Systems and methods for image data

Abstract

A method and system for acquiring image data of a subject. The image data can be collected using an imaging system in a selected manner and / or during motion. More than one projection can be combined to generate and create selected views or visualizations of the subject.

Description

Technical Field

[0001] This disclosure relates to imaging a subject, and more particularly to a system and method for acquiring image data for generating selected image visualizations. Background Technology

[0002] This section provides background information in connection with this disclosure, which is not necessarily prior art.

[0003] The subject (such as a human patient) may undergo surgery. This surgery may include procedures to correct or enhance the subject's anatomy. Enhancement of anatomy may include various procedures such as bone movement or reinforcement, insertion of implants (i.e., implantable devices), or other appropriate procedures.

[0004] Surgeons can use images of the subject based on the subject's projection to perform surgery on the subject. These images can be generated using imaging systems such as magnetic resonance imaging (MRI), computed tomography (CT), fluorescence examination (e.g., C-arm imaging), or other suitable imaging systems. Summary of the Invention

[0005] This section provides a general overview of this disclosure and is not a full disclosure of the complete scope or all features of this disclosure.

[0006] According to various embodiments, a system that utilizes an imaging system to acquire image data of a subject may use X-rays. The subject may be a living patient (e.g., a human patient). The subject may also be an inanimate subject, such as a shell, enclosure, etc. The imaging system may include a movable source and / or a detector movable relative to the subject.

[0007] The imaging system may include a movable source and / or detector to create one or more projections of the subject. These one or more projections may be acquired along the movement path of the source and / or detector. The multiple projections may then be combined, for example, by stitching them together, to generate or form a long view (also known as a long film). Various projections may also, or alternatively, be combined with selected techniques to include a range of image data not present in a single projection. Therefore, multiple projections may include more than one projection acquired relative to the same pose (e.g., position and orientation) of the subject.

[0008] According to various implementations, the imaging system can acquire one or more projections relative to a selected location or pose of the subject. The subject may include various features that could interfere with the selected quality or acquisition of the image data. For example, a component such as a metallic implant may be formed of a material that interferes with the acquisition of the selected image data. For example, X-rays may be attenuated to a degree or amount that limits the quality of the acquired X-ray projection of the subject.

[0009] The imaging system can move relative to the subject. Given a known location of a component (which may be referred to as a disturbance object) within the subject's body, image data can be acquired at a pose relative to the subject to minimize interaction with the disturbance object. Therefore, the imaging system can be operated and configured to acquire one or more image projections at a pose relative to the subject that minimizes the amount of disturbance object within the imaging system's beam. This allows the acquired image data to be at a pose with selected disturbance (including minimal or a selected reduction in amount) due to the disturbance object.

[0010] Further areas of applicability will become apparent from the description provided herein. The descriptions and specific examples in this overview are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

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

[0012] Figure 1 This is an environmental view of the imaging system in the operating room; Figure 2 This is a detailed schematic diagram of an imaging system with a dual energy source system; Figure 3 This is a schematic diagram of exemplary sub-multiple imaging system or module locations among multiple imaging system or module locations according to various implementation schemes; Figure 4 It is a schematic diagram of exemplary sub-multiple imaging system and module locations and exemplary beam lengths of beam portions in multiple imaging system or module locations according to various embodiments; Figure 5 This is a schematic diagram illustrating exemplary sub-imaging system and module locations and exemplary beam lengths of beam portions in various implementation schemes; and Figure 6 It is a flowchart of the process of acquiring image data according to various implementation schemes.

[0013] In several views of the accompanying drawings, corresponding reference numerals indicate the corresponding components. Detailed Implementation

[0014] The example implementation will now be described in more complete form with reference to the accompanying drawings.

[0015] This subject matter disclosure relates to exemplary embodiments of surgical procedures performed on subjects such as human patients. However, it should be understood that the systems and methods described herein are merely exemplary and are not intended to limit the scope of the claims included herein. In various embodiments, it should be understood that the systems and methods can be incorporated into and / or used on inanimate objects. For example, these systems can be used to image and register coordinate systems between two systems for use in manufacturing and maintenance systems, etc. For example, automobile assembly may use one or more robotic systems comprising separate coordinate systems that can be registered together for coordinated or joint actions. Therefore, the exemplary description of surgical procedures herein is not intended to limit the scope of the appended claims.

[0016] Individual components and their parts can also be tracked relative to a subject. For example, a tracking system can be incorporated into a navigation system to allow tracking and navigation of one or more instruments (which may be components) that can be tracked relative to a subject. The subject can also be tracked. The navigation system may include one or more tracking systems that track individual parts associated with the instrument, such as tracking devices. The tracking system may include a locator configured to determine the pose of the tracking device in the navigation system coordinate system. The pose may include any number of degrees of freedom, such as three-dimensional position (e.g., x, y, z) and orientation (e.g., yaw, pitch, and roll). Techniques, systems, or processes for determining the navigation system coordinate system may include those described in various references, including U.S. Patent Nos. 8,737,708, 9,737,235, 8,503,745, 8,175,681, and 11,135,025, all of which are incorporated herein by reference. Specifically, the locator is capable of tracking an object within a volume relative to a subject. The navigation volume in which the tracking device can be located may include, or be referred to as, a navigation coordinate system or navigation space. The determination or correlation between two coordinate systems may be, or also referred to as, registration between two coordinate systems.

[0017] Image data can be acquired for use and / or to generate images of selected portions of a subject (which may also be referred to as image visualization). The images can be displayed for viewing by users such as surgeons. In various embodiments, a graphical representation of the tracked portion or component (such as an instrument) can be superimposed on at least a portion of the image. This graphical representation can be entirely (e.g., generated by a processor module executing instructions) as a graphical representation of the instrument. According to various embodiments, the graphical representation can be superimposed on the image at an appropriate pose due to registration of the image space (also referred to as an image coordinate system) with the subject space. Methods for registering a subject-defined space to an image space can include those disclosed in U.S. Patent Nos. 8,737,708, 9,737,235, 8,503,745, and 8,175,681, all of which are incorporated herein by reference.

[0018] During a selected surgical procedure, a first coordinate system can be registered to the subject space or subject coordinate system due to the selected procedure, such as imaging of the subject. In various embodiments, the first coordinate system can be registered to the subject by imaging the subject using a reference point portion fixed relative to a first component or system (such as a robotic system or other instrument). The known position of the reference point relative to any part (such as the robotic system or the subject) can be used to register the subject space relative to any coordinate system in which the reference point can be determined (e.g., by imaging or detection (e.g., touch)). Registration of a second coordinate system can allow tracking of additional elements not fixed to the first part, such as a robot with a known coordinate system.

[0019] Tracking of instruments during surgery (such as surgical procedures or treatments) allows for surgical navigation. Navigation can be used to determine the pose of one or more parts, such as instruments. The pose can include any number of degrees of freedom, such as three-dimensional position (e.g., x, y, z) and orientation (e.g., yaw, pitch, and roll). When image data is used to define an image space, it can be correlated or registered with a physical space defined by a subject, such as a patient. Thus, according to various embodiments, the patient defines a patient space in which instruments can be tracked and navigated. The image space defined by the image data can be registered to the patient space defined by the patient. Registration can be performed using reference points that can be identified in both the image data and the patient space.

[0020] Figure 1This is a schematic diagram illustrating an overview of an operating room or surgical environment. In various embodiments, the operating room may include a surgical area where the robotic system 20 and a navigation system 26, which can be used for various surgical procedures, may be housed. The robotic system 20 may include those sold by Mazor Robotics Ltd., which has a presence in Israel, and / or Medtronic, Inc., which has a presence in Minnesota, USA, and / or those disclosed in U.S. Patent No. 11,135,025, such as the Mazor X. ™ A robotic guidance system, which is incorporated herein by reference, is described herein. The robotic system 20 can be used to assist in guiding selected instruments, such as drill bits, screws, ultrasonic (US) probes 33, etc., relative to a subject 30.

[0021] Robotic system 20 may include a mounting 34, such as a robotic base 38, that is fixed in place relative to subject 30. Robotic system 20 may include one or more arms 40, such as those including an end effector 44, which are capable of movement or pivoting relative to subject 30. The end effector 44 may be any suitable component, such as a tube, guide, or channel member. An imaging system, such as a US probe 33, may be attached to and / or replace the end effector. Robotic processor module 53 may be used to control (e.g., execute instructions) the movement of the end effector and determine its pose, such as relative to base 34. Due to the registration discussed above and executively disclosed in U.S. Patent No. 11,135,025, the pose of base 34 may be known in a coordinate system (such as the patient space and / or image coordinate system of patient 30), which is incorporated herein by reference.

