# US 12,182,929 B2 · Systems and methods for volume reconstructions using a priori patient data > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,182,929 B2 - Document ID: US12182929B2 - Status: Granted - Kind: B2 - Application number: 18/072,006 - Filed: 2022-11-30 - Published: 2024-05-30 - Granted: 2024-12-31 - Earliest claimed: 2022-11-30 - Assignees: Mazor Robotics Ltd. - Applicants: Mazor Robotics Ltd. - Inventors: Noam Weiss - Web page: https://patentgrep.com/patent/US12182929B2 ## CPC - G06T 12/30: Image post-processing, e.g. metal artefact correction - G06T 15/08: Volume rendering - G06T 5/50: using two or more images, e.g. averaging or subtraction - G06T 5/70: Denoising; Smoothing - G06T 7/12: Edge-based segmentation - G06T 7/55: from multiple images - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T 2207/10072: Tomographic images - G06T 2207/10081: Computed x-ray tomography [CT] - G06T 2207/10088: Magnetic resonance imaging [MRI] - G06T 2207/10116: X-ray image - G06T 2207/30244: Camera pose - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region. ## Claims ### Claim 1 A system, comprising: a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, wherein the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, wherein generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region, and wherein the one or more criteria comprise a target ratio of attenuation of voxels located outside the boundary region to attenuation of voxels located inside the boundary region. ### Claim 2 (depends on 1) The system of claim 1, wherein the instructions are further executable by the processor to: regenerate the first imaging data associated with the object based on a failure to satisfy the one or more criteria; identify, based on the regenerated first imaging data associated with the object, a second boundary region corresponding to the shape of the object; identify at least one second voxel included in third imaging data, wherein the at least one second voxel is located outside the second boundary region; and generate a second multidimensional image volume corresponding to the object using the third imaging data, wherein generating the second multidimensional image volume comprises satisfying one or more criteria associated with voxels located outside the second boundary region. ### Claim 3 (depends on 1) The system of claim 1, wherein the one or more criteria comprise a threshold attenuation value associated with voxels located outside the boundary region. ### Claim 4 (depends on 1) The system of claim 1, wherein the instructions are further executable by the processor to: identify, based on the second imaging data associated with the object, a second voxel located inside the boundary region, wherein the one or more criteria comprises satisfying a threshold difference between a first attenuation value of the at least one voxel and a second attenuation value of the second voxel. ### Claim 5 (depends on 1) The system of claim 1, wherein the first imaging data comprises one or more panoramic sagittal images of the object. ### Claim 6 (depends on 1) The system of claim 1, wherein: the first imaging data comprises one or more images including the object; an upper portion of the one or more images comprises a first air edge corresponding to a boundary of the object; and a lower portion of the one or more images comprises a second air edge corresponding to another boundary of the object. ### Claim 7 (depends on 1) The system of claim 1, wherein the instructions are further executable by the processor to: capture a set of points associated with the object using one or more light-based ranging operations; and generate the first imaging data associated with the object based on the set of points. ### Claim 8 (depends on 1) The system of claim 1, wherein the first imaging data comprises one or more x-ray images, one or more optical images, one or more depth images, one or more magnetic resonance imaging (MRI) images, one or more computed tomography (CT) images, or a combination thereof. ### Claim 9 (depends on 1) The system of claim 1, wherein the instructions are further executable by the processor to capture the first imaging data associated with the object, wherein capturing the first imaging data comprises: capturing a first image of the object, wherein capturing the first image is in association with first pose information of an imaging device with respect to the object; and capturing a second image of the object, wherein capturing the second image is in association with second pose information of the imaging device with respect to the object, wherein identifying the boundary region corresponding to the shape of the object is based on the first image, the first pose information, the second image, and the second pose information. ### Claim 10 (depends on 1) The system of claim 1, wherein dimensions of the boundary region correspond to at least one of: a dimension of the object in a first direction with respect to a plane; and a second dimension of the object in a second direction with respect to the plane, wherein the second direction is orthogonal to the first direction. ### Claim 11 (depends on 1) The system of claim 1, wherein the instructions are further executable by the processor to: dynamically capture the second imaging data using one or more imaging devices. ### Claim 12 A system, comprising: one or more imaging devices; a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: identify, based on first imaging data generated using the one or more imaging devices, a boundary region corresponding to a shape of an object; identify at least one voxel included in second imaging data generated using the one or more imaging devices, wherein the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, wherein generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region, and wherein the one or more criteria comprise a target ratio of attenuation of the voxels located outside the boundary region to attenuation of voxels located inside the boundary region. ### Claim 13 (depends on 12) The system of claim 12, wherein the data are further executable by the processor to: regenerate the first imaging data in response to a failure to satisfy the one or more criteria; identify, based on the regenerated first imaging data, a second boundary region corresponding to the shape of the object; identify at least one second voxel included in third imaging data, wherein the at least one second voxel is located outside the second boundary region; and generate a second multidimensional image volume corresponding to the object using the third imaging data, wherein generating the second multidimensional image volume comprises satisfying one or more criteria associated with voxels located outside the second boundary region. ### Claim 14 (depends on 12) The system of claim 12, wherein the one or more criteria comprise a threshold attenuation value associated with voxels located outside the boundary region. ### Claim 15 (depends on 12) The system of claim 12, wherein the data are further executable by the processor to: identify, based on the second imaging data associated with the object, a second voxel located inside the boundary region, wherein the one or more criteria comprises a threshold difference between a first attenuation value of the at least one voxel and a second attenuation value of the second voxel. ### Claim 16 (depends on 12) The system of claim 12, wherein the first imaging data comprises one or more panoramic sagittal images of the object. ### Claim 17 (depends on 12) The system of claim 12, wherein: the first imaging data comprises one or more images including the object; an upper portion of the one or more images comprises a first air edge corresponding to a boundary of the object; and a lower portion of the one or more images comprises a second air edge corresponding to another boundary of the object. ### Claim 18 A method, comprising: identifying, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identifying at least one voxel included in second imaging data associated with the object, wherein the at least one voxel is located outside the boundary region; and generating a volumetric construction corresponding to the object using the second imaging data, wherein generating the volumetric construction is with respect to satisfying one or more criteria associated with voxels located outside the boundary region, and wherein the one or more criteria comprise a target ratio of attenuation of the voxels located outside the boundary region to attenuation of voxels located inside the boundary region. ### Claim 19 (depends on 18) The method of claim 18, wherein the first imaging data comprises one or more x-ray images, one or more optical images, one or more depth images, one or more magnetic resonance imaging (MRI) images, one or more computed tomography (CT) images, or a combination thereof. ### Claim 20 (depends on 18) The method of claim 18, further comprising: dynamically capturing the second imaging data using one or more imaging devices.