System and method for imaging

Abstract

An imaging system and method of acquiring image data are disclosed. The imaging system is operable to acquire and / or generate image data at a location relative to an object. The imaging system includes a drive system configured to move the imaging system.

Description

Technical Field

[0001] The present disclosure relates to an imaging system, and in particular to a mobile imaging system for imaging a portion of an object. Background Art

[0002] This section provides background information related to the present disclosure which is not necessarily prior art.

[0003] Imaging systems typically include an integrated patient support for use during imaging procedures. Commonly known imaging systems include those sold by Neurologica Corp. CT imaging systems and sold by Brain Lab CT imaging systems. These imaging systems include patient supports that are custom designed to hold a patient and provide a track for rigid movement of the imaging system relative to the patient support. The imaging system may further include a base that is fixed in place and includes a gantry that can move a short distance (e.g., about 12 cm to about 18 cm) relative to the base during imaging. Summary of the invention

[0004] This section provides a general summary of the disclosure and is not a complete disclosure of the full scope of the disclosure or all of its features.

[0005] A system for collecting image data of an object is disclosed, which is also referred to as an imaging system. The imaging system can collect image data for generating various types of images. The image data may include two-dimensional projections. The generated images (also referred to herein as images) may include reconstructed three-dimensional images, two-dimensional images, or other appropriate image types. In various embodiments, the imaging system may be an X-ray scanner or a CT scanner. The image data may be two-dimensional (e.g., projection image data) or other appropriate types of image data.

[0006] The imaging system may further include a mobility feature that allows it to be moved relative to the subject. In various embodiments, the subject may be positioned on a support, such as a standard and / or generally known radiolucent surgical table, such as a STERIS 4085 surgical table sold by Steris plc having a place of business in Ohio, which may be located in a selected medical facility. The imaging system is configured to be positioned relative to the subject so as to acquire image data of the subject in a selected manner, thereby allowing image reconstruction for display of a selected image.

[0007] In various embodiments, image data can be collected when the imaging system is moving relative to the object. For example, the imaging system can rotate all or part of 360 degrees relative to (e.g., around) the object. The imaging system can also or in addition to rotating can also move along the longitudinal axis of the object. When moving along the longitudinal axis of the object and / or transverse to the longitudinal axis, the imaging system can be driven by a drive system, which can include a selected wheel support. The wheel support can include an omnidirectional wheel, such as a Mecanum wheel or a universal wheel. The omnidirectional wheel generally includes at least a first rolling portion and a second roller or rolling portion. The imaging system can move substantially in one or both of the X-axis direction and the Y-axis direction. Further, the imaging system can be tilted relative to the object, so as to collect image data at a certain angle relative to the longitudinal axis of the object.

[0008] The imaging system can be moved by manually manipulating the imaging system. In various embodiments, the imaging system can include a handle that includes one or more sensors that sense force (such as pressure) from a user to directly move the imaging system relative to the object. Manual movement of the imaging system may or may not include other drive or robotic control features of the imaging system. Thus, the user can selectively move the imaging system relative to the object in an efficient and rapid manner without pre-planning the movement of the system.

[0009] The imaging system may further include controls, such as automatic or robotic controls, for moving the imaging system relative to the object. The imaging system may move with the object or according to a planned path relative to the object for collecting a selected set of image data of the object. For example, a reconstruction of a selected three-dimensional model of a selected portion of the object may be selected, and the imaging system may be programmed to determine movement (such as in real time) for collecting appropriate image data, and then automatically move relative to the object to collect the appropriate amount and type of image data for three-dimensional reconstruction. For example, the imaging system and / or an associated processor may determine the current imaging position, and determine different imaging positions to collect image data, thereby generating a selected image. The imaging system may then automatically collect and / or guide the movement of the imaging system to collect additional image data.

[0010] Further areas of applicability will become apparent from the description provided herein.The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible embodiments, and are not intended to limit the scope of the present disclosure.

[0012] Figure 1 is the imaging system's view of the environment;

[0013] Figure 2 is a schematic diagram of selected motions of an imaging system according to various embodiments;

[0014] Figure 3 is a schematic diagram of an imaging system in a first position;

[0015] Figure 4 is a schematic diagram of the imaging system in a second position;

[0016] Figure 5 is a screenshot of an image generated using the image data at the first location;

[0017] Figure 6 is a screenshot of an image generated using image data at a subsequent location;

[0018] Figure 7 is a flow chart of a method for determining and positioning an imaging system to image a region of interest of a subject; and

[0019] Figure 8 is a flow chart of a method for providing an indication of a region of interest on a subject.

[0020] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. DETAILED DESCRIPTION

[0021] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0022] Figure 1 is a diagram showing an overview of an operating room system 10, which can include an imaging system 20 and a navigation system 30, which can be used for various procedures. The navigation system 30 can be used to track the position of an item (such as an implant or instrument) relative to an object (such as a patient 40). The position can include a physical position (e.g., x-axis, y-axis, and z-axis position) and an orientation (e.g., yaw, pitch, and roll orientation). It should be further noted that the navigation system 30 can be used to navigate any type of instrument, implant, or delivery system, including: guidewires, arthroscopic systems, orthopedic implants, spinal implants, deep brain stimulation (DBS) probes, etc. In addition, the instrument can be used to navigate or map any area of ​​the body. The navigation system 30 and various tracked or navigated items can be used for any appropriate procedure, such as a procedure that is typically minimally invasive or open. The navigation system 30 can further be used to track and determine the position of the imaging system 20 relative to the patient 40.

[0023] The imaging system 20 is used to acquire image data of a patient 40. The image data of the patient 40 may be acquired for various purposes, such as for planning a procedure and / or confirming a procedure. The image data may be acquired of a specific portion of the patient, such as within a region of interest (ROI).

[0024] As further discussed herein, the imaging system 20 can be positioned relative to the patient in a first or initial position. Selected image data of the patient 14 can be acquired at the initial position. Based on the initial image data, a portion of the patient 40 can be located or identified. Based on the identification of the portion of the patient in the first image acquisition, a determination can be made by executing selected instructions to move the imaging system 20 to a second, subsequent, or other position to acquire additional image data of the patient 14, thereby acquiring image data of the ROI. Thus, the imaging system 20 can be moved relative to the patient 40 to generate one or more image data acquisitions, thereby allowing a selected image of the ROI of the patient 40 to be generated. In various embodiments, the ROI can include one or more vertebrae of the patient 40.