[0022] Navigation system 26 can be used to navigate various parts by tracking the pose of one or more tracking devices, which may include robot tracking device 54, subject tracking device 58, imaging system tracking device 62, tool tracking device 66, and / or US probe tracking device 81. Each tracking device can be used to track one or more parts, including those exemplified as being attached to the corresponding tracking device.

[0023] The imaging device or system 80 may be an additional or alternative imaging system that can be used to acquire preoperative, intraoperative, or postoperative or real-time image data of a subject (such as subject 30) and can be tracked using the image system tracking device 62. However, it should be understood that any suitable subject can be imaged, and any suitable surgery can be performed relative to the subject. In the example shown, the imaging device 80 includes an O-arm sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado, USA. ® Imaging apparatus. Imaging apparatus 80 may have a generally annular stage housing 82 in which an image capture portion is movably disposed. Imaging apparatus 80 may include those disclosed in: U.S. Patent Nos. 7,188,998; 7,108,421; 7,106,825; 7,001,045; and 6,940,941; all of which are incorporated herein by reference in any appropriate portion thereof. It should also be understood that imaging apparatus 80 may additionally or alternatively include a fluorescein C-arm. Other exemplary imaging apparatuses may include fluoresceins, such as dual-plane fluorescein systems, overhead fluorescein systems, catheterization lab fluorescein systems, fixed C-arm fluorescein systems, isocentric C-arm fluorescein systems, 3D fluorescein systems, etc. Other suitable imaging apparatuses may also include MRI, CT, ultrasound, etc. Various imaging systems may include or use one or more imaging modalities, such as X-ray, magnetic resonance, ultrasound, positron emission tomography (PET) scans, combinations thereof, etc.

[0024] The position of the imaging systems 33, 80 and / or portions thereof (such as the image capture portion) can be precisely known relative to any other portion of the imaging devices 33, 80. Furthermore, a corresponding tracking device can be used to track one or more portions of the respective imaging system. Precise positioning and / or tracking can allow the imaging systems 33, 80 and / or the navigation system 26 to know their position relative to the patient 30 or other references. Additionally, as discussed herein, precise knowledge of the position of the image capture portion can be used in conjunction with the tracking system to determine the position of the image capture portion and image data relative to the tracked subject (such as patient 30). The pose (e.g., the distance between the US probe 33 and / or selected portions of the tracking device 81) can be determined or pre-determined and stored for retrieval via a calibration process and / or fixtures (such as those disclosed in U.S. Patent Nos. 7,831,082, 8,320,653, and 9,138,204, all of which are incorporated herein by reference).

[0025] The imaging device 80 can be tracked using the tracking device 62. As discussed herein, this allows the pose of one or more parts of the imaging system 80 to be known at selected times, such as when acquiring image data of the subject 30. Furthermore, the pose of the imaging system or its parts can be planned and moved relative to the planned pose of the subject 30. Additionally, the tracking device 81 can be directly associated with the US probe 33. Therefore, the US probe 33 can be directly tracked using a navigation system as discussed herein. Alternatively or concurrently, the US probe 33 can be located and tracked using the robotic system 20. In any case, according to various embodiments, the image data defining the acquired image space of the patient 30 can be registered relative to an object space (e.g., manually, inherently, or automatically). The object space can be the space defined by the patient 30 in the navigation system 26.

[0026] Patient 30 can also be tracked using a patient tracking device, DRF, or tracker 58 as the patient moves. Alternatively or otherwise, patient 30 can be fixed within a navigation space defined by navigation system 26 to allow for registration. As further discussed herein, registration of the image space with the patient space or subject space allows for navigation of device 68 using image data. When navigating device 68, the position of device 68 can be exemplified on display device 84 relative to acquired image data of patient 30. Additional and / or alternative display devices 84' may also be present to display images. Various tracking systems, such as tracking systems including optical locator 88 or electromagnetic (EM) locator 92, can be used to track device 68.

[0027] More than one tracking system may be used to track the device 68 in the navigation system 26. According to various embodiments, these tracking systems may include an EM system with an electromagnetic tracking (EM) locator 94, an optical tracking system with an optical locator 88, and / or other suitable tracking systems not illustrated, such as an ultrasonic tracking system or other suitable tracking systems. As discussed herein, one or more of the tracking systems may be used to track the selected tracking device sequentially or simultaneously. It should be understood that, unless otherwise discussed, a tracking device may be a part capable of being tracked using the selected tracking system. The term "tracking device" does not necessarily refer to the entire component or structure to which the tracking device is attached or associated.

[0028] Image data acquired from imaging systems 33, 80, or any suitable imaging system may be acquired at an imaging device controller 96 and / or forwarded from the imaging device controller to a navigation computer and / or processor system 102, which may include a processor module 97. The navigation computer and / or processor system may be part of a controller or workstation 98 having a display 84 and a user interface 106. The processor system 102 may be a processor module as discussed herein, including integrated memory or communication systems to access external memory to execute instructions and / or operate as a specific integrated circuit (e.g., an ASIC). It is also understood that image data may not necessarily be stored in the controller 96 first, but may be sent directly to the workstation 98. The workstation 98 may provide facilities for displaying image data as image 108 on the display 84 and for saving, digitally processing, or printing hard copies of the received image data. The user interface 106, which may be a keyboard, mouse, stylus, touchscreen, or other suitable device, allows the user 72 to provide input to control the imaging device 80 or adjust image settings on the display 84 via the imaging device controller 96. Workstation 98 can also instruct image device controller 96 to adjust the image capture portion of imaging device 80 to obtain various two-dimensional images along different planes, thereby generating one or more representative two-dimensional and three-dimensional image data, which can be used to generate two-dimensional images, three-dimensional images, or more than one or both.

[0029] Continue to refer to Figure 1 The navigation system 26 may also include any one or more tracking systems, such as tracking systems including either or both of electromagnetic (EM) locators 94 and / or optical locators 88. The tracking system may include a controller and interface portion 110. The controller 110 may be connected to a processor portion 102, which may include a processor contained within a computer. The EM tracking system may include a Stealth Station sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado. ® AXIEM ™ Navigation system; or may be an EM tracking system as described in U.S. Patent Nos. 7,751,865, 5,983,126, 5,913,820, or 5,592,939, all of which are incorporated herein by reference. It should be understood that navigation system 26 may also be or include any suitable tracking system, including STEALTHSTATION having an optical locator that can be used as an optical locator 88. ® TREON ® or S7 ™The tracking system is sold by Medtronic Navigation, Inc., located in Louisville, Colorado. Other tracking systems include acoustic, radiation, radar, etc. Navigation system 26 and / or the tracking system may be a hybrid system comprising components from multiple tracking systems. The tracking system may be used according to techniques generally known or described in the references combined above. Details are omitted herein unless the chosen operation disclosed in the subject matter is clearly stated.

[0030] Various parts of the navigation system 26, such as the device 68, and other parts described in detail below, may be equipped with at least one and typically multiple tracking devices 66. The device may also include more than one type or form of tracking device 66, such as an EM tracking device and / or an optical tracking device. According to various embodiments, the navigation system 26 can be used to track the device 68 relative to a patient 30. As discussed above, the tracking system can be used to track the device 68. Image data of the patient 30 or an appropriate subject can be used to assist the user 72 in guiding the device 68. Image data, which may include one or more images, can be registered to the patient 30. The image data defines an image space that is registered to a patient space defined by the patient 30. Registration can be performed automatically, manually, or in combination thereof, as discussed herein.

[0031] Typically, registration allows the generation of a transformation mapping of the physical position of the instrument 68 relative to the image space of the image data. This transformation mapping allows the tracking position of the instrument 68 to be displayed on the display device 84 relative to the image 108. A graphical representation 68i (also called an icon) can be used to illustrate the position of the instrument 68 relative to the image data 108.

[0032] Continue to refer to Figure 1 The subject registration system or method may use tracking device 58. Tracking device 58 may include a trackable portion or component 120, but may also serve as or be operable as a reference point assembly. Reference point assembly 120 may include a clamp or other fixation portion 124 and an imageable reference point body 120. However, it should be understood that component 120 may be separate from tracking device 58. Fixation portion 124 may be provided to fix any suitable portion, such as a part of an anatomical structure. Figure 1 As illustrated, the reference point assembly 120 may interconnect with vertebra 126 and / or portions of vertebra 126 capable of forming a spine. In various embodiments, the connection may be to a spike.

