Cross-modality planning using feature detection

A system, comprising:

• a memory for storing a surgical plan, which is based on preoperative images, for a region of interest, the surgical plan comprising planned poses of implantable hardware elements to be inserted into anatomical parts in the region of interest;
• and
• at least one processor having a controller to;
• convert the planned poses into a three-dimensional geometric function for an anatomical part;
• process at least one intraoperative three-dimensional image of the anatomical part to identify anatomical features to which the three-dimensional geometric function is to be aligned;
• on the at least one processed intraoperative three-dimensional image, define a range of possible positions for the three-dimensional geometric function;
• and
• using the identified anatomical features, virtually align the three-dimensional geometric function in the at least one processed intraoperative three-dimensional image, the virtual alignment achieving a position of the implantable hardware elements that is compatible with the surgical plan and has greater accuracy than aligning each implantable hardware element individually on the at least one processed intraoperative three-dimensional image, without the need to perform registration between the preoperative images and the at least one processed intraoperative three-dimensional image.

A system, comprising:

• at least one processor executing instructions stored on at least one non-transitory storage medium, to cause the at least one processor to:
• a) based on a surgical plan derived from a preoperative images, define planned poses of a pair of pedicle screws for a vertebra;
• b) convert the planned poses of the pair of screws into a three-dimensional geometric function for the pair of screws;
• c) process at least one intraoperative three-dimensional image of the vertebra to identify surface features of the vertebra;
• d) on the at least one processed intraoperative three-dimensional image, define a range of possible positions for each pedicle screw through vertebral pedicles;
• and
• e) using the identified surface features, virtually align the three-dimensional geometric function in the at least one processed intraoperative three-dimensional image, the virtual alignment achieving a position of the pedicle screws that is compatible with the surgical plan and reduces a cost function to a greater degree than aligning each pedicle screw individually on the at least one processed intraoperative three-dimensional image, without the need to perform registration between the preoperative images and the at least one processed intraoperative three-dimensional image.