Systems and methods for registering one or more anatomical elements

Patent metadata

Field	Value
Publication number	US-12213748-B2
Application number	US-202217591863-A
Country	US
Kind code	B2
Filing date	Feb 3, 2022
Priority date	Feb 3, 2022
Publication date	Feb 4, 2025
Grant date	Feb 4, 2025

Abstract

Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.

First claim

What is claimed is:

1. A system for registering one or more anatomical elements, the system comprising:
an imaging device;
a navigation system configured to track a pose of a marker coupled to an object and further configured to identify the marker;
a registration model configured to register an anatomical element to an image;
a processor; and
a memory storing data for processing by the processor, the data, when processed, causing the processor to:
receive a first image from a surgical plan;
obtain, from the navigation system, pose information describing the pose of the marker and a marker identification of the marker;
retrieve, from a database, an object identification based on the marker identification, wherein the database stores marker identification information for each of a plurality of markers and corresponding object identification information for each of an associated plurality of objects;
obtain, from the imaging device, image data of a second image depicting the anatomical element and the object, the image data including a portion of the anatomical element, the anatomical element partially blocked by the object; and
input the image data, the pose information, and the object identification into the registration model, the registration model registering the anatomical element to the first image based on the pose information and the object identification,
wherein the registration model uses image processing to identify the object within the image data based on the pose information and the object identification,
wherein the registration model flags the object for non-use by the registration model,
wherein the registration model blocks the flagged object and does not use the image data depicting the object during registration of the anatomical element, and
wherein the registration model registers the anatomical element based on the portion depicted.

2. The system of claim 1 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
receive from the registration model, a registered anatomical element.

3. The system of claim 1 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
input the image data, the pose information, and the object identification into an image processing model, the image processing model configured to process the image data to identify the anatomical element and the object in the image data; and
receive from the image processing model, an identified anatomical element and an identified object.

4. The system of claim 1 , wherein identifying the object within the image data comprises identifying pixels of the image data corresponding to the object and wherein the registration model flags the identified pixels for non-use by the registration model.

5. The system of claim 4 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
retrieve dimensions of the object from the database based on the object identification,
wherein the pixels are identified based on the pose information and the dimensions of the object.

6. The system of claim 1 , wherein the marker comprises at least one of an optical marker, a magnetic marker, a light emitting diode, or an infrared light emitting diode.

7. The system of claim 1 , wherein the object is at least one of a radiopaque bone mount, a surgical implant, and a surgical tool.

8. The system of claim 1 , wherein the first image is a three-dimensional representation of the anatomical element and the second image is a two-dimensional representation of the anatomical element.

9. The system of claim 1 , wherein the imaging device uses X-Ray imaging.

10. A system for registering one or more anatomical elements, the system comprising:
a navigation system configured to track a pose of a marker and identify the marker;
a registration model configured to register an anatomical element to an image;
a database configured to store marker identification for each of a plurality of markers and corresponding object identification for each of a plurality of objects;
a processor; and
a memory storing data for processing by the processor, the data, when processed, causing the processor to:
receive a first image from a surgical plan;
obtain, from the navigation system, pose information describing the pose of the marker and a marker identification of the marker;
retrieve, from the database, an object identification based on the marker identification;
receive image data of a second image depicting the anatomical element and the object, the image data including a portion of the anatomical element, the anatomical element partially blocked by the object;
input the image data, the pose information, and the object identification into the registration model, the registration model registering the anatomical element to the first image based on the pose information and the object identification; and
receive from the registration model, a registered anatomical element,
wherein the registration model uses image processing to identify the object within the image data based on the pose information and the object identification,
wherein the registration model flags the object for non-use by the registration model,
wherein the registration model blocks the flagged object and does not use the image data depicting the object during registration of the anatomical element, and
wherein the registration model registers the anatomical element based on the portion depicted.

11. The system of claim 10 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
input the image data, the pose information, and the object identification into a segmentation model, the segmentation model configured to segment the image data to identify the anatomical element and the object in the image data; and
receive from the segmentation model, an identified anatomical element and an identified object.

12. The system of claim 11 , wherein the object is at least one of a radiopaque bone mount, a surgical implant, and a surgical tool.

13. The system of claim 10 , wherein identifying the object within the image data comprises identifying pixels of the image data corresponding to the object and flagging the identified pixels for non-use by the registration model.

14. The system of claim 13 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
retrieve dimensions of the object from the database based on the object identification,
wherein the pixels are identified based on the pose information and the dimensions of the object.

15. The system of claim 10 , wherein the marker comprises at least one of an optical marker, a magnetic marker, a light emitting diode, or an infrared light emitting diode.

16. A system for registering one or more anatomical elements, the system comprising:
a navigation system configured to track a pose of a marker and identify the marker;
a registration model configured to register an anatomical element to an image;
a processor; and
a memory storing data for processing by the processor, the data, when processed, causing the processor to:
receive a first image from a surgical plan;
obtain, from the navigation system, pose information describing the pose of the marker and a marker identification of the marker;
identify a bone mount based on the marker identification;
receive image data of a second image depicting t

Assignees

• Mazor Robotics Ltd

Inventors

• Dahan Ofir
• Ofer Nir
• Schwartz Yair S
• Barazani Gal
• Sviri Maor
• Jerby Itay

Classifications

• G06T2207/30012

  Spine; Backbone · CPC title

• G06T2207/10116

  X-ray image · CPC title

• G06T7/0012

  Biomedical image inspection · CPC title

• G16H30/20

  for handling medical images, e.g. DICOM, HL7 or PACS · CPC title

• G06T7/11

  Region-based segmentation · CPC title