[0033] For further reference Figure 2The imaging system 80 can move entirely or partially relative to the subject 30. For example, the source 174 and detector 178 can move 360° around the patient 30. The movement of the source 174 and detector 178 as a source / detector unit 198 within the gantry 82 can allow the source 174 to remain approximately 180° relative to the detector 178 (e.g., with a fixed internal gantry or rotor or moving system). Thus, the detector 178 can be described as moving around the subject 30 (e.g., in a circle or spiral), and it should be understood that, unless otherwise disclosed, the source 174 remains relative to the subject.

[0034] Furthermore, the platform 82 can be moved (also referred to as "swinging") approximately equidistantly about axis 202 in the direction of arrow 200 relative to the subject 30, such as by means of a trolley 160. Figure 1 As illustrated, the gantry 82 can also be tilted relative to the long axis 206 of the patient 30, as shown by arrow 210. When tilted, the plane of the gantry 82 may be tilted or form a non-orthogonal angle with the axis 206 of the subject 30.

[0035] The platform 82 can also move longitudinally relative to the subject 30 and / or the cart 160 along line 206 in the direction of arrow 214. Furthermore, the cart 160 can be moved to move the platform 82. Additionally, the platform 82 can move generally vertically relative to the cart 160 and / or the subject 30 in the direction of arrow 218, generally transverse to axis 206 and parallel to axis 202.

[0036] The imaging system 80 can be moved, either wholly or partially, to allow for the positioning of the source / detector unit (SDU) 198 relative to the subject 30. The imaging device 80 can be precisely controlled to move the SDU 198 relative to the subject 30 to generate accurate image data of the subject 30.

[0037] As discussed herein, source 174 may comprise one or more x-ray sources for imaging subject 30. In various embodiments, source 174 may comprise a single source that may be powered by more than one power source to generate and / or emit x-rays with different energy characteristics. In various embodiments, the source may emit x-rays at at least two different powers (such as with varying voltages). Furthermore, more than one x-ray source may be source 174 that can be powered to emit x-rays with different energy characteristics at selected times.

[0038] Continue to refer to Figure 2According to various embodiments, source 174 may include a single x-ray tube assembly 250, which may be connected to switch 254, which may interconnect a first power source 258 via connector or power line 262. As described above, X-rays may be emitted from x-ray tube 250. According to various embodiments, x-rays may be emitted toward detector 178 in a cone shape 270 and generally in a direction from x-ray tube 250 as indicated by an arrow, beam arrow, beam, or vector 274. Vector 274 may extend along an axis and may also be referred to as the central axis of the beam. As will be understood by those skilled in the art, switch 254 may turn tube 250 on or off to emit x-rays with selected characteristics.

[0039] Vector or portion 274 may be a central vector or ray within the cone 270 of the x-ray beam. The x-ray beam may be emitted as cone 270 or other suitable geometry. Vector 274 may include selected lines or axes relating to further interactions of the beam, such as with filter components, as discussed further herein.

[0040] Subject 30 may be positioned within X-ray cone 270 to allow image data of subject 30 to be acquired based on the emission of X-rays toward detector 178 in a direction of vector 274. Typically, the subject may attenuate (e.g., scatter or absorb) the X-rays. Unattenuated X-rays or C-rays passing through subject 30 reach detector 170.

[0041] According to various embodiments, imaging system 80 can operate x-ray tube 250 to generate a two-dimensional (2D) x-ray projection of subject 30 based on x-ray impact on or detection on a 2D or flat panel detector (such as detector 178), including selected portions of subject 30 or any area, region, or volume of interest. As discussed herein, the 2D x-ray projection can be reconstructed to generate and / or display selected images or image visualizations, including 2D images, a three-dimensional (3D) volumetric model of subject 28, selected portions of subject 28, or any area, region, or volume of interest, or any combination thereof, to generate a four-dimensional (4D) image that may change over time. As discussed herein, the 2D x-ray projection can be image data acquired using imaging system 80, while a 3D volumetric model can be generated or modeled from the image data.

[0042] For reconstructing or forming a 3D volumetric image, appropriate algebraic techniques include Expectation Maximization (EM), Ordered Subset EM (OS-EM), Simultaneous Algebraic Reconstruction Technique (SART), and Total Variation Minimization (TVM), as generally understood by those skilled in the art. Applications performing 3D volumetric reconstruction based on 2D projection allow for efficient and complete volumetric reconstruction. Typically, algebraic techniques may include iterative processes to perform reconstruction of subject 30 for display as image 108.

[0043] Imaging system 80 or parts thereof (such as SDU 198) may be movable relative to subject 30, such as moving about an axis of subject 30. Therefore, as Figure 2 As illustrated, the imaging system 80 can be positioned such that the cone 270 can be used to acquire anterior-posterior projections, or the cone 270' can be used to acquire lateral projections. Therefore, multiple image projections of the subject 30 can be acquired from different perspectives.

[0044] However, as discussed above, the imaging system 80 can also acquire multiple projections from a single viewpoint. For example, in the case of front and rear projections, switch 254 can be operated to switch from a first power source to a second power source 280. Thus, beam 270 can operate at two different powers. The acquired image data of subject 30 can then also be acquired at two different powers and include at least two different projections. As discussed above, other parameters can also be changed at the source. Furthermore, the source can emit X-rays within the spectrum, such as based on a selected power (e.g., 40 keV or 120 keV) or unfiltered.

[0045] Furthermore, detector 178 can be operated to collect different image data from subject 30. For example, detector 178 can be a dual-power detector, such as a detector specifically operable to detect X-rays at two different powers within a single broad spectrum, or a single detector capable of detecting two different powers. For example, detectors such as those included in the X-35 series X-ray examination systems sold by Mettler Toledo, a company with a business location in Columbus, Ohio, can be provided. Detector 178 may also optionally include detectors capable of detecting X-rays with discrete and / or varying spectra. For example, detectors including those included in the dynamic CMOS X-ray planar detector sold by Teledyne Dalsa, a company with a business location in Santa Clara, California, can be provided. Detectors can be discretely operated or controlled to detect X-rays of different spectra.

[0046] As discussed above, the imaging system can operate in conjunction with a selected controller. Therefore, the controller can operate detector 178 to detect discrete spectra and / or selected X-rays of varying powers. Thus, multiple projections can be acquired from a single viewpoint of detector 178 relative to subject 30. As further discussed herein, these multiple projections can be evaluated and / or combined to achieve selected image visualization.

[0047] refer to Figure 3 The imaging system 80 can move relative to the subject 30, as discussed above. Therefore, according to various embodiments, the detector 178 can be moved to multiple poses relative to the subject 30, such as by rotating within the gantry 82. For example, as... Figure 3 As illustrated, imaging module 198 may include detector 178 and source 174. The pose of the detector can be understood as relating to the pose of any or all of imaging module 198, detector 178, or source 174. The detector may be positioned in multiple poses, and the six illustrated positions relative to subject 13 around a circular path 300 that may be confined within gantry 82 are merely exemplary. Each position of detector 178 may be relative to source position 174. Source and detector 178 do not need to be precisely 180° apart from each other, but can generally be positioned substantially relative to each other. However, detector 178 may detect x-rays emitted from source component 174 such that they are generally along a midpoint or vector or ray 274 that generally passes through the center of gantry 82 to be detected at detector 178. In various embodiments, the paths of source and detector may be substantially circular, as illustrated by circular path 300. However, as discussed further in this paper, path 300 does not need to be circular, because platform 82 can move relative to subject 30, as discussed above, such as moving longitudinally in the direction of arrow 210 or moving with swing motion 200.

[0048] Detector 178 can be moved relative to subject 30 to allow image data to be acquired at multiple locations relative to subject 30. Typically, image data can be acquired at each location. Each image data acquisition can be discrete and may also be referred to as a projection. A projection can be an X-ray passing through subject 30 or through an imaging region relative to imaging system 80. For example, subject 30 may be within the imaging region. Furthermore, various elements or components (such as one or more implants, which may be exemplarily screws 310, 314) may be located within the imaging region.

