System and method for aligning imaging system with stereotactic frame target viewing position

Abstract

A system according to at least one embodiment of the present disclosure includes: a processor; and a memory on which data is stored, the data, when processed by the processor, enabling the processor to: receive a plurality of images captured with an imaging device; identifying a first component of the surgical device depicted in the plurality of images; registering the surgical device and the imaging device based on the first component; receiving information associated with a viewing position, where the imaging device is aligned with a second component of the surgical device when in the viewing position; and determining a movement of the imaging device for positioning the imaging device at the viewing position based on a combination of the viewing position and the registration.

Description

Background Technology

[0001] This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 516,314, filed on August 7, 2023.

[0002] This disclosure relates generally to imaging, and more specifically to imaging during surgical imaging or surgical implantation procedures.

[0003] Imaging can be used by medical providers for diagnostic and / or therapeutic purposes. A patient's anatomy may change over time, especially after a medical implant has been placed within that anatomy. Imaging devices can be moved to capture images of the patient's anatomy from various angles. Summary of the Invention

[0004] Examples of aspects of this disclosure include:

[0005] A system according to at least one embodiment of this disclosure includes: a processor; and a memory storing data that, when processed by the processor, enables the processor to: receive a plurality of images captured by an imaging device; identify a first component of a surgical device depicted in the plurality of images; register the surgical device and the imaging device based on the first component; receive information associated with a viewing position, wherein the imaging device is aligned with a second component of the surgical device when in the viewing position; and determine a movement of the imaging device for positioning the imaging device at the viewing position based on a combination of the viewing position and the registration.

[0006] Any of the features described herein, wherein the imaging device includes an O-arm or a C-arm.

[0007] Any of the features in this document, wherein the data further enables the processor to perform the following operations: to cause the imaging device to move to the viewing position; and to cause the imaging device to capture at least one image while in the viewing position.

[0008] Any of the features of this article, wherein the at least one image includes an image of a patient’s side view depicting at least one of the second component and the surgical implant.

[0009] Any of the features described herein, wherein the surgical device includes a stereotactic frame, and wherein the first component includes a locator connectable to a base ring of the stereotactic frame.

[0010] Any of the features described herein, wherein the second component includes a plurality of reticles attached to a set of arcuate elements that can be connected to the base ring of the stereotactic frame.

[0011] Any of the features described herein, wherein after the plurality of images are captured, the locator is disconnected from the stereotactic frame, and wherein the set of arcuate elements is connected to the base ring of the stereotactic frame before the imaging device is driven to perform the movement.

[0012] Any of the features in this article, wherein the registration further includes: transforming the coordinates associated with the imaging device to a coordinate system associated with the surgical device.

[0013] Any of the features in this article, wherein the second component is a virtual component.

[0014] A method according to at least one embodiment of this disclosure includes: identifying a first component of a surgical device based on a plurality of images captured by an imaging device; registering the surgical device and the imaging device at least in part based on the first component; calculating a viewing position, wherein the imaging device is aligned with a second component of the surgical device when in the viewing position; determining a movement of the imaging device for positioning the imaging device at the viewing position based on a combination of the viewing position and the registration; and causing the imaging device to perform the movement.

[0015] Any of the features described herein further includes: enabling the imaging device to capture at least one image when in the viewing position.

[0016] Any of the features of this article, wherein the at least one image includes an image of a patient’s side view depicting at least one of the second component and the surgical implant.

[0017] Any of the features described herein, wherein the surgical device includes a stereotactic frame, and wherein the first component includes a locator that can be connected to the stereotactic frame.

[0018] Any of the features described herein, wherein the second component includes a reticle attached to a set of arcuate elements that can be connected to the stereoscopic frame.

[0019] Any of the features described herein, wherein after the plurality of images are captured, the locator is disconnected from the stereoscopic frame, and wherein the set of arcuate elements is connected to the stereoscopic frame before the imaging device performs the movement.

[0020] Any of the features in this article, wherein the registration further includes: transforming the coordinates in the first coordinate system associated with the imaging device to the second coordinate system associated with the surgical device.

[0021] Any of the features in this document, wherein the transformation further includes: determining a set of coordinates associated with the first component in the first coordinate system; and determining the coordinates associated with the surgical device in the first coordinate system based on the set of coordinates and a predetermined orientation of the first component relative to the surgical device.

[0022] Any of the features in this article, wherein the second component is a virtual component.

[0023] A system according to at least one embodiment of this disclosure includes: an imaging device; a processor; and a memory storing data that, when processed by the processor, enables the processor to: identify a first component of a surgical device depicted in a plurality of images captured by the imaging device; register the surgical device and the imaging device based on the first component; receive information associated with a viewing position, wherein the imaging device is aligned with a second component of the surgical device when in the viewing position; determine a movement of the imaging device for positioning the imaging device at the viewing position based on a combination of the viewing position and the registration; and cause the imaging device to perform the movement.

[0024] Any of the features in this article, wherein the registration further includes: transforming the coordinates associated with the imaging device to a coordinate system associated with the surgical device.

[0025] Any of the features described herein, wherein the imaging device captures at least one image when in the viewing position, and wherein the at least one image includes an image of a side view of the patient depicting at least one of the second component and the surgical implant.

[0026] Any of the features described herein, wherein the surgical device includes a stereotactic frame, wherein the first component includes a locator connectable to the stereotactic frame, and wherein the second component includes a reticle connected to a set of arcuate elements connectable to the stereotactic frame.

[0027] Any of the features in this article, wherein the second component is a virtual component.

[0028] Any one aspect in combination with any one or more other aspects.

[0029] Any one or more of the features disclosed in this article.

[0030] As is the case with any one or more of the features substantially disclosed herein.

[0031] Combinations of any one or more features as substantially disclosed herein with any one or more other features as substantially disclosed herein.

[0032] Any of these aspects / features / embodiments in combination with any one or more other aspects / features / embodiments.

[0033] Use of any one or more aspects or features as disclosed herein.

[0034] It should be understood that any feature described herein may be claimed in combination with any other feature(s) as described herein, regardless of whether such features are derived from the same embodiments described.

[0035] Details of one or more aspects of this disclosure are set forth in the accompanying drawings and the following description. Other features, objects, and advantages of the technology described in this disclosure will become clear from the specification, drawings, and claims.

[0036] The phrases “at least one,” “one or more,” and “and / or” are open-ended expressions that are both connective and discrete in operation. For example, each of the expressions “at least one of A, B, and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” and “A, B, and / or C” refers to a single A, a single B, a single C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to an element (such as X, Y, and Z) or a class of elements (such as X1-Xn, Y1-Ym, and Z1-Zo), the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., X1 and X2), and a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0037] The term "a / an" refers to one or more of the entities in question. Thus, the terms "a" (or "an"), "one or more," and "at least one" are used interchangeably herein. It should also be noted that the terms "comprising," "including," and "having" are used interchangeably.

[0038] The foregoing is a simplified overview of this disclosure to provide an understanding of some aspects of it. This overview is neither a broad nor an exhaustive summary of this disclosure and its various aspects, embodiments, and configurations. It is not intended to identify key or essential elements of this disclosure, nor to define its scope, but rather to present selected concepts in a simplified form as an introduction to the more detailed description that follows. As will be understood, other aspects, embodiments, and configurations of this disclosure may utilize one or more features set forth above or described in detail below, either individually or in combination.

[0039] Many additional features and advantages of this disclosure will become apparent to those skilled in the art upon consideration of the embodiments described below. Attached Figure Description

[0040] The accompanying drawings are incorporated in and form a part of this specification to illustrate several examples of this disclosure. These drawings, together with the specification, explain the principles of this disclosure. The drawings simply illustrate preferred and alternative examples of how this disclosure can be performed and used, and should not be construed as limiting this disclosure to the examples shown and described. Further features and advantages will become apparent from the following more detailed description of various aspects, embodiments, and configurations of this disclosure, as illustrated in the accompanying drawings with reference below.

[0041] Figure 1 This is a block diagram of various aspects of a system according to at least one embodiment of this disclosure;

[0042] Figure 2A This is a schematic diagram of various aspects of a stereotactic frame attached to a patient according to at least one embodiment of this disclosure;

[0043] Figure 2B This is a schematic diagram of another aspect of a stereotactic frame attached to a patient according to at least one embodiment of this disclosure;

[0044] Figure 2C This is a schematic diagram of another aspect of a frame attached to a patient according to at least one embodiment of this disclosure;

[0045] Figure 2D It is an image depicting an misaligned frame reticle according to at least one embodiment of this disclosure;

[0046] Figure 2E It is an image depicting an aligned frame reticle according to at least one embodiment of this disclosure;

[0047] Figure 3AThis is a simplified diagram of a patient positioned on an operating table equipped with an imaging device, according to at least one embodiment of this disclosure;

[0048] Figure 3B It is a simplified diagram depicting the movement of an imaging device relative to a patient according to at least one embodiment of this disclosure;

[0049] Figure 4 This is a flowchart of at least one embodiment of this disclosure; and

[0050] Figure 5 This is a flowchart of at least one embodiment based on this disclosure. Detailed Implementation

[0051] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the examples or embodiments, certain actions or events of any process or method described herein may be performed in a different order, and / or may be added, combined, or completely omitted (e.g., implementing the technology disclosed according to different embodiments of this disclosure may not necessarily require all the described actions or events). Furthermore, although for clarity some aspects of this disclosure are described as being performed by a single module or unit, it should be understood that the technology of this disclosure can be performed by a combination of units or modules associated with, for example, computing devices and / or medical devices.

