Rotating 3D scanner to enable prone contactless registration

Patent metadata

Field	Value
Publication number	US-12579737-B2
Application number	US-202217649734-A
Country	US
Kind code	B2
Filing date	Feb 2, 2022
Priority date	Feb 2, 2022
Publication date	Mar 17, 2026
Grant date	Mar 17, 2026

Abstract

Systems and methods used to perform touchless 3D scanning of a patient's face in the prone position are disclosed. In some embodiments, the systems include a rotatable 3D scanning device to capture 3D spatial data points of the patient's face and a reference frame. 3D digital mesh models are generated from the 3D spatial data points. A patient 3D digital mesh model is registered with a patient 3D model and a reference frame digital mesh model is registered with a reference frame 3D model. The 3D scanning device can include a handheld rotatable 3D scanner member or a mechanically rotatable 3D scanner member.

First claim

The invention claimed is:

1 . A method of touchless registration for a surgical procedure, comprising:
positioning a patient on the surgical bed in a prone position; positioning a hand-held housing of a scanning device held by a user relative to the patient, the hand-held housing including a first support member and a second support member extending from a top side of the hand-held housing, the first and second support members each including a post and a recess, each recess including a plurality of detents; rotating relative to the hand-held housing of the scanning device a rotatable 3D scanner member that is rotatably coupled to and carried by the hand-held housing of the scanning device,
wherein the rotatable 3D scanner member comprises a scanner housing that includes a first end and a second end, the first end including a first pivot arm extending from the scanner housing towards the first support member of the hand-held housing and configured to engage with the detents of the recess of the first support member, the second end including a second pivot arm extending from the scanner housing towards the second support member of the hand-held housing and configured to engage with the detents of the recess of the second support member, and
wherein the rotatable 3D scanner member includes an imaging device that is directed toward the patient's face as the patient is in the prone position on the surgical bed and the hand-held housing is held by the user;
moving the rotatable 3D scanner member relative to the patient's face to capture a first collection of spatial data points with the imaging device of the rotatable 3D scanner member; constructing a first digital mesh model of the patient's face from the first collection of spatial data points; and registering the first digital mesh model with a patient registration model.

2 . The method of claim 1 , wherein moving the 3D scanner member relative to the patient's face comprises moving the 3D scanner member in a random pattern as the patient is in the prone position on the surgical bed.

3 . The method of claim 1 , wherein moving the 3D scanner member relative to the patient's face comprises moving the 3D scanner member from a superior portion of the patient's face to an inferior portion of the patient's face in a single plane as the patient is in the prone position on the surgical bed.

4 . The method of claim 1 , wherein one or more of the steps of moving the 3D scanner member relative to the patient's face; constructing a first digital mesh model of the patient's face; and registering the first digital mesh model of the patient's face with a patient registration model are accomplished automatically.

5 . The method of claim 1 , wherein the scanning device further comprises:
a memory to receive the first collection of spatial data points from the 3D scanner member; a processor to construct the first digital mesh model from the first collection of spatial data points; and a viewing screen coupled to the housing, wherein the 3D scanner member is rotatable relative to the viewing screen.

6 . The method of claim 5 , further comprising rotating the 3D scanner member relative to the handheld housing to face in a direction opposite of a direction the viewing screen faces.

7 . The method of claim 5 , further comprising rotating the 3D scanner member relative to the handheld housing to face in a same direction the viewing screen faces as the patient is in the prone position on the surgical bed.

8 . The method of claim 1 , wherein the 3D scanner member comprises a digital imaging sensor comprising a laser imaging detection and ranging sensor.

9 . The method of claim 1 , further comprising creating the patient registration model from any one of a computed tomography (CT) image, magnetic resonance image (MRI), computer tomography angiography (CTA) image, magnetic resonance angiography (MRA) image, and intraoperative CT image.

10 . The method of claim 1 , further comprising disposing a reference frame adjacent the patient's face.

11 . The method of claim 10 , further comprising:
rotating the 3D scanner member toward the reference frame; moving the 3D scanner member around the reference frame; scanning the reference frame using the 3D scanner member to capture a second collection of spatial data points; constructing a second digital 3D mesh model of the reference frame from the second collection of spatial data points; and registering the second digital mesh model with a reference frame 3D model.

12 . A rotatable scanning device, comprising:
a drive housing; a clamp attached to the drive housing to selectively fix the drive housing and the rotatable scanning device to a surgical table adjacent to a patient's head when the patient is lying in a prone position on the surgical table; a 3D scanner member comprising a digital imaging sensor configured to capture spatial data points; a rotatable scanner arm coupled to the 3D scanner member and the drive housing and configured to move the 3D scanner member relative to the patient's face; and a rotational drive mechanism housed in the drive housing and operably coupled to the rotatable scanner arm and configured to drive rotational movement of the rotatable scanner arm around a pivot point to cause the scanner to arm rotate longitudinally along a length of the surgical table.

13 . The rotatable scanning device of claim 12 , further comprising a computer coupled to the rotational drive mechanism and the 3D scanner member and configured to automatically control operation of the rotational drive mechanism and receipt of the spatial data points from the 3D scanner member.

14 . The rotatable scanning device of claim 12 , wherein the rotational drive mechanism comprises:
a motor; and a transmission configured to drive movement of the rotatable scanner arm.

15 . The rotatable scanning device of claim 12 , wherein the rotatable scanner arm includes a first arm coupled to a second arm and configured to move the 3D scanner in a single vertical plane.

16 . The rotatable scanning device of claim 12 , wherein the digital imaging sensor comprises a laser imaging detection and ranging sensor.

17 . A handheld rotatable scanning device, comprising:
a device housing configured to be held by a user, the housing comprising a first support member and a second support member extending from a top side of the housing, the first and second support members each including a post and a recess, each recess including a plurality of detents; a rotatable 3D scanner member rotatably coupled to and carried by the housing and configured to rotate relative to the device housing, the rotatable 3D scanner member comprising a scanner housing that includes a first end and a second end, the first end including a first pivot arm extending from the scanner housing towards the first support member of the device housing and configured to engage with the detents of the recess of the first support member, the second end including a second pivot arm extending from the scanner housing towards the second support member of the device housing and configured to engage with the detents of the recess of the second support member, the rotatable 3D scanner member having a rotatable digital imaging sensor configured to capture a collection of spatial data points; a memory to receive the collection of spatial data points from the rotatable digital imaging sensor; a processor to construct a digital mesh from the collection of spatial data points; and a display coupled to the housing, wherein the rotatab

Assignees

• Medtronic Navigation Inc

Inventors

• Preston Samantha Joanne
• Paitel Yvan R
• Datteri Ryan D
• Summers Andrew James
• Agarwal Rhythm
• Carter Roger
• Walsh Hannah
• Ramadugu Abhinaya
• Rao Maitreyee Ramesh
• Chien Wei-Ting

Classifications

• G06T2210/41

  Medical · CPC title

• G06T2200/04

  involving 3D image data · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title