[0025] The navigation system 30 may interact with the imaging system 20 for acquiring pre-operative, intra-operative, or post-operative or real-time image data of the patient 40. However, it will be appreciated that any suitable object may be imaged and any suitable procedure may be performed with respect to the object. In the examples described herein, the imaging system 20 includes or may include a 3D-imager sold by Medtronic Navigation, Inc., having a place of business in Louisville, Colorado, USA. Portions of an imaging system or device. In various embodiments, the imaging system 20 may have a gantry housing 44 that encloses an image data capture portion 46. The gantry 44 may include a first portion 48 (which may include a generally fixed portion) and a second portion 50 (which may include a movable portion that is movable relative to the first portion 48). The image capture portion 46 may include an x-ray source or emitting portion 52 and an x-ray receiving or image receiving portion (also referred to as a detector that is operable to detect x-rays) 54, both of which are generally or may actually be positioned 180 degrees apart from each other and mounted on a rotating member (not shown) that is movable relative to a track 56 of the image capture portion 46. The image capture portion 46 may be operable to rotate 360 ​​degrees around the gantry 44 on or with the rotating member during image data acquisition.

[0026] The image capture portion 46 may be rotated about a center point or axis 46a, thereby allowing image data of the patient 40 to be acquired from multiple directions or in multiple planes, as discussed further herein and as described in detail below. Figure 246a of the imaging system 20 can be aligned or positioned relative to an axis (such as a longitudinal axis) of the patient 40. The imaging system 20 can include all or part of those systems and methods disclosed in U.S. Patent Nos. 7,188,998; 7,108,421; 7,106,825; 7,001,045 and 6,940,941, all of which are incorporated herein by reference. Other possible imaging systems can include a C-arm fluoroscopic imaging system that can also generate a three-dimensional view of the patient 40. As discussed herein, the imaging system can be moved relative to the patient 40, as discussed herein. Exemplary systems including a movable imaging system include U.S. Patent No. 11,344,268, issued on May 31, 2022; U.S. Patent No. 11,399,784, issued on August 2, 2022; and U.S. Patent Application No. 13 / 016,718, published on April 26, 2012 as U.S. Patent Application Publication No. 2012 / 0099768, all of which are incorporated herein by reference.

[0027] The position of the image capture portion 46 may be precisely known relative to any other portion of the imaging device 20. The imaging system may include one or more sensors to determine the position of the image capture portion relative to any other portion of the imaging system 20. In addition to and / or in lieu of precisely knowing the position of the image capture portion 46, a navigation system 30 having a tracking portion (e.g., an optical tracking system including an optical localizer 60 and / or an electromagnetic (EM) tracking system including an EM localizer 62) may be used to determine the position of the image capture portion 46 and image data relative to a tracked object (e.g., patient 40).

[0028] Various tracking devices (including those discussed further herein) may be tracked using the navigation system 30, and the information may be used to allow the location of an item (e.g., a tool or instrument 68) to be displayed on a display 64. The instrument may be operated, controlled, and / or held by a user 69. The user 69 may be one or more of a surgeon, a nurse, a welder, etc. In short, tracking devices such as a patient tracking device 70, an imaging device tracking device 72, and an instrument tracking device 74 allow selected portions of the operating room 10 to be tracked relative to each other using an appropriate tracking system (including an optical localizer 60 and / or an EM localizer 62). Typically, tracking occurs within a selected reference frame, such as a patient reference frame.

[0029] It will be understood that any of the tracking devices 70, 72, 74 may be an optical tracking device, or an EM tracking device, or both, depending on the tracking locator used to track the respective tracking device. It will be understood that the tracking devices 70-74 may all be similar or different, and may all be interchangeable but selected or assigned a selected use during the navigation process. It will be further understood that any suitable tracking system (such as instead of or in addition thereto) may be used with the navigation system 30. Alternative tracking systems may include radar tracking systems, acoustic tracking systems, ultrasonic tracking systems, etc.

[0030] An exemplary EM tracking system may include the EM tracking system sold by Medtronic Navigation, Inc., having a place of business in Louisville, Colorado. AXIEM TM Navigation System. Exemplary tracking systems are also disclosed in U.S. Patent Nos. 7,751,865, issued on July 6, 2010; 5,913,820, issued on June 22, 1999; and 5,592,939, issued on January 14, 1997, all of which are incorporated herein by reference.

[0031] Further, for EM tracking systems, it may be necessary to provide shielding or distortion compensation systems to shield or compensate for distortions in the EM field generated by the EM locator 62. Exemplary shielding systems include those disclosed in U.S. Patent Nos. 7,797,032, issued September 14, 2010, and 6,747,539, issued June 8, 2004; distortion compensation systems may include those disclosed in U.S. Patent Application No. 10 / 649,214, filed January 9, 2004, published as U.S. Patent Application Publication No. 2004 / 0116803, all of which are incorporated herein by reference.

[0032] For an EM tracking system, the locator 62 and various tracking devices may communicate through an EM controller 80. The EM controller may include various amplifiers, filters, electrical isolation, and other systems. The EM controller 80 may also control the coils of the locator 62 to transmit or receive EM fields for tracking. However, as opposed to directly coupling to the EM controller 80, a wireless communication channel may be used, such as that disclosed in U.S. Pat. No. 6,474,341, issued Nov. 5, 2002, which is incorporated herein by reference.

[0033] It will be appreciated that the tracking system may also be or include any suitable tracking system, including a tracking system having an optical locator similar to optical locator 60 sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado. and / or S7 TM Navigation System. Still other alternative tracking systems are disclosed in U.S. Patent No. 5,983,126, issued November 9, 1999, which is hereby incorporated by reference. Other tracking systems include acoustic, radiation, radar, etc. tracking or navigation systems.

[0034] Briefly, as will be discussed in further detail herein, the imaging system 20 may include a support system including a housing or cart 100. The imaging system 20 may further include a separate image processor 102 (also referred to as a processing unit) that may be housed in the cart 100. The navigation system 30 may include a navigation processor 110 (also referred to as a navigation processing unit) that may communicate with or include a navigation memory 112. The navigation processing unit 110 may receive information (including image data) from the imaging system 20 and tracking information from the tracking system (including the respective tracking devices 70, 72 and 74 and the localizers 60, 62). The image data may be displayed as an image 114 on a display device 64 of a workstation or other computer system 116. The workstation 116 may include a suitable input device, such as a keyboard 118. It will be appreciated that other suitable input devices may be included, such as a mouse, a foot pedal, etc.

[0035] If provided, the image processing unit 102 can be configured to process image data from the imaging system 20 and transmit the image data to the navigation processor 110. The image processing unit 102 can also execute selected instructions as discussed herein to determine the movement of the imaging system 20 relative to the object 40 and / or to move the imaging system relative to the object. The movement can be automatic and / or determined, and the instructions are provided for the movement of the imaging system 20. However, it will be further understood that the imaging system 20 does not need to perform any image processing and / or movement determination, and the image processing unit 102 can directly transmit the image data to the navigation processing unit 110. In various embodiments, the navigation system 30 may include or operate with a single or multiple processing centers or units, which may access a single or multiple memory systems based on the system design. However, it should be understood that all processing units discussed herein may be general processors that execute instructions retrieved from selected memories, have onboard memory, or are dedicated processors. Further, each of these processors may be set or configured to perform all processing tasks discussed herein. Therefore, although the specific process may be discussed as an imaging process, the navigation processing unit 110 may also be configured to perform the process.