[0049] Therefore, the subject's portion and the implant portion can attenuate the X-rays in the projection acquired at the location of detector 178. The detector can be moved by a selected amount in any suitable direction or type of movement that the imaging system 80 is capable of between each projection, such as 1 mm, 1 cm, 10 cm, etc. Each projection or position of the detector can be at a different distance from another projection or adjacent position. Therefore, as Figure 3 As exemplified in the example, the six projections can be spaced apart from each other by a selective fixed or variable distance, and can be along either a circular path 300 or a non-circular path. At each location of the detector 178, discrete projections can be acquired at the location of the detector 178 relative to any imaging region (such as an isocenter point) of the subject 30 or the imaging system 80.

[0050] As discussed above, and further discussed here, the number of projections can be selected to acquire selected image data of any portion of the imaging area of ​​the subject 30 or the imaging system. Therefore, the detector 178 can acquire image data at any appropriate number of locations, such as one, two, three, or any number of locations, including ten, dozens, or hundreds of locations. The amount of image data acquired can be selected based on time, patient dose, efficiency of image reconstruction, etc.

[0051] Therefore, if the imaging system 80 utilizes ionizing radiation (such as X-rays) to generate image data, the imaging system can be selected to minimize the acquired projection of the subject 30 while still ensuring proper image data reconstruction or image data acquisition. Typically, image data of the subject 30 can be acquired, and in various embodiments, the image data can be used to generate or reconstruct images. Image 108 can be a direct image of the projection acquired by detector 178 and / or a reconstruction based on multiple image data (such as multiple projections). In various embodiments, multiple projections can be used to generate two-dimensional images, three-dimensional images, or time-varying images (which may also be referred to as four-dimensional images). Furthermore, the projection used to acquire discrete image data can be a discrete pose of detector 178 relative to the subject or image region, such that the image data projection is acquired as a projection or snapshot at the discrete pose of detector 178.

[0052] Continue to refer to Figures 1 to 3 And refer to other sources Figure 4 An imaging system 80 is schematically illustrated. The imaging system 80 can acquire image data at or during the movement of portions of the imaging system (such as source component 174 and detector 178) along path 300'. Figure 4As illustrated, path 300' need not be a circular path and can be a path selected to acquire a selected or appropriate amount of image data of subject 30. The trajectory or path may include selected locations of imaging module 198 and projections onto selected portions of the subject to generate or reconstruct selected images. Path or trajectory 300 may acquire image data for image reconstruction based on the portion to be imaged, its shape, or other parameters.

[0053] As discussed above and herein, subject 30 can refer to any imageable or imaging region from which image data is to be acquired. Subject 30 can be a volume, a human patient, a structure, etc. Subject 30 can contain various parts, such as soft tissue, bone, metal, etc. In various embodiments, the metal part can include an implant, such as one or more pedicle screws. As illustrated above and herein, pedicle screws 310 and 314 can be positioned within subject 30. Image data to be acquired from subject 30 or region (including pedicle screws 310, 314) can then be selected. Pedicle screws 310, 314 can be formed of materials capable of interacting with the X-rays of imaging system 80, such as metals or metal alloys.

[0054] Components (including screws 310, 314) can attenuate X-rays relative to other parts of the subject 30 in a manner less conducive to reconstructing a selected image. Therefore, pedicle screws 310, 314, or any other similar damaged or distorted portion, can be referred to as distorting components. For example, screws 310, 314 that can be formed of metal or metal alloys may cause metal artifacts that can disrupt image data acquisition of other parts of the subject 30 that are close to or adjacent to components 310, 314. Furthermore, the greater the distance that X-ray photons must travel through distorting components 310, 314, the greater the amount of distortion (such as due to metal) that may occur in the acquired image data at that pose of the detector and source.

[0055] Therefore, as discussed herein, a planned trajectory for the detector and source can be formulated to acquire image data. The planned trajectory for acquiring image data may include an appropriate or selected number of projections to achieve a chosen result. Furthermore, a selected distance between poses and / or the number of projections may be part of the planned trajectory. Thus, the trajectory of the scan (such as paths 300, 300') can be planned based on known or predetermined elements or components.

[0056] When a large number of screws may be located in the path of the X-ray photons, the planning may include smaller gaps or distances between certain projections (e.g., adjacent poses of the detector), and when there are fewer distorting elements in the path of the X-ray photons, the planning may include larger gaps or distances between projections. This planning of elements (such as screws 310, 314) and their pre-known or determined poses can allow for the acquisition of an appropriate or sufficient amount of image data to generate an image reconstruction of selected quality. Reduced acquisition at certain locations compared to other locations (e.g., locations where additional projections may be required for data acquisition) can allow the total radiation dose to subject 30 to remain within a selected range, such as no greater than acquiring image data only at fixed and / or even multiple locations relative to subject 30. For example, a selected dose can be achieved by varying the distance between acquisitions, such as a 0.1-degree (°) annular difference for the first set of projections and a 1.5° annular difference for the second set of acquisitions or projections. This is the opposite of a fixed interval distance (such as 0.5° or 1° around a 360° circle).

[0057] like Figure 4 As illustrated, detector 178 is exemplary illustrated at three positions 178, 178', and 178" respectively. Therefore, references to detector 178 herein may refer to its pose, as discussed herein. Detector 178 may be a detector of an imaging system and may be located at one or more positions for imaging, such as those illustrated by the positions of detector 178. Each position will allow the X-rays to pass through one or more of the components 310, 314 to a selected distance. For example, with the detector at position 178, the center of the beam may pass through a first distance 310a of screw 310 and a first distance 314a of screw 314. Reference Figure 5 The three positions of the detector are related to Figure 4 The positions within are different and are exemplified as positions 178l, 178m, and 178n. X-rays can be emitted along a beam with a central ray of 274m, which can pass through screw 310 at a distance 310c. Distance 310c can be greater than distance 310a. Therefore, when the X-ray passes through distance 310a, the attenuation of the X-ray can be less than the attenuation when the X-ray passes through screw 310 at a distance 310c. This determination allows for planning based on known distances through the respective components (such as screws 310, 314).

[0058] Return to reference Figure 4The three exemplary positions of detectors 178, 178', and 178" are the associated poses or positions of source components 174, 174', and 174" respectively. Each source pose has a corresponding source emitter pose 250, 250', and 250". Similarly, when emitting x-rays for generating projections or image data projections, each source pose will include x-rays within cone or beam poses 270, 270', and 270" respectively. Each cone pose in the corresponding cone poses 270, 270', and 270" may have a central ray or axis pose 274, 274', and 274". Therefore, while a single imaging module 198 may include detector 178 and source 174, it and portions thereof can be moved relative to the subject to one or more poses to emit and detect beams there.

[0059] The entire volume of each cone pose can be analyzed for impact or passage of components 310, 314. This analysis allows for the evaluation or determination of values ​​related to the amount or distance of photons passing through the components. In this paper, for the sake of simplicity and clarity in the present discussion, the center vector or axis 274 is discussed; however, it should be understood that each cone or beam may have multiple axes from source 250 to detector 178.

[0060] The source component, when in source pose 174, can emit a beam 270 that passes through the subject 30 and portions thereof, such as through screws 310, 314, before being detected at detector pose 178. By way of example, the central axis 274 can pass through screw 310 to a distance 310a and through second screw 314 to a distance 314a before reaching detector pose 178. Detector pose 178 of the detector can be known or selected for planning image data acquisition at distances 310a, 314a, or it can be known or determined. The distances photons travel through the respective screws 310, 314 can be determined during the planning phase based on the known poses of screws 310, 314 within the subject 30 and relative to the imaging system 80. Therefore, distances 310a, 314a can be known or predetermined during the planning phase of image data acquisition of the subject 30 and its various portions.

[0061] Continue to refer to Figure 4Detector 178 can be located at detector position 178'. Therefore, the source can be located at source position 174' with emitter position 250', which can emit a beam with beam pose 270' having a central axis pose 274'. Ray 274' can pass through the first screw 310 to a distance 310b and through the second screw 314 to a distance 314b. Similarly, these distances can be known, or determined based on the known, determined, or planned detector position 178' relative to the positions of screws 310, 314. The third source position detector 174" and the third detector pose 178" can emit beam pose 270" along the central axis pose 274". The central axis pose 274" can pass through the second screw 314 only to a distance 314c. Therefore, Figure 4 The three exemplary poses illustrated herein may have known or determined X-ray passage lengths 310a, 310b, 314a, 314b, and 314c for each of the three positions for detector poses 178, 178', and 178". These lengths themselves, or parameters associated with them, may be distortion values. These distortion values ​​may also be related to weighting factors, such as the incident angle of the component, the material of the component relative to the different materials of another component, etc.

