Method and system for positioning imaging system

Abstract

A method and system for analyzing image data of a subject and / or operating and moving an imaging system to obtain image data is disclosed. Image data may be collected with an imaging system in a selected manner and / or motion. Automated systems and methods may define or identify a location of an image data acquisition.

Description

Cross Reference to Related Applications

[0001] This application claims the benefit of U.S. Patent Application No. 18 / 141,062, filed April 28, 2023. The entire disclosure of the above application is incorporated herein by reference.

[0002] The subject matter of this application is related to the subject matter of U.S. Patent Application No. 18 / 141,028, filed April 28, 2023, and U.S. Patent Application No. 18 / 141,131, filed April 28, 2023. The entire disclosure of the above applications is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to an imaging system, and in particular to a system and method of moving an imager to a selected positioning, including automatic movement. BACKGROUND

[0004] This section provides background information relating to the present disclosure and is not necessarily prior art.

[0005] A subject, such as a human patient, can undergo a procedure. The procedure can include a surgical procedure that corrects or augments the subject’s anatomy. The augmentation of the anatomy can include various procedures, such as movement or augmentation of bone, insertion of an implant (i.e., an implantable device), or other appropriate procedures.

[0006] When using an imager, it is important to position the imager in a position that aligns the anatomical volume with the scan volume. It is also important to reduce the amount of time required to position the imager and, thus, the amount of radiation to the patient. Typically, a technician will attempt to manually position the imager by viewing two-dimensional images. Through trial and error and adjustment, the technician adjusts the positioning of the imager until a desirable image is obtained. SUMMARY

[0007] This section provides a summary of the present disclosure and is not a complete disclosure of all the aspects of the present disclosure.

[0008] According to various embodiments, a system for acquiring image data of a subject can be an imaging system that uses x-rays. The subject can be a living patient (e.g., a human patient). The subject can also be a non-living subject, such as a closed container, a housing, etc. Generally, the imaging system can acquire image data of a subject. The imaging system can include a movable source and / or detector that can be moved relative to the subject. Positioning and movement of the system is performed automatically to reduce overall imaging time and reduce x-ray exposure to the subject. In various embodiments, a method and system for positioning an imaging system includes positioning the imaging system, acquiring a first image, detecting a first body structure in the first image, determining a first positioning of the imaging system relative to the first body structure based on the first image, determining a distance to a target image positioning based on the relative positioning, and moving the imaging system toward the target image positioning.

[0009] In another aspect of the disclosure, a system for moving an imaging system is disclosed. A controller is disclosed that is configured to execute instructions to move the imaging system and / or acquire positioning information of at least the imaging system and a portion of a subject to be imaged. The controller can include a processor or processor module, as discussed herein, that is configured to determine positioning and / or acquire positioning information. The positioning information can be used to determine a type of movement, an amount of movement, and movement parameters that the imaging system needs to acquire a selected image.

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

[0011] The drawings described herein are for purposes of illustration only and are not intended to limit the scope of the present disclosure.

[0012] Figure 1 is an environmental view of an imaging system in an operating room;

[0013] Figure 2 is a detailed schematic of an imaging system having a source and detector configured to move around a subject, according to various embodiments;

[0014] Figure 3 is an environmental view of an operating room including an imaging system and a subject tracker and a tracking system, according to various embodiments;

[0015] Figure 4 is an environmental view of an operating room having an imaging system and a tracking system for tracking the imaging system and instruments, according to various embodiments;

[0016] Figure 5A1 ,5A2 and Figure 5B is an operational flowchart of an imaging system and tracking system according to various embodiments;

[0017] Figure 6 is an environmental view of an imaging system in various poses and a navigation system according to various embodiments;

[0018] Figure 7 is an environmental view of an imaging system in a selected target location according to various embodiments; and

[0019] Figure 8 is a flowchart of a process for moving an imaging system according to various embodiments.

[0020] Corresponding reference numerals in the several figures indicate corresponding parts. DETAILED DESCRIPTION

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

[0022] A subject can be imaged using an imaging system, as further discussed herein. The subject can be a living subject, such as a human patient. Image data of a human patient can be acquired and can be combined to provide an image of the human patient that is larger than any dimension of any single projection acquired with the imaging system. However, it should be understood that image data of a non-living subject, such as an inanimate subject including an enclosed container, a housing, an interior of a superstructure, etc., can be acquired. For example, image data of an airframe can be acquired for various purposes, such as diagnosing a problem and / or planning a repair effort.

[0023] Further, image data can be acquired having multiple projections that can be generated by dividing a single projection area into multiple projections. As further discussed herein, an imaging system can include a filter or a configuration that divides a beam, such as an x-ray cone beam, into multiple portions, e.g., fan shapes. Each fan shape can be used to acquire image data of a subject at a single pose, but because the cone is divided into multiple different portions, such as fan shapes, a single cone projection can include multiple projections formed by the fan shapes.

[0024] Referring to Figure 1, showing a schematic view of a procedure room 20. A user 24, such as a surgeon, can perform a procedure on a subject, such as a patient 28. The subject can be placed on a support, such as a surgical table 32, for selected portions of the procedure. The surgical table 32 can not interfere with image data acquisition by an imaging system 36. In performing the procedure, the user 24 can use the imaging system 36 to acquire image data of the patient 28 to allow a selected system to generate or create images to assist in performing the procedure. The images generated with the image data can be two-dimensional (2D) images, three-dimensional (3D) images, or appropriate types of images can be generated using the image data, such as models (such as three-dimensional (3D) images), long view, single projection view, etc. Further, four-dimensional (4D) images can be images generated based on image data collected over time. For example, several images of a beating heart. The several images can be shown as a sine. According to various embodiments, the image(s) can be shown as images 40 on a display device 44.

[0025] The display device 44 can be part of and / or connected to a processor system 48, which includes an input device 52, such as a keyboard, and a processor 56, which can include one or more processors, processor modules, and / or microprocessors in combination with a processing system 48 and a selected type of non-transitory and / or transitory memory 58. A connection 62 for data communication can be provided between the processor 56 and the display device 44 to allow driving the display device 44 to display or show the images 40. The processor 56 can be any appropriate type of processor, such as a general purpose processor that executes instructions contained in a program or a special purpose processor such as an application specific integrated circuit.

[0026] The imaging system 36 can include an O-Arm® imaging system sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado, USA. The imaging system 36 (including the O-Arm® imaging system) or other appropriate imaging system, such as the imaging systems described in U.S. Patent Nos. 8,238,631, 9,411,057, and 9,807,860, all of which are incorporated by reference herein, can be used during a selected procedure. Further, the imaging system can include various features and elements, such as a slotted filter, such as disclosed in U.S. Patent No. 10,881,371 to Helm et al. and U.S. Patent No. 11,071,507 to Helm et al., all of which are incorporated by reference herein.

[0027] For example, when the imaging system 36 includes an O-Arm® imaging system, it can include a mobile cart 60 that includes a controller and / or control system 64. The control system 64 can include a processor and / or processor system 66 (similar to the processor 56) and a memory 68 (e.g., a non-transitory memory). The memory 68 can include various instructions executed by the processor 66 to control the imaging system 36, including various portions of the imaging system 36.

[0028] The imaging system 36 can include other additional portions, such as an imaging gantry 70 in which a source (also referred to as a source assembly or unit) 74 and a detector (also referred to as a detector assembly or unit) 78 are positioned. In various embodiments, the detector 78, alone and / or with the source, can be referred to as an imaging head of the imaging system 36. The gantry 70 is movably connected to the mobile cart 60. The gantry 70 can be O-shaped or ring-shaped, where the gantry 70 is substantially ring-like and includes walls that form a volume in which the source unit 74 and the detector 78 can move. The mobile cart 60 can also be mobile. In various embodiments, the gantry 70 and / or the cart 60 can be moved while acquiring image data, including moving both at the same time. Further, the imaging system 36 can be moved from one operating room to another (e.g., another room) via the mobile cart 60. The gantry 70 can be moved relative to the cart 60, as discussed further herein. This makes the imaging system 36 mobile and movable relative to the subject 28, allowing it to be used in multiple locations and multiple procedures without the capital expenditure or space dedicated to a fixed imaging system. The imaging system 36 can be mobile, including the cart 60 and the gantry 70 and imaging portions. The movement of the mobile cart 60 can include a movement system and control apparatus such as disclosed in U.S. Patent No. 11,344,268, incorporated by reference herein.

[0029] The processor 66 can be a general purpose processor or an application specific processor. The memory system 68 can be a non-transitory memory, such as a rotating type magnetic disk or a solid state non-volatile memory. In various embodiments, the memory system can include instructions executed by the processor 66 to perform functions and determine results, as discussed herein.