[0036] As discussed herein, the imaging system 20 can be moved relative to the patient 40. The patient 40 can be secured to an operating table or support table 120, but need not be secured to the table 120. The table 120 can include a plurality of straps 124. The straps 124 can be fastened around the patient 40 to secure the patient 40 relative to the table 120. Various additional or alternative devices can be used to position the patient 40 in a stationary position on the operating table 120. Examples of such patient positioning devices are described in U.S. Patent Application Publication No. 2004 / 0199072, published on October 7, 2004 (U.S. Patent Application No. 10 / 405,068, entitled "An Integrated Electromagnetic Navigation And Patient Positioning Device," filed on April 1, 2003), which is hereby incorporated by reference. Other known devices may include Fixture.

[0037] Furthermore, the position of the patient 40 relative to the imaging system 20 can be determined by the navigation system 30 having the patient tracking device 70 and the imaging system tracking device 72. Therefore, the position of the patient 40 relative to the imaging system 20 can be determined. ) can also be operated to learn a first location and can be repositioned to the same first location within a selected tolerance. The tolerance can be about 0.01 millimeter (mm) to about 10 mm, about 0.01 mm to about 2 mm, and about 10 microns. This allows for substantially precise placement of the imaging system 20 and precise determination of the location of the imaging device 20. Precise positioning of the imaging portion 22 is further described in U.S. Patent Nos. 7,188,998; 7,108,421; 7,106,825; 7,001,045 and 6,940,941, all of which are incorporated herein by reference.

[0038] The physical space of an object (such as patient 40) and / or the physical space relative to the object can be referred to as object or patient space. The image space of an image generated or reconstructed using image data from the imaging system 30 or the coordinate system of the image can be referred to as image space. The image space can be aligned to the patient space by identifying matching points or reference points in the patient space and related points or identical points in the image space. The imaging device 20 can be used to generate image data at a precise and known location. This can allow the image data to be automatically or "inherently aligned" to the patient 40 when the image data is acquired. In essence, due to the precise positioning of the imaging system 20 in the patient space, the positioning of the patient 40 relative to the imaging system 20 is precisely known. Due to the known precise position of the imaging system 20, this allows points in the image data to be known relative to points of the patient 40.

[0039] Alternatively, manual or automatic registration can occur by matching fiducials in the image data with fiducials on the patient 40. Registration of image space to patient space allows for the generation of a translation map between patient space and image space. According to various embodiments, registration can occur by determining substantially identical points in image space and patient space. These identical points can include anatomical fiducials or implanted fiducials. Exemplary registration techniques are disclosed in U.S. Patent No. 9,737,235, issued August 22, 2017, which is incorporated herein by reference.

[0040] Once registered, the navigation system 30 (having and / or including the imaging system 20) can be used to perform a selected procedure. The selected procedure can use image data generated or acquired using the imaging system 20. Further, the imaging system 20 can be used to acquire image data at different times relative to the procedure. As discussed herein, image data of the patient 40 can be acquired after a selected portion of the procedure for various purposes, including confirmation of that portion of the procedure.

[0041] Continue to refer to Figure 1 And also refer to Figure 2 , Figure 3 and Figure 4, the imaging system 20 may be configured to acquire image data for generating an actual or virtual two-dimensional or three-dimensional (2D or 3D) image of the patient 40. As discussed above, the imaging system processor 102 and / or the navigation system processing unit 110 may be used to generate or reconstruct an image for display and / or viewing by the user 69. The image data is acquired with the patient 40 positioned relative to the imaging system 20 to allow the imaging system 20 to obtain image data of the patient 40. The imaging system 20 may move relative to the patient 40 while acquiring the image data.

[0042] In various embodiments, in order to generate a 3D image for display using the display device 64, image data can be acquired from multiple views or positions relative to the patient 40. The acquired image data can include multiple projections through the patient 40 (such as those generated using x-rays), and can include 2D projections. This multiple projection of the patient 40 or other appropriate image data can be used alone or with other information to generate or reconstruct an image to assist in performing a procedure on the patient 40. However, it should be understood that the patient 40 does not need to be the object, and other appropriate objects can be imaged. It will also be understood that any appropriate imaging system can be used, including a magnetic resonance imaging (MRI) system, a computed tomography (CT) imaging system, a fluoroscopic imaging system, an X-ray imaging system, etc.

[0043] In order to collect multiple image data including multiple projections of the patient, the imaging system 20 moves. In various embodiments, the imaging system 20 includes a drive system 140 to move the imaging system 20 and / or assist in the movement of the imaging system. As discussed herein, the drive system 140 can be a multi-directional drive system, and in various embodiments, the drive system can be an omnidirectional drive system and can include multiple omnidirectional wheels, such as Mecanum wheels 144, 148. The multi-directional and / or omnidirectional drive system can be configured to move structures such as the imaging system 20 separately and / or simultaneously in at least two directions. When moving, for example, the imaging system 20 can be driven by the multi-directional drive system 140 at a certain angle relative to two vertical axes. The multi-directional drive system 140 can be operated to rotate the imaging system 20 around the axis 101 defined within the imaging system 20. In addition, the multi-directional drive system 140 can be operable to drive the imaging system 20 along multiple axes when collecting image data of the object 40. Further, in various embodiments, the drive system 140 may be operated to move the imaging system 20 simultaneously or individually along at least two axes of motion. However, it should be understood that the drive system may simultaneously move the imaging system 20 along more or less than two axes.

[0044] The drive system 140 includes wheels or rollers including at least one (e.g., a first) omnidirectional wheel 144. The omnidirectional wheel 144 (which may include a roller) can translate in a plane and rotate around an axis perpendicular to the plane. During translation, the omnidirectional wheel 144 can generally move in any direction from a starting point. Further, the translation and rotation of the omnidirectional wheel can be substantially precise and controlled. It should be understood that the drive assembly 140 can include not only the omnidirectional wheel 144, but can include at least one or more omnidirectional wheels, such as a total of four wheels. Each of the multiple wheels can be positioned at a selected position relative to each other so as to be driven to achieve a selected movement of the imaging system 20.