[0052] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, the functions may be implemented using machine learning models, neural networks, artificial neural networks, or combinations thereof (alone or in combination with instructions). Computer-readable media may include non-transitory computer-readable media, which corresponds to tangible media such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0053] The instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing units), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Accordingly, the term "processor" as used herein may refer to any of the above-described structures or any other physical structures suitable for implementing the described techniques. Furthermore, these techniques may be fully implemented in one or more circuit or logic elements.

[0054] Before explaining any embodiment of this disclosure in detail, it should be understood that the application of this disclosure is not limited to the construction details and component arrangements set forth in the following description or shown in the accompanying drawings. This disclosure can have other embodiments and can be practiced or implemented in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “including,” “comprising,” or “having,” and variations thereof herein is intended to cover items listed below and their equivalents, as well as additional items. Further, this disclosure may use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or enumeration of one or more examples (which may be expressed as “for example,” “by way of example,” “e.g.,” “for instance,” or similar language) is not intended to, and will not, limit the scope of this disclosure.

[0055] The terms “proximal” and “distal” are used in this disclosure in their usual medical sense. “Proximal” is closer to the operator or user of the system and farther from the surgical area of ​​concern inside or on the patient, while “distal” is closer to the surgical area of ​​concern inside or on the patient and farther from the operator or user of the system.

[0056] Surgical cases involving stereotactic frames with imaging systems (e.g., O-arm imaging systems) include the following steps: an O-arm operator estimates the angle of the O-arm relative to the patient and then iteratively captures fluoroscopic images of the patient to find an O-arm image that aligns the right and left frame reticles so that the target (e.g., the location of an implanted device) is positioned at the crosshairs of the reticles. This image is used to confirm that the device (e.g., a needle, electrode, or combination thereof) implanted before proceeding is actually positioned at the target location. Because there are multiple degrees of freedom in the placement and movement of the O-arm, the alignment of the O-arm can take many minutes to complete, and may take even longer (e.g., more than 15 minutes) if the O-arm operator is inexperienced. Furthermore, each fluoroscopic image taken to iterate to the final position exposes both the patient and surgical staff to radiation. To reduce this exposure, staff may need to leave the room or stand behind lead screens, which hinders them from performing their normal duties. Furthermore, this target view alignment with the O-arm may be required multiple times in a single procedure (e.g., in cases of bilateral deep brain stimulation or stereotactic electroencephalography (SEEG)). Overall, this iterative process results in extended valuable operating room time and can frustrate waiting surgeons.

[0057] According to at least one embodiment of this disclosure, a navigation system (e.g., Medtronic Stealth Station) can be integrated. TMThe S8 surgical navigation system, the robotic positioning capabilities of the O-arm, and the navigation markers(s) attached to the O-arm address the problems associated with iterative fluorescence image imaging. In some embodiments, the O-arm can be used to capture images of the patient and a stereotactic frame attached to the patient. The stereotactic frame includes a locator mounted to a base ring of the stereotactic frame, which is connected (e.g., pinned) to the patient's head. By imaging the locator, the navigation system can determine a coordinate system relative to the base ring. Once O-arm acquisition of the stereotactic frame is complete, the frame locator attached to the stereotactic frame can be detected and registered. The user can then specify a target location for the implant (e.g., by selecting a location on a patient image presented on a user interface associated with the navigation system), and the navigation system can determine the frame setup to align the frame guide tube with the planned trajectory of the implant, allowing the implant (e.g., an electrode) to advance along the trajectory to the target location. Based on registration and the provided target location, the navigation system can calculate the target alignment viewing position (e.g., an image captured by the O-arm depicts the left and right frame reticles as aligned), and then command the O-arm to move to the target alignment viewing position. In some embodiments, this position can be saved to memory, a database, etc., allowing the O-arm to automatically move to the viewing position. This automatic movement can be based on navigation markers(s) attached to the O-arm and tracked by the navigation system, allowing the O-arm to move away from the surgical site (which allows surgical staff members to perform surgical tasks more efficiently), and then return to, for example, capture images to confirm the implant's position. In some embodiments, the O-arm may include manual over-control (e.g., a "killswitch") or other mechanisms capable of stopping the movement of the O-arm, allowing the movement of the O-arm to be stopped due to collision safety. Therefore, embodiments of this disclosure advantageously enable the O-arm (or more broadly, the imaging device) to be aligned within seconds, thereby reducing procedure time. Furthermore, embodiments of this disclosure advantageously reduce surgical time and lower the radiation dose experienced by the patient and / or surgical staff members.

[0058] The embodiments of this disclosure provide technical solutions to one or more of the following problems: (1) aligning an imaging device (e.g., an O-arm) with a surgical device during surgery or surgical procedure, (2) prolongation of surgery or surgical procedure caused by inefficient alignment of the imaging device with a surgical trajectory alignment tool, and (3) excessive exposure of patients and / or surgical staff to radiation during surgery or surgical procedure.

[0059] First go to Figure 1This diagram illustrates a block diagram of a system 100 according to at least one embodiment of this disclosure. System 100 can be used for: controlling the navigation of imaging devices and surgical instruments; capturing one or more images of a patient and / or surgical instruments or devices near the patient; controlling, manipulating, and / or otherwise manipulating surgical mount systems, surgical arms, and / or surgical instruments attached thereto; and / or performing one or more other aspects of one or more of the methods disclosed herein. System 100 includes a computing device 102, one or more imaging devices 112, a robot 114, a navigation system 118, a database 130, and / or a cloud or other network 134. Systems according to other embodiments of this disclosure may include more or fewer components than system 100. For example, system 100 may not include robot 114, one or more components of computing device 102, database 130, and / or cloud 134.

[0060] Computing device 102 includes a processor 104, a memory 106, a communication interface 108, and a user interface 110. Other embodiments of the computing device according to this disclosure may include more or fewer components than computing device 102. In some cases, computing device 102 may be located within one or more other components of system 100. For example, computing device 102 may be located within imaging device 112, robot 114, navigation system 118, etc.

[0061] The processor 104 of computing device 102 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions and / or data stored in memory 106, which may enable the processor 104 to perform one or more computational steps using or based on data received from imaging device 112, robot 114, navigation system 118, database 130 and / or cloud 134.

[0062] Memory 106 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory used to store computer-readable data and / or instructions. Memory 106 may store information or data that can be used to perform any steps of, for example, the methods 400 and / or 500 described herein or any other methods. Memory 106 may store instructions and / or machine learning models, for example, supporting one or more functions of robot 114 and / or navigation system 118. For example, memory 106 may store content (e.g., instructions and / or machine learning models) that implements image processing 120, segmentation 122, transformation 124, and / or registration 128 when executed by processor 104. In some embodiments, such content may be organized into one or more applications, modules, packages, layers, or engines if provided in the form of instructions. Alternatively or additionally, memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by processor 104 to implement the various methods and features described herein. Therefore, although the various contents of memory 106 can be described as instructions, it should be understood that the functions described herein can be implemented using instructions, algorithms, and / or machine learning models. Instructions, algorithms, and / or instructions can enable processor 104 to manipulate data stored in memory 106, and / or data received from or via imaging device 112, robot 114, database 130, and / or cloud 134.

[0063] The computing device 102 may also include a communication interface 108. The communication interface 108 may be used to receive image data or other information from external sources (such as imaging device 112, robot 114, navigation system 118, database 130, cloud 134, and / or any other system or component not part of system 100), and / or to transmit instructions, images, or other information to external systems or devices (e.g., another computing device 102, imaging device 112, robot 114, navigation system 118, database 130, cloud 134, and / or any other system or component not part of system 100). The communication interface 108 may include one or more wired interfaces (e.g., USB port, Ethernet port, FireWire port) and / or one or more wireless transceivers or interfaces (e.g., configured to send and / or receive information via one or more wireless communication protocols (e.g., 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.)). In some embodiments, the communication interface 108 may be used to enable the computing device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0064] The computing device 102 may also include one or more user interfaces 110. User interfaces 110 may be or include a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and / or any other device for receiving information from and / or providing information to a user. User interfaces 110 may be used, for example, to receive user selections or other user input regarding any step of any method described herein. Although as foregoing, any required input for any step of any method described herein may be automatically generated by system 100 (e.g., by processor 104 or another component of system 100) or received by system 100 from a source external to system 100. In some embodiments, user interfaces 110 may be used to allow a surgeon or other user to modify instructions to be executed by processor 104 according to one or more embodiments of this disclosure, and / or modify or adjust settings of other information displayed on or corresponding to user interfaces 110.