[0030] In various embodiments, the imaging system 36 can include an imaging system that acquires images and / or image data using emitted and detected x-rays. The image data is generated after the x-rays interact with and / or are attenuated by the subject 28. X-ray imaging can be an imaging modality. It should be understood that other imaging modalities are also possible, such as other high energy beams, radio waves, magnetic fields, etc.

[0031] Accordingly, in the imaging system 36, the source unit 74 can be an x-ray emitter that can emit x-rays toward and / or through the patient 28 to be detected by the detector 78. Those skilled in the art will appreciate that the x-rays emitted by the source 74 can be emitted in a cone 90 along a selected principal vector 94 and detected by the detector 78 as shown in Figure 2 The source 74 and the detector 78 can be movably or fixedly positioned on a rotor, both of which can be referred to together as a source / detector unit 98, particularly where the source 74 is generally diametrically opposed (e.g., 180 degrees (°)) from the detector 78 within the gantry 70. The rotor can allow the source and the detector to move within the gantry 70 around the patient 28.

[0032] The imaging system 36 can be moved in whole or in part relative to the subject 28. For example, the source 74 and the detector 78 (such as on a rotor) can move around the patient 28, such as 360° motion, helical, a portion of a circle, etc. The movement of the source / detector unit 98 within the gantry 70 can allow the source 74 to remain generally 180° opposite the detector 78 (such as using a fixed inner gantry or rotor or a moving system). Accordingly, the detector 78 can be referred to as moving (e.g., in a circle or helix) around the subject 28, and it will be appreciated that the source 74 remains opposite the detector unless otherwise disclosed.

[0033] Further, the gantry 70 can be moved (also referred to as “swung”) generally along the direction of arrow 100 about an axis 102 relative to the subject 28, such as by the cart 60 as shown in Figure 1 The gantry 70 can also be tilted relative to a long axis 106 of the patient 28, as shown by arrow 110. When tilted, the plane of the gantry 70 can be tilted or form a non-orthogonal angle with the axis 106 of the subject 28.

[0034] The gantry 70 can also be moved longitudinally relative to the subject 28 and / or the cart 60 along the line 106 in the direction of arrow 114. Further, the cart 60 can be moved to move the gantry 70. Further still, the gantry 70 can be moved generally up and down relative to the cart 30 and / or the subject 28 generally transverse to the axis 106 and parallel to the axis 102 in the direction of arrow 118. The movements and actions can include those disclosed in U.S. Patent No. 11,213,357, which is incorporated by reference herein.

[0035] Additionally or alternatively, the imaging system 36 can be moved as a whole. For example, a drive system can be provided to power movement of the mobile cart 60. The cart 60 can include a motor as the drive system that powers or drives at least one or more wheels 61. It will be appreciated that any suitable wheels and / or drive system can be provided to move the cart 60, including the wheels and / or drive system disclosed in U.S. Patent No. 11,344,268, which is incorporated by reference herein. Thus, the cart 60 carrying the gantry 70 can be moved in various directions and / or motions, such as in the direction of arrows 100, 110, 114, and 118. This can allow the imaging system 36 to be moved any selected relative distance, such as relative to the subject 28.

[0036] Movement of the imaging system 36 (in whole or in part) is to allow positioning of the source / detector unit (SDU) 98 relative to the subject 28. The imaging device 36 can be precisely controlled to move the SDU 98 relative to the subject 28 to generate precise image data of the subject 28. The imaging device 36 can be connected with the processor 56 via a connection 120, which can include a wired or wireless connection or physical media transfer from the imaging system 36 to the processor 56. Thus, image data collected with the imaging system 36 can be transferred to the processing system 56 for navigation, display, reconstruction, etc.

[0037] As discussed herein, the source 74 can include one or more x-ray sources for imaging the subject 28. In various embodiments, the source 74 can include a single source that can be powered by more than one power source to generate and / or emit x-rays having different energy characteristics. Further, the source 74 can be more than one x-ray source that can be powered to emit x-rays having different energy characteristics at selected times.

[0038] According to various embodiments, imaging system 36 can be used with non- navigated procedures and / or navigated procedures. In navigated procedures, navigation system 128 can include various portions, such as a localizer and / or digitizer, including either or both of optical localizer 130 and / or electromagnetic localizer 138, which can be used to generate a field and / or receive and / or transmit signals within a navigation space relative to subject 28. The navigation space or navigation domain relative to subject 28 can be registered with image 40. Those skilled in the art will appreciate that the registration is to allow registration of the navigation space defined relative to the patient or subject 28 and the image space defined by image 40. In other words, a transformation mapping of the patient or subject 28 relative to the image space of image 40 can be derived. Navigation system 128 can further include processor 56 and / or memory 58 and / or other appropriate processor modules and memories to execute instructions to assist in the transformation mapping, registration, tracking of tracking devices by the respective localizers, etc. Patient tracker or dynamic reference frame 140 can be connected to subject 28 so as to allow dynamic registration and registration maintenance of subject 28 to image 40.

[0039] Patient tracker or dynamic registration device 140 and instrument 144 can then be tracked relative to subject 28 to allow for navigated procedures. Instrument 144 can include a tracking device, such as optical tracking device 148 and / or electromagnetic tracking device 152, allowing for tracking of instrument 144 with either or both of optical localizer 130 or electromagnetic localizer 138. Navigation / probe interface device 158 can be in communication (e.g., wired or wireless) with instrument 144 (e.g., via communication line 156), electromagnetic localizer 138 (e.g., via communication line 162), and / or optical localizer 130 (e.g., via communication line 166). Interface 158 can also be in communication with processor 56 via communication line 168 and can communicate information (e.g., signals) regarding the various items connected to interface 158. It should be appreciated that any of the communication lines can be wired, wireless, physical medium transmission or mobile, or any other appropriate communication. Nonetheless, appropriate communication systems can be provided for the respective localizers to allow for tracking of instrument 144 relative to subject 28, allowing for display of the tracked position of instrument 144 relative to image 40 to perform procedures.

[0040] Registration can be performed in a variety of ways. For example, at the time of image data acquisition, the tracked pose of imaging system 36 relative to subject 28 can allow for knowledge of the pose of the images and the associated image space coordinate system relative to the subject. Further, similar or identical fiducial points can be identified and tracked on subject 28 and within images 40. Various known methods of component registration include those disclosed in U.S. Patent No. 11,138,768, which is incorporated herein by reference. Accordingly, a transformation mapping can be generated to allow for the tracked pose of an instrument (which can be any appropriate member) to be rendered as a graphical representation relative to images 40 (including superimposed thereon). Further, the relative pose of imaging system 36 and subject 28 can be known or determined.

[0041] Those skilled in the art will appreciate that instrument 144 can be any appropriate instrument, such as a cardiac or vascular stent, a spinal implant, a neural stent or stimulator, an ablation device, etc. Instrument 144 can be an interventional instrument, or can include or be an implantable device. Tracking of instrument 144 allows for viewing of the pose of instrument 144 (including x, y, z position and orientation) relative to subject 28 by using registered images 40, rather than viewing instrument 144 directly within subject 28.

[0042] Further, imaging system 36 (such as gantry 70) can include an optical tracking device 174 and / or an electromagnetic tracking device 178 for tracking with a corresponding optical positioner 130 and / or electromagnetic positioner 138. Accordingly, imaging device 36 can be tracked relative to subject 28, just as instrument 144, to allow for initial registration, automatic registration, or continuous registration of subject 28 relative to images 40. Registration and navigation procedures are discussed in the incorporated U.S. Patent No. 8,238,631, which is incorporated herein by reference. After registration and tracking of instrument 144, a graphical representation 180 (also referred to as an icon) can be displayed relative to images 40, including superimposed thereon. Images 40 can be appropriate images and can include long film images, 2D images, 3D images, or any appropriate images as discussed herein.

[0043] With continued reference to Figure 2According to various embodiments, the source 74 can include a single assembly that can include a single x-ray tube 190 that can be connected to a switch 194 that can be interconnected with a first power source 198 via a connection or power cord 200. As discussed above, x-rays can be emitted from the x-ray tube 190 in a cone 90 toward the detector 78 and generally along a direction of emission from the x-ray tube 190 as shown by the arrow, beam arrow, beam, or vector 94. The switch 194 can turn on or off power to the tube 190 to emit x-rays having selected characteristics as understood by those skilled in the art. The vector 94 can be a central vector or ray within the cone 90 of x-rays. The x-ray beam can be emitted in a cone 90 or other appropriate geometry. The vector 94 can include a selected line or axis related to further interactions with the beam, such as with the filter member, as further discussed herein.

