, wherein the first and second distances are different, wherein the 3-dimensional information is generated based on the first and second imaging information and based on the first and second distances. ### Claim 13 A method of operating an imaging system using a contact imaging probe to generate imaging of a body, the method comprising: controlling a robotic actuator to position the contact imaging probe at a first location on a surface of the body such that the contact imaging probe is in a first radial alignment with an imaging isocenter; and controlling the robotic actuator to position the contact imaging probe at a second location on the surface of the body such that the contact imaging probe is in a second radial alignment with the imaging isocenter, wherein the first and second radial alignments are different, wherein the contact imaging probe has a first tracking array and a second tracking array is rigidly attached to the body, wherein an initial distance between the contact imaging probe and the imaging isocenter is determined using optical tracking of optical markers on the first tracking array and the second tracking array wherein controlling the robotic actuator to position the contact imaging probe at the first location comprises providing contact at the first location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback, wherein a first definition of the imaging isocenter is determined by a user manually touching at least three points on the surface of the body using a digitizing probe and a processor defining a circle based on the at least three points, and wherein the first definition of the imaging isocenter is a center of the circle.