[0062] The three exemplary poses of the detector are Figure 5 The illustrated detector poses 178m, 170n, and 178l are related to... Figure 4 The illustrated poses are different from those of 314. Therefore, the corresponding poses of the detector are positioned such that the corresponding cone or X-ray beam poses 270m, 270n, 270l with the corresponding central axis or ray poses 270m, 270n, 270l are aligned with... Figure 4 The quantities illustrated, different quantities, or alternative quantities, pass through or interact with the corresponding screws 310, 314.

[0063] like Figure 5 As illustrated, the detector poses 178m and 178l are substantially opposite to each other. Therefore, each of the corresponding X-ray poses 274m and 274l typically passes through screw 310 to a distance 310c. Distance 310c can typically be greater than any of distances 310a, 310b, 314a, 314b, or 314c. Therefore, the attenuation of X-rays passing through screw 310 due to passing through distance 310c can be greater than […]. Figure 4 The decay of any pose illustrated.

[0064] The detector pose 178n is opposite the X-ray source pose 174n, which generates a beam pose 270n and typically passes along the central axis pose 274n. This defines the beam pose 274n, which will pass through the screw 314 to a distance 314d. Similarly, the distance 314d can be greater than... Figure 4 Any distance illustrated. Furthermore, distance 314d can be greater than distance 310c. In any case, various distances can be known or determined based on the possible positions or poses of the detectors and sources 178, 174 relative to the subject 30, which may include screws 310, 314.

[0065] exist Figure 4 In the example, the distortion value, or the value related to the pose of components 310 and 314, can be less than [value missing]. Figure 5 Any values ​​of components 310, 314 illustrated herein. As discussed herein, this can be determined or evaluated. These values ​​can be used to help determine a specific number and position of the pose of the imaging module 198 to generate selected image data.

[0066] Therefore, detector 178 can be positioned relative to subject 30 in various poses, which can be around the subject, such as approximately within a circle 300 (e.g., ...). Figure 3 (As illustrated) or in a non-circular trajectory 300', it may include movement relative to the subject 30 along any suitable axis or direction permitted by the imaging system 80, as discussed above. Therefore, the detector 178 can be positioned relative to the subject to achieve selected image data acquisition. As discussed above, the positioning of the imaging system (including detector 178) can be planned to achieve image data acquisition of the subject 30 in an appropriate manner and amount to allow selected image reconstruction while maintaining a selected radiation dose to the subject 30. Therefore, paths such as paths 300 and 300' can be planned, and the selected orientation of detector 178 can be planned to achieve appropriate image data acquisition.

[0067] The planning can be based on the known poses of screws 310 and 314, which may be known for various reasons, such as real-time or pre-planned, invoked, etc. The poses of screws 310 and 314 within the subject's body can be determined using positioning information about screws 310 and 314 during a selected surgical procedure. This pose information can be determined from navigation system 26, robotic system 20, or other suitable systems. In short, the discussion herein regarding screws 310 and 314 can relate to any suitable component capable of being positioned within the subject's body 30. The discussion and exemplary descriptions of screws 310 and 314 are provided merely for clarity of the present discussion and for appropriate disclosure of the systems and methods.

[0068] In various embodiments, as discussed above, the device 68 can be used to position one or more of the screws 310, 314 within the body of the subject 30. Therefore, the poses of the screws 310, 314 can be known due to tracking by the device 68. In various embodiments, the screws 310, 314 can also be tracked directly, such as by including tracking devices on their respective screws 310, 314. The tracking pose of the device 68 can be known or made relative to the patient tracker 58, enabling the navigation system 26 to know or determine the poses of the screws 310, 314 relative to the subject 30. The poses can then be stored, retrieved, or recalled for various purposes.

[0069] In various implementations, the robotic system 20 can also be used to position or guide the instrument to locate screws 310, 314. Therefore, the robotic system 20 can also be used to know or determine the position of screws 310, 314 within the subject 30.

[0070] Since the poses of screws 310 and 314 can be known relative to the subject in an appropriate manner, as discussed above, the poses of detector 178 or any appropriate portion of imaging system 80 can also be known relative to subject 30. Imaging system 80 can track relative to subject 30 at any appropriate time. Therefore, the pose of the image data acquisition portion relative to subject 30 can be known.

[0071] In various embodiments, the robotic system 20 can be fixed relative to the imaging system during surgery, and therefore the pose of the imaging system 80 (including detector 178) can be known relative to the robotic system 20. Furthermore, various tracking devices (such as those discussed above, including imaging device tracking device 62) can be used to track the imaging system 80 to allow for navigation poses of the imaging system 80, such as during image data acquisition. Therefore, the navigation system 26 can be used to determine the pose of the imaging system 80 or at least a portion thereof (such as detector 178) at different times.

[0072] Screws 310 and 314 can be positioned within the body of subject 30. The poses of screws 310 and 314 can be known due to the tracking device 68, direct screw tracking, determination or knowledge of the pose of the end effector 44 of the robotic system 20, or other suitable mechanisms. Therefore, navigation system 26 can be used to determine, retrieve, or recall the poses of screws 310 and 314 to aid in planning the positioning of detector 178 to acquire selected or appropriate image data. Planning may include the total or complete trajectory of detector 178 and the number of projected positions to acquire appropriate or selected image data. Thus, navigation system or any suitable processing system can acquire or determine the poses of screws 310 and 314 for image data acquisition of subject 30 when screws 310 and 314 are positioned within subject 30.

[0073] Appropriate processing modules (such as processing module 102 of navigation system 26, processing module 97 of imaging system 80, or any other suitable processing module) can be used to determine or calculate the trajectory 300' of the imaging system. The trajectory 300' may include the poses of a selected number of source components 174 and / or detectors 178 to acquire appropriate image data for subject 30. As discussed above, the known length of the image cone ray 274 through the corresponding screw can be used to help determine an appropriate trajectory, such as the optimal trajectory that minimizes the radiation dose to the subject while acquiring appropriate or desired image data for a selected reconstruction (such as its quality). The quality of the image reconstruction may include sharpness, confidence level, selected distortion tolerance, etc.

[0074] As discussed above, the imaging system 80 may include various components, such as source component 174 and detector component 178. Source component 174 and detector component 178 may operate as source detector unit 198. Typically, source detector unit 198 may operate as a unit for acquiring image data of subject 30. Therefore, imaging unit 198 may move relative to subject 30 in a selected manner to acquire its image data. Imaging unit 198 may move as a stationary unit, and / or detector 178 may move relative to source unit 174, and vice versa. However, imaging unit 198 may move along a selected trajectory to acquire a selected amount or appropriate amount of image data of subject 30 for reconstructing a selected image, such as for displaying image 108 for a selected purpose. As discussed above, components may be positioned relative to subject 30, such as within subject 30, and may include screws 310, 314. Screws 310, 314, or any other component may be interfering or distorting components.

[0075] Therefore, the imaging system 80, including the imaging unit 198, can be used to acquire image data of the subject 30 and / or reconstruct images of the subject 30 during the selection process. Figure 6 Process 400 is illustrated. Process 400 may include portions executed by a processor component or module and may be included in instructions executed thereby. Thus, process 400 may include, or may be included in, an algorithm to allow acquisition of image data of subject 30 even when interfering elements are present. In particular, when interfering or distorting elements are located within the path of an imaging beam (such as an X-ray beam). Process 400 may also include various manual inputs and / or selections as discussed herein. Process 400 may be fully automatic (including instructions executed by a processor module), manual, or a combination thereof.

[0076] Process 400 may begin in start box 410. Start box 410 may allow the start of process 400 and may initiate the process, such as initiating operation of the processor module, selecting various inputs, etc. Start box 410 may include selecting a subject, selecting a portion of the subject to be imaged, or other suitable selection procedures. Process 400 may include retrieving or recalling the pose of the distorted component in box 414. As discussed above, the distorted component may include screws 310, 314, or other suitable components. The distorted component may be positioned within the subject 30, for example using a navigation process that includes navigation using one or more tracking systems in a tracking system and / or using robotic system 20. Navigation or tracking may allow the pose of the distorted component to be known, retrieved, or recalled. In various embodiments, the distorted component may be tracked during placement, and the pose may be retrieved, recalled, or accessed from navigation memory to perform imaging planning procedures, including in process 400.