[0044] The subject 28 can be positioned within the cone 90 of x-rays to allow image data of the subject 28 to be acquired based on x-rays emitted along the direction of the vector 94 toward the detector 78. The x-ray tube 190 can be used to generate 2D x-ray projections of the subject 28, including a selected portion or any region, area, or volume of interest of the subject 28, from x-rays impinging on or detected at a two-dimensional (2D) or flat panel detector, such as the detector 78. As discussed herein, the 2D x-ray projections can be reconstructed to generate and / or display a three-dimensional (3D) volume model of the subject 28, the selected portion or any region, area, or volume of interest of the subject 28. As discussed herein, the 2D x-ray projections can be image data acquired using the imaging system 36, while the 3D volume model can be generated image data or model image data.

[0045] To reconstruct or form 3D volumetric images, suitable techniques include expectation maximization (EM), ordered subset EM (OS-EM), simultaneous algebraic reconstruction technique (SART), and total variation minimization (TVM), as generally understood by those skilled in the art. Various reconstruction techniques can also alternatively include machine learning systems and algebraic techniques. Applications that perform 3D volumetric reconstruction based on 2D projections can enable efficient, complete volumetric reconstruction. Generally, algebraic techniques can include an iterative process for performing reconstruction of the subject 28 for display as images 40. For example, purely or theoretical image data projections, such as based on a “theoretical” patient atlas or a programmed model or generated therefrom, can be iteratively altered until the theoretical projected images match the acquired 2D projection image data of the subject 28. The programmed model can then be appropriately altered to a 3D volumetric reconstruction model of the selected subject 28 of the acquired 2D projection image data, and can be used in surgical intervention, such as navigation, diagnosis, or planning. The theoretical model can be associated with theoretical image data in order to construct the theoretical model. In this manner, the model or image data 40 can be built based on image data of the subject 28 acquired with the imaging device 36.

[0046] With continued reference to Figure 2 The source 74 can include various elements or features that can be moved relative to the x-ray tube 190. In various embodiments, for example, the collimator 220 can be positioned relative to the x-ray tube 190 to assist in forming the cone 90 relative to the subject 28. The collimator 220 can include various features, such as movable members that can assist in positioning one or more filters within the cone 90 of x-rays before the x-rays reach the subject 28. One or more movement systems 224 can be provided to move all and / or portions of the collimator 220. Further, as discussed further herein, various filters can be used to shape the x-ray beam, such as to shape the cone 90 to form a selected shape before reaching the subject 28. In various embodiments, as discussed herein, the x-rays can form a thin fan or plane to reach and pass through the subject 28 and be detected by the detector 78.

[0047] Accordingly, the source 74, including the collimator 220, can include a filter assembly, such as disclosed in U.S. Patent No. 10,881,371 to Helm et al., which is incorporated by reference herein. The filter assembly can include one or more portions that allow the filters to be moved relative to the x-ray tube 190 to shape and / or position the x-rays before reaching the subject 28. For example, the filter assembly can include a slotted filter.

[0048] As discussed above, the imaging system 36 can be moved relative to the subject 28. In various embodiments, the imaging system 36 can be moved automatically, such as by the powered wheels 61. The imaging system 36 can be moved based on a known current pose of the imaging system 36 relative to the subject and a selected final pose. Additionally or alternatively, a selected final pose in space to which to move the imaging system 36 can be selected, which can be tracked by a tracking or navigation system, as discussed above. As discussed herein, the tracking or navigation system can allow the imaging system 36 to be moved in space and / or relative to the subject 28.

[0049] As discussed above, the imaging system 36 can be tracked by a selected tracking system, which can include the optical tracker 130. However, it should be understood that any appropriate tracking system can be used, such as the EM tracking system 138. Thus, discussion herein regarding an optical tracking system or a general tracking system will be understood to refer to any appropriate tracking system. Further, the tracking system can operate with one or more processors, such as the processor system 56, to allow determination of the pose of one or more items, including the gantry 70 or portions thereof, the subject 28, and / or portions of the subject, such as the vertebrae or the spine 28s.

[0050] For example, with reference to Figure 3 , the imaging system 36 is shown. The imaging system 36 includes the cart 60 and the gantry 70. An optical tracking system or member 174 can be associated with the imaging system 36, such as connected to the gantry 70. The optical tracking device 174 can be any appropriate tracking device, as discussed above, but can be tracked with an appropriate or selected tracking system, such as the optical localizer 130. In brief, the optical localizer 130 can include one or more optical receivers, which can include visible light receivers, infrared light receivers, or other appropriate receivers, such as the first receiver 130a and the second receiver 130a. The localizer 130 can track the tracking device 174 over time to determine the position of the tracking device 174 and its associated portions, such as the gantry 70, the entire imaging system 36, and portions within the gantry 70. As discussed above, the imaging system 36 can allow for precise positioning of various portions of the imaging system 36, including the cart 60, the gantry 70, and the source 74 and the detector 78 within the gantry 70. Thus, the pose of the image data collected with the imaging system 36 can be known. Since the imaging system 36 is tracked and / or in communication with the navigation system 128, the navigation system 128 associated with the tracking localizer 130 is able to know the pose of the image data.

[0051] Subject 28 may also have an associated tracking device, such as tracking device 140. Tracking device 140 may also be referred to as a patient tracker or dynamic reference frame (DRF) 140. Tracking locator 130 may also track patient tracker 140. Patient tracker 140 may be attached to subject 28 at a selected or known location, such as relative to the spine 28s. Thus, the tracking system (including locator 130) included in navigation system 128 can be used to determine the location of subject 28. Specifically, patient tracking device 140 is attached to a specific part of subject 28, such as vertebra 28v.

[0052] Therefore, as further discussed herein, processor 56 can acquire tracking information from locator 130 regarding the location of tracking device 174 associated with imaging system 36 and patient tracking device 140 associated with subject 28. Thus, the location of both subject 28 and imaging system 36 can be known, and their relative location can be determined. The current posture of subject 28 and imaging system 36 (such as...) can be known or determined. Figure 3 (The posture shown). The selected or future posture or position of the imaging system 36 relative to the subject 28 can also be determined. For example, selected portions of the subject 28 (such as the pelvis 28p) can be imaged. If the imaging system is positioned to image the pelvis 28p, this can be determined based on the known or current relative posture of the imaging system 36 to the subject 28. If it is determined that the imaging system is not in a position to image the pelvis 28p, the position for imaging the pelvis can be determined. This position can be determined automatically (as further discussed herein), manually by the user 24, or a combination of both. Nevertheless, the imaging system 36 can be operated to move to the position for imaging the pelvis 28p based on the tracked position of the subject 28 (including the pelvis 28p) and the tracked position of the imaging system 36 (such as using appropriate tracking devices 140, 174).

[0053] Instead of referring to Figure 4The positioner 130 can again be configured and positioned to track the tracking device 174 to determine the pose of the imaging system 36. The user 24 can change or manipulate an instrument, such as the instrument 144 including the tracking device 148. The tracking device 148 can also be tracked by the positioner 130. Thus, the positioning of the instrument 144, including its distal tip 144t, and its relative positioning can be determined. The user 24 can move the instrument 144 to a selected position relative to the subject 28. For example, the user 24 can move the instrument 144, such as its distal tip 144t, to identify a position on the subject 28. The user 24 can move the instrument 144 to contact a portion of the pelvis 28p and / or a portion of the subject 28 related to the pelvis 28p. In this manner, the user 24 can instruct the system to identify the positioning of the instrument 144 as the position to be imaged. The positioner 130 can track the positioning of the instrument 144 with the tracking device 148 to determine the positioning of the instrument 144 used by the user 24 to identify the position to be imaged. Similar to the patient tracking device 140 discussed above, the system can then determine the relative positioning of the imaging system 36 and the patient 28 to assist in determining whether the imaging system 36 is in position to image the selected portion of the subject 28 or whether a move is required. If a move of the imaging system is required, a processor, such as the navigation processor 56, can be used to determine the final positioning to image the portion selected by the user 24.

[0054] The user 24 can also move the instrument 144 and track with the navigation or tracking system, including the positioner 130, to identify a particular position. For example, the user 24 can move the instrument 144 to touch a particular portion of the subject 28, such as a particular vertebra of the subject 28. For example, even though the patient tracker 140 is connected to the subject 28, the user 24 can move the instrument 144, including the distal tip 144t, to touch a vertebra 28v (e.g., T4). While the patient tracker 140 can be positioned or connected to a portion of the spine 28s, the patient tracker 140 can not be connected to the vertebra 28v. Thus, the imaging system 36 can be tracked within the imaging system tracker 174 relative to the instrument 144, and the instrument 144 can be positioned on a particular portion of the subject 28, such as the vertebra 28v. The positioning of the imaging system 36 to image the selected portion of the subject, such as the vertebra 28v that can be identified or selected with the instrument 144, can then be determined. The imaging system 36 can be moved to a fairly precise position to image the particular portion of the subject 28 specifically and directly identified by the user 24.

