Systems and methods for aligning imaging systems to stereotactic frame target view locations

Abstract

A system according to at least one embodiment of the present disclosure includes: a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: receive a plurality of images captured with an imaging device; identify a first component of a surgical device depicted in the plurality of images; register, based on the first component, the surgical device and the imaging device; receive information associated with a view location, where the imaging device, when at the view location, is aligned with a second component of the surgical device; and determine, based on a combination of the view location and the registering, a movement of the imaging device to position the imaging device at the view location.

Description

SYSTEMS AND METHODS FOR ALIGNING IMAGING SYSTEMS TO STEREOTACTIC FRAME TARGET VIEW LOCATIONSBACKGROUND

[0001] This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63 / 516,314 filed 07 August 2023.

[0002] The present disclosure is generally directed to imaging, and relates more particularly to surgical imaging or imaging during surgical implantation procedures.

[0003] Imaging may be used by a medical provider for diagnostic and / or therapeutic purposes. Patient anatomy can change over time, particularly following placement of a medical implant in the patient anatomy. Imaging equipment may be moved to capture images of the patient anatomy at various angles.BRIEF SUMMARY

[0004] Example aspects of the present disclosure include:

[0005] A system according to at least one embodiment of the present disclosure comprises: a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: receive a plurality of images captured with an imaging device; identify a first component of a surgical device depicted in the plurality of images; register, based on the first component, the surgical device and the imaging device; receive information associated with a view location, wherein the imaging device, when at the view location, is aligned with a second component of the surgical device; and determine, based on a combination of the view location and the registering, a movement of the imaging device to position the imaging device at the view location.

[0006] Any of the features herein, wherein the imaging device comprises an 0-arm or a C-arm.

[0007] Any of the features herein, wherein the data further enable the processor to: cause the imaging device to perform the movement to the view location; and cause the imaging device to capture at least one image while at the view location.

[0008] Any of the features herein, wherein the at least one image comprises an image of a lateral view of a patient that depicts at least one of the second component and a surgical implant.

[0009] Any of the features herein, wherein the surgical device comprises a stereotactic frame, and wherein the first component comprises a localizer that is connectable to a base ring of the stereotactic frame.

[0010] Any of the features herein, wherein the second component comprises a plurality of reticles attached to a set of arcs connectable to the base ring of the stereotactic frame.

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

[0012] Any of the features herein, wherein the registering further comprises: transforming coordinates associated with the imaging device into a coordinate system associated with the surgical device.

[0013] Any of the features herein, wherein the second component is a virtual component.

[0014] A method according to at least one embodiment of the present disclosure comprises: identifying, based on a plurality of images captured with an imaging device, a first component of a surgical device; registering, based at least partially on the first component, the surgical device and the imaging device; calculating a view location, wherein the imaging device, when at the view location, is aligned with a second component of the surgical device; determining, based on a combination of the view location and the registering, a movement of the imaging device to position the imaging device at the view location; and causing the imaging device to perform the movement.

[0015] Any of the features herein, further comprising: causing the imaging device to capture at least one image when in the view location.

[0016] Any of the features herein, wherein the at least one image comprises an image of a lateral view of a patient that depicts at least one of the second component and a surgical implant.

[0017] Any of the features herein, wherein the surgical device comprises a stereotactic frame, and wherein the first component comprises a localizer that is connectable to the stereotactic frame.

[0018] Any of the features herein, wherein the second component comprises a reticle attached to a set of arcs connectable to the stereotactic frame.

[0019] Any of the features herein, wherein the localizer is disconnected from the stereotactic frame after the plurality of images are captured, and wherein the set of arcs is connected to the stereotactic frame before the imaging device is caused to perform the movement.

[0020] Any of the features herein, wherein the registering further comprises: transforming coordinates associated with the imaging device in a first coordinate system into a second coordinate system associated with the surgical device.

[0021] Any of the features herein, wherein the transforming further comprises: determining a set of coordinates associated with the first component in the first coordinate system; and determining,based on the set of coordinates and a predetermined pose of the first component relative to the surgical device, the coordinates associated with the surgical device in the first coordinate system.

[0022] Any of the features herein, wherein the second component is a virtual component.

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

[0024] Any of the features herein, wherein the registering further comprises: transforming coordinates associated with the imaging device into a coordinate system associated with the surgical device.