[0077] In addition, various other inputs or predefined information can be used to retrieve or recall the pose. For example, user 72 can input the pose of the deformed member. However, it should be understood that various inputs can be more efficient or precise. For example, the tracking pose of the instrument used to perform the surgery can allow for substantially accurate determination of the pose of the implant or deformed member, such as with millimeter precision. User 72 can utilize appropriate measurement or calibration systems to determine the accurate pose of the instrument or deformed member, but may require additional steps beyond the tracking navigation process.

[0078] The invoked pose of the distorted component allows the pose of the distorted component to be used in process 400. As discussed above, the imaging system 80 can also be tracked, making it possible to track or determine the pose of one or more portions of the imaging module 198 during image data acquisition. In other words, the pose of the imaging module 198 can be determined during imaging and / or selected during the planning of an imaging trajectory for imaging the subject 30.

[0079] As discussed above, the imaging module 198 can move relative to the subject along a trajectory, such as a circular trajectory 300 or a non-circular trajectory 300'. The trajectory can include any appropriate movement of the imaging system 80 (including the imaging module 198) relative to the subject 30. Furthermore, as discussed above, projections can be acquired at any appropriate pose of the imaging module 198 relative to the subject 30. The trajectory of the imaging system can be understood as including all movements selected to acquire an appropriate or selected amount of image data of the subject 30. Typically, the trajectory can include movement and projection location determination to acquire image data for selected image reconstruction, such as a selected portion of the subject 30 (including one or more of its vertebrae).

[0080] Process 400 may further include determining all possible positions of the imaging system, including all possible positions of the imaging module 198 relative to the subject 30, for selected image data reconstruction. In various embodiments, all possible positions may include those selected or used for standard image data acquisition to perform the selected reconstruction. For example, assuming no distorted object, a standard trajectory may be determined to image a selected vertebra. This standard trajectory may include a selected spacing between projections, such as a fixed or identical spacing. However, in various embodiments, determining all possible positions may include determining all possible positions of the imaging module 198 relative to the subject 30 given an initial movement or range of movement of the imaging system relative to the subject 30. Determining all possible positions allows for the pre-determining of the imaging system's position, such as the position of the central axis 274 of the imaging module 198 relative to the subject 30 at each possible position.

[0081] As discussed above, the central axis 274 can be used alone or in conjunction with other rays or vectors of the beam 270 from source 174 to detector 178 of imaging module 198. Since the central axis 274 is an example, the distance the axis extends through the distortion member can be a defined ray and can be determined given a retrieved or invoked pose of the distortion member from box 414 relative to each possible location of the axis in the trajectory. As discussed and illustrated above, for example, as... Figure 4 As illustrated, the central axis 274 can be used to determine the distance by which an X-ray passes through one or more distortion elements at one or more poses of the imaging module 198.

[0082] In various embodiments, this distance can be understood or identified as a ray along the central axis 274 from the source through each distortion member to the detector. Therefore, in block 424, the ray length can be evaluated at a selected number (including all) of possible locations penetrating the distortion member. Since all possible locations of the imaging system 198 can be known, the distance of the ray (e.g., along the central axis 274) through the distortion member can be determined at each location. The determined location of the imaging module 198 and its various geometries (e.g., the central axis 274) can be used in conjunction with the retrieved or invoked pose of the distortion member to evaluate the ray length at each possible location. Therefore, a processing module (such as imaging system 80, and thus including processing module 97) can determine and calculate all ray lengths and evaluate them in block 424. The evaluation of the ray length can be the determination of the total ray length through one or more distortion members at each possible location. The evaluation of the ray length can allow the determination of values, such as the distortion value at each pose of the imaging module 198. The distortion value can be used in further processing of the planning of imaging the subject 30 in the presence of distorting components (such as one or more screws in screws 310, 314). Therefore, the distortion value can be understood as relating to the distance a photon can pass through the distorting component at each pose, and the distortion value can be per pose. In various embodiments, the distortion value can be normalized to a range such as zero to one. In various embodiments, the distortion value can be normalized to a value within another range. This can depend on the decision to implement the disclosure of this subject matter. Therefore, the distortion value can be identified as any suitable value and can be related to the specific implementation and thus to the type and / or amount of the particular distortion experienced.

[0083] The assessment of the ray length (including distortion values) can then be saved for later retrieval or recall and / or processing in process 400. According to process 400, as further discussed herein, the assessment of the ray length can be used to evaluate a selected trajectory of imaging module 198.

[0084] Therefore, in box 430, a minimum number of projections and / or trajectories for achieving selected image reconstruction can be retrieved, invoked, or determined. As discussed above, selected trajectories can be used to determine the acquisition of images of subject 30 for selected reconstruction. For example, to reconstruct vertebrae or multiple vertebrae in an image, a selected number of projections can be determined for acquiring selected image data. The number of projections and image data can be determined or predetermined to allow the generation or reconstruction of images with appropriate accuracy, detail, etc. In box 430, predetermined trajectories (including predetermined projection positions and paths of imaging module 198) can be retrieved, invoked, or determined.

[0085] Planning the trajectory of the distorted component may include selecting spatial locations or positional differences between imaging module locations, and a path may be created in box 440. The planned trajectory may be based on the evaluated ray length (including the distortion value). The selection of spatial locations or differences may include subprocess 450, where, in box 454, a smaller imaging positional difference between projections may be selected when the ray length or distortion value is greater than a distortion value threshold. Thus, it is possible to determine how many or more dense projections can be obtained within the range of the imaging module locations. For example, the ray length may be greater than a selected threshold. The threshold may be any suitable number, such as 1 mm, 10 mm, 2 cm, or any suitable distance. Furthermore, the threshold may be a dimensionless number or other dimensionless number of the distortion value as discussed above. However, the ray length at any particular location may be determined to be greater than or exceed the selected threshold.

[0086] In box 458, a larger difference in imaging system position between projections can be selected when the ray length is less than or equal to a selected threshold. That is, the distance between projections can be greater when the ray length of the distorted component is less than the threshold. It should also be understood that multiple thresholds can be selected in subprocess 450, and multiple differences in the position of the image data projections can be included. A single threshold is merely an example.

[0087] like Figure 5 As illustrated, the distance 314d can be greater than a threshold. Therefore, for any projection including a distance of 314d, adjacent projections can be acquired at a selected projection distance that may be smaller than the distance differences between other imaging modules. For example, 0.5° could be a selected distance difference for ray length 314d. However, for ray length 314c, as... Figure 4 As illustrated, the positional difference from the adjacent or next image projection can be 1°, 1.5°, etc. Therefore, different ray lengths can be used to determine or select different spaces for the next projection.

[0088] In various implementations, the trajectory or difference of the image projection can be based on the total X-ray dose to subject 30. Therefore, if the trajectory is selected to have a selected maximum dose to subject 30, the distance or difference between each projection can be changed to achieve the selected radiation dose. Thus, the trajectory can be used to achieve the optimal dose to the subject while simultaneously achieving the best or most likely possible image data acquisition for image reconstruction. However, it should be understood that various inputs based on various inputs from the user 72, service inputs, can be used to change the dose and / or selected image reconstruction of a selected region or volume of subject 30.

[0089] In box 470, process 400 can output an imaging module trajectory that includes projection spacing or differences. As discussed above, the output trajectory can be based on a selected trajectory used to acquire image data retrieved or called in box 430, and selected spatial differences from box 440, which contains subprocess 450. The output imaging module trajectory can be reviewed by user 72, and various enhancements and / or more inputs can be provided by user 72. For example, user 72 can choose to increase the projection distance in individual regions and decrease their projection distances with those in other regions to achieve selected image reconstruction based on the acquired image data.

[0090] In box 474, the output imaging module and trajectory can optionally be used to operate the imaging system to achieve the selected trajectory and selected projection spacing. It should be understood that operating the imaging system in box 474 is optional, and the output imaging module trajectory in box 470 can be used for various purposes, such as planning processes, planning image data acquisition at appropriate times, or other purposes. Therefore, operating the imaging system in box 470 is not required, but the imaging system can be operated to acquire image data based on the output imaging module trajectory from box 470. If the image data is acquired, it can be stored in box 478 in a suitable memory module for various purposes, such as later retrieval, recall, and / or reconstruction.

