Fluoroscopy imaging devices, systems, and related methods

A registration fixture for use with a medical navigation system for registration of a plurality of images to a three-dimensional tracking space comprising:

• a frame configured to be coupled with a medical imaging device;
• an x-ray opaque fiducial pattern comprising a plurality of radiopaque markers disposed in the frame and operatively coupled with the medical imaging device, wherein the x-ray opaque fiducial pattern comprises a plurality of radiopaque markers disposed in the frame of the registration fixture;
• a plurality of calibration phantoms configured to calibrate the medical image device based on a simulated bone mineral density (BMD), which correspond to know Hounsfield Unit (HU) value in fluoroscopic images,
• wherein at least one of the plurality of calibration phantoms is a modular calibration phantom, the modular calibration phantom includes a compartment having at least one material disposed within the compartment,
• wherein the at least one material is configured to simulated at least one BMD value during an intra-operative scan, which corresponds to at least one known HU value in a medical image output.

A system comprising:

• a robotic system having a base, an arm and an end effector coupled to the arm;
• a medical imaging device comprising an x-ray source and an x-ray detector configured to generate a plurality of images based on x-rays received at the x-ray detector from the x-ray source;
• a fixture coupled to the medical imaging device between the x-ray source and the x-ray detector;
• a calibration phantom coupled to the fixture and configured to calibrate the medical imaging device based on known, simulated bone mineral density (BMD) of material disposed therein, wherein the calibration phantom comprises a first material having a first simulated BMD, and a second material having a second simulated BMD;
• and
• a medical navigation system operatively coupled with the medical imaging device, the fixture, and the calibration phantom, wherein the medical navigation system is configured to register the plurality of images from the medical imaging device to a three-dimensional tracking space
• a patient specific merge fixture including a body having at least one surface shaped and dimensioned to complement and engage the contour of an anatomical feature of the patient anatomy,
• wherein the robotic system operatively communicates with the medical imaging device and configured to determine the specific location and orientation of the spine based on the medical images and the calibration phantoms and orientation of the patient specific merge fixture.