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US 2023/0140951 A1Published application
System for generating images for a fluoroscopy-based navigation system
OwnerStéphane LAVALLEE, David ARMANDinventors
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Abstract
The present disclosure relates to a method and a data processing system for generating navigable images of at least one region of interest ROI of a patient for a fluoroscopy-based navigation system using an X-ray imaging system, a localization system and an imaging kit, said imaging kit being configured to allow images registration in a preferred referential and tracking of surgical tools.
Claims23
A data processing system for generating navigable images of at least one region of interest of a patient for a fluoroscopy-based navigation system using an X-ray imaging system, an imaging kit and a localization system,
- wherein the imaging kit comprises:
- (a) a registration-tracking kit comprising:
- at least one registration phantom comprising a fiducials support of substantially radiotransparent material having a plurality of radiopaque fiducials;
- and
- a reference tracker;
- wherein the registration-tracking kit is monoblock and configured to be rigidly fixed to a patient's bone or comprises a base configured to be rigidly fixed to a patient's bone, the registration phantom and reference tracker being configured to be removably attached to the base;
- and
- (b) at least one implantable element configured to be implanted inside a patient and at least one implant tracker removably attachable to the implantable element;
- said localization system being configured to track the reference tracker and the at least one implant tracker of the imaging kit,
- said data processing system comprising:
- an input module configured to receive at least one set of 2D X-ray images of at least one portion of the region of interest, wherein the registration phantom had been previously attached to a patient's bone so that the registration phantom is at least partially comprised in the region of interest during the acquisition of the set of 2D X-ray images, such that said set of 2D images comprises at least two 2D images containing each at least one detectable radiopaque fiducial of the registration phantom;
- said input module being further configured to receive information on the position of the fiducials support and the reference tracker in a patient coordinate system fixed with respect to the patient's bone to which is attached the registration phantom;
- a registration module configured to generate at least one registered image by registering the set of 2D images in the patient coordinate system using the known position of the fiducials support in the patient coordinate system;
- a transformation calculation module configured to:
- (i) receive a first set of data obtained using the localization system comprising data on position and 3D spatial orientation of the reference tracker, being previously attached to a bone of the patient in proximity of the registration phantom, and data on position and 3D spatial orientation of the at least one first implant tracker attached to the at least one first implantable element, the at least one first implantable element being previously rigidly fixed to a body part of the patient;
- (ii) use the first set of data to compute a first rigid transformation between the patient coordinate system and a coordinate system of the at least one first implant tracker;
- and
- (iii) generate at least one first navigable image by applying the first rigid transformation to the at least one registered image.
15 more elements
A method for generating at least one navigable image of at least one region of interest of a patient for a fluoroscopy-based navigation system using an X-ray imaging system, and a localization system, said method comprising the following steps:
- providing:
- at least one registration phantom comprising a fiducials support of substantially radiotransparent material having a plurality of radiopaque fiducials;
- a reference tracker;
- a base configured to be rigidly fixed to a bone of the patient, the registration phantom and reference tracker being configured to be removably attached to the base, either separately or together;
- at least one implantable element configured to be implanted into a patient's body part and at least one implant tracker removably attachable to the implantable element,
- attaching the base to a patient's bone;
- attaching the registration phantom to the base;
- acquiring at least one set of 2D X-ray images of at least one portion of the region of interest, wherein said set of 2D images comprises at least two 2D images containing each at least one detectable radiopaque fiducial of the registration phantom;
- attaching the reference tracker to the base;
- receiving information on the position of the fiducials support and the position of the reference tracker in a patient coordinate system fixed with respect to the patient's bone to which is attached the base;
- generating at least one registered image by registering the set of 2D images in the patient coordinate system using the known position of the fiducials support in said patient coordinate system;
- implanting the implantable element into a patient's body part and attaching the at least one first implant tracker to the implantable element;
- receiving a first set of data from the localization system, comprising data on position and 3D spatial orientation of the reference tracker, and position and 3D spatial orientation of the at least one first implant tracker;
- using the first set of data to compute a first rigid transformation between the patient coordinate system and a coordinate system of the at least one first implant tracker;
- and
- generating at least one first navigable image by applying the first rigid transformation to the at least one registered image.
13 more elements
A method for generating at least one navigable image of at least one region of interest of a patient for a fluoroscopy-based navigation system using an X-ray imaging system, and a localization system, said method comprising the following steps:
- providing:
- at least one registration phantom comprising a fiducials support of substantially radiotransparent material having a plurality of radiopaque fiducials;
- a reference tracker;
- the at least one registration phantom and the reference tracker being permanently attached together and being configured to be rigidly fixed to a patient's bone;
- and
- at least one implantable element configured to be implanted into a patient's body part and at least one implant tracker removably attachable to the implantable element,
- attaching the registration phantom and reference tracker to a patient's bone;
- acquiring at least one set of 2D X-ray images of at least one portion of the region of interest, wherein said set of 2D images comprises at least two 2D images containing each at least one detectable radiopaque fiducial of the registration phantom;
- receiving information on the position of the fiducials support and the position of the reference tracker in a patient coordinate system fixed with respect to the patient's bone;
- generating at least one registered image by registering the set of 2D images in the patient coordinate system using the known position of the fiducials support in said patient coordinate system;
- implanting the implantable element into a patient's body part and attaching the at least one first implant tracker to the implantable element;
- receiving a first set of data, obtained using the localization system, comprising data on position and 3D spatial orientation of the reference tracker, and position and 3D spatial orientation of the at least one first implant tracker;
- using the first set of data obtained from the localization system to compute a first rigid transformation between the patient coordinate system and a coordinate system of the at least one first implant tracker;
- and
- generating at least one navigable image by applying the first rigid transformation to the at least one registered image.
12 more elements
Dependencies are inferred from the claim text.