Systems and methods for effortless and reliable 3d navigation for musculoskeletal surgery based on single 2d x-ray images

A method of 3D navigation for musculoskeletal surgery based on single 2D X-ray image comprising:

• receiving an X-ray image generated at a first point in time, wherein the X-ray image is a 2D projection image depicting at least part of a surgical object including an anchor point and a region of interest within a patient's anatomy;
• receiving a 3D data set describing the region of interest and defining a 3D coordinate system;
• receiving a 3D model of the surgical object, wherein the position of the anchor point is known in the 3D model;
• determining a 2D position of the anchor point in the X-ray image;
• and
• determining an imaging direction onto the region of interest based on the X-ray image, determining a 3D position of the anchor point in the 3D coordinate system at the first point in time based on (i) the 2D position of the anchor point in the X-ray image, and (ii) the imaging direction onto the region of interest for determining a 3D position and 3D orientation of the surgical object relative to the region of interest at the first point in time based on (iii) the 3D model of the surgical object, and (iv) the 3D position of the anchor point in the 3D coordinate system at the first point in time.

A device for 3D navigation during musculoskeletal surgery based on single 2D X-ray image, the device comprising a processing unit configured to:

• receive an X-ray image generated at a first point in time, wherein the X-ray image is a 2D projection image depicting at least part of a surgical object including an anchor point and a region of interest within a patient's anatomy;
• receive a 3D data set describing the region of interest and defining a 3D coordinate system;
• receive a 3D model of the surgical object, wherein the position of the anchor point is known in the 3D model;
• determine a 2D position of the anchor point in the X-ray image;
• and
• determine an imaging direction onto the region of interest based on the X-ray image,
• determine a 3D position of the anchor point in the 3D coordinate system at the first point in time based on (i) the 2D position of the anchor point in the X-ray image, and (ii) the imaging direction onto the region of interest for determining a 3D position and 3D orientation of the surgical object relative to the region of interest at the first point in time based on (iii) the 3D model of the surgical object, and (iv) the 3D position of the anchor point in the 3D coordinate system at the first point in time.

A non-transitory computer readable medium comprising processor-executable instructions for 3D navigation during musculoskeletal surgery based on single 2D X-ray image, the processor-executable instructions when executed on the processor in a device configure the device to:

• receive an X-ray image generated at a first point in time, wherein the X-ray image is a 2D projection image depicting at least part of a surgical object including an anchor point and a region of interest within a patient's anatomy;
• receive a 3D data set describing the region of interest and defining a 3D coordinate system;
• receive a 3D model of the surgical object, wherein the position of the anchor point is known in the 3D model;
• determine a 2D position of the anchor point in the X-ray image;
• and
• determine an imaging direction onto the region of interest based on the X-ray image,
• determine a 3D position of the anchor point in the 3D coordinate system at the first point in time based on (i) the 2D position of the anchor point in the X-ray image, and (ii) the imaging direction onto the region of interest for determining a 3D position and 3D orientation of the surgical object relative to the region of interest at the first point in time based on (iii) the 3D model of the surgical object, and (iv) the 3D position of the anchor point in the 3D coordinate system at the first point in time.