[0055] As further discussed herein, selective processes or workflows can be used to determine the positioning of the imaging system 36 relative to the subject 28. The positioning of the imaging system 36 at any given time can be determined based on tracking of the imaging tracking device 174. The positioning of the subject 28 or portions thereof can be determined based on tracking relative to selected parts of the subject, such as the patient tracker 140 and / or the instrument 144. Alternatively or additionally, various known or assumed dimensions of the subject 28 and / or parts associated with the subject, such as the operating table or support 32, can be used to aid in determining possible movements of the imaging system 36. Items in the operating room 20 can be identified so that a selected final posture or imaging positioning can be achieved while avoiding collisions with parts of the operating space or area 20. For example, the actual or estimated geometry or dimensions of the subject 28 can be input into the navigation system 128 and evaluated by a processing system, such as the imaging system processing system 64. For example, the subject 28 can be measured to obtain a selected height 28h and / or body thickness 28d. The dimensions of the subject 28 can be used to help determine possible areas where collisions will not occur as the imaging system 36 moves. Furthermore, the patient tracker 140 can be directly tracked. Other parts that can or should be avoided can also be identified, such as by tracking the movement of the instrument 144 by the user 24. Various estimations can also be made, such as estimating the size of a part of the subject (e.g., the dimensions of individual vertebrae), to assist in moving the imaging system to a fairly precise selected location for imaging the subject 28.

[0056] Continue to refer to Figures 1 to 4 Also refer to Figure 5A (in conjunction with reference). Figure 5A1 and 5A2 )and Figure 5B The process of using a moving imaging system 36 to acquire selected images of subject 28 is described. Those skilled in the art will understand that Figure 5A and... Figure 5B The flowcharts may be included or provided as instructions to be executed by a selected processor, such as processor 64 of imaging system 36 and / or processor system 56 of navigation system 128. The processor may execute instructions based on tracking of selected parts, such as imaging tracking device 174, patient tracker 140 or instrument tracker 148, combinations thereof, or other selected trackers. The flowcharts and related processes may allow for substantially automatic movement of imaging system 36 by driving and moving selected parts of imaging system 36 (such as the entire imaging system 36, including its trolley 60) and / or with or without input from user 24 or other selected manual input.

[0057] Referring first to Figure 5A, process 200 is illustrated. Process 200 can be initiated at start box 204. Subsequently, it can be determined in box 208 whether the subject tracker is located on the subject. The determination in box 208 can be performed in various ways. For example, one or more locators (such as optical locator 130) can scan an area to determine whether the patient tracker (such as patient tracker 140) is sensed. Again, the following discussion of optical trackers and optical locator 130 can be applied to any suitable tracker and any suitable locator. Further, a user (such as user 24) can input to an appropriate system (such as navigation system 128) that the patient tracker is present and that the tracking system should locate patient tracker 140.

[0058] If no subject tracker is identified in box 208, then follow the "No" path 210 to proceed to subprocess 214, as follows. Figure 5B As shown and discussed further herein. If the presence of a patient tracker or subject tracker is determined in box 208, a "yes" path 220 is followed. The "yes" path 220 results in the determination of the pose of the patient tracker (also referred to as the DRF) in box 224. Those skilled in the art will generally understand that the determination of the DRF pose in box 224 can be performed by the navigation system 128. In short, using an optical tracking system, the pose of the patient tracker 140 can be triangulated using an optical locator 130 comprising two detectors 130a, 130b. Those skilled in the art will understand that the pose of the DRF 140 can be determined using other suitable tracking systems. Therefore, the pose of the DRF is determined in box 224. After the pose is determined in box 224, sub-process 228 can proceed. Sub-process 228 may include moving the imaging system to the subject. When the imaging system is moved to the subject in box 228, coarse movement of the imaging system 36 may occur. For example, the imaging system may be moved to position the gantry 70 around the subject, such as approximately along Figure 3 The direction of arrow 230 in the diagram. The movement of the imaging system 36 can be any suitable movement as discussed herein.

[0059] In sub-process 228, the pose of the imaging system is determined in block 232. The determination of the pose of the imaging system 36 can be based on tracking of the imaging system tracker 174. The imaging system tracker 174 can be tracked within an appropriate tracking system. However, it should be understood that the subject tracker 140 and the imaging system tracker 174 need not be tracked using the same tracking system. The two tracking devices can be tracked with different tracking systems, and the two tracking systems can be coordinated with each other as disclosed in U.S. Patent No. 11,135,025, which is incorporated by reference herein. Thus, the tracking systems can have a coordinated space or origin, such that movements or poses in one system can be converted into the other system.

[0060] After the pose of the imaging system is determined in block 232, instructions can be generated and / or sent to move the imaging system to a position proximate or adjacent to the subject based on the DRF pose determined in block 224. The instructions to move the imaging system can be sent in block 236 in sub-process 228. The instructions can include a movement amount and a movement direction. The movement amount can be an angular amount and / or a distance amount. Further, the direction can include final coordinates, and / or specific amounts of linear and / or angular movement to be performed in order to move the imaging system proximate or adjacent to the subject. In various embodiments, moving the imaging system 36 proximate or adjacent to the subject 28 can include moving the gantry 70 to at least partially surround the subject 28 or to be positioned within a selected distance of the subject. In various embodiments, moving the imaging system 36 proximate or adjacent to the subject 28 can include moving the imaging system such that the isocenter point C of the imaging system 36, such as the isocenter point of the gantry 70, is about the pose of the DRF determined in block 224. Based on the DRF pose determined in block 224 and the pose of the imaging system determined in block 238, and the instructions in block 236 to move the imaging system proximate to the patient, the imaging system can be substantially automatically moved relative to the subject 28 at least at a coarse or initial placement.

[0061] It should also be appreciated that the imaging system can be moved substantially manually, such as by the user 24, to at least position in an initial or rough positioning relative to the subject 28. However, according to various embodiments, an automated system can allow the imaging system to be moved substantially automatically relative to the subject 28. Further, the imaging system can then be positioned relative to the subject 28 to image a selected portion of the subject 28. In various embodiments, for example, a region of interest (ROI) can be invoked and / or selected in block 240. The ROI can include a portion of the subject 28. For example, a particular vertebra of the spinal column 28s can be identified in block 240 as the ROI. The ROI can be invoked based on a plan, a procedure, and / or input by the user 24. The ROI can also be identified relative to the subject tracker 140. For example, the ROI can include a portion to which the DRF 140 is connected, a positioning relative to the DRF, and / or the like.

[0062] The ROI can be invoked in block 240 and / or input by the user. Thereafter, a pose of the ROI relative to the DRF can be determined in block 244. Determining the pose of the DRF relative to the ROI can include determining a distance and / or an orientation of the ROI relative to the DRF 140. For example, as described above, the DRF 140 can be connected to a selected vertebra, such as a lumbar vertebra, including LI. The ROI can include various other vertebrae that do not include the vertebra to which the DRF 140 is connected and / or at least include the vertebra to which the DRF 140 is connected and other vertebrae. For example, the ROI can include various thoracic vertebrae, including TO and Tl l, and / or other lumbar vertebrae, such as L4 and L5.

[0063] The determination of the pose of the ROI relative to the DRF 140 is based on various information. The information can include geometry and dimensions of various portions of the subject 28, such as geometry and dimensions of each vertebra based on pre-acquired image data of the subject 28. Further, atlas information can be used to determine distances of various selected portions of the ROI relative to the DRF 140. For example, an atlas can include average information of a population of subjects that can be similar to the subject 28. The atlas can include a database of information related to the subject 28 based on dimensions (e.g., height), subject gender, prior subject procedures, and / or the like. Nonetheless, the determination of the pose of the ROI relative to the DRF can be based only on information from the subject 28, atlas information related to the subject 28, input from the user 24, or a combination thereof.

[0064] After determining the pose of the ROI relative to the DRF, the current pose of the imaging system can be determined in block 248 via the imaging system tracker 174. As discussed above, the ROI relative to the DRF allows the tracking system to determine the pose of a certain feature relative to the tracked portion tracked using the DRF. Further, the imaging system tracker 174 is utilized to track the imaging system 36. Thus, both the pose of the imaging system 36 and the pose of the ROI can be determined. As is generally understood by those skilled in the art, both poses can be determined using a tracking system including the localizer 130, such as the navigation processor 56.