[0065] Although user interface 110 is shown as part of computing device 102, in some embodiments, computing device 102 may utilize user interface 110 separately from one or more other components of computing device 102. In some embodiments, user interface 110 may be positioned close to one or more other components of computing device 102, while in other embodiments, user interface 110 may be positioned away from one or more other components of computing device 102. For example, user interface 110 may be part of navigation system 118.

[0066] Imaging device 112 may be operable to image (e.g., bones, blood vessels, tissues, etc.) and / or other aspects of a patient's anatomy to produce image data (e.g., image data depicting or corresponding to bones, blood vessels, tissues, etc.). As used herein, "image data" means data generated or captured by imaging device 112, including data in machine-readable, graphical / visual, and any other form. In various examples, image data may include data corresponding to a patient's anatomical features or a portion thereof. Image data may be or include preoperative images, intraoperative images, postoperative images, or images taken independently of any surgical procedure. In some embodiments, first imaging device 112 may be used to acquire first image data (e.g., a first image) at a first time, and second imaging device 112 may be used to acquire second image data (e.g., a second image) at a second time after the first time. Imaging device 112 may be capable of capturing two-dimensional (2D) or three-dimensional (3D) images to produce image data. Imaging device 112 may be or include, for example: an O-arm, C-arm, G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluorescence microscope, CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, a radar system (which may include, for example, a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device 112 adapted to obtain images of a patient's anatomical features. Imaging device 112 may be entirely contained within a single housing, or may include transmitters / transmitters and receivers / detectors located in separate housings or otherwise physically separated.

[0067] In some embodiments, imaging device 112 may include more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In yet other embodiments, the same imaging device may be used to provide both the first image data and the second image data and / or any other image data described herein. Imaging device 112 may be operable to generate an image data stream. For example, imaging device 112 may include a radiation source configured to generate a radiation stream (e.g., an X-ray beam) that passes through anatomical tissue and is then detected by a detector, wherein the detected radiation is used to generate an image of the anatomical tissue (e.g., a fluorescence fluoroscopic image). In some examples, the first image data and / or the first image may be or include a volumetric 3D scan (e.g., a CT scan or similar scan), while the second image data and / or the second image may be or include one or more 2D scans (e.g., scans captured using X-rays or other radiation). In such examples, the first image may be used to establish a coordinate system that can be used in navigation, while the second image(s) may be used to confirm the location of a surgical implant, as discussed in further detail below.

[0068] Robot 114 can be any surgical robot or surgical robot system. Robot 114 can be, or includes, for example, Mazor X. TM Stealth robot guidance system. Robot 114 can be configured to position imaging device 112 in one or more precise locations and orientations, and / or return imaging device 112 to the same location(s) and orientation(s) at a later point in time. Robot 114 can be additionally or alternatively configured to manipulate surgical tools (whether or not based on guidance from navigation system 118) to perform or assist surgical tasks. In some embodiments, robot 114 can be configured to hold and / or manipulate anatomical elements during or in conjunction with surgical procedures. Robot 114 may include one or more robotic arms 116. In some embodiments, robotic arms 116 may include a first robotic arm and a second robotic arm, but robot 114 may include more than two robotic arms. In some embodiments, one or more of robotic arms 116 may be used to hold and / or manipulate imaging device 112. In embodiments where imaging device 112 includes two or more physically separate components (e.g., transmitter and receiver), one robotic arm 116 may hold one such component, and another robotic arm 116 may hold another such component. Each robotic arm 116 may be positioned independently of the other robotic arm. The robotic arm 116 can be controlled in a single shared coordinate space or in a separate coordinate space.

[0069] The robot 114, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Furthermore, the robotic arm 116 can be positioned or localized in any pose, plane, and / or focal position. Pose includes position and orientation. Therefore, the imaging device 112, surgical instrument, or other object held by the robot 114 (or more specifically, held by the robotic arm 116) can be precisely positioned in one or more desired and specific locations and orientations.

[0070] The (multiple) robotic arms 116 may include one or more sensors that enable the processor 104 (or the processor of the robot 114) to determine the precise orientation of the robotic arms (and any objects or elements held or attached to the robotic arms) in space.

[0071] In some embodiments, reference markers (e.g., navigation markers) may be placed on robot 114 (including, for example, on robotic arm 116), imaging device 112 (e.g., on an O-arm), or any other object in the surgical space. The reference markers may be tracked by navigation system 118, and the results of the tracking may be used by the operator of robot 114 and / or system 100 or any component thereof. In some embodiments, navigation system 118 may be used to track other components of the system (e.g., imaging device 112), and the system may be operated without the use of robot 114 (e.g., a surgeon manually manipulating imaging device 112 and / or one or more surgical instruments, for example, based on information and / or instructions generated by navigation system 118).

[0072] Navigation system 118 can provide navigation for the surgeon, surgical robot, and / or imaging equipment 112 (such as an O-arm) during surgery. Navigation system 118 can be any navigation system currently known or developed in the future, including, for example, Medtronic StealthStation. TM The S8 surgical navigation system or any subsequent system thereof. Navigation system 118 may include one or more cameras or (multiple) other sensors for tracking one or more reference markers, navigation trackers, or other objects within the operating room or other rooms where part or all of system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, navigation system 118 may include one or more electromagnetic sensors. In various embodiments, navigation system 118 may be used to track the position and orientation (i.e., attitude) of imaging device 112, robot 114 and / or robotic arm 116, and / or one or more surgical instruments (or more specifically, to track the attitude of navigation trackers directly or indirectly attached in a fixed relationship to one or more of the foregoing). Navigation system 118 may include a display for displaying one or more images from an external source (e.g., computing device 102, imaging device 112, or other sources), or for displaying images and / or video streams from one or more cameras or other sensors of navigation system 118. The navigation system 118 can be configured to provide guidance to the surgeon or other users of the system 100 or its components, to the robot 114 or any other element of the system 100, regarding, for example, the posture of one or more anatomical elements, whether the tool is in the appropriate trajectory, and / or how to move the tool into the appropriate trajectory to perform the surgical task according to the preoperative or other surgical plan.

[0073] Database 130 may store information relating one coordinate system to another (e.g., one or more robot coordinate systems to a patient coordinate system and / or a navigation coordinate system). Database 130 may additionally or alternatively store, for example: one or more surgical plans (including, for example, pose information about the target, and / or image information about patient anatomy at and / or near the surgical site, for use by the robot 114, navigation system 118, and / or computing device 102 or system 100); one or more images that may be used in relation to a surgery to be performed by or with the assistance of one or more other components of system 100; and / or any other useful information. Database 130 may be configured to provide any such information directly or via cloud 134 to computing device 102, or to any other device of or outside system 100. In some embodiments, database 130 may be or include part of a hospital image storage system, such as a Picture Archiving and Communication System (PACS), a Health Information System (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0074] Cloud 134 can be or represents the Internet or any other wide area network. Computing device 102 can connect to cloud 134 via communication interface 108 using a wired connection, a wireless connection, or both. In some embodiments, computing device 102 can communicate with database 130 and / or external devices (e.g., computing devices) via cloud 134.

[0075] System 100 or a similar system may be used, for example, to implement one or more aspects of any of the methods described herein, 400 and / or 500. System 100 or a similar system may also be used for other purposes.

[0076] Go to Figures 2A to 2E This illustrates aspects of a system 100 according to at least one embodiment of the present disclosure. Figure 2A A stereotactic frame 204 attached to the patient 208 is depicted. The stereotactic frame 204 includes a stereotactic frame base ring 212 and a locator 216.

[0077] In some embodiments, reference may be made to dimensions, angles, orientations, relative positions, and / or movements associated with one or more components of system 100 relative to coordinate system 202. As shown in the figures, coordinate system 202 comprises three dimensions, namely the X-axis, Y-axis, and Z-axis. Alternatively or additionally, when describing system 100, coordinate system 202 may be used to define planes (e.g., the XY plane, XZ plane, and YZ plane). These planes may be orthogonal to each other or positioned at 90 degrees. While the origin of coordinate system 202 may be placed at or near any point on or near any one or more components of system 100, for descriptive purposes, the axes of coordinate system 202 are positioned in the same direction in each figure. Alternatively or additionally, the orientation of the X-axis, Y-axis, and Z-axis may be reversed, as indicated by negative orientation (i.e., the negative X-axis direction is the opposite direction of the X-axis direction shown by the direction of the associated arrow).