[0045] However, each of the omni wheels may be substantially similar and include similar or identical parts. Thus, the wheels may include a second omni wheel 146, a third omni wheel 148, and a fourth omni wheel 150. The omni wheels 144, 146, 148, 150 may be any suitable omni wheels, such as heavy duty Mecanum wheels (article number NM254 AL, manufactured by Omni Mechanical Technology, located at No. 3, Yaxin Lane, Xiaobian Avenue, Chang'an Town, Dongguan City, Guangdong Province, China) and / or sold by Rotacaster Wheel Limited, having a place of business in Tighes Hill, Australia. Omnidirectional wheels. As discussed herein, drive of wheels 144-150 can be used to enable selected image data acquisition of patient 40. Exemplary systems including a mobile imaging system having one or more omnidirectional wheels include U.S. Patent No. 11,344,268, issued on May 31, 2022, and U.S. Patent No. 11,399,784, issued on August 2, 2022, both of which are incorporated herein by reference.

[0046] The gantry 48 can move, such as along a selected axis relative to the cart 100. For example, the gantry can move along generally orthogonal axes 274, 276, and 282. Axis 274 can be generally aligned with the long axis 46a of the patient 40. Axis 282 can be generally perpendicular to a surface 280 on which the cart 100 rests. Further, the gantry can rock or pivot about axes 101, 282, such as generally in the direction of double-headed arrow 284. The gantry 48 can be movable relative to the cart 100 in any suitable manner and can be controlled, as discussed herein.

[0047] The imaging system 20 can be positioned by a user 69 or other appropriate individual. In various embodiments, a handle or manipulation assembly 260 is coupled to at least a portion, such as a housing or mobile cart 100, to move the imaging system 20. The user 69 can engage a handle assembly 260 that includes a gripping portion 262 and a sensing portion 264. The handle portion 262 can be coupled to one or more sensors in the sensing portion 264 to sense forces, such as the amount of force applied to the handle 262 and the direction of the force. Other appropriate sensors, such as bend, pressure sensors, etc., can be included. Additionally, other controls can be provided at the handle assembly 260. The handle assembly 260 can include portions that are similar to those sold by Medtronic, Inc. Those portions included in the imaging system and / or those portions disclosed in U.S. Patent Application Publication No. 2016 / 0270748, published on September 22, 2016, which is incorporated herein by reference.

[0048] In various embodiments, the handle 262 having the force applied to it by the user 69 and the sensing unit 264 that senses the force applied to the handle 262 by the user 69 can then move the imaging system 20. The sensor in the sensing unit 264 can be any suitable sensor, such as a force sensor (e.g., a resistance sensor, a voltage sensor, a load sensor, a positioning sensor, a speed sensor, etc.), a direction sensor (e.g., a gyroscope), or other suitable sensors. The sensor in the sensing unit 264 can send the sensing signal to a controller, such as included with the image processing unit 102 and / or a separate motion controller 268, which can also include one or more processors. The motion controller 268 can receive the sensing signal about the force applied to the handle 262 by the user 69 from the sensor 264. The motion controller 268 can then generate a drive signal to drive one or more of the motors associated with one or more of the corresponding wheels 144-150. Motion controller 268 may be any suitable motion controller, such as a multi-axis motion controller including an Ethernet or computer card (PCI) controller, including the DMC-18x6 motion controller sold by Galil Motion Control having a place of business in Rockland, California.

[0049] However, the motion controller 268 may be any suitable motion controller and may control the operation of the motors to drive the respective wheels 144-150. By controlling the respective motors, the respective omnidirectional wheels 144-150 may rotate about the respective axes in a suitable manner. By driving the omnidirectional wheels 144-150 about the respective axes in a selected manner, the imaging system 20 may be moved on or along a selected and / or suitable axis.

[0050] It should be further understood that the handle assembly can be positioned at other locations on the imaging system 20. For example, the second handle assembly 290 can be positioned away from the handle assembly 260. The second handle assembly 290 can also include a handle 292 and a sensor assembly 294. The sensor assembly 294 can be similar to the sensor assembly 264 and communicate with the motion control 268. The handle assembly 290 can move the imaging system 20 in all directions, or along the axes 274, 276, 282 and 284 as discussed above, or along a limited number of axes. For example, the second handle assembly 290 can be used to move the imaging system 20 from a first rough location (e.g., a storage cabinet) to a second rough location (e.g., an operating room). Therefore, the second handle assembly 290 can limit the movement of the imaging system 20 generally along the axes 274, 276 and in the direction of the arrow 284.

[0051] Furthermore, imaging of the patient 40 may be performed substantially automatically, manually, or a combination of both. Figures 1 to 4 , the imaging system 20 is movable relative to the patient 40. Movement of the imaging system may include movement of the image capture portion 46, the gantry 48, the cart 100, or any selected combination. Thus, the imaging system 20 may be moved relative to the patient 40 in an appropriate manner as discussed herein.

[0052] Driving the omni-directional wheels at different speeds and / or directions can result in different overall movements of the imaging system 20. Thus, the imaging system 20, including the cart 100 and the gantry 48 together, can move on a first axis 274. The first axis 274 can be an axis generally along the long axis 46a of the object (such as the patient 40). Additionally, the motion controller 268 can operate the motor to move the imaging assembly 20 on a second axis 276, which can be substantially perpendicular to the first axis 274. These two axes 274, 276 can allow for movement of the imaging system 20 generally in a plane.

[0053] The plane of movement defined by the axes 274, 276 can be substantially parallel to or defined by a surface 280 on which the imaging system 20 is placed. Further, the imaging system 20 can rotate about an axis 282, which can be substantially perpendicular to the first axis 274 and the second axis 276. In general, the imaging system 20 can rotate about the axis 282 in the direction of arrow 284. Further, the imaging system 20, including the gantry 48, can move in the direction of the axis 282 that is substantially perpendicular to the axes 274, 276. Further, the gantry 48 can move in the direction of the axis 282, and this movement may not be due to movement of the drive assembly 140, although the motion controller 268 can also be used to cause the gantry 48 to move in the direction of the axis 282 as well.

[0054] In addition to movement of the cart 100 and / or gantry 48, the imaging portion 46 of the imaging system 20 may also be moved relative to the patient 40, such as relative to the long axis 46a. Figure 2 As shown, the source 52 can rotate around the axis 46a. The detector 54 can also rotate around the axis 46a. Therefore, the source and detectors 52, 54 can be in a first position and can be moved to a second position as shown by the dashed lines 52', 54'. Therefore, the imaging portion 46 can also rotate around the axis 46a within the frame 48. It should be understood that the imaging portion 46 can be moved to a substantially unlimited number of positions around the axis 46a. The rotation of the imaging portion 46 can be in addition to and / or in place of the movement of the frame 48 alone, the movement of the cart 100 alone, or the movement of the combination of the frame 48 and the cart 100. Therefore, the imaging collection portion 46 can move alone and / or in coordination with the cart 100 and the frame 48.

[0055] like Figure 3 and Figure 4 As shown, patient 40 is positioned on support 120, such as a hospital bed or an operating room (e.g., radiolucent) bed. It should be understood that patient 40 may be positioned in any suitable location or room. However, imaging system 20 may be moved relative to patient 40 to acquire image data for generating image 114 to be displayed on display device 64 or any other suitable display device.