[0065] Based on the determination of the current pose of the imaging system in block 248, it is determined in block 252 whether the current pose of the imaging system is suitable for imaging the called or selected ROI. Generally, the determination is made based on the ROI to be imaged, and whether the imaging system is in the proper position or location based on the predetermined positioning of the imaging system, and / or the known movement of the imaging system that can be made to achieve the selected pose. For example, if the ROI or selected portion of the subject 28, such as a selected vertebra, is located at the isocenter C of the imaging system 36, it can be determined that the imaging system is in a pose suitable for acquiring image data. Further, the known ability to acquire image data relative to the isocenter of the imaging system can be utilized to determine whether the imaging system is in the proper pose. Thus, the system, such as the imaging system including the imager processor 64, can execute instructions to determine whether the imaging system is in the proper pose to collect image data of the ROI.

[0066] If the imaging system is in the proper position, the "yes" path 256 can be followed. Then, the process 200 ends in block 260. After following the "yes" path 256, image data can be acquired. However, the process 200 can generally be used to position the imaging system to acquire image data. Thus, those skilled in the art will appreciate that the imaging system 36 can acquire image data in the proper pose.

[0067] If it is determined that the imaging system is not in the proper pose, then the "NO" path 264 can be followed. The "NO" path 264 can proceed to block 268 where a procedural pose can be optionally determined or invoked. For example, invoking a procedural pose can include invoking the positioning of one or more screws in the vertebrae. The procedural pose can be invoked in block 268, such as by input from the user 24, based on prior tracking of the instrument during the procedure, or based on a planned procedure. For example, a plan can be executed with prior image data, and the image data can be registered to the subject 28, and / or the portion placed in the subject 28 can be identified relative to the DRF 140. Further, as will be appreciated by those skilled in the art, the portion can be positioned into the subject 28 using a tracked instrument. Thus, the tracked instrument can be used to track placement of an implant, such as a screw, into one or more vertebrae of the subject 28. Additionally or alternatively, the implant can be tracked to determine its pose. Regardless, the tracked pose can be saved and invoked to determine the pose of the subject and the relevant ROI in order to invoke block 268.

[0068] Thus, the ROI can be invoked based on a prior procedure, input from the user, determined relative to the DRF, or in any suitable manner. Regardless, the ROI can be used to determine the positioning of the imaging system 36 for acquiring image data of the subject 38. The movement required of the imaging system to image the ROI is determined in block 272. Again, the determination of the movement of the imaging system can include the final positioning of the imaging system 36 for acquiring the image data. The determination of the movement can also include determining a plurality of individual discrete movements to reach the final positioning. Typically, the imaging system 36 includes information and / or internal instructions as to how the movement can occur to move the imaging system to the selected pose (e.g., received). Thus, once the ROI is determined, the imaging system 36 can automatically determine the movement required to image the ROI.

[0069] After the movement of the imaging system to image the ROI is determined in block 272, a determination can be made in block 276 as to whether there are obstacles. Determining whether there are obstacles can include the known geometry of the operating room 20, tracked portions within the operating room 20, such as the DRF 140, or other inputs. For example, the user 24 can identify obstacles and their respective poses. Further, a tracking system, such as the localizer 130, can track the DRF, and the geometry of the subject 28 connected to the DRF 140 can be learned. Thus, a volume relative to the DRF 140 can be determined as an obstacle region. In at least this manner, obstacles within the operating room 20 can be identified.

[0070] If it is determined that an obstacle is present, then the "yes" path 278 can be followed to determine movement of the imaging system in block 272. Thus, movement determination can be iteratively performed until it is determined that no obstacle is present. It will also be appreciated that during movement of the imaging system, the imaging system can have sensors that sense for obstacles. If an obstacle is sensed, then the imaging system 36 can stop movement and a warning can be issued, such as via the display 44, an audible warning, or any appropriate warning. If it is determined that no obstacle is present, then the "no" path 280 can be followed.

[0071] Upon following the "no" path 280, a command to move the imaging system can be sent in block 284. As discussed above, the command can include a particular direction to move the imaging system, or a command to move the imaging system to a pose to image the ROI. In various embodiments, the imaging system 36 includes internal instructions to move to a selected pose, and the discrete movement command in block 294 can include only the final pose to which the imaging system is to be moved. However, in various embodiments, the movement command can include specific movement instructions, such as linear, rotational, angular, and similar movements, to move the imaging system 36 to a selected pose to image the ROI.

[0072] When the imaging system is in the selected pose, image data can optionally be acquired in block 288. As discussed above, the process 200 can include instructions and / or processes to move the imaging system to acquire selected image data in the selected pose. Thus, it is not necessary that image data be acquired in block 288.

[0073] It can be determined in block 290 whether additional image data of the ROI is selected. If additional image data is selected, then the "yes" path 294 is followed to determine the current pose of the imaging system until block 248. Thus, the process 200 can iterate to acquire an appropriate amount of image data, which can be selected by the user, selected by the system to ensure that an appropriate amount of image data is acquired to generate a selected image, or based on other appropriate inputs. For example, the user 24 can select to generate a three-dimensional image of a selected portion of the subject. Thus, the imaging system can acquire image data of the selected ROI in an appropriate manner and amount to acquire image data for a selected reconstruction. However, to ensure that an appropriate amount of image data is collected, the imaging system can need to move to more than one pose to acquire appropriate image data. Thus, the decision block 290 can allow the imaging system to move to a second pose to ensure that an appropriate amount of image data is collected for a selected image data reconstruction.

[0074] If no additional image data is required or determined to be unnecessary in box 290, then the "No" path 298 is followed. The "No" path 298 can be followed to optionally determine in box 300 whether refinement is required. Refinement may include identifying specific portions of the subject 28 to be imaged. As discussed above, the ROI can be based on various determinations, such as its location relative to DRF 140, the pose of the implanted portion, etc. However, refinement may also be performed as discussed further herein, such as in sub-procedure 214. If it is determined in box 300 that refinement is not required, then the "No" path 304 can be followed to terminate the procedure at box 260. Terminating the procedure at box 260 may include those procedures discussed above.

[0075] If further refinement is needed or desired, the "yes" path of 310 can be followed. Such refinement may include what was briefly discussed above. Figure 5B Sub-process 214 is shown. After determining in box 208 that no subject tracker exists, process 200 can proceed to sub-process 214 via the "No" path 210. Sub-process 214 can allow the determination of selected and / or refined portions (e.g., ROI) to be imaged by imaging system 36. Refinement can be based on the location of the tracked instrument 144.

[0076] User 24 can move instrument 144 relative to subject 28. Therefore, sub-procedure 214 can include the tracking instrument command received in box 320. Receiving the tracking instrument command can be based on user 24's input and / or other appropriate commands. Once the instrument has been tracked in sub-procedure 214, the ROI is selected in box 324 using the tracked instrument. Figure 1 and Figure 4 As shown, user 24 can move instrument 144 relative to subject 28. For example, user 24 can move the instrument to a selected portion of the pelvis 28p. Those skilled in the art will understand that the pelvis 28p is a large structure that can have various parts. User 24 can choose to image only the selected portion of the pelvis and / or ensure that high-resolution reconstructed images are collected at least for the selected portion 28p of the pelvis. Thus, user 24 can move instrument 144 to identify a portion of subject 28 to be imaged as a Region of Interest (ROI). A tracking system including locator 130 can track the instrument, such as the tip 144t of the instrument. Therefore, the ROI can be selected based on the movement of instrument 144. The orientation of the instrument can be determined in box 328. The determination of the tracked orientation of the instrument can be used to select the ROI.

[0077] Sub-process 214 can then re-enter block 248 of process 200 to determine the current pose of the imaging system. Process 200 can determine the ROI in various suitable manners, such as using DRF 144, tracked instrument 144, or any other suitable manner as discussed above. Further tracking of instrument 144 can allow for refinement and / or imaging of a particular portion of subject 28 using imaging system 36.

[0078] As discussed above and shown according to process 200 and sub-process 214, imaging system 36 can be moved to any suitable position relative to subject 28. Imaging system 36 can be moved into a room, positioned relative to the subject at a first or initial position. Imaging system 36 can also be moved to a final or intermediate selected position based on input from user 24 or any suitable input, such as a tracked pose of a called program.

[0079] According to various embodiments, imaging system 36 can be moved within operating room 20 based on tracking with one or more localizers, such as localizer 130. Operating room 20 can have a large area or volume, which can require more than one localizer. Referring to FIG. 3, Figure 6 Localizer 130 can include a first localizer 300 and a second localizer 304. Both localizers 300, 304 can be in communication with navigation system 128, such as navigation system processor 56. Each localizer 300, 304 can have a respective field of view (FOV), which can also be associated to a navigation space and / or coordinate space. First FOV 306 of localizer 300 and second FOV 308 of localizer 304. In various embodiments, a common or fixed reference 312 can have one or more tracking portions 314 that can be tracked by both localizers 300, 304. Accordingly, the coordinate systems of the respective two localizers 300, 304 can be calibrated to allow for conversion of points between each other, allowing for determination of the pose of imaging system 36 when viewed by either or both of localizers 300, 304.