[0078] The stereotactic frame base ring 212 (also referred to herein as "frame base ring 212" or "base ring 212") can provide a support structure for the locator 216 and, more generally, for other components of the stereotactic frame 204. The base ring 212 can be securely attached to the patient 208 such that the base ring 212 maintains a fixed posture relative to the patient 208. For example, the base ring 212 may include slots, clamps, etc., attached to the shoulder, neck, and / or head of the patient 208 to secure the base ring 212 relative to the patient 208. In one example, the base ring 212 may include three or four pointed screws / pins that are pressed into the skull of the patient 208 to attach the base ring 212 to the patient 208. Typically, the base ring 212 is attached to the operating table for stability. In such an embodiment, the patient 208 can be positioned on an operating table, and the base ring 212 can be fixed to the operating table and / or the head of the patient 208, such that the base ring 212 is fixed relative to the patient 208 or more specifically relative to the head of the patient 208.

[0079] The base ring 212 includes navigation markers 218 that can be tracked by the navigation system 118. Navigation markers 218 may be or include, for example, radiopaque markers detectable in images captured by the imaging device 112. Navigation markers 218 may be mounted on or otherwise attached to the base ring 212, or alternatively, may be positioned in a predetermined orientation relative to the base ring 212 (e.g., attached to an operating table or other link to the operating table). Navigation markers 218 can maintain this predetermined orientation relative to the base ring 212 throughout the surgery or surgical procedure. The use of navigation markers 218 enables registration of the operating table with the base ring 212, allowing the operating table to be moved after imaging by the imaging device 112. In some instances, the geometry of the navigation markers 218 allows the navigation system 118 to track the base ring 212 with up to six degrees of freedom.

[0080] Positioner 216 includes rods 216A-216B that can be connected to and detached from base ring 212, and these rods can be used to determine the orientation of stereotactic frame 204. Navigation system 118 can use the orientation of stereotactic frame 204 to navigate one or more surgical instruments, imaging devices, or other instruments relative to stereotactic frame 204. In one example, positioner 216 includes a first rod 216A and a second rod 216B. It should be understood that although two rods are depicted and discussed herein, additional rods can be used. For example, positioner 216 may include three or four rod planes positioned around the head of patient 208. Navigation system 118 may be able to identify these rods in image data generated by imaging device 112 (e.g., the rods are represented as circles or ellipses around the patient's head in the generated images). Navigation system 118 may then be able to use the identified rods and the known geometry of positioner 216 relative to base ring 212 to define one or more coordinate systems, as discussed in further detail below.

[0081] Positioner 216 can be attached to base ring 212 in a predetermined and / or known orientation. For example, base ring 212 may have openings (e.g., orifices, slots, etc.) into which positioner 216 can be inserted. In this example, rods 216A-216B surround the head of patient 208. One or more portions of positioner 216 may be radiopaque (e.g., rods 216A-216B) such that depiction of positioner 216 appears and is identifiable in one or more types of surgical images (e.g., CT images, fluoroscopic images, etc.).

[0082] Positioner 216 enables navigation system 118 to determine the orientation of base ring 212 based on the geometry of rods 216A-216B, and more generally, the orientation of stereotactic frame 204. The orientation can be based on the determined orientation of rods 216A-216B relative to base ring 212 and a predetermined or known orientation of positioner 216 relative to base ring 212. Navigation system 118 can then determine a coordinate system relative to base ring 212. For example, imaging device 112 can capture one or more images or volumetric scans (e.g., CT scans, MRI scans, etc.) of patient 208 and positioner 216. In some embodiments, computing device 102 can then use segmentation 122 to identify first rod 216A and second rod 216B in images (which may be or include O-arm images, CT images, MRI images, etc.), and can use one or more transformations 124 to transform different views of first rod 216A and second rod 216B to a common reference frame. The computing device 102 can then use registration 128 to register the coordinates associated with the first link 216A and / or the second link 216B to the coordinate system associated with the base ring 212. In some cases, the coordinate system associated with the base ring 212 may be or include a global coordinate system (e.g., a coordinate system shared by all other surgical instruments, imaging devices, and other components in the operating space). The computing device 102 can also use registration 128 to register the navigation mark 218 to the coordinate system associated with the base ring 212 based on a predetermined or known orientation of the navigation mark 218 relative to the base ring 212.

[0083] Once the coordinates associated with locator 216 have been determined, navigation system 118 can register the coordinates associated with locator 216 to the coordinate system associated with base ring 212 based on the expected geometry of locator 216. In some embodiments, navigation system 118 may use computing device 102 to register the coordinates associated with locator 216 to the coordinate system associated with base ring 212. In some cases, computing device 102 may further use registration 128 to incorporate additional scans and / or images (e.g., scans and / or images used in planning the target or trajectory of surgical implants, scans and / or images stored in database 130, etc.) into the image captured by imaging device 112, thereby enabling the operator to view the scans and / or images in the coordinate system associated with base ring 212.

[0084] Once the imaging device 112 captures an image depicting the locator 216, the locator 216 can be disconnected from the base ring 212, and other components can be attached to the stereotactic frame 204. For example... Figure 2B and Figure 2CAs depicted, the locator 216 can be removed, and a set of arcuate elements 220 can be attached to or connected to the base ring 212. This set of arcuate elements 220 includes frame reticles 224A-224B, tooling device 228, and arcuate element 232. In some cases, the frame reticles 224A-224B, tooling device 228, and arcuate element 232 can be an integrated device that can be connected to the base ring 212, allowing the user to align the surgical instruments along a trajectory leading to the target implantation site within the patient 208 and then advance the surgical implant to the target implantation site.

[0085] Tool device 228 may include one or more surgical instruments or other components capable of performing one or more tasks associated with a surgery or surgical procedure, and a mounting mechanism for mechanically connecting the one or more surgical instruments to arcuate member 232. For example, tool device 228 may have a mounting device designed to allow surgical instrument 236 (e.g., a surgical drill) to be mounted thereon and moved relative to patient 208. Surgical instrument 236 may perform one or more surgical tasks associated with a surgery or surgical procedure, such as drilling, implantation, etc. In another example, tool device 228 may be aligned with a trajectory leading to a target surgical site and may allow a user to advance a surgical implant (e.g., an electrode) along the trajectory of tool device 228 to the target implantation location. Tool device 228 may be movable along arcuate member 232 to position surgical instrument 236 relative to patient 208. In some embodiments, the arcuate member 232 may be movable relative to the base ring 212 and / or relative to the patient 208, and / or the tool device 228 may be movable along another arcuate member mounted to the stereotactic frame 204, such that the tool device 228 can be manipulated throughout the entire 3D space surrounding the target surgical site. For example, the arcuate member 232 may be movable vertically (e.g., in the Z-axis or negative Z-axis direction of coordinate system 202), horizontally (e.g., in the X-axis or negative X-axis direction), or pivot relative to the base ring 212 (e.g., pivot about the X-axis of coordinate system 202), etc., to align the tool device 228 relative to the target surgical site. In some embodiments, the tool device 228 may allow multiple different surgical instruments to be connected to the tool device 228, enabling the connection and use of different surgical instruments at various steps of the surgery or surgical procedure. In one embodiment, the surgical instrument 236 may implant the surgical implant 240 into the target surgical site of the patient 208.

[0086] Frame reticles 224A-224B may be or include components connected to the stereotactic frame 204, providing a reference structure to enable imaging of the surgical site. Frame reticles 224A-224B include a first frame reticle 224A and a second frame reticle 224B, each frame reticle being positioned on either side of the set of arcuate elements 220. Figures 2B to 2C As shown, the first frame reticle 224A can be positioned on the right side of the patient 208, while the second frame reticle 224B can be positioned on the left side of the patient 208, such that the first frame reticle 224A and the second frame reticle 224B are in predetermined and known positions relative to the set of arcuate members 220. It should be understood that the frame reticles 224A-224B can be positioned at locations different from those shown.

[0087] The first frame reticle 224A and the second frame reticle 224B can be adjusted relative to the base ring 212 or other components of the stereotactic frame 204 (e.g., the frame reticles 224A-224B can each rotate in the YZ plane, the frame reticles 224A-224B can move in a circle around the patient 208 in the XY plane, etc.). The frame reticles 224A-224B move with the set of arcuate elements 220 such that the first frame reticle 224A and the second frame reticle 224B are in known positions relative to other components of the set of arcuate elements 220. The frame reticles 224A-224B can be positioned based on the type of surgery or surgical procedure performed on the patient 208. For example, the surgery or surgical procedure may include implanting electrodes into the cranial tissue of the patient 208. The surgery or surgical procedure may (e.g., via surgical planning) specify the desired positioning of the electrodes. Based on the desired location, the frame reticles 224A-224B can be positioned such that cranial tissue is placed between the first frame reticle 224A and the second frame reticle 224B. Due to the positioning of the first frame reticle 224A and the second frame reticle 224B relative to the cranial tissue, the electrode will be positioned between the first frame reticle 224A and the second frame reticle 224B during implantation. In some embodiments, a single frame reticle may be used, for example, when the navigation system 118 controls the robotic positioning of the imaging device 112 to align with a single frame reticle. Alternatively or alternatively, a virtual frame reticle (e.g., a frame reticle presented to the user interface 110) may be used. In other words, the computing device 102 may calculate the alignment of the imaging device 112 based on virtual components (such as a virtual frame reticle) and may move the imaging device 112 to the alignment position.

