Method of fluoroscopic surgical registration
AssigneeOXOS Medical, Inc.
InventorsEvan Ruff, Paul Bennett, Dhruv Vishwakarma, Gregory Kolovich, Jacqueline Kim
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Abstract
Methods and systems for x-ray and fluoroscopic image capture and, in particular, to a versatile, multimode imaging system incorporating a hand-held x-ray emitter operative to capture digital or thermal images of a target; a stage operative to capture static x-ray and dynamic fluoroscopic images of the target; a system for the tracking and positioning of the x-ray emission; a device to automatically limit the field of the x-ray emission; and methods of use and use of such systems to register a virtual model of an anatomic structure to the corresponding anatomic structure.
Claims20
A method of preparing a surgical robot for navigating an end effector relative to an anatomic structure positioned on an operating surface using a virtual model of the anatomic structure where the anatomic structure includes a plurality of fiducial markers secured relative to the anatomic structure, the method comprising:
- positioning a handheld emitting apparatus in free space to a location relative to the anatomic structure,
- obtaining positioning information, the positioning information comprising a distance and an orientation of the emitting apparatus relative to each of the plurality of fiducial markers;
- emitting energy from the handheld emitting apparatus onto the anatomic structure such that the energy is received by an imaging sensor, wherein the imaging sensor produces an image signal sufficient to produce a fluoroscopic image of the anatomic structure, and wherein the handheld emitting apparatus produces a positioning information data associated with the fluoroscopic image;
- and
- mapping the fluoroscopic image of the anatomic structure to the virtual model of the anatomic structure using the positioning information data such that the surgical robot is able to use the virtual model of the anatomic structure and the plurality of fiducial markers to navigate a robotic end effector relative to the anatomic structure.
A method of registering a virtual model of an anatomic structure where the anatomic structure includes a plurality of fiducial markers secured relative to the anatomic structure, the method comprising:
- positioning a handheld emitting apparatus to a location relative to the anatomic structure;
- obtaining positioning information, the positioning information comprising a distance and an orientation of the handheld emitting apparatus relative to each of the plurality of fiducial markers;
- emitting energy from the handheld emitting apparatus onto the anatomic structure such that the energy is received by an imaging sensor, wherein the imaging sensor produces an image signal sufficient to produce a fluoroscopic image of the anatomic structure, and wherein the handheld emitting apparatus produces a positioning information data associated with the fluoroscopic image;
- and
- mapping the fluoroscopic image of the anatomic structure to the virtual model of the anatomic structure using the positioning information data such that the virtual model of the anatomic structure and the plurality of fiducial markers can be used to navigate a device relative to the anatomic structure.
Dependencies are inferred from the claim text.