[0025] Any of the features herein, wherein the imaging device captures at least one image when at the view location, and wherein the at least one image comprises an image of a lateral view of a patient that depicts at least one of the second component and a surgical implant.

[0026] Any of the features herein, wherein the surgical device comprises a stereotactic frame, wherein the first component comprises a localizer that is connectable to the stereotactic frame, and wherein the second component comprises a reticle connected to a set of arcs connectable to the stereotactic frame.

[0027] Any of the features herein, wherein the second component is a virtual component.

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

[0029] Any one or more of the features disclosed herein.

[0030] Any one or more of the features as substantially disclosed herein.

[0031] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

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

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

[0034] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0035] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0036] The phrases “at least one”, “one or more”, and “and / or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and / or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as Xl-Xn, Y 1-Ym, and Zl-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y 1 and Zo).

[0037] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0038] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0039] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

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

[0041] Fig. 1 is a block diagram of aspects of a system according to at least one embodiment of the present disclosure;

[0042] Fig. 2A is a schematic of aspects of a stereotactic frame attached to a patient according to at least one embodiment of the present disclosure;

[0043] Fig. 2B is a schematic of additional aspects of the stereotactic frame attached to the patient according to at least one embodiment of the present disclosure;

[0044] Fig. 2C is a schematic of additional aspects of the frame attached to the patient according to at least one embodiment of the present disclosure;

[0045] Fig. 2D is an image depicting unaligned frame reticles according to at least one embodiment of the present disclosure;

[0046] Fig. 2E is an image depicting aligned frame reticles according to at least one embodiment of the present disclosure;

[0047] Fig. 3A is a diagram of the patient positioned on a table with an imaging device according to at least one embodiment of the present disclosure;

[0048] Fig. 3B is a diagram depicting the imaging device moving relative the patient according to at least one embodiment of the present disclosure;

[0049] Fig. 4 is a flowchart according to at least one embodiment of the present disclosure; and

[0050] Fig. 5 is a flowchart according to at least one embodiment of the present disclosure.DETAILED DESCRIPTION

[0051] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and / or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that thetechniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

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

[0053] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A 10 or 10X Fusion processors; Apple Al l, A 12, A12X, A12Z, or Al 3 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0054] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one ormore examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.

[0055] The terms proximal and distal are used in this disclosure with their conventional medical meanings, proximal being closer to the operator or user of the system, and further from the region of surgical interest in or on the patient, and distal being closer to the region of surgical interest in or on the patient, and further from the operator or user of the system.

[0056] Stereotactic frame -based surgery cases involving imaging systems (e.g., an 0-arm imaging system) include a step where an 0-arm operator estimates an angle of the 0-arm relative to the patient, and then iteratively captures fluoro-view shots of the patient to find the 0-arm image that aligns the right and left lateral frame reticles to result in the target (e.g., a location for an implanted device) being located at the crosshairs of the reticles. This image is used to confirm that an implanted device (e.g., a needle, an electrode, combinations thereof, etc.) has actually been positioned at a target location before proceeding. Because there are multiple degrees-of-freedom in the 0-arm placement and movement, the act of aligning the 0-arm can take many minutes to complete, and may take even longer (e.g., upwards of 15 minutes) if the 0-arm operator is inexperienced. Also, each fluoro-view shot taken to iterate to the final position exposes the patient and surgical staff to radiation. To mitigate such exposure, the staff may need to leave the room or stand behind lead shields, preventing them from carrying out their normal duties. Moreover, such target- view-alignment of the 0-arm may be needed multiple times in a single procedure (e.g., in bilateral deep brain stimulation cases or stereoelectroencephalography (SEEG) cases). Overall, such an iterative process leads to a lengthening of expensive surgical operating room time and can frustrate the waiting surgeon.