[0088] The first frame reticle 224A includes a first reticle 244, and the second frame reticle 224B includes a second reticle 248. Since the first frame reticle 224A and the second frame reticle 224B are mechanically configured to be aligned with each other, the first reticle 244 and the second reticle 248 may each include a center 252 with crosshairs that, once the tooling device 228 is used to implant the surgical implant 240, specify the desired location of the surgical implant 240 (e.g., an electrode). Therefore, when the imaging device 112 is aligned with both the first reticle 244 and the second reticle 248, the image captured by the imaging device 112 will depict the nearest frame reticle (e.g., the first frame reticle 224A or the second frame reticle 224B), the surgical implant 240, and the center 252. When the depiction of the surgical implant 240 is aligned with the crosshairs of the first frame reticle 224A and the second frame reticle 224B, the surgical implant 240 is considered to have been correctly implanted in the surgical site. In other words, when the imaging device 112 is aligned with the first reticle 244 and the second reticle 248, a virtual path 256 can exist between the first reticle 244 and the second reticle 248. When the surgical implant 240 is implanted, if the surgical implant 240 falls within the virtual path 256, the surgical implant 240 is considered to have been correctly positioned.

[0089] Figure 2D and Figure 2E Aspects of frame reticles 224A-224B according to at least one embodiment of this disclosure are shown. Figure 2D Images captured by imaging device 112 when the first reticle 244 and the second reticle 248 are misaligned are depicted. For example, imaging device 112 may be positioned to capture the first frame reticle 224A, but not yet positioned such that the first frame reticle 224A is aligned with the second frame reticle 224B. Therefore, the resulting image may depict the crosshairs of the second frame reticle 224B as not overlapping with the crosshairs of the first frame reticle 224A. The resulting offset may depict the surgical implant 240 as off-center 252, which may incorrectly indicate that the surgical implant 240 is not properly positioned. However, as... Figure 2E As seen, when the first frame reticle 224A and the second frame reticle 224B are aligned from the viewpoint of the imaging device 112 capturing the image, the captured image can depict the first reticle 244 and the second reticle 248 as aligned. Therefore, the center 252 can accurately depict the desired surgical location of the surgical implant 240. Figure 2E As shown, the surgical implant 240 falls into the center 252, indicating that the surgical implant 240 has been correctly implanted into the surgical site.

[0090] Figures 3A to 3BAn imaging device 112 according to an embodiment of this disclosure is shown moving relative to a patient 208. (As shown) Figure 3A As shown, patient 208 can be positioned on operating table 304, wherein stereotactic frame 204 is attached to both patient 208 and operating table 304.

[0091] The operating table 304 can be any operating table 304 configured to support the patient 208 during a surgical procedure. The operating table 304 may include any attachments mounted to or otherwise coupled to the operating table 304, such as bed rails, bed rail adapters, armrests, extenders, etc. In some embodiments, a stereotactic frame 204 may be mounted to the operating table 304. The operating table 304 may be stationary or operable for manipulating the patient 208 (e.g., the operating table 304 may be movable). When the operating table 304 is operable for manipulating the patient 208, a base ring 212 is attached to the operating table 304. In some embodiments, the operating table 304 has two positioning degrees of freedom and one rotational degree of freedom, which allows specific anatomical structures of the patient to be positioned anywhere in space (within a volume defined by the movement restrictions of the operating table 304). For example, the operating table 304 may slide forward and backward and from side to side (e.g., translate in the X and Z axes), and may tilt (e.g., about the X axis) and / or roll (e.g., about the Z axis). In other embodiments, the operating table 304 may be bent in one or more regions (this bending may be possible, for example, by using a flexible surface or by physically separating one part of the operating table 304 from another part and moving both parts independently). In at least some embodiments, the operating table 304 may be manually moved or manipulated, for example, by a surgeon or other user, or the operating table 304 may include one or more motors, actuators, and / or other mechanisms configured to enable movement and / or manipulation of the operating table 304 by a processor (such as processor 104).

[0092] Imaging device 112 may be movable in 3D space relative to patient 208 and operating table 304 in one or more directions and angles. In one embodiment, imaging device 112 may translate in the X, Y, and Z axis directions and rotate in the YZ, XZ, and XY planes. In such an embodiment, imaging device 112 may include an O-arm or a C-arm. Imaging device 112 may be moved or moved by a surgeon or other user (e.g., a member of the surgical staff) relative to patient 208 and / or operating table 304. In some embodiments, navigation system 118 may move imaging device 112 based on registration determined according to locator 216 of stereotactic frame 204. For example, navigation system 118 may receive instructions from computing device 102 to capture one or more images of patient 208 and stereotactic frame 204, which may include locator 216. Then, as described above, the computing device 102 can use segmentation 122, transformation 124, and registration 128 to determine the position of the locator 216, and determine the position of the base ring 212 based on the predetermined orientation of the locator 216 relative to the base ring 212. Additionally, the computing device 102 can use segmentation 122, transformation 124, and registration 128 to determine the orientation of the navigation marker 218 and the imaging device 112 relative to the base ring 212. In other words, the coordinates associated with the locator 216, navigation marker 218, and imaging device 112 can be mapped to a coordinate system associated with the base ring 212, thereby effectively registering the imaging device 112 to the stereotactic frame 204. Registration allows the imaging device 112 to move away from the surgical site (e.g., when the locator 216 is removed from the base ring 212 and the set of arcuate elements 220 is attached to the base ring 212) and be reintroduced to the surgical site without losing registration.

[0093] Once the locator 216 is imaged, it can be removed from the stereoscopic frame 204, and a set of arcuate elements 220 can be attached to the stereoscopic frame 204. Due to the known position of the set of arcuate elements 220 relative to the base ring 212, the navigation system 118 can use the computing device 102 or components thereof (such as the processor 104) to determine the attitude of the set of arcuate elements 220 relative to the imaging device 112.

[0094] Once the set of arcuate elements 220 is connected to the base ring 212, a user (e.g., a surgeon, a member of the surgical staff, etc.) can specify the target location and trajectory of the surgical implant (e.g., surgical implant 240). In some embodiments, the target location and / or trajectory can be based on information obtained from a surgical plan stored in a database 130, etc. Based on the user specification, the computing device 102 determines the coordinates of the set of arcuate elements 220 to perform the surgical implantation procedure. In other words, the computing device 102 can determine the setting of the set of arcuate elements 220 to align the frame guide tube of the tool device 228 with the planned trajectory, such that the surgical implant reaches the desired implantation location as it advances via the tool device 228. The computing device 102 can then present this setting to the user interface 110, allowing the user to adjust the set of arcuate elements 220 and perform the implantation procedure.

[0095] Once the surgical implant is delivered to the desired location, the user may wish to confirm its position. Navigation system 118 can receive input from the user for image capture to confirm the implant's position. This input can be received from the user (e.g., a member of the surgical staff) via user interface 110. Imaging device 112 can be reintroduced to the surgical site (e.g., positioned relative to patient 208), where navigation system 118 tracks the position of imaging device 112 (e.g., based on a navigation tracker mounted on imaging device 112). Navigation system 118 can then determine the orientation of imaging device 112 relative to base ring 212. In some embodiments, navigation system 118 can provide information about the position of imaging device 112 relative to the set of arcuate elements 220 (e.g., based on registration of imaging device 112 to base ring 212 and the known position of the set of arcuate elements 220 relative to base ring 212) and possible movements of imaging device 112 to bring it closer to alignment with the set of arcuate elements 220.

[0096] Once the navigation system 118 receives input for capturing a confirmation image and the imaging device 112 is within a threshold distance from the set of arcuate elements 220 (based on a threshold stored, for example, in the database 130), the navigation system 118 can move the imaging device 112 to a viewing position. The viewing position may include a location where the imaging device 112 is aligned with both the frame reticles 224A-224B, such that the image captured by the imaging device 112 depicts two centers 252 of the frame reticles 224A-224B sharing the same space (e.g., the crosshairs of the first frame reticle 224A are aligned with the crosshairs of the second frame reticle 224B). The viewing position may also depict the surgical implant 240 relative to the centers 252. If the surgical implant 240 has been implanted according to the surgical plan, the image captured at the viewing position will depict the surgical implant 240 aligned with the centers 252, thereby allowing the surgeon or other user to confirm that the surgical implant 240 has been correctly implanted.