[0080] Imaging system 36 can also be moved from a first or initial position (as shown by imaging system 36a in FIG. 2A) to a second or subsequent position (as shown by imaging system 36b in FIG. 2B). In various embodiments, imaging system 36 can be moved to the second position based on a tracked pose of instrument 144, a tracked pose of a called program, or any other suitable manner. Figure 6 Figure 6 ​The imaging system 36 can be moved from the first position 36a to the second position 36b based on the identification of various vector references, the pose of the vector references within the navigation space (which can include the surgical suite 20 and / or the FOVs 306, 308). Thus, based on the tracking of the imaging system 36 using the navigation system including the localizers 300, 304 and / or the identification of vectors and spaces (such as relative to the subject 28, the patient tracker 140, and / or the reference tracker 320), the imaging system 36 can be moved to a selected pose, as discussed further herein.

[0081] As discussed in detail herein, the navigation system 128 can be used to assist in guiding the automated movement and positioning of the imaging system 36. If desired, the navigation system 128 can use one or more of the localizers 300, 304 to expand the field of view. The automated setup of the imaging system 36 can reduce the operating time and / or reduce manual input and / or reduce personnel to operate and move the imaging system 36. In various embodiments, the navigation system 128 tracks the current pose and the end pose of the imaging system 36 and then commands the imaging system 36 to move to the destination along a route calculated using the measured or predefined reference vectors.

[0082] Knowing only the start and end positions can not be sufficient to achieve the automated positioning, as there are an infinite number of routes to reach the position. According to various embodiments, the selected (e.g., optimal or best) route is determined to avoid collisions occurring in the surgical suite 20, and the instructions (e.g., in an algorithm) should be robust and selectively fast and provide real-time feedback. Typically, the direction of movement is parallel to the surgical table 32.

[0083] After all of the selected localizers 300, 304 are calibrated, the field of view of the navigation system 128 can be considered the sum of the fields of view of all of the localizers 300, 304. The imaging system 36 can be guided to move within the combined field of view region as long as both the imaging system 174 and the reference frame are located within the combined field of view region. The calibration of two or more localizers can be performed by localizing (e.g., “seeing”) the common reference marker 312 to determine the common origin and / or distance within the respective fields of view 306, 308. It should be further understood that similar systems can be used to calibrate multiple localizers of non-optical tracking systems and / or two or more types of tracking modalities, such as electromagnetic, sonar, etc.

[0084] According to various embodiments disclosed herein, the self-mobility and positioning method includes a localizer for tracking the imaging system 36. The imaging system 36 (e.g., an O-arm® imaging system) is a mechanism that has the ability to self or automatically move and position, enabling the relative positioning of a fixed and / or movable reference frame as a target. A reference vector can be required and can describe the orientation of the surgical table. This information can come from a specially designed reference frame, a robotically movable fixture, and / or manual input.

[0085] Reference Figure 6 The imaging system 36 can be located within the FOV of either or both of the localizers 300, 304. The respective fields of view 306, 308 allow for tracking of the imaging tracking device 174 throughout the operating room 20. Thus, the imaging system 36 can be moved from a position that is remote from the subject 28 and the surgical table 32 (as shown by the position 36a) to a position that is close or adjacent to the surgical table 32 and the subject 28. As discussed above, the position of the subject can be determined with the subject tracker 140.

[0086] The localizers 300, 304 can "see" various tracking devices within the respective FOVs, including the imaging tracking device 174, the subject tracking device 140, and other appropriate tracking devices. For example, both localizers 300, 304 can see the common reference 312 to identify a common reference point or origin for both FOVs 306, 308. Further, the surgical table or vector reference 320 can be utilized to determine the position and / or orientation of the surgical table. Likewise, the common reference tracking device 312 can be used to convert a position pose from one FOV (such as the FOV 308 of the second localizer 304) to the FOV coordinate system of the first localizer 300. Thus, the navigation system 128 can determine the pose of the surgical table 32, the subject 28, or other appropriate portion even if it is within the FOV of only one localizer, such as the localizer 304. Additionally, as discussed above, the FOV can refer to or generally refer to a navigational volume or coordinate space that can be recognized by one or more of the localizers, regardless of the type of localizer. Thus, the FOVs discussed herein are merely exemplary.

[0087] The navigation system 128 can determine the pose of the imaging system at any particular time, such as the current pose 36a. The navigation system can further determine various reference vectors to assist in moving the imaging system 36 to a selected pose, such as the pose 36b. Figure 7The poses 36b and / or 36c are shown. Typically, movement of the imaging system 36 may be based on a command given to the imaging system 36 to move to a selected location, and / or may include movement instructions. Nevertheless, the navigation system 128 may execute instructions (such as using the processor module 56) to determine the current and final pose of the imaging system. According to various embodiments, the pose of the imaging system may be referenced relative to any particular portion, such as an isocenter C that may serve as the center of the imaging system, such as the isocenter of the ring gantry 70. The isocenter C can typically be positioned relative to the subject 28 to image a selected portion of the subject (e.g., a region of interest, ROI). Therefore, the isocenter C can be positioned to image the subject's ROI, as discussed above in process 200. The imaging system 36 can be based on... Figure 8 The process shown moves to, as Figure 6 and Figure 7 The selected positioning discussed.

[0088] Generally speaking, as here and Figure 8 As further discussed in the flowchart shown, various tracking devices can be used to identify or determine vectors that can serve as reference vectors for determining the pose and / or possible movement and / or final pose relative to the subject 28. For example, the patient tracker 140 may include selected or identifiable trackable portions, such as reference trackable portions 330 and 332. Reference portions 330, 332 can be used to identify vector 336. Vector 336 can be used to determine the orientation of the subject 28 and / or the orientation of the operating table 32. Vector 336 can also be referred to as the target vector, just like any vector relative to the subject (such as the operating table-based tracker 320). The tracker can also be referred to as a target tracker. Alternatively or additionally, the operating table reference device 320 may include trackable portions 340 and 342 that can also be used to identify reference vector 346. The reference to vector 346 can be parallel to reference vector 336. It should be understood that it is not necessary to determine reference vectors 336 and 346 simultaneously. Furthermore, reference vectors 336 and 346 can be determined in any orientation relative to the operating table 32 and / or the subject 28. Additionally, reference vectors 336 and 346 can be referred to as target reference vectors, and the corresponding tracking device can be referred to as a target tracking device. However, in general, the subject 28 that can be imaged can be aligned along axis 106 of the subject 28. Therefore, reference vectors 336 and 346 can be selected to be approximately parallel to it.

[0089] A reference vector can be determined by determining a line between selected tracking portions, such as the reference or special tracking portions 332, 332. The determined vector can be directed in a selected orientation, such as a head or foot side relative to the subject 28. These vectors can be determined by the navigation system 128 tracking the respective tracking portions, thereby identifying the line and / or vector relative thereto.

[0090] An imaging device reference vector 350 can also be determined relative to the imaging tracking device 174. Again, the imaging tracking device 174 can include selected or unique tracking portions, such as the tracking portions 354 and 356. A line between the selected tracking portions 354, 356 can then be determined. The imaging device reference vector 350 can be determined based on the line and relative to the imaging system 36, such as toward the cart 60. Thus, the imaging device reference vector 350 can be oriented relative to one or more of the reference vectors associated with the patient 28, such as the patient reference vector 336. Discussion herein of the patient reference vector 336 will be understood to relate to any appropriate reference vector associated with an orientation for imaging the subject relative to the subject 28.

[0091] Thus, the navigation system 128, after determining the imaging device reference vector 350 and the subject reference vector 336, can determine an initial pose and a final pose for the imaging system 36. The navigation system 128 can also alternatively determine instructions for the imaging system to move to achieve a selected final positioning, such as to position the isocenter point relative to a selected portion of the subject 28. The isocenter point C of the imaging system 36 can be known relative to the imaging device reference vector 350. Thus, the isocenter point C can be positioned relative to the subject 28 and the patient reference vector 336 based at least on the known isocenter point C of the imaging system 36 relative to the imaging device reference vector 350. This allows the isocenter point C to be navigated and tracked relative to the subject in the navigation space, as will be understood by those skilled in the art.