[0091] In box 482, an image, such as image 108, can be reconstructed. The reconstructed image can be based on image data acquired using an imaging system at the trajectory discussed above. The reconstructed image can then be output in box 486. Outputting the image reconstruction in box 486 can be any suitable output, such as displaying the image, saving the image, further processing the image according to various non-procedural methods, etc. Process 400 can then end in box 500.

[0092] Therefore, process 400 can be used to select the trajectory of imaging module 198 to achieve selected image data acquisition of subject 30. Distorted objects within subject 30 (such as one or more screws in screws 310, 314, or any suitable distorted component) can be evaluated and analyzed to acquire image data, thereby achieving optimal image reconstruction even when distorted objects are present in the trajectory of module 198. In other words, even when distorted components are present, process 400 can be used to image subject 30 to achieve selected image reconstruction, which can be understood as the best or optimal image reconstruction based on the acquired image data. Process 400 can be understood as determining the optimal trajectory of the imaging system based on the known pose of the distorted component.

[0093] The following examples disclose various embodiments of the present invention.

[0094] Example 1 - A system for generating an image of a subject in a volume having a distorted component, the system comprising: operating a processor module to execute instructions to: retrieve or invoke a pose of the distorted component; evaluate the retrieved or invoked pose of the distorted component; retrieve or invoke selected trajectory for acquiring image data of the subject to generate a selected image, wherein the trajectory includes at least a first imaging component position for acquiring an imaging component of a first projection; evaluate a value related to the amount of the distorted component in the first projection based on the evaluated pose of the distorted component and the first imaging component position; determine a second imaging component position that differs from the first imaging component position based on the evaluated value, wherein the difference is based on the evaluated value relative to a threshold; and output at least one of the second imaging component position or the difference from the first imaging component position to operate an imaging system.

[0095] Example 2 - According to the system of Example 1, the system further includes: a tracking system configured to track the position of the distorted member during localization of the distorted member within the subject's body; and a memory system configured to store the tracked pose of the distorted member; wherein the retrieved or recalled pose of the distorted member is retrieved or recalled from the memory system.

[0096] Example 3 - The system according to Example 1 further includes: a robot system having an end effector; a memory system configured to store the pose of the end effector; wherein the distorting member is guided into the subject body using the end effector.

[0097] Example 4 - According to the system of Example 1, wherein evaluating the value related to the amount of the distorted member in the first projection based on the evaluated pose of the distorted member and the position of the first imaging component includes: operating the processor module to execute additional instructions to determine the length of a first ray of at least a first portion of a beam emitted at the position of the first imaging component.

[0098] Example 5 - According to the system described in Example 1, the system further includes: an imaging system, the imaging system including the imaging component; wherein the selected trajectory for acquiring image data of the subject to generate the selected image includes multiple positions of the imaging component relative to the subject to acquire the first projection and the second projection.

[0099] Example 6 - According to the system of Example 5, wherein evaluating the value related to the amount of the distortion member in the first projection based on the evaluated pose of the distortion member and the first position includes: the processor module executing instructions to determine a plurality of ray lengths, the plurality of ray lengths including at least one ray length of at least a portion of the beam at each of the plurality of positions of the imaging assembly.

[0100] Example 7 - A method for generating an image of a subject in a volume having a distorted component, the method comprising: evaluating the pose of the distorted component; retrieving or recalling image data for acquiring the subject to generate a selected trajectory of a selected image, wherein the trajectory includes at least a first position for acquiring a first projection and a second position for acquiring a second projection; and evaluating a value relating to the amount of the distorted component in each of the first and second projections based on the evaluated pose of the distorted component and the first and second positions.

[0101] Example 8 - According to the method described in Example 7, the method further includes: retrieving or recalling the pose of the distorted component.

[0102] Example 9 - According to the method of Example 8, the method further includes: tracking the position of the deformed member during implantation; wherein retrieving or recalling the pose of the deformed member includes: retrieving or recalling the tracked position of the deformed member during implantation.

[0103] Example 10 - According to the method of Example 9, wherein tracking the position of the deformed member during implantation of the deformed member includes: tracking the pose of a tracking device associated with the deformed member.

[0104] Example 11 - According to the method of Example 9, wherein tracking the position of the deformed member during implantation of the deformed member includes: determining the pose of at least the end effector of the robotic system.

[0105] Example 12 - The method according to Example 7, wherein the first position includes a first detector pose of the imaging system relative to the subject, and the second position includes a second detector pose of the imaging system relative to the subject.

[0106] Example 13 - According to the method of Example 12, the method further includes: determining a first source position relative to the pose of the first detector; and determining a second source position relative to the pose of the second detector.

[0107] Example 14 - According to the method of Example 13, wherein evaluating the value relating to the amount of the distortion member in each of the first projection and the second projection based on the evaluated pose of the distortion member and the first position and the second position includes: determining a first ray length of at least a first portion of the beam from the first source position to the first detector pose; and determining a second ray length of at least a second portion of the beam from the second source position to the second detector pose.

[0108] Example 15 - The method according to Example 14, wherein the first portion and the second portion are the same portions of the beam at the first source position and the second source position.

[0109] Example 16 - The method according to Example 15, wherein the portion includes the central axis of the beam.

[0110] Example 17 - According to the method of Example 7, the selected trajectory for obtaining image data of the subject to generate the selected image includes multiple locations, the multiple locations including at least a first location for obtaining the first projection and a second location for obtaining the second projection.

[0111] Example 18 - According to the method of Example 17, wherein evaluating the value related to the amount of the distortion member in each of the first projection and the second projection based on the evaluated pose of the distortion member and the first position and the second position includes: determining a plurality of ray lengths, the plurality of ray lengths including at least one ray length of at least a portion of a beam from each of the plurality of source positions to each of the plurality of detector poses.

[0112] Example 19 - According to the method of Example 17, the method further includes: determining a third position difference from either the first position or the second position based on the evaluated value; wherein, an evaluated value higher than the threshold results in a larger third position difference compared to an evaluated value lower than the threshold.

[0113] Example 20 - A method for generating an image of a subject in a volume having a distorted component, the method comprising: evaluating the pose of the distorted component; retrieving or recalling image data for acquiring the subject to generate a selected trajectory of a selected image, wherein the trajectory includes at least a first imaging component position for acquiring an imaging component of a first projection; evaluating a value related to the amount of the distorted component in the first projection based on the evaluated pose of the distorted component and the first imaging component position; determining a second imaging component position that differs from the first imaging component position based on the evaluated value, wherein the difference is based on the evaluated value relative to a threshold; and outputting at least one of the second imaging component position or the difference from the first imaging component position to operate an imaging system.

[0114] Example 21 - According to the method of Example 20, wherein retrieving or recalling the selected trajectory for acquiring image data of the subject to generate a selected image further includes: acquiring the position of a second imaging component for a second projection; and evaluating the value related to the amount of the distortion component for each of the first projection and the second projection based on the evaluated pose of the distortion component and the positions of the first and second imaging components.

[0115] Example 22 - According to the method of Example 21, the method further includes: tracking the position of the distorted member during implantation of the distorted member; wherein retrieving or recalling the pose of the distorted member includes at least one of the following: (1) retrieving or recalling the tracked position of the distorted member during implantation of the distorted member, or (2) determining the pose of at least the end effector of the robot system.

[0116] Example 23 - The method according to Example 21, wherein the first position includes a first detector pose of the imaging system relative to the subject, and the second position includes a second detector pose of the imaging system relative to the subject.

[0117] Example 24 - According to the method described in Example 23, the method further includes: determining a first source position relative to the pose of the first detector; and determining a second source position relative to the pose of the second detector.

[0118] Example 25 - According to the method of Example 24, wherein evaluating the value relating to the amount of the distortion member in each of the first projection and the second projection based on the evaluated pose of the distortion member and the first position and the second position includes: determining a first ray length of at least a first portion of the beam from the first source position to the first detector pose; and determining a second ray length of at least a second portion of the beam from the second source position to the second detector pose.

[0119] Example 26 - According to the method of Example 21, the selected trajectory for obtaining image data of the subject to generate the selected image includes a plurality of positions, the plurality of positions including at least a first position for obtaining the first projection and a second position for obtaining the second projection.

[0120] Example 27 - According to the method of Example 26, wherein evaluating the value related to the amount of the distortion member in each of the first projection and the second projection based on the evaluated pose of the distortion member and the first position and the second position includes: determining a plurality of ray lengths, the plurality of ray lengths including at least one ray length of at least a portion of a beam from each of the plurality of source positions to each of the plurality of detector poses.