[0097] like Figure 3B As shown, the imaging device 112 can move from a first pose 308A to a second pose 308B when moved to a viewing position. The movement of the imaging device 112 from the first pose 308A to the second pose 308B may include moving the imaging device 112 in one or more directions in 3D space and / or rotating it about one or more axes in 3D space. In some embodiments, the imaging device 112 may include an emitter and a detector, and the movement from the first pose 308A to the second pose 308B may include moving the emitter in 3D space and moving the detector to a complementary pose, such that radiation emitted by the emitter is captured and detected by the detector.

[0098] In some embodiments, the movement of the imaging device 112 can be controlled by user input. For example, the imaging device 112 may include a manual override (e.g., a "stop switch") that automatically stops the movement of the imaging device 112 based on user input. In one example, the override may require the user to press and hold a button or switch to enable the imaging device 112 to move, and the imaging device 112 may stop when the user releases the button or switch. User input may be received from, for example, user interface 110. The user may provide this input when the user believes that the movement of the imaging device 112 from a first pose 308A to a second pose 308B poses a possibility of collision, or for any other reason. In some embodiments, the first pose 308A of the imaging device 112 may begin to approach the first frame reticle 224A (or more generally, approach the viewing position). For example, the user may manually align the imaging device 112 near the first frame reticle 224A. Therefore, the movement from the first posture 308A to the second posture 308B can be a small movement of the imaging device 112, which can reduce the possibility of the imaging device 112 colliding with the patient 208 or other devices in the surgical environment if the imaging device 112 starts in the default position or at a position far from the stereotactic frame 204.

[0099] In some embodiments, the imaging device 112 may emit a laser that provides visual indication of the isocenter of the imaging device 112, allowing the patient 208 and / or the operating table 304 to be positioned relative to the imaging device 112. In one example, the imaging device 112 may project a laser to indicate the isocenter, and a user (e.g., a member of the surgical staff) may move the imaging device 112 such that the patient 208 is positioned at the isocenter of the imaging device 112. Thus, by ensuring proper alignment of the patient with the imaging device before imaging begins, the laser can beneficially improve the imaging process.

[0100] It should be understood that although the above discussion pertains to driving the imaging device to the viewing position, this disclosure is not limited to driving the imaging device to the viewing position, and other instruments or devices controlled by the navigation system (e.g., surgical instruments, other imaging devices, etc.) may additionally or alternatively be driven to different positions relative to the stereotactic frame 204 based on the determined attitude of the components of the stereotactic frame 204.

[0101] Figure 4 Method 400 is described, which can be used, for example, to align an imaging device with a viewing location to, for example, confirm that the implant has been positioned in the planned location.

[0102] Method 400 (and / or one or more steps thereof) may be implemented, for example, by at least one processor or otherwise performed. The at least one processor may be the same as or similar to the processor(s) 104(s) of the computing device 102 described above. The at least one processor may be part of a robot (e.g., robot 114) or a navigation system (e.g., navigation system 118). Processors other than any processor described herein may also be used to perform method 400. The at least one processor may perform method 400 by executing elements stored in memory (e.g., memory 106). Elements stored in memory and executed by the processor may enable the processor to perform one or more steps of the function shown in method 400. One or more portions of method 400 may be performed by the processor executing any contents of memory (e.g., image processing 120, segmentation 122, transformation 124, and / or registration 128).

[0103] Method 400 includes receiving a plurality of images captured by an imaging device (step 404). The imaging device may be similar to or the same as imaging device 112 (e.g., an O-arm). The plurality of images may be or include 2D and / or 3D images (e.g., CT scans) depicting the patient 208 and / or one or more surgical instruments (e.g., a stereotactic frame 204, etc.). In one embodiment, step 404 may occur after the stereotactic frame 204 (e.g., base ring 212, locator 216, and navigation marker 218) is attached to the patient's head. In some embodiments, the imaging device 112 may be tracked during the capture of the plurality of images (e.g., using a navigation system 118).

[0104] Method 400 further includes identifying a first component of the surgical device depicted in the plurality of images (step 408). In some embodiments, the surgical device may be or include a stereotactic frame 204, and the first component may be or include a locator 216. Method 400 may include using image processing 120 and / or segmentation 122 to identify the first component of the surgical device. In some embodiments, rods 216A-216B may be depicted in each of the plurality of images as being at different positions relative to the imaging device 112. Rods 216A-216B may be attached to the locator 216 in a predetermined orientation (in other words, rods 216A-216B may have predetermined and known geometry), and the locator 216 may be connected to the base ring 212 of the stereotactic frame 204 in a predetermined manner, such that the position of the base ring 212 can be determined based on the identification of rods 216A-216B.

[0105] Method 400 further includes registering the surgical device with the imaging device based on the first component (step 412). Method 400 may include registering coordinates associated with the imaging device 112 to a coordinate system associated with the first component (e.g., base ring 212) using registration 128. In some embodiments, coordinates associated with rods 216A-216B identified in step 408 may be registered in the coordinate system associated with the base ring 212. Then, based on the predetermined positions of rods 216A-216B relative to the base ring 212 and the tracking position of the imaging device 112 when capturing multiple images in step 404, coordinates associated with the imaging device 112 may be registered to the coordinate system associated with the base ring 212.

[0106] Method 400 further includes receiving information associated with a viewing position, wherein the imaging device is aligned with a second component of the surgical device when in the viewing position (step 416). The second component of the surgical device may include one or more of the frame reticles 224A-224B. Alignment of the imaging device with the second component of the surgical device enables the imaging device to capture an image of the surgical implant (e.g., surgical implant 240) after it has been inserted into the target location. The viewing position may be determined by the computing device 102 using the orientation of the tracked imaging device 112 relative to the base ring 212 based on, for example, the registration determined in step 412. In other words, the computing device 102 may use the registration between the imaging device 112 and the base ring 212 and the known positions of the frame reticles 224A-224B relative to the base ring 212 to determine the position of the imaging device 112 to align the imaging device 112 with the frame reticles 224A-224B. When in the viewing position, the imaging device 112 can capture an image depicting the alignment of the first frame reticle 224A and the second frame reticle 224B. This image can inform the surgeon or other user whether the implant is positioned correctly.

[0107] Method 400 further includes determining a movement of the imaging device (step 420) for positioning the imaging device at the viewing location based on a combination of the viewing location and the registration. After determining the viewing location, navigation system 118 can use the registration between stereoscopic frame 204 (or more specifically, base ring 212) and imaging device 112 to determine the coordinates of the first frame reticle 224A and / or the second frame reticle 224B in the coordinate system associated with base ring 212. Navigation system 118 can then determine a movement of imaging device 112 that will move imaging device 112 such that imaging device 112 can capture an image of the target location (e.g., an image depicting the crosshairs of the first frame reticle 224A aligned with the crosshairs of the second frame reticle 224B). In some embodiments, navigation system 118 can use knowledge of the positions of the joints of imaging device 112 and / or the range of motion of imaging device 112 to determine the movement for positioning imaging device 112 at the viewing location. Method 400 may use one or more transformations 124 to determine the path along which the imaging device 112 can move to avoid collision with the patient and to position the imaging device 112 at the viewing location.

[0108] Method 400 further includes causing the imaging device to perform a movement to the viewing location (step 424). Once the path of the imaging device 112 is determined, the navigation system 118 can navigate the imaging device 112 to the viewing location. Navigation may include sending commands to the imaging device 112 to drive the translational and / or rotational joints of the imaging device 112 to align the imaging device 112 with the viewing location. In some embodiments, the movement of the imaging device 112 may occur automatically, while in other embodiments, the movement of the imaging device 112 may occur after a user (e.g., a physician, member of the surgical staff, etc.) has entered a movement command into the system, for example, via user interface 110. User input may occur in one or more user-initiated steps (e.g., dividing the navigation path into multiple sub-movements, where user input is required at each sub-movement before the imaging device 112 moves) to reduce the likelihood of collisions. In some embodiments, the imaging device 112 may be equipped with a manual override (e.g., a "stop switch") that allows a user (e.g., a physician, member of the surgical staff, etc.) to stop the movement of the imaging device 112. Manual over-control can improve safety by reducing the risk of accidental collisions between the imaging device 112 and the patient and / or other surgical elements in the surgical environment.