[0057] According to at least one embodiment of the present disclosure, a navigation system (e.g., the Medtronic StealthStation™ S8 surgical navigation system), an 0-arm’s robotic positioning capability, and navigation marker(s) connected to the 0-arm may be integrated to address issues associated with iterative fluoro-view imaging. In some embodiments, the 0-arm may be used to capture images of the patient and the stereotactic frame attached to the patient. The stereotactic frame includes a localizer that is mounted to a base ring of the stereotactic frame that is connected to (e.g., pinned to) a patient’s head. By imaging the localizer, the navigation system may be able to determine a coordinate system relative to the base ring. Once the 0-arm acquisition of the stereotactic frame is completed, a frame localizer attached to the stereotactic frame may be detected and registered. The user can then designate the target location (e.g., by selecting a location on patient images rendered on a user interface associated with the navigation system) for an implant, and thenavigation system may determine frame settings to align a frame guide tube with the planned trajectory of the implant, enabling the implant (e.g., an electrode) to be advanced along the trajectory to arrive at the target location. Based on the registration and the provided target location, the navigation system can calculate the target-alignment view location (e.g., the location at which the image captured by the O-arm depicts the left and right frame reticles as aligned) and then command the O-arm to move into the target- alignment view location. In some embodiments, the location may be saved to memory, a database, or the like such that the O-arm can be automatically moved into the view location. Such automatic movement may be based on navigation marker(s) connected to the O- arm and tracked by the navigation system, such that the O-arm can be moved away from the surgical field (which may enable members of surgical staff to more effectively carry out surgical tasks) and then returned to, for example, capture images to confirm the location of the implant. In some embodiments, the O-arm may comprise a manual override (e.g., a “kill switch”) or other mechanism capable of halting movement of the O-arm, such that the O-arm movement can be stopped for safety against collisions. As a result, embodiments of the present disclosure beneficially enable O-arm (or, more broadly, imaging device) alignment in seconds, shortening procedure time. Moreover, embodiments of the present disclosure beneficially shorten surgery time and lower radiation doses experienced by the patient and / or members of surgical staff.

[0058] Embodiments of the present disclosure provide technical solutions to one or more of the problems of (1) aligning imaging devices (e.g., O-arms) with surgical equipment during surgeries or surgical procedures, (2) extended surgeries or surgical procedures caused by inefficient alignment of imaging devices with surgical trajectory alignment tools, and (3) excessive exposure of patients and / or surgical staff to radiation during surgeries or surgical procedures.

[0059] Turning first to Fig. 1, a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 may be used to control navigation of imaging devices and surgical tools; to capture one or more images of a patient and / or surgical tools or equipment in proximity to the patient; to control, pose, and / or otherwise manipulate a surgical mount system, a surgical arm, and / or surgical tools attached thereto; and / or carry out one or more other aspects of one or more of the methods disclosed herein. The system 100 comprises a computing device 102, one or more imaging devices 112, a robot 114, a navigation system 118, a database 130, and / or a cloud or other network 134. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 100. For example, the system 100 may not include the robot 114, one or more components of the computing device 102, the database 130, and / or the cloud 134.

[0060] The computing device 102 comprises a processor 104, a memory 106, a communication interface 108, and a user interface 110. Computing devices according to other embodiments of the present disclosure may comprise more or fewer components than the computing device 102. In some cases, the computing device 102 may be positioned inside one or more other components of the system 100. For example, the computing device 102 may be positioned within the imaging device 112, the robot 114, the navigation system 118, and / or the like.

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

[0062] The memory 106 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer- readable data and / or instructions. The memory 106 may store information or data useful for completing, for example, any step of the methods 400 and / or 500 described herein, or of any other methods. The memory 106 may store, for example, instructions and / or machine learning models that support one or more functions of the robot 114 and / or the navigation system 118. For instance, the memory 106 may store content (e.g., instructions and / or machine learning models) that, when executed by the processor 104, enable image processing 120, segmentation 122, transformation 124, and / or registration 128. Such content, if provided as in instruction, may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 104 to carry out the various method and features described herein. Thus, although various contents of memory 106 may be described as instructions, it should be appreciated that functionality described herein can be achieved through use of instructions, algorithms, and / or machine learning models. The instructions, algorithms, and / or instructions may cause the processor 104 to manipulate data stored in the memory 106 and / or received from or via the imaging device 112, the robot 114, the database 130, and / or the cloud 134.

[0063] The computing device 102 may also comprise a communication interface 108. The communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, the robot 114, the navigation system 118, the database 130, the cloud 134, and / or any other system or component not part of the system 100),and / or for transmitting instructions, images, or other information to an external system or device (e.g., another computing device 102, the imaging device 112, the robot 114, the navigation system 118, the database 130, the cloud 134, and / or any other system or component not part of the system 100). The communication interface 108 may comprise one or more wired interfaces (e.g., a USB port, an Ethernet port, a Firewire port) and / or one or more wireless transceivers or interfaces (configured, for example, to transmit and / or receive information via one or more wireless communication protocols such as 802.1 la / b / g / n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 108 may be useful for enabling the computing device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

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

[0065] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 may utilize a user interface 110 that is housed separately from one or more remaining components of the computing device 102. In some embodiments, the user interface 110 may be located proximate one or more other components of the computing device 102, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the computing device 102. For example, the user interface 110 may be part of the navigation system 118.