[0121] Example 28 - According to the method of Example 26, the method further includes: determining a third position difference from either the first position or the second position based on the evaluated value; wherein, an evaluated value higher than the threshold results in a larger third position difference compared to an evaluated value lower than the threshold.

[0122] Example embodiments are provided to make this disclosure thorough and to fully communicate the scope of this disclosure to those skilled in the art. Numerous specific details, such as examples of particular components, apparatus, and methods, are set forth to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that specific details are not required, example embodiments may be embodied in many different forms, and should not be construed as limiting the scope of this disclosure. In some exemplary embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.

[0123] Instructions can be executed by a processor and can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, data structures, and / or objects. The term "shared processor circuitry" covers a single processor circuitry that executes some or all of the code from multiple modules. The term "group processor circuitry" covers processor circuitry that, in conjunction with additional processor circuitry, executes some or all of the code from one or more modules. References to multiple processor circuitry cover multiple processor circuitry on a discrete die, multiple processor circuitry on a single die, multiple cores of a single processor circuitry, multiple threads of a single processor circuitry, or a combination thereof. The term "shared memory circuitry" covers a single memory circuitry that stores some or all of the code from multiple modules. The term "group memory circuitry" covers memory circuitry that, in conjunction with additional memory, stores some or all of the code from one or more modules.

[0124] The apparatus and methods described in this application may be implemented, in part or in whole, by a processor (also referred to as a processor module), which may include a special-purpose computer (e.g., created by configuring a processor) and / or a general-purpose computer to perform one or more specific functions embodied in a computer program. The computer program includes processor-executable instructions stored on at least one non-transitory, tangible computer-readable medium. The computer program may also include or depend on stored data. The computer program may include a basic input / output system (BIOS) that interacts with the hardware of the special-purpose computer, a device driver that interacts with a specific device of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0125] Computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time (JIT) compiler; and (v) descriptive text for parsing, such as HTML (Hypertext Markup Language) or XML (Extensible Markup Language). As an example only, source code may be in C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, or Java. ® ASP, Perl, Javascript ® HTML5, Ada, Active Server Pages (ASP), Perl, Scala, Erlang, Ruby, Flash ® Visual Basic ® Lua or Python ® To write it.

[0126] Communication may include the wireless communications described in this disclosure, which may be wholly or partially compliant with IEEE Standard 802.11-2012, IEEE Standard 802.16-2009, and / or IEEE Standard 802.20-2008. In various specific implementations, IEEE 802.11-2012 may be supplemented by draft IEEE Standard 802.11ac, draft IEEE Standard 802.11ad, and / or draft IEEE Standard 802.11ah.

[0127] The terms processor, processor module, module, or “controller” are used interchangeably herein (unless otherwise specifically indicated), and each may be replaced by the term “circuit”. Any of these terms may refer to, be part of, or include the following: application-specific integrated circuit (ASIC); digital, analog, or mixed-signal analog / digital discrete circuit; digital, analog, or mixed-signal analog / digital integrated circuit; combinational logic circuit; field-programmable gate array (FPGA); processor circuitry (shared, dedicated, or grouped) that executes code; memory circuitry (shared, dedicated, or grouped) that stores code executed by the processor circuitry; other suitable hardware components that provide the described functionality; or some or all of the foregoing, such as in a system-on-a-chip.

[0128] Instructions can be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Therefore, the terms "processor" or "processor module" as used herein may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. Furthermore, these techniques can be fully implemented in one or more circuit or logic elements.

[0129] The foregoing description of embodiments has been provided for purposes of illustration and description. The foregoing description is not intended to be exhaustive or limiting of this disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable and may also be used in chosen embodiments where applicable, even if not specifically shown or described. The same element or feature may be varied in many ways. Such variations should not be considered as departing from this disclosure, and all such modifications are intended to be included within the scope of this disclosure.

Claims

1. A system for generating an image of a subject in a volume having a distortion component, the system comprising: Operate the processor module to execute instructions: Call the pose of the distorted component; Evaluate the invoked pose of the distorted component; The method involves invoking image data of the subject to generate a selected trajectory for a selected image, wherein the trajectory includes at least the position of a first imaging component for acquiring an imaging component of a first projection; The value relating to the amount of the distortion component in the first projection is evaluated based on the evaluated pose of the distortion component and the position of the first imaging component. The location of a second imaging component that differs from the location of the first imaging component is determined based on the evaluated value, wherein the difference is based on the evaluated value relative to a threshold. Output at least one of the position of the second imaging component or the difference between the position of the first imaging component and the position of the second imaging component to operate the imaging system.

2. The system according to claim 1, further comprising: A tracking system configured to track the position of the distorted member during its localization within the subject's body; A memory system configured to store the tracked pose of the distorted component; The pose invoked by the distorted component is retrieved from the memory system.

3. The system according to claim 1, further comprising: A robot system having an end effector; A memory system configured to store the pose of the end effector; The distorted component is guided into the subject's body using the end effector.

4. The system according to claim 1, wherein, Evaluating the value relating to the amount of the distortion member in the first projection based on the evaluated pose of the distortion member and the position of the first imaging component includes: The processor module is operated to execute additional instructions to determine the length of a first ray of at least a first portion of the beam emitted at the location of the first imaging component.

5. The system according to claim 1, further comprising: An imaging system, the imaging system including the imaging component; The selected trajectory for acquiring image data of the subject to generate the selected image includes multiple positions of the imaging component relative to the subject to obtain the first projection and the second projection.

6. The system according to claim 5, wherein, Evaluating the value relating to the amount of the distorted member in the first projection based on the evaluated pose of the distorted member and the first position includes: The processor module executes instructions to determine a plurality of ray lengths, the plurality of ray lengths including at least one ray length of at least a portion of the beam at each of the plurality of locations of the imaging assembly.

7. A method for generating an image of a subject in a volume having distorted components, the method comprising: Evaluate the pose of the distorted component; The method involves invoking image data of the subject to generate a selected trajectory for a selected image, wherein the trajectory includes at least the position of a first imaging component for acquiring an imaging component of a first projection; The value relating to the amount of the distortion component in each of the first projections is evaluated based on the evaluated pose of the distortion component and the position of the first imaging component. A second imaging component location that differs from the first imaging component location is determined based on the evaluated value, wherein the difference is based on the evaluated value relative to a threshold; and Output at least one of the position of the second imaging component or the difference between the position of the first imaging component and the position of the second imaging component to operate the imaging system.

8. The method according to claim 7, wherein, The selected trajectory for acquiring image data of the subject to generate a selected image further includes: acquiring the position of a second imaging component for a second projection; and Based on the evaluated pose of the distorted component and the positions of the first and second imaging components, the value relating to the amount of the distorted component is evaluated for each of the first and second projections.

9. The method according to claim 8, further comprising: The position of the deformed component is tracked during implantation; The invocation of the pose of the distorted component includes at least one of the following: (1) invoking the tracked position of the distorted component during implantation of the distorted component, or (2) determining the pose of at least the end effector of the robot system.

10. The method according to claim 8, wherein, The first position includes a first detector pose of the imaging system relative to the subject, and the second position includes a second detector pose of the imaging system relative to the subject.

11. The method according to claim 10, further comprising: Determine the first source position relative to the pose of the first detector; as well as Determine the second source position relative to the pose of the second detector.

12. The method according to claim 11, wherein, Evaluating the values ​​relating to the amount of the distorted member in each of the first and second projections, based on the evaluated pose of the distorted member and the first and second positions, includes: Determine the length of a first ray, at least a first portion of the beam from the first source location to the pose of the first detector; Determine the length of the second ray of at least a second portion of the beam from the second source position to the pose of the second detector.

13. The method according to claim 8, wherein, The selected trajectory used to acquire image data of the subject to generate the selected image includes multiple locations, including at least a first location for acquiring the first projection and a second location for acquiring the second projection.

14. The method according to claim 13, wherein, Evaluating the values ​​relating to the amount of the distorted member in each of the first and second projections, based on the evaluated pose of the distorted member and the first and second positions, includes: A plurality of ray lengths are determined, the plurality of ray lengths including at least one ray length of at least a portion of a beam from each of the plurality of source locations to each of the plurality of detector poses.

15. The method according to claim 13, further comprising: The difference in a third position from either the first or the second position is determined based on the evaluated value; Specifically, an assessed value above the threshold results in a larger third position difference compared to an assessed value below the threshold.

Images