[0109] Method 400 further includes causing the imaging device to capture at least one image when in the viewing position (step 428). Once the imaging device 112 is positioned in the viewing position, it can capture one or more images at the viewing position. When in the viewing position, the one or more images can depict the frame reticles 224A-224B aligned with each other, which allows a user to determine whether the surgical implant 240 is positioned correctly. In some embodiments, the one or more images may include a side view of the patient depicting at least one of the frame reticles 224A-224B and / or the surgical implant 240. Based on the position of the surgical implant 240 relative to the center 252 of the frame reticles 224A-224B, the user or computing device 102 (e.g., using image processing 120 and segmentation 122) can determine whether the surgical implant 240 has been correctly implanted.

[0110] This disclosure covers embodiments of method 400 that include one or more steps that are more or fewer than those described above and / or different from those described above.

[0111] Figure 5 Method 500 is described, which can be used, for example, to register coordinates associated with a surgical device to a coordinate system associated with the surgical device. In some embodiments, method 500 may correspond to one or more sub-steps of step 412 of method 400.

[0112] Method 500 (and / or one or more steps thereof) may be implemented, for example, by at least one processor or otherwise performed. At least one processor may be the same as or similar to the processor(s) 104(s) of the computing device 102 described above. At least one processor may be part of a robot (e.g., robot 114) or a navigation system (e.g., navigation system 118). Processors other than any processor described herein may also be used to perform method 500. At least one processor may perform method 500 by executing elements stored in memory (e.g., memory 106). Elements stored in memory and executed by the processor may enable the processor to perform one or more steps of the function shown in method 500. One or more portions of method 500 may be performed by the processor executing any contents of memory (e.g., image processing 120, segmentation 122, transformation 124, and / or registration 128).

[0113] Method 500 includes determining a set of coordinates associated with a first component in a first coordinate system (step 504). The first component may include one or more of rods 216A-216B, and the first coordinate system may be or include a coordinate system associated with the stereoscopic frame 204 (or more specifically, the base ring 212) to which the rods 216A-216B are attached. In some embodiments, step 504 may follow step 408 of method 400, in which multiple images depicting the rods 216A-216B are captured. Computing device 102 uses segmentation 122 to identify the rods 216A-216B and uses transformation 124 to transform the depiction of the rods 216A-216B to a common reference system. The computing device 102 can then assign coordinates to the rods 216A-216B in the first coordinate system.

[0114] Method 500 further includes determining coordinates associated with the surgical device in a first coordinate system based on the set of coordinates and a predetermined orientation of the first component relative to the surgical device (step 508). The surgical device may be or includes a stereotactic frame 204 to which the rods 216A-216B are attached. The computing device 102 may use registration 128 and the known positions of other components of the stereotactic frame 204 (such as the base ring 212) relative to the rods 216A-216B to map the coordinates of the stereotactic frame 204 to the first coordinate system.

[0115] Method 500 further includes transforming the coordinates associated with the imaging device in the second coordinate system to the first coordinate system (step 512). Continuing from step 508, computing device 102 can determine the coordinates of imaging device 112 in the second coordinate system. In some embodiments, the second coordinate system may be the coordinate system of imaging device 112, while in other embodiments, the second coordinate system may be or include a global coordinate system. When imaging device 112 generates multiple images, navigation system 118 can track the attitude of imaging device 112 in the second coordinate system. Computing device 102 can use the attitude of imaging device 112 and the resulting images of rods 216A-216B to determine the position mapping between imaging device 112 and rods 216A-216B. Since computing device 102 knows the coordinates of rods 216A-216B and stereoscopic frame 204 or its components (e.g., base ring 212) in the first coordinate system, computing device 102 can then use registration 128 to transform the coordinates associated with imaging device 112 to the first coordinate system associated with base ring 212. In some embodiments, method 500 may continue by proceeding to step 416 of method 400.

[0116] This disclosure covers embodiments of method 500 that include one or more steps that are more or fewer than those described above and / or different from those described above.

[0117] As stated above, this disclosure covers companies with fewer than Figure 4 and Figure 5 (and the corresponding descriptions of methods 400 and 500) all steps identified in the methods, and including those other than Figure 4 and Figure 5 Methods that include additional steps beyond those identified in (and the corresponding descriptions of methods 400 and 500). This disclosure also covers methods that include one or more steps from one method described herein and one or more steps from another method described herein. Any relevance described herein may be or includes registration or any other relevance.

[0118] The foregoing is not intended to limit this disclosure to one or more of the forms disclosed herein. For example, in the foregoing specific embodiments, various features of this disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of fluent expression. Features of aspects, embodiments, and / or configurations of this disclosure may be combined in alternative aspects, embodiments, and / or configurations other than those discussed above. The method of this disclosure is not to be construed as reflecting an intention that the claims would require more features than expressly stated in each claim. Rather, as reflected in the claims, the inventive aspect possesses fewer features than all the features possessed by a single foregoing disclosure aspect, embodiment, and / or configuration. Therefore, the claims are thus incorporated into the specific embodiments, wherein each claim itself may serve as a separate preferred embodiment of this disclosure.

[0119] Furthermore, while the foregoing has included descriptions of one or more aspects, embodiments, and / or configurations, as well as certain variations and modifications, other variations, combinations, and modifications are also within the scope of this disclosure, for example, those that, upon understanding this disclosure, would be within the skill and knowledge of someone skilled in the art. The foregoing is intended to obtain rights to alternative aspects, embodiments, and / or configurations, including those within the permitted scope (including alternative, interchangeable, and / or equivalent structures, functions, scopes, or steps of those claimed) (whether such alternative, interchangeable, and / or equivalent structures, functions, scopes, or steps are disclosed herein), and is not intended to publicly offer any patentable subject matter.

[0120] Example 1. A system comprising: Processor; and A memory storing data that, when processed by the processor, enables the processor to perform the following operations: Receive multiple images captured by an imaging device; Identify the first component of the surgical device depicted in the plurality of images; The surgical equipment and the imaging equipment are registered based on the first component; Receive information associated with a viewing position, wherein the imaging device is aligned with a second component of the surgical device when in the viewing position; and The movement of the imaging device for positioning the imaging device at the viewing position is determined based on a combination of the viewing position and the registration.

[0121] Example 2. The system as described in Example 1, wherein the imaging device includes an O-arm or a C-arm.

[0122] Example 3. The system as described in Example 1, wherein the data further enables the processor to perform the following operations: The imaging device is moved to the viewing position; and The imaging device captures at least one image when it is in the viewing position.

[0123] Example 4. The system as described in Example 3, wherein the at least one image comprises an image of a patient's side view, the image depicting at least one of the second component and the surgical implant.

[0124] Example 5. The system as described in Example 4, wherein the second component is a virtual component.

[0125] Example 6. The system as described in Example 1, wherein the surgical device includes a stereotactic frame, and wherein the first component includes a locator capable of being connected to a base ring of the stereotactic frame.

[0126] Example 7. The system as described in Example 6, wherein the second component includes a plurality of reticles attached to a set of arcuate members capable of being connected to a base ring of the stereoscopic frame.

[0127] Example 8. The system as described in Example 7, wherein after the plurality of images are captured, the locator is disconnected from the stereoscopic frame, and wherein the set of arcuate members is connected to the base ring before the imaging device is driven to perform the movement.

[0128] Example 9. The system as described in Example 1, wherein the registration further includes:

[0129] The coordinates associated with the imaging device are transformed to the coordinate system associated with the surgical device.

[0130] Example 10. A method comprising:

[0131] Identifying the first component of the surgical device based on multiple images captured by an imaging device; The surgical device and the imaging device are registered at least in part based on the first component; Calculate the viewing position, wherein the imaging device is aligned with the second component of the surgical device when it is in the viewing position; Based on a combination of the viewing position and the registration, a movement of the imaging device is determined for positioning the imaging device at the viewing position; and The imaging device performs the movement.

[0132] Example 11. The method as described in Example 10 further includes: The imaging device captures at least one image when it is in the viewing position.

[0133] Example 12. The method as described in Example 11, wherein the at least one image comprises an image of a side view of the patient, the image depicting at least one of the second component and the surgical implant.

[0134] Example 13. The method as described in Example 11, wherein the second component is a virtual component.

[0135] Example 14. The method as described in Example 10, wherein the surgical device includes a stereotactic frame, and wherein the first component includes a locator capable of being connected to the stereotactic frame.

[0136] Example 15. The method as described in Example 14, wherein the second component includes a reticle attached to a set of arcuate members capable of being connected to the stereoscopic frame.

[0137] Example 16. The method as described in Example 15, wherein after the plurality of images are captured, the locator is disconnected from the stereoscopic frame, and wherein the set of arcuate elements is connected to the stereoscopic frame before the imaging device performs the movement.

[0138] Example 17. The method as described in Example 10, wherein the registration further comprises: The coordinates associated with the imaging device in the first coordinate system are transformed to the second coordinate system associated with the surgical device.