[0056] like Figure 3 As shown, the imaging system 20 can be positioned relative to the patient 40 in an initial or starting position or location 300. According to various embodiments, the patient 40 need not be moved during operation and movement of the imaging system 20. The imaging system 20 can be moved relative to the subject in any suitable manner, or in any suitable direction, or in a combination of movement directions including those discussed above. For example, the imaging system 20 can be moved along the axis 274 in the direction of arrow 274', as shown in FIG. Figure 3 Therefore, Figure 4 As illustrated, the imaging system 20 may be moved from proximate the head 40 a of the patient 40 toward the feet 40 b of the patient 40 .

[0057] During movement of the imaging system 20, the gantry 48 may move in the direction of arrow 274' and / or the entire imaging system assembly may move in the direction of arrow 274'. During movement of the entire imaging system 20 including the gantry 48 and the cart 100, the motion controller 268 may operate the drive assembly 140 including the omnidirectional wheels 148, 150 to move the imaging system 20 generally in the direction of arrow 274'. The imaging system 20 may include various parts, such as those discussed above, which may also rotate about the patient 40, such as about the long axis 46a of the patient 40.

[0058] Continue to refer to Figure 4 , the imaging system 20 may also have an indicator 320 associated therewith. The indicator 320 may be used to indicate a selected portion of the patient 40, such as one or more of the vertebrae of the spine 330. As further discussed herein, a procedure may be performed on the patient 40 (such as with respect to one or more of the vertebrae in the spine 330). The procedure may be an appropriate procedure, such as a fusion, a disc replacement, etc. The indicator 320 may be used to indicate a selected portion, such as a portion of the spine 330. The selected portion may be a ROI, which may be an appropriate region of interest for the procedure, such as a region of interest on a particular vertebra, including vertebra T12 334 (12th thoracic vertebra). The particular vertebra, such as T12 334, may be indicated using the indicator 320.

[0059] Indicator 320 may be any suitable indicator. Figure 4 As shown, the indicator 320 can be a laser emitter. The laser emitter can emit visible laser light as a beam 340. The beam 340 can be directed toward a specific vertebra 334. The indicator 320 can be movable, such as using an appropriate movement system including mechanical, electromechanical, electrical, etc. The movable laser can include a visible laser emitter that moves with the robotic system based on instructions. For example, the laser emitter can be placed on a universal joint that moves with an actuator to move the laser emitter to direct the laser beam.

[0060] The indicator 320 may also be a mechanical indicator (such as a physical or mechanical pointer), a visible light that may include a selected shape (such as an "arrow"), or other suitable indicator. Regardless of how the indicator 320 is associated with the imaging system 20, the indicator may be directed to indicate the ROI of the patient 40 that may be imaged and / or to indicate the ROI of the patient 40 after imaging it. Methods and characteristics of indication are further discussed herein.

[0061] As discussed above, imaging system 20 may be moved relative to patient 40 to acquire image data of patient 40. The image data of patient 40 may then be used to generate one or more images, such as image 114, displayed on display device 64. However, image 114 may be generated based on multiple image data or generated at multiple times. Figure 3 And also refer to Figure 5 and Figure 6 , the display 64 can display selected image data at different times. For example, a first image 114a can be displayed based on image data of the patient 40 acquired at an initial position or posture of the imaging system 20. At a second or subsequent time, image data 114b can be displayed on the display device 64 based on second or subsequent image data generated using the imaging system 20 at a second or subsequent time. The difference between the two images 114a and 114b can be based on two different positions of the imaging system 20 relative to the object 40 (e.g., the initial posture and the subsequent posture). In addition, as discussed above, image data can be acquired at different viewing angles relative to the patient 40. For example, image data from anterior-to-posterior and medial-to-lateral can be generated to generate at least two different viewing angles of the patient 40. Therefore, the images 114a, 114b can include two views. In any case, both images 114a and 114b can be images generated for display on the display device 64. Image 114 may be generated based on instructions executed by a selected processor, such as imaging processor 102 or navigation processing unit 110. Selected known algorithms may be used to generate images based on acquired image data.

[0062] Continue to refer to Figures 3 to 6 And also refer to Figure 7 , a process or method 350 is disclosed for generating image data of a selected portion of a patient 40, such as at ROI T12 334. According to various embodiments, the ROI may be T12 334. Thus, the following disclosure relating to the ROI may also relate to the T12 vertebra, as it is an exemplary ROI. It should be understood that any suitable ROI may be identified and need not be T12 334. For example, the ROI may be an alternative vertebra, such as L5. Additionally, the ROI may not be a vertebra, and may be the sternum of the patient 40 or may also include the patient's sternum. Additionally, a non-human part may also be a ROI.

[0063] According to various embodiments, process 350 may be performed by a processor, as discussed above. Method 350 may include multiple parts, such as at least subprocess 354, which may be included in instructions executed by any suitable processing unit (including those processing units as discussed above). However, method 350 may also include various parts that may be manually assisted, as further discussed herein.

[0064] Method 350 may be initiated and started at block 360. After start block 360, the imaging system may move to an initial position at block 364. The initial position may be position 300, such as Figure 3 The initial positioning may be the first positioning to be imaged using the imaging system 20. Thus, the initial positioning 300 may be an initial positioning of the imaging system 20 and / or an initial positioning of the patient 40 being imaged relative to the imaging system 20. In various embodiments, as discussed above, the portion of the patient 40 being imaged may be one or more vertebrae of the spine 330.

[0065] The imaging system 20 may be moved to the initial position by any suitable means, such as those discussed above. For example, the imaging system 20 may be moved by the user 69 within the handle 260. The imaging system 20 may also be moved substantially automatically, such as by operation of various mechanical portions of the imaging system 20, including driving the wheels 144-150 and / or moving the gantry 48 relative to the cart 100. As discussed above, the imaging system 20 may be moved substantially automatically based on movement instructions to drive the wheels, gantry 48, or other portions relative to the patient 40 and / or relative to the surface 280. Thus, instructions for movement amounts, movement speeds, etc., may be executed by the motion control 268 to move portions of the imaging system 20 relative to the patient 40.

[0066] In box 370, image data of patient 40 is collected at the selected position. Image data can be collected at the initial position 300 or a subsequent position (also referred to as a pose of imaging system 20), as further discussed herein. Therefore, the collection of image data can be of various parts of patient 40, including spine 330. However, as described above, other parts can also be imaged, and patient 40 can be a non-human patient, a non-living object, or other items can also be imaged. Therefore, the discussion and disclosure of patient 40 as discussed herein is merely exemplary.