[0066] The imaging device 112 may be operable to image anatomical feature(s) (e.g., a bone, blood vessels, tissue, etc.) and / or other aspects of patient anatomy to yield image data (e.g., image data depicting or corresponding to a bone, blood vessels, tissue, etc.). “Image data” as used herein refers to the data generated or captured by an imaging device 112, including in a machine -readable form, a graphical / visual form, and in any other form. In various examples, the image data maycomprise data corresponding to an anatomical feature of a patient, or to a portion thereof. The image data may be or comprise a preoperative image, an intraoperative image, a postoperative image, or an image taken independently of any surgical procedure. In some embodiments, a first imaging device 112 may be used to obtain first image data (e.g., a first image) at a first time, and a second imaging device 112 may be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device 112 may be capable of taking a two-dimensional (2D) image or a three-dimensional (3D) image to yield the image data. The imaging device 112 may be or comprise, for example, an O-arm, a C-arm, a G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), or any other imaging device 112 suitable for obtaining images of an anatomical feature of a patient. The imaging device 112 may be contained entirely within a single housing, or may comprise a transmitter / emitter and a receiver / detector that are in separate housings or are otherwise physically separated.

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

[0068] The robot 114 may be any surgical robot or surgical robotic system. The robot 114 may be or comprise, for example, the Mazor X™ Stealth Edition robotic guidance system. The robot 114 may be configured to position the imaging device 112 at one or more precise position(s) and orientation(s), and / or to return the imaging device 112 to the same position(s) and orientation(s) at a later point in time. The robot 114 may additionally or alternatively be configured to manipulate asurgical tool (whether based on guidance from the navigation system 118 or not) to accomplish or to assist with a surgical task. In some embodiments, the robot 114 may be configured to hold and / or manipulate an anatomical element during or in connection with a surgical procedure. The robot 114 may comprise one or more robotic arms 116. In some embodiments, the robotic arm 116 may comprise a first robotic arm and a second robotic arm, though the robot 114 may comprise more than two robotic arms. In some embodiments, one or more of the robotic arms 116 may be used to hold and / or maneuver the imaging device 112. In embodiments where the imaging device 112 comprises two or more physically separate components (e.g., a transmitter and receiver), one robotic arm 116 may hold one such component, and another robotic arm 116 may hold another such component. Each robotic arm 116 may be positionable independently of the other robotic arm. The robotic arms 116 may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0069] The robot 114, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 116 may be positioned or positionable in any pose, plane, and / or focal point. The pose includes a position and an orientation. As a result, an imaging device 112, surgical tool, or other object held by the robot 114 (or, more specifically, by the robotic arm 116) may be precisely positionable in one or more needed and specific positions and orientations.

[0070] The robotic arm(s) 116 may comprise one or more sensors that enable the processor 104 (or a processor of the robot 114) to determine a precise pose in space of the robotic arm (as well as any object or element held by or secured to the robotic arm).

[0071] In some embodiments, reference markers (e.g., navigation markers) may be placed on the robot 114 (including, e.g., on the robotic arm 116), the imaging device 112 (e.g., on an 0-arm), or any other object in the surgical space. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and / or by an operator of the system 100 or any component thereof. In some embodiments, the navigation system 118 can be used to track other components of the system (e.g., imaging device 112) and the system can operate without the use of the robot 114 (e.g., with the surgeon manually manipulating the imaging device 112 and / or one or more surgical tools, based on information and / or instructions generated by the navigation system 118, for example).