[0139] Example 18. The method as described in Example 17, wherein the transformation further comprises: Determine a set of coordinates in the first coordinate system associated with the first component; and The coordinates associated with the surgical device in the first coordinate system are determined based on the set coordinates and the predetermined orientation of the first component relative to the surgical device.

[0140] Example 19. A system comprising: Imaging equipment; Processor; and A memory storing data that, when processed by the processor, enables the processor to perform the following operations: Identify a first component of the surgical device depicted in a plurality of images captured by the imaging device; The surgical equipment and the imaging equipment are registered based on the first component; Receive information associated with a viewing position, wherein the imaging device is aligned with a second component of the surgical device when it is in the viewing position; Based on a combination of the viewing position and the registration, a movement of the imaging device is determined for positioning the imaging device at the viewing position; and The imaging device performs the movement.

[0141] Example 20. The system as described in Example 19, wherein the registration further includes: The coordinates associated with the imaging device are transformed to the coordinate system associated with the surgical device.

[0142] Example 21. The system as described in Example 19, wherein the imaging device captures at least one image when in the viewing position, and wherein the at least one image includes an image of a side view of the patient, the image depicting at least one of the second component and the surgical implant.

[0143] Example 22. The system as described in Example 21, wherein the second component is a virtual component.

[0144] Example 23. The system as described in Example 19, wherein the surgical device includes a stereotactic frame, wherein the first component includes a locator connectable to the stereotactic frame, and wherein the second component includes a reticle connected to a set of arcuate elements connectable to the stereotactic frame.

[0145] Example 24. A system (100) comprising: Processor (104); and A memory (106) stores data that, when processed by the processor (104), enables the processor (104) to perform the following operations: Receive multiple images captured by the imaging device (112); Identify the first component of the surgical device depicted in the plurality of images; The surgical device and the imaging device (112) are registered based on the first component. Receive information associated with the viewing position, wherein the imaging device (112) is aligned with a second component of the surgical device when in the viewing position; and The movement of the imaging device (112) for positioning the imaging device (112) at the viewing position is determined based on the combination of the viewing position and the registration.

[0146] Example 25. The system according to Example 24, wherein the imaging device (112) includes an O-arm or a C-arm.

[0147] Example 26. The system according to Example 24 or 25, wherein the data further enables the processor (104) to perform the following operations: The imaging device (112) is moved to the viewing position; and The imaging device (112) captures at least one image when it is in the viewing position.

[0148] Example 27. The system according to Example 26, wherein the at least one image includes an image of a side view of a patient (208) depicting at least one of the second component and the surgical implant (240).

[0149] Example 28. The system according to any one of Examples 24 to 27, wherein the surgical device includes a stereotactic frame (204), and wherein the first component includes a locator (216) capable of being connected to a base ring (212) of the stereotactic frame (204).

[0150] Example 29. The system according to Example 28, wherein the second component includes a plurality of reticles (224A, 224B) attached to a set of arcuate members (220) capable of being connected to a base ring (212) of the stereoscopic frame (204).

[0151] Example 30. The system according to Example 29, wherein after the plurality of images are captured, the locator (216) is disconnected from the stereoscopic frame (204), and wherein the set of arcuate elements (220) is connected to the base ring (212) before the imaging device (112) is driven to perform the movement.

[0152] Example 31. The system according to any one of Examples 24 to 30, wherein the registration further comprises: The coordinates associated with the imaging device (112) are transformed into the coordinate system associated with the surgical device.

[0153] Example 32. A method comprising: The first component of the surgical device is identified based on multiple images captured by the imaging device (112); The surgical device and the imaging device (112) are registered at least in part based on the first component. Calculate the viewing position, wherein the imaging device (112) is aligned with the second component of the surgical device when it is in the viewing position; The movement of the imaging device (112) for positioning the imaging device (112) at the viewing position is determined based on the combination of the viewing position and the registration; and The imaging device (112) performs the movement.

[0154] Example 33. The method described in Example 32 further includes: The imaging device (112) captures at least one image when it is in the viewing position.

[0155] Example 34. The method according to Example 33, wherein the at least one image includes an image of a side view of a patient (208) depicting at least one of the second component and the surgical implant (240).

[0156] Example 35. The method according to any one of Examples 32 to 34, wherein the surgical device includes a stereotactic frame (204), and wherein the first component includes a locator (216) capable of being connected to the stereotactic frame (204).

[0157] Example 36. The method according to Example 35, wherein the second component includes a reticle (224A) attached to a set of arcuate members (220) capable of being connected to the stereoscopic frame (204).

[0158] Example 37. The method according to Example 36, wherein after the plurality of images are captured, the locator (216) is disconnected from the stereoscopic frame (204), and wherein the set of arcuate elements (220) is connected to the stereoscopic frame (204) before the imaging device (112) performs the movement.

[0159] Example 38. A system (100) comprising: Imaging equipment (112); Processor (104); and A memory (106) stores data that, when processed by the processor (104), enables the processor (104) to perform the following operations: Identify the first component of the surgical device depicted in a plurality of images captured by the imaging device (112); The surgical device and the imaging device (112) are registered based on the first component. Receive information associated with the viewing position, wherein the imaging device (112) is aligned with a second component of the surgical device when in the viewing position; The movement of the imaging device (112) for positioning the imaging device (112) at the viewing position is determined based on the combination of the viewing position and the registration; and The imaging device (112) performs the movement.

Claims

1. A system (100), comprising: a processor (104); and a memory (106) having data stored thereon that, when processed by the processor (104), enables the processor (104) to: receive a plurality of images captured with an imaging device (112); identify a first component of a surgical device depicted in the plurality of images; register the surgical device and the imaging device (112) based on the first component; receive information associated with a viewing position, wherein the imaging device (112) is aligned with a second component of the surgical device when in the viewing position; and determine a movement of the imaging device (112) for positioning the imaging device (112) at the viewing position based on a combination of the viewing position and the registration. The imaging device (112) comprises an O-arm or a C-arm.

2. The system of claim 1, wherein, The data further enables the processor (104) to:

3. The system of claim 1 or 2, wherein, cause the imaging device (112) to perform the movement to the viewing position; and cause the imaging device (112) to capture at least one image when in the viewing position. The at least one image comprises an image of a lateral view of a patient (208) that depicts at least one of the second component and a surgical implant (240).

4. The system of claim 3, wherein, The surgical device comprises a stereotactic frame (204), and wherein the first component comprises a localizer (216) that is connectable to a base ring (212) of the stereotactic frame (204).

5. The system of any one of claims 1 to 4, wherein, The second component comprises a plurality of arcuates (220) that are attached to a set of arcuates (220) that are connectable to the base ring (212) of the stereotactic frame (204).

6. The system of claim 5, wherein, The localizer (216) is disconnected from the stereotactic frame (204) after the plurality of images are captured, and wherein the set of arcuates (220) are connected to the base ring (212) prior to driving the imaging device (112) to perform the movement.

7. The system of claim 6, wherein, The registration further comprises:

8. The system of any one of claims 1 to 7, wherein, transforming coordinates associated with the imaging device (112) into a coordinate system associated with the surgical device.

9. A method, comprising: identifying a first component of a surgical device based on a plurality of images captured with an imaging device (112); registering the surgical device and the imaging device (112) based at least in part on the first component; computing a viewing position, wherein the imaging device (112) is aligned with a second component of the surgical device when in the viewing position; determining a movement of the imaging device (112) for positioning the imaging device (112) at the viewing position based on a combination of the viewing position and the registration; and causing the imaging device (112) to perform the movement.

10. The method of claim 9, further comprising: causing the imaging device (112) to capture at least one image when in the viewing position. ​ 11. The method of claim 10, wherein, The at least one image includes an image of a lateral view of a patient (208), the image depicting at least one of the second component and a surgical implant (240).

12. The method of any one of claims 9-11, wherein, The surgical device includes a stereotactic frame (204), and wherein the first component includes a localizer (216) that is connectable to the stereotactic frame (204).

13. The method of claim 12, wherein, The second component includes a reticle (224A) that is attached to a set of arcs (220) that are connectable to the stereotactic frame (204).

14. The method of claim 13, wherein, After the plurality of images are captured, the localizer (216) is disconnected from the stereotactic frame (204), and wherein the set of arcs (220) are connected to the stereotactic frame (204) prior to causing the imaging device (112) to perform the movement.

15. A system (100), comprising: an imaging device (112); a processor (104); and a memory (106) having data stored thereon that, when processed by the processor (104), causes the processor (104) to: identify a first component of a surgical device depicted in a plurality of images captured by the imaging device (112); register the surgical device and the imaging device (112) based on the first component; receive information associated with a viewing location, wherein the imaging device (112) is aligned with a second component of the surgical device when in the viewing location; determine, based on a combination of the viewing location and the registration, a movement of the imaging device (112) for positioning the imaging device (112) at the viewing location; and cause the imaging device (112) to perform the movement.

Images