[0067] Then, in box 374, the image data can be labeled. The labeling of the image data in box 374 can be performed according to appropriate techniques. For example, a machine learning system (including a neural network, a deep neural network, or other appropriate machine learning or artificial intelligence system) can be trained to label various parts of the image data. The machine learning system can include a neural network. In various embodiments, the neural network can include a convolutional neural network (CNN). Various convolutional neural networks include U-net architectures, M-nets, encoder-decoders, and / or neural networks.

[0068] Machine learning systems (including artificial intelligence systems, such as those described above) can be trained to recognize and label portions of image data. For example, training image data for multiple patients can be acquired. A neural network can be trained to recognize specific vertebrae within the image data. If multiple vertebrae are imaged, the trained artificial intelligence system can be able to recognize and label one or more of those vertebrae. Thus, if multiple vertebrae are acquired in the image data, the trained system can recognize each of those vertebrae. Figure 5 As shown, an image may be generated and displayed, as exemplarily or optionally labeled in box 378. Image 114a may include labels of the vertebrae included in image 114a. The trained AI system may identify and label specific vertebrae in the image. The image may optionally be displayed for optional viewing by user 69. Thus, the system may identify specific vertebrae in the image data without displaying the image.

[0069] In block 382, ​​a region of interest or ROI may be retrieved or input. Figure 5 As shown, the ROI may be T12, which is the thoracic vertebra T12 334, such as Figure 4 The input or retrieved ROI may allow the system and / or user 69 to identify whether the ROI is within the image data acquired in block 370. Figure 5 As shown, T12 is not included in image 114a. Therefore, the image data acquired in block 270 does not include the entered or retrieved ROI. Since the system (e.g., imaging system and / or navigation system) has already labeled the image data (shown at image 114a) and has already entered or retrieved the ROI, the system can determine whether the ROI is within the image data.

[0070] A determination is made in block 386 whether the image data includes a ROI. Figure 5As shown, the ROI is not in the acquired image data, and thus a "no" path 390 is followed. Determination block 386 may also determine that the ROI is in the image data, as discussed further herein. However, when the ROI is not in the acquired image data acquired in block 370, a "no" path 390 may be followed to determine the location of the ROI relative to the acquired image data in block 394.

[0071] A determination or calculation of the location of the ROI relative to the acquired image data is made in block 394. The calculated location can be based on various determinations, including retrieving a location from a database (e.g., based on an anatomical atlas of a person or other appropriate system), a machine learning system, or other appropriate system. For example, it may be predetermined or known that the ROI as T12 is within a selected distance of other vertebrae in the spine 330. Figure 5 As shown, T10 is included in image 114a. A predetermined average distance of 5 cm in the dorsal direction along the long axis of the patient 40 may be known and retrieved from a database. Further, calculations based on the size of the vertebrae in the image data and / or other inputs may also be used to determine the amount and type of movement of the imaging system 20 to acquire image data including the ROI. Thus, a determination of the location of the ROI relative to the image data acquired from frame 370 may be made in frame 394, including the amount (e.g., distance) and type (e.g., direction) of movement of the imaging system 20.

[0072] Then, a determination or derivation of movement instructions for positioning the imaging system to image the ROI can be made in box 398. The movement instructions can include movement speed, movement type, part to be moved, etc. In various embodiments, the instructions can include a final positioning. The motorized or movable imaging system can receive the final position and determine how to operate its movable part to image the final position. Therefore, the instructions can include a specific movement direction and / or final position. An exemplary movement of the imaging system can be determined to be 5 cm axially in the direction of the patient's back and can include only moving the frame 48 relative to the cart 100. The movement can also include driving the wheels 144-150 to move the entire imaging system 20 axially for at least a portion of the distance 5 cm. The movement instructions can then be output in box 402.

[0073] After outputting the movement instructions, in box 408, the movement system can move the imaging system. The movement of the imaging system in box 408 is optional as part of the method 350 and does not need to be included in the subprocess 354. In any case, the imaging system 20 can be moved to the location of the ROI determined in box 398 based on the movement instructions output from box 402. The movement of the imaging system can include moving the imaging system to a subsequent or second location after the initial location at box 364. After the movement of the imaging system, image data can be acquired along the loop in box 370. Therefore, the subprocess 354 can be executed in a loop any suitable number of times to ensure that the imaging system 20 is moved to image the ROI. Decision box 386 allows a determination to be made whether the image data includes the ROI. If not, the "no" path 390 can be followed any suitable number of times to move the imaging system to the appropriate location. Once the ROI is in the image data, the determination box 386 can then determine that the ROI is in the image data and the "yes" path 420 can be followed.

[0074] However, it should be understood that the "yes" path 420 may be followed immediately after the first image data is acquired. That is, one skilled in the art will appreciate that the image data after any acquisition may include the ROI. Thus, if the first image data includes the ROI, then additional image data may not be required to generate an image including the ROI. Thus, the "yes" path 420 may be followed after the first or initial image data acquisition.

[0075] When following the "yes" path 420, the imaging system does not need to be moved. That is, the image data acquired using the imaging system 20 can be used to generate images for the procedure in block 424. As discussed above, the generated images can be any suitable images, such as two-dimensional images, three-dimensional images, etc. Further, they can include only the ROI and / or any suitable portion.

[0076] Thus, for example, in block 428, an image generated using the image data may be displayed, such as Figure 6 As shown, image 114b includes ROI T12 334. Therefore, no further determination of movement is required because determination block 386 has already determined that a ROI is included in the image data.

[0077] After the ROI is in the image data or at any suitable time once the ROI is in the image data, a determination may be made in block 432 whether to save the pose of the imaging system. Figure 6As shown, input may be received from a user to save a pose and / or automatically save a pose of the imaging system 20 including ROI image data. Saving the pose of the imaging system 20 may allow the imaging system 20 to return to the same position at any appropriate time when the ROI is included in the image data. The pose may be saved based on the tracking position of the imaging system 20 relative to the patient (e.g., the image tracker 72 relative to the patient tracker 70). Moreover, as described above, the movement position or type of movement of the imaging system 20 may also be saved and recalled before the imaging system is later moved back to the same position. Subsequent images may also be acquired when the imaging system is later moved back to the same position including the ROI. For example, after a procedure, the imaging system 20 may be used to acquire confirmation image data of the patient 40 after the procedure. Therefore, the tracking position of the imaging system 20 relative to the patient 40 using the navigation system may be used to return the imaging system 22 to the same position relative to the patient 40 as the confirmation image data was acquired.

[0078] In block 428, the image data may then be displayed as an image generated using the image data. The displayed image may be used to assist and navigate procedures, such as tracking an instrument relative to the patient 40. As discussed above, the instrument tracker 74 may be tracked using the navigation system, and the patient 40 may be tracked using the patient tracker 70. Because the imaging system 20 may acquire image data of the patient 40 at the tracked location resulting from the image system tracker 72 and the patient tracker 70, the image data may be automatically registered to the patient 40. Thus, the tracked location of the instrument 74 may be registered relative to the image 114 (including the image with the ROI 114b). The location of the instrument may then be displayed relative to the image 114 using a graphical representation 440. The graphical representation 440 may be any suitable representation, such as a representation of a specific instrument or a general icon, such as a line showing the location of the instrument tip relative to a displayed portion of the object 40, such as the ROI. The representation 440 may be displayed relative to the image 114 using the display device 64, such as superimposed on and / or relative to the image. Thus, the tracked position of the instrument can be displayed and known to the user 69.

