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.
Claims18
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 and a plurality of fiducial markers secured relative to the anatomic structure, the method comprising:
- positioning a handheld emitting apparatus at a first location relative to the anatomic structure;
- obtaining, using the handheld emitting apparatus, a first positioning information, the first positioning information comprising a distance and an orientation of the handheld emitting apparatus relative to each of the plurality of fiducial markers;
- obtaining a distance measurement between the handheld emitting apparatus and the anatomic structure;
- emitting energy from the handheld emitting apparatus onto the anatomic structure such that the energy is received by an imaging sensor which produces an image signal sufficient to produce a fluoroscopic image of the anatomic structure, wherein the handheld emitting apparatus produces a second positioning information data associated with the fluoroscopic image, the second positioning information data including the distance measurement;
- and
- mapping the fluoroscopic image of the anatomic structure to the virtual model of the anatomic structure using the first positioning information and the second positioning information data such that the surgical robot is capable of navigating the end effector relative to the anatomic structure using the virtual model.
A method of registering a virtual model of an anatomic structure with a plurality of fiducial markers secured relative to the anatomic structure, the method comprising:
- positioning a handheld emitting apparatus to a first location relative to the anatomic structure;
- obtaining, using the handheld emitting apparatus, a first positioning information comprising a distance and an orientation of the handheld emitting apparatus relative to each of the plurality of fiducial markers;
- obtaining a distance measurement between the handheld emitting apparatus and the anatomic structure;
- emitting energy from the handheld emitting apparatus onto the anatomic structure such that the energy is received by an imaging sensor which produces an image signal sufficient to produce a fluoroscopic image of the anatomic structure, wherein the handheld emitting apparatus produces a second positioning information data associated with the fluoroscopic image, the second positioning information data including the distance measurement;
- and
- preparing the virtual model of the anatomic structure for navigating a device relative to the anatomic structure by mapping the fluoroscopic image of the anatomic structure to the virtual model of the anatomic structure using the first positioning information and the second positioning information data to permit use of the virtual model to navigate a device relative to the anatomic structure.
Dependencies are inferred from the claim text.