[0092] The imaging system 36 can be moved to a position that is substantially parallel to the reference vector 336 and / or orthogonal to the vector reference 336. As shown, a second or subsequent position 36b includes the imaging system 36 substantially parallel to the subject 28. The imaging system 36 can also be positioned in a subsequent position 36c, as shown, such that the imaging system reference vector 350 is substantially orthogonal to the subject reference vector 336. As shown by the three axes 360, the subject 28 can generally be positioned in the x-y plane. The reference vector 336 can extend from the origin of the axes 360. When selectively positioned, the reference vector 350 of the imaging system can generally be orthogonal to the y-axis that defines the plane of the bed 32 and / or the subject 28. Thus, the navigation system 128 can mathematically determine the selected pose, such as Figure 6 Figure 7 The imaging system 36 can be moved to a position that is substantially parallel to the reference vector 336 and / or orthogonal to the vector reference 336. As shown, a second or subsequent position 36b includes the imaging system 36 substantially parallel to the subject 28. The imaging system 36 can also be positioned in a subsequent position 36c, as shown, such that the imaging system reference vector 350 is substantially orthogonal to the subject reference vector 336. As shown by the three axes 360, the subject 28 can generally be positioned in the x-y plane. The reference vector 336 can extend from the origin of the axes 360. When selectively positioned, the reference vector 350 of the imaging system can generally be orthogonal to the y-axis that defines the plane of the bed 32 and / or the subject 28. Thus, the navigation system 128 can mathematically determine the selected pose, such as​Figure 7 the imaging system pose 36c of the imaging system 36 relative to the subject 28.

[0093] With continued reference to Figure 6 and Figure 7 , Figure 8 The process 400 shown in the flowchart of FIG. 4 includes processes that can incorporate instructions and / or algorithms to instruct or command the imaging system 36 to move it to a selected pose that can be relative to the subject 28. The process 400 can start at start block 404. Multiple locators, such as the locators 300, 304, can be used to track various parts. If multiple locators are used, then a sub-process 410 can optionally be entered. In the multiple locators sub-process 410, tracking data about a single reference frame is received at a first locator in block 414. As discussed above and as shown in Figure 6 for example, the locator 300 can track a single reference device 312 within its FOV 306. Then, tracking data about the single reference can be received at an Nth locator in block 416. The Nth locator can be any suitable number of locators other than the first locator. As Figure 6 shown, the second locator 304 can have a field of view 308 and can also view the single reference 312. The second locator 304 can be the Nth locator.

[0094] As discussed above, Figure 6 The FOV shown in FIG. 4 can refer to or also be called a navigation space. The navigation space can be relative to any of the multiple locators, including the locators 300, 304, or any other suitable locators, such as the EM locator 138. Nonetheless, the multiple locators can each have their own navigation space. After tracking the single reference in the frame of reference or space of the first and second locators in blocks 414 and 416, a calibration of the navigation space can be performed in block 420. The calibration of the navigation spaces of the first and Nth locators can include transforming or identifying all points in space that can be located within the navigation spaces of the two locators. In various embodiments, for example, both locators can identify the single reference 312 as the origin, such that all points in the navigation space can be determined relative thereto. Thus, the navigation system 128 can be used to determine the pose of any point in the entire space relative to the single reference 312.

[0095] The process 400 also includes tracking a subject reference in block 430. The tracking of the subject reference in block 430 can include tracking the subject reference 140 and / or the table reference 320. The tracking of the subject reference in block 430 allows for the determination of the positioning and thus the orientation of the subject 28, as discussed above, which can also be related to the table tracker 320. Thus, the discussion herein regarding tracking the subject reference and the related subject reference vector will be understood to be related to the table tracker 320 and the tracker reference vector 346. Further, as discussed above, other appropriate reference trackers can be tracked, these are merely exemplary.

[0096] A subject reference vector is determined in block 434 relative to the subject. As discussed above, the DRF 140 can include selected tracking portions, such as the tracking portions 332, 332, to assist in identifying the subject reference vector 336. The subject reference vector 336 can be referenced relative to the subject 28. Again, the subject reference vector 336 can be identified as a vector toward the lateral foot portion of the subject 28. However, it should be understood that the subject reference vector 336 can be determined relative to any appropriate portion of the subject 28 and in any appropriate direction. The subject reference vector 336 can allow for the determination of a vector of or relative to the target region for moving the imaging system 36.

[0097] The imaging system tracking device is also tracked in block 438. The imaging system tracking device 174 can be tracked with an appropriate positioner, such as one or both of the positioners 300, 304. The imaging system tracking device 174 can allow for the determination of the pose of the imaging system 36. As discussed above, the imaging system can include various portions, such as the cart 60 and the gantry 70, among others. The imaging system 36 can include components, such as imaging system operating portions, to identify the pose of the gantry 70 relative to the cart 60. Thus, tracking the imaging tracking device 174 on the gantry separate from the cart 60 can also allow for the determination of the pose of the entire portion of the imaging system 36.

[0098] A determination of an imaging system reference vector 350 of the imaging system 36 is determined in block 442. Again, as discussed above, the imaging system tracking device 174 can include trackable portions 354, 356 to allow for the definition of the imaging system reference vector 350. The imaging system reference vector 350 allows for the determination of a vector relative to the imaging system 36. Thus, the imaging system reference vector 350 can be used for motion determination for moving the imaging system 36 relative to the subject 28 or any appropriate target point and the subject reference vector 336. As discussed herein, the subject 28 and / or portions thereof, such as the patient reference 140, can be identified as target points for the posed as examples. It should be understood that any appropriate target point can be used, these are merely exemplary.

[0099] Navigation system 128 can determine the current attitude of the imaging system within block 450. The current attitude of the imaging system can include the specific attitude of the isocenter C of the imaging system 36. Further, the current attitude of the imaging system can include determining the origin of the imaging system reference vector 350 and the direction of the vector 350. Therefore, navigation system 128 can be able to identify the orientation of the imaging system 36 in navigation space, such as determining the imaging system reference vector 350.

[0100] Process 400 may also invoke or define a target pose in box 454. The defined or invoked target pose may be associated with subject 28. As discussed above, DRF 140 is positioned on the subject in a selected appropriate pose. For example, DRF 140 may be positioned on a portion of the subject for a procedure, and / or on the subject in a pose relative to the procedure pose. Thus, the target position or pose may be at a distance from DRF 140, but can be determined relative to DRF 140. Further, patient reference vector 336 may be determined relative to DRF 140. Patient reference vector 336 can be used to identify both the orientation of subject 28 and the orientation of the target positioning relative to DRF 140. Defining or invoking a target pose in box 454 may include defining or invoking a pose that includes a specific portion of DRF 140 and / or a portion relative to the patient reference and patient reference vector 336.

[0101] As described above, process 400 may include determining the final target attitude and / or optional movement commands in block 454. Therefore, the movement commands may be determined in block 460. Determining the specific movement commands may include moving the imaging system 36 from its current attitude (such as attitude 36a) to a selected target attitude (such as...). Figure 7 The movement instructions (36c) shown in the diagram. Movement instructions may include the amount of movement and / or direction or orientation required for the imaging system 36 to achieve the target posture. Movement instructions may include instructions to limit or eliminate the possibility of collisions during the movement of the imaging system 36. As described above, the navigation system 128 can track the posture of the subject 28, instruments, and other components within the operating room 20. Therefore, the navigation system 128 can identify areas or volumes that the imaging system 36 should not pass through or obstruct. Movement instructions may include those areas or areas that the imaging system 36 should not pass through. Further, the imaging system 36 may include instructions on how to move the imaging system 36, and the navigation system 128 may include or provide a final destination or posture. Therefore, the determination of movement instructions may occur within the imaging system processing system discussed above.

[0102] The process 400 can also include transmitting the movement instructions in block 464. Transmitting the movement instructions can include transferring the movement instructions from the navigation system 128 to the imaging system 36 in an appropriate manner. The transfer can include various mechanisms, such as wireless transfer, wired transfer, transfer utilizing a memory medium, such as a solid state memory device. However, the movement instructions can be provided to the imaging system 36 in any appropriate manner.

[0103] The process 400 can also or as a result include transmitting a target pose of the imaging system vector 350 relative to the subject reference vector 336 in block 470. As discussed above, the reference vectors 350, 336 can be positioned relative to one another, such as in a substantially parallel manner as shown in the positioning 36b of the imaging system 36 in Figure 6 or in a perpendicular orientation as shown in the positioning 36c in Figure 7 The imaging system 36 can be moved to the target pose in any appropriate manner, and the navigation system 128 can communicate the target pose in any appropriate manner, as discussed above.