[0079] Continue to refer to Figures 1 to 7 , and refer to Figure 8 , a method of providing an indication of a ROI on a patient 40 is described. As discussed above, and as Figure 4In the illustrated example, the indicator 320 may be associated with the imaging system 20. However, it should be understood that the indicator 320 may also be provided separately from the imaging system 20. For example, an alternative or additional indicator 320' may be connected to the holder 450. The holder 450 may be a movable arm to allow movement of the indicator 320' relative to the patient 40. The indicator 320' may be the same as the indicator 320 connected to the imaging system 20, or may be a different type of indicator. For example, the indicator 320' may be a physical pointer having a mechanical link to allow it to move or be moved (such as by motor control) relative to the patient 40. Thus, the indicator 320' may be moved relative to the vertebra 334 to provide a physical indication of the ROI relative to the patient 40. Thus, as further discussed herein, it should be understood that the indicators 320, 320' may be any suitable type of indicator. In general, however, the indicators 320 , 320 ′ may be operated to provide an indication of the ROI within or on the patient 40 relative to the patient 40 that may be viewed or understood by the user 69 .

[0080] exist Figure 8 , is a flow chart 500 of a method that may be performed by a user 69, one or more of the processing units as discussed above, or as a combination thereof. Thus, the method 500 may be understood to be incorporated into or may be incorporated into an algorithm executed by any suitable processing unit, including those disclosed above, to move or operate the indicator 320, 320' to provide an indication on the patient 40. The method 500 may be initiated at a start block 504.

[0081] After starting process 500, a determination of the pose of patient 40 may be made in box 508. As discussed above, the pose of patient 40 may be determined using navigation system 10. As discussed above, patient tracker 70 may be tracked by the navigation system to allow the pose of object 40 to be determined. As discussed further herein, imaging system 20 may also be tracked using imaging system tracker 72 to allow registration of image data to the patient, as included in box 512. Registration of image data to the patient in box 512 may occur according to any process, including those discussed above. Registration of image data to the patient in box 512 allows for registration or co-localization of locations within the image data relative to patient 40 (such as within the body of patient 40). For example, as discussed above, registration of image data in box 512 allows for identification of T12 vertebra 334 in the image data and in the image, and this location or pose may be known within or on the body of patient 40 due to registration as described above. Thus, registering the image data to the patient 40 may allow for indication or knowledge of the pose (including location) of the ROI within the image and within the patient 40. However, it should be understood that registration of the image data to the patient in block 512 as part of the method 500 is optional and may be otherwise separate therefrom.

[0082] Method 500 further includes retrieving the ROI in box 516. Retrieving the ROI can occur at any appropriate time, such as before or after determining the patient's posture in box 508 or registering the image data to patient 512. Retrieving the ROI in box 516 allows the ROI in the image data to be determined in box 520. Determining the ROI in the image data in box 520 is also optional in method 500 and can be made at any appropriate time. As discussed above, the determination of the ROI in the image data can be made during the determination process of acquiring the image data of patient 40 and therefore does not need to be included in method 500. In box 530, a determination of the location of the ROI on or in the physical patient can be made. Determining the location of the ROI in the physical patient is based on the registration of the image data to the patient.

[0083] Once a determination of the location of the ROI on or in the patient is made in box 530, a determination of movement of the indicator can be made in box 534 to provide an indication on the patient at the ROI. The determination of movement of the indicator can be based on the determined location or position of the ROI in the patient 40 and the current or initial position of the indicator relative to the determined location of the ROI on or in the patient 40. The indicator can be tracked or have a known position or pose relative to the patient 40 at a first or current time. For example, the imaging system 20 can be tracked relative to the patient 40, and the indicator 320 can be associated with the imaging system 20. Therefore, due to the known pose of the indicator relative to the imaging system 20 (including the gantry 48), the pose of the indicator relative to the patient 40 can be known. Determining the location of the ROI in the patient can be based on the registration of the image data to the patient and the determination of the ROI in the image data. As discussed above, the ROI can be the T12 vertebra 334, and its determination in the image data can then be translated or determined in the physical space of the patient 40.

[0084] The pointer 320 may have a known or predetermined position relative to the imaging system 20 that is tracked relative to the patient 40, and thus a pose of the ROI relative to the imaging system 20 may be determined (such as in block 530), and the determined movement of the pointer to allow indication on the patient 40 may be based on the pose. For example, a determination may be made that the pointer must be at an angle 538 relative to the surface 540 of the gantry 48 to project the laser beam so that the laser beam 340 is displayed at the ROI or reaches the patient 40. Further, as described above, the position or location of the pointer 320′ may also be known at the initial position, and the movement relative to the patient 40 may be determined based on tracking the patient 40, tracking the pointer 320, and determining the type and amount of movement to move the pointer 320′ to a portion of the patient 40 to indicate the ROI within the patient.

[0085] The movement of the indicator 320, 320' may be based on instructions that allow for substantially automatic movement of the indicator 320, 320'. The instructions may then be output in block 550. Outputting the instructions in block 550 may include outputting instructions to instruct movement of an indicator portion, a laser beam, or other suitable instructions that may be provided by the indicator 320, 320'. The movement instructions may include a type of movement and speed of movement of a motor, operating or moving a beam, or other suitable instructions in the movement instructions.

[0086] Then, at box 554, the indicator 320, 320' can optionally move in the method 500. However, as discussed above, instructions can be output, and the movement of the indicator can be supplementary to the method 500. Then, in box 560, the indicator can be operated to provide instructions on the patient 40. The instructions can include those discussed above, and allow the user 69 to understand the location or posture of the ROI in the patient 40 based on the instructions. For example, the indicator can include a laser beam projected onto the skin of the patient 40 outside the vertebrae including the T12 vertebra 334. The user 69 can then understand the location of the ROI in the patient 40 without performing exploratory surgery in the patient 40. Therefore, the indicator can assist in performing efficient procedures on the patient 40 by reducing or eliminating the need for various exploratory procedures.

[0087] The method may end in block 564. Ending the method in block 564 may allow user 69 to evaluate the instructions provided by method 500. In addition to initial or previous operations, user 69 may also provide input to adjust or execute instruction procedure 500 to assist in completing the instructions provided. However, method 500 may end in block 564 and allow user 69 to execute the procedure on object 40.