[0072] The navigation system 118 may provide navigation for a surgeon a surgical robot, and / or the imaging device 112 such as an 0-arm during an operation. The navigation system 118 may be any now-known or future-developed navigation system, including, for example, the Medtronic StealthStation™ S8 surgical navigation system or any successor thereof. The navigation system 118may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 118 may comprise one or more electromagnetic sensors. In various embodiments, the navigation system 118 may be used to track a position and orientation (e.g., a pose) of the imaging device 112, the robot 114 and / or robotic arm 116, and / or one or more surgical tools (or, more particularly, to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the foregoing). The navigation system 118 may include a display for displaying one or more images from an external source (e.g., the computing device 102, imaging device 112, or other source) or for displaying an image and / or video stream from the one or more cameras or other sensors of the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or a component thereof, to the robot 114, or to any other element of the system 100 regarding, for example, a pose of one or more anatomical elements, whether or not a tool is in the proper trajectory, and / or how to move a tool into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan.

[0073] The database 130 may store information that correlates one coordinate system to another (e.g., one or more robotic coordinate systems to a patient coordinate system and / or to a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about a target and / or image information about a patient’s anatomy at and / or proximate the surgical site, for use by the robot 114, the navigation system 118, and / or a user of the computing device 102 or of the system 100); one or more images useful in connection with a surgery to be completed by or with the assistance of one or more other components of the system 100; and / or any other useful information. The database 130 may be configured to provide any such information to the computing device 102 or to any other device of the system 100 or external to the system 100, whether directly or via the cloud 134. In some embodiments, the database 130 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0074] The cloud 134 may be or represent the Internet or any other wide area network. The computing device 102 may be connected to the cloud 134 via the communication interface 108, using a wired connection, a wireless connection, or both. In some embodiments, the computingdevice 102 may communicate with the database 130 and / or an external device (e.g., a computing device) via the cloud 134.

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

[0076] Turning to Figs. 2A-2E, aspects of the system 100 are shown according to at least one embodiment of the present disclosure. Fig. 2A depicts a stereotactic frame 204 attached to a patient 208. The stereotactic frame 204 comprises a stereotactic frame base ring 212 and a localizer 216.

[0077] In some embodiments, reference may be made to dimensions, angles, directions, relative positions, and / or movements associated with one or more components of the system 100 with respect to a coordinate system 202. The coordinate system 202, as shown in the accompanying figures, includes three dimensions comprising an X-axis, a Y-axis, and a Z-axis. Additionally or alternatively, the coordinate system 202 may be used to define planes (e.g., the XY-plane, the XZ- plane, and the YZ-plane) when describing the system 100. These planes may be disposed orthogonal, or at 90 degrees, to one another. While the origin of the coordinate system 202 may be placed at any point on or near any one or more components of the system 100, for the purposes of description, the axes of the coordinate system 202 are disposed along the same directions from figure to figure. Additionally or alternatively, the directionality of the X-axis, Y-axis, and Z-axis may be flipped, as noted with negative directionality (i.e., the negative X-axis direction is the opposite direction of the X-axis direction illustrated by the direction of the associated arrow).

[0078] The stereotactic frame base ring 212 (also referred to herein as the “frame base ring 212” or the “base ring 212”) may provide a support structure for the localizer 216 and, more generally, to other components of the stereotactic frame 204. The base ring 212 may be rigidly attached to the patient 208, such that the base ring 212 maintains a fixed pose relative to the patient 208. For example, the base ring 212 may include slots, grips, or the like that attach to the shoulders, neck, and / or head of the patient 208 to secure the base ring 212 relative to the patient 208. In one example, the base ring 212 may include three or four pointed screws / pins that are pressed into the skull of the patient 208 to connect the base ring 212 to the patient 208. Typically, the base ring 212 is attached to a surgical table for stability. In such embodiments, the patient 208 may be positioned on the table and the base ring 212 may be secured to the table and / or to the head of the patient 208, such that the base ring 212 is fixed relative to the patient 208 or, more specifically, relative to the head of the patient 208.

[0079] The base ring 212 includes a navigation marker 218 that is capable of being tracked by the navigation system 118. The navigation marker 218 may be or comprise, for example, a radiopaque marker capable of being detected in images captured by the imaging device 112. The navigation marker 218 may be disposed on or otherwise connected to the base ring 212, or may alternatively be disposed in a predetermined pose relative to the base ring 212 (e.g., attached to a surgical bed or other linkage to the surgical bed). The navigation marker 218 may remain in the predetermined pose relative to the base ring 212 throughout the surgery or surgical procedure. The use of the navigation marker 218 may enable registration of the surgical bed to the base ring 212, such that the surgical bed can be moved after the imaging device 112 performs imaging. In some instances, the geometry of the navigation marker 218 may be such that the navigation system 118 can track the base ring 212 with up to six degrees of freedom.