[0104] The process 400 can then include at least optionally determining whether the imaging system is positioned at a selected ROI, or whether the ROI is within an isocenter in block 474. As discussed above, the isocenter C can be positioned in an inappropriate manner to acquire image data of the subject 28. According to various embodiments, including the embodiments discussed above, a ROI can be identified for a selected portion of the subject 28. Thus, it can be determined in block 474 whether the isocenter C or any appropriate portion of the imaging system is positioned at or near the ROI. If it is determined in block 474 that the positioning of the imaging system, such as the isocenter, is appropriate, then the "yes" path 478 can be followed. Optionally, image data can be acquired in block 482. Again, as noted above, the process 400 can be used to position the imaging system 36 relative to the subject 28. Thus, the acquisition of image data in block 482 is optional. The process can then end in block 490. Ending the process 400 in block 490 can include completing a procedure, acquiring image data, reconstructing a selected image, or any other appropriate portion.

[0105] If it is determined that the imaging system is not positioned at the isocenter or other portion of the ROI, then the "no" path 494 can be followed. The "no" path 494 can continue to block 500, which goes to block 214 of the process 200, as Figure 5BThe system can receive appropriate input regarding positioning of the imaging system 36 relative to the subject 28, in accordance with block 214 of the process 200, in block 500. As discussed above, various refinements and processes or steps can occur, such as the user 24 identifying a selected portion or having an instrument tracked relative to the subject 28. Thereafter, the process 200 can be followed to assist in refining positioning of the imaging system, as discussed above.

[0106] Thus, the imaging system 36 can be moved relative to the subject in an appropriate manner. The imaging system 36 can be moved substantially automatically based on selected input and / or information received regarding the subject 28, a pose of the subject 28, and / or the imaging system 36, or other information. Various processes, including the process 200 and / or the process 400, can be used to position the imaging system 36 relative to the subject in a substantially automatic manner to assist in positioning the imaging device 36 relative to the subject 28. Thus, the imaging system 36 can be positioned relative to the subject 28 so that selected image data is acquired in an efficient manner, which can reduce the time for positioning the imaging system and / or reduce the need or amount of manual input. Further, the imaging system can substantially automatically call upon information regarding procedures to assist and automatically position the imaging system for various image data acquisition, such as confirmation image data, and the like.

[0107] Example embodiments are provided so as to be thorough, and to convey the full scope of the disclosure. Numerous specific details are set forth, such as examples of specific components, devices, and methods, in order to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to one skilled in the art that example embodiments can be practiced without

[0108] Instructions can be executed by the processor, and can be included in software, firmware, and / or microcode, and can be stored in one or more memory or computer readable media. Firmware can also include, but is not limited to, wirelessly transmitted codes or instructions. Software can include, but is not limited to, application software and / or utility software. The term shared processor circuitry includes a single processor circuitry executing some or all code from multiple modules. The term group processor circuitry includes processor circuitry combined with additional processor circuitry to execute some or all code from one or more modules. A reference to a multiple processor circuitry includes multiple processor circuitries on discrete dies, multiple processor circuitries on a single die, multiple cores of a single processor circuitry, multiple threads of a single processor circuitry, or a combination of one or more of the above. The term shared memory circuitry includes a single memory circuitry storing some or all code from multiple modules. The term group memory circuitry includes memory circuitry combined with additional memory circuitry to store some or all code from one or more modules.

[0109] The apparatus and methods described in this application can be partially or entirely implemented by a processor (also referred to as a processor module) to perform one or more specific functions embodied in the computer programs, which can include a special-purpose computer (i.e., created by configuring the processor) and / or a general-purpose computer. The computer programs include processor-executable instructions stored on at least one non-transitory, tangible computer-readable medium. A computer program can also include or rely on stored data. The computer programs can include a basic input / output system (BIOS) that interacts with hardware of the special-purpose computer, device drivers that interact with particular devices of the special-purpose computer, one or more operating systems, user applications, background services, and application program interfaces (APIs), among others.

[0110] The computer programs can include: (i) assembly code, (ii) object code generated from source code by a compiler, (iii) source code for execution by an interpreter, (iv) source code for compilation and execution by a just-in-time compiler, and (v) descriptive text or HTML (HyperText Markup Language) or XML (Extensible Markup Language), among others. As examples only, source code might be written using C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, Java®, ASP, Perl, Javascript®, HTML5, Ada, ASP (Active Server Pages), Perl, Scala, Erlang, Ruby, Flash®, Visual Basic®, Lua, or Python®.

[0111] The communications can include wireless communications described in the present disclosure, which can be conducted in full or partial compliance with IEEE Standard 802.11-2012, IEEE Standard 802.16-2009, and / or IEEE Standard 802.20-2008. In various implementations, IEEE 802.11-2012 can be supplemented by draft IEEE Standard 802.1 lac, draft IEEE Standard 802.1 lad, and / or draft IEEE Standard 802.1 lah.

[0112] In this document, processor, processor module, module, or "controller" can be used interchangeably (unless otherwise explicitly specified), and can be replaced with the term "circuit." Any of these terms can refer to, be part of, or include: an Application-Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system-on-chip.

[0113] Instructions can 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 circuitry. Accordingly, the term "processor" or "processor module" as used herein can refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0114] The foregoing description of embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form disclosed. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable with other embodiments and can be used in a selected embodiment, even if not specifically shown or described. The same can hold true for described manufacturing, and / or assembly methods and / or processes. Such changes do not depart from the spirit or scope of the application. It is therefore intended that this application be interpreted as including all such variations as fall within the scope of the invention.

Claims

1. A method for a positioning imaging system, the method comprising: Acquire tracking information from the imaging system tracking device associated with the imaging system; Obtain tracking information from the subject tracking device; Based on the tracking information of the imaging system tracking device and the tracking information of the subject tracking device, a first posture of the imaging system relative to the subject tracking device is determined; The program calls at least a selected portion of the tracked pose to determine the region of interest (ROI) to be selected for image data acquisition. Determine the second pose required for the imaging system to acquire image data at the ROI; Determine a path for moving the imaging system from a determined first posture to a determined second posture; as well as Output the determined path used to move the imaging system.

2. The method as described in claim 1, wherein, The tracking posture of the program includes the tracking posture of the instrument relative to the subject tracking device during at least a selected portion of the program.

3. The method as described in claim 2, wherein, The tracked posture of the instrument includes the tracked posture of the implant during a selected portion of the procedure.

4. The method of claim 1, further comprising: Obtain tracking information from instrument tracking devices associated with the instrument.

5. The method of claim 4, wherein, The tracking pose of at least the selected portion of the program further includes receiving the tracking pose as input to the ROI.

6. The method according to any one of claims 1 to 5, further comprising: The processor executes instructions to at least determine the path and invoke at least the selected portion of the program for the tracked pose.

7. The method of claim 6, wherein, The tracking pose of at least the selected portion of the program further includes receiving the tracking pose as input relative to the ROI of the subject tracking device; Determining the path for moving the imaging system from a determined first pose to a determined second pose includes determining a first path portion of the tracked pose relative to at least the selected portion of the procedure and avoiding obstacles.

8. The method of any one of claims 1 to 7, further comprising: The determined path output is transmitted to the imaging system as a movement command.

9. The method of claim 8, further comprising: Receive feedback about obstacles in the determined path, and stop or change the path based on the received feedback.

10. The method of any one of claims 1 to 9, further comprising: The imaging system tracking device and the subject tracking device are tracked using a locator.

11. The method of any one of claims 1 to 10, further comprising: The image data is acquired in the determined second pose.

12. A positioning imaging system, the system comprising: A tracking system configured to track the attitude of an instrument; An input system configured to input that the tracked pose of the instrument is a region of interest (ROI). Processor module, the processor module being configured to execute instructions to: Acquire tracking information from the imaging system tracking device associated with the imaging system; Obtain tracking information from associated subject tracking devices; Acquire tracking information of the tracked posture by the instrument; The program calls at least a selected portion of the tracked pose to determine the region of interest (ROI) to be selected for image data acquisition. Determine the target pose required for the imaging system to acquire image data at the ROI; Determine the path for moving the imaging system to the determined target orientation; as well as Output the determined path used to move the imaging system.

13. The system of claim 12, wherein, The imaging system is configured to move from an initial attitude to the target attitude.

14. The system of any one of claims 12 or 13, further comprising: Imaging system drive system; An imaging system processor module is configured to execute instructions to command the imaging system drive system to move the imaging system to the target pose.

15. The system as claimed in any one of claims 12 to 14, wherein, The device includes an implant.

16. The system of any one of claims 12 to 15, further comprising: A transmission system for transmitting the determined path as a movement command to the imaging system.

17. The system of any one of claims 12 to 16, further comprising: A sensor receiver configured to receive feedback about obstacles in a determined path, so as to stop the movement of the imaging system or change the path based on the received feedback.

18. The system as claimed in any one of claims 12 to 17, wherein, The tracking system includes a locator for tracking the imaging system tracking device and the subject tracking device.

19. The system of claim 12, further comprising: The imaging system is configured to acquire the image data in a determined target pose.

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