[0088] Example embodiments are provided so that the disclosure will be thorough and the scope will be fully conveyed to those skilled in the art. Many specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of the embodiments of the disclosure. It will be clear to those skilled in the art that the example embodiments may be implemented in many different forms without the use of specific details, and none of these specific details and the example embodiments should be construed as limiting the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

[0089] For the purpose of illustration and description, the foregoing description of the embodiment has been provided. This description is not intended to be exhaustive or to limit the present invention. The individual elements or features of a particular embodiment are generally not limited to the particular embodiment, but are interchangeable and can be used in selected embodiments where applicable, even in the absence of specific illustration or description. It can also be changed in a variety of ways. Such changes should not be considered as departing from the present invention, and all such modifications are intended to be included within the scope of the present invention.

[0090] It should be understood that the various aspects disclosed herein may be combined in a manner different from the combinations specifically presented in the description and drawings. It should also be understood that, according to examples, certain actions or events of any process or method described herein may be performed in a different order, may be added, merged, or omitted entirely (e.g., all described actions or events may not be necessary to perform these techniques). In addition, although for clarity, certain aspects of the present disclosure are described as being performed by a single module or unit, it should be understood that the technology of the present disclosure may be performed by a combination of units or modules associated with, for example, a medical device.

[0091] In one or more examples, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit, which may also be referred to as a processor. A computer-readable medium may include a non-transitory computer-readable medium corresponding to a tangible medium such as a data storage medium (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store the desired program code in the form of instructions or data structures and can be accessed by a computer).

[0092] Instructions may be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuit systems. Therefore, the terms "processor" or "processor module" as used herein may refer to any of the aforementioned structures or any other physical structures suitable for implementing the described techniques. Moreover, these techniques may be implemented entirely in one or more circuits or logic elements.

Claims

1. A method of imaging a selected portion of an object using an imaging system, the method comprising: acquiring first pose image data at a first pose of the imaging system relative to the object; marking a portion of the acquired first pose image data; determining whether the selected portion of the object is within the acquired first pose image data; If the selected portion is not in the acquired first pose image data, determining a location of the selected portion relative to the marked portion of the first pose image data; determining a subsequent pose of the imaging system to acquire subsequent pose image data of the selected portion; as well as Movement instructions are derived, the movement instructions being operable to be received by the imaging system to move the imaging system to acquire the subsequently posed image data of the selected portion.

2. The method of claim 1, further comprising: moving the imaging system according to the derived movement instructions, acquiring the subsequent pose image data at the subsequent pose of the imaging system relative to the object; marking a subsequent portion of the acquired image data of the subsequent pose; and Determining whether the selected portion is in the acquired subsequent pose image data.

3. The method of claim 2, further comprising: generating an image based on at least one of the subsequent pose image data or the first pose image data; Wherein, the subsequent posture image data or the first posture image data includes multiple image data.

4. The method of claim 2, further comprising: At least one of the first pose of the imaging system or the subsequent pose of the imaging system is saved.

5. The method of claim 4, further comprising: Retrieving at least one of the first posture of the imaging system or the subsequent posture of the imaging system that is saved; as well as Following a procedure relative to the object, movement instructions are determined to cause the imaging system to move to at least one of the first pose of the imaging system or the subsequent pose of the imaging system.

6. The method of claim 1, wherein: Marking the portion of the image data includes marking at least one feature in the image data.

7. The method of claim 6, wherein: The marking of the at least one feature in the image data includes identifying and marking at least one vertebra of the subject as a specific vertebra of the subject.

8. The method of claim 6, wherein: Labeling the portion of the image data includes analyzing the image data using a trained neural network to label the portion of the image data.

9. A method of imaging a selected portion of an object using an imaging system, the method comprising: acquiring first pose image data at a first pose of the imaging system relative to the object; labeling at least a portion of the acquired first pose image data by executing instructions with a processor, wherein the instructions include a trained neural network; determining whether the selected portion of the object is within the acquired first pose image data; and If it is determined that the selected portion is within the acquired first pose image data, an image is generated based on the first pose image data.

10. The method of claim 9, further comprising: If the selected portion is not in the acquired first pose image data, determining a location of the selected portion relative to the marked portion of the first pose image data; determining a subsequent pose of the imaging system to acquire subsequent pose image data of the selected portion; as well as A movement instruction is derived, wherein the movement instruction is used to move the imaging system to acquire the subsequent pose image data of the selected portion.

11. The method of claim 10, further comprising: moving the imaging system according to the derived movement instructions, acquiring the subsequent pose image data at the subsequent pose of the imaging system relative to the object; marking a subsequent portion of the acquired image data of the subsequent pose; and Determining whether the selected portion is in the acquired subsequent pose image data.

12. The method of claim 11, further comprising: The image is generated based on at least one of the subsequent pose image data or the first pose image data determined to include the selected portion.

13. The method of claim 11, further comprising: The imaging system is operated based on the derived movement instructions to move the imaging system.

14. A system for imaging a selected portion of an object using an imaging system, the system comprising: an imaging system for acquiring image data of the object; A processor configured to execute instructions for: acquiring first pose image data at a first pose of the imaging system relative to the object; marking a portion of the acquired first pose image data; determining whether the selected portion of the object is within the acquired first pose image data; If the selected portion is not in the acquired first pose image data, determining a location of the selected portion relative to the marked portion of the first pose image data; determining a subsequent pose of the imaging system to acquire subsequent pose image data of the selected portion; and A movement instruction is derived, wherein the movement instruction is used to move the imaging system to acquire the subsequent pose image data of the selected portion.

15. The system of claim 14, wherein: The processor includes: an imaging processor configured to execute instructions for marking the portion of the acquired first pose image data; and a movement processor configured to execute instructions for deriving the movement instructions, wherein the movement instructions are used to move the imaging system to acquire the subsequent pose image data of the selected portion.

16. The system of claim 14, wherein: The processor is configured to execute further instructions for: acquiring the subsequent pose image data at the subsequent pose of the imaging system relative to the object; marking a subsequent portion of the acquired image data of the subsequent pose; and Determining whether the selected portion is in the acquired subsequent pose image data.

17. The system of claim 14, wherein: The processor is configured to execute further instructions for: An image is generated based on at least one of the subsequent pose image data or the first pose image data.

18. The system of claim 14, wherein: The processor is configured to execute further instructions for: At least one of the first pose of the imaging system or the subsequent pose of the imaging system is saved.

19. The system of claim 18, wherein: The processor is configured to execute further instructions for: Retrieving at least one of the first posture of the imaging system or the subsequent posture of the imaging system that is saved; and Following a procedure relative to the object, movement instructions are derived to move the imaging system to at least one of the first pose of the imaging system or the subsequent pose of the imaging system.

20. The system of claim 14, wherein: The processor is configured to execute further instructions to label the portion of the image data by analyzing the image data using a trained neural network to label the portion of the image data.

Images