[0080] The localizer 216 comprises rods 216A-216B connectable and detachable from the base ring 212 that can be used to determine the pose of the stereotactic frame 204. The pose of the stereotactic frame 204 may be used by the navigation system 118 to navigate one or more surgical tools, imaging equipment, or other instruments relative to the stereotactic frame 204. In one example, the localizer 216 comprises a first rod 216A and a second rod 216B. It is to be understood that, while two rods are depicted and discussed herein, additional rods may be used. For example, the localizer 216 may comprise three or four planes of rods that are placed around the head of the patient 208. The navigation system 118 may be able to identify these rods in image data generated by the imaging device 112 (e.g., the rods appear in generated images as circles or ellipses around the patient’s head). The navigation system 118 may then be able to use the identified rods along with the known geometry of the localizer 216 relative to the base ring 212 to define one or more coordinate systems, as discussed in further detail below.

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

[0082] The localizer 216 may enable the navigation system 118 to determine a pose of the base ring 212 and, more generally, of the stereotactic frame 204 based on the geometry of the rods 216A- 216B. The pose may be based on the determined pose of the rods 216A-216B relative to the base ring 212 and the predetermined or known pose of the localizer 216 relative to the base ring 212. Thenavigation system 118 may then determine a coordinate system relative to the base ring 212. For example, the imaging device 112 may capture one or more images or volumetric scans (e.g., a CT scan, an MRI scan, etc.) of the patient 208 and the localizer 216. In some embodiments, the computing device 102 may then use segmentation 122 to identify the first rod 216A and the second rod 216B in the image(s) (which may be or comprise 0-arm images, CT images, MRI images, and / or the like), and may use one or more transformations 124 to transform the different views of the first rod 216A and the second rod 216B into a common reference frame. The computing device 102 may then use registration 128 to register the coordinates associated with the first rod 216A and / or the second rod 216B into a coordinate system associated with the base ring 212. In some cases, the coordinate system associated with the base ring 212 may be or comprise a global coordinate system (e.g., a coordinate system shared by all other surgical tools, imaging device, and other components in a surgical space). The computing device 102 may also use registration 128 to register the navigation marker 218 to the coordinate system associated with the base ring 212 based on the predetermined or known pose of the navigation marker 218 relative to the base ring 212.

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

[0084] The localizer 216 may be disconnected from the base ring 212 once the imaging device 112 captures the images depicting the localizer 216, and other components may be attached to the stereotactic frame 204. As depicted in Figs. 2B and 2C, the localizer 216 may be removed and a set of arcs 220 may be attached or connected to the base ring 212. The set of arcs 220 comprises frame reticles 224A-224B, a tool apparatus 228, and an arc 232. In some cases, the frame reticles 224A- 224B, the tool apparatus 228, and the arc 232 may be an integrated apparatus connectable to the base ring 212 to enable a user to align a surgical tool along a trajectory to reach a target implant location in the patient 208, and then to advance the surgical implant to the target implant location.

[0085] The tool apparatus 228 may comprise one or more surgical instruments or other components capable of carrying out one or more tasks associated with a surgery or surgical procedure, and a mounting mechanism that can mechanically couple the one or more surgical instruments to the arc 232. For example, the tool apparatus 228 may have mounting equipment designed to permit a surgical instrument 236 (e.g., a surgical drill) to be mounted thereto and moved relative to the patient 208. The surgical instrument 236 may perform one or more surgical tasks associated with the surgery or surgical procedure, such as a drilling operation, an implant operation, or the like. In another example, the tool apparatus 228 may be aligned with a trajectory to reach the target surgical site, and may enable the user to advance a surgical implant (e.g., an electrode) along the trajectory of the tool apparatus 228 to reach the target implant location. The tool apparatus 228 is moveable along the arc 232 to position the surgical instrument 236 relative to the patient 208. In some embodiments, the arc 232 may be moveable relative to the base ring 212 and / or relative to the patient 208, and / or the tool apparatus 228 may be movable along another arc mounted to the stereotactic frame 204, such that the tool apparatus 228 can be maneuvered throughout a 3D space surrounding the target surgical site. For example, the arc 232 may be moveable up or down (e.g., in the Z-axis or negative Z-axis direction of the coordinate system 202), may be moveable right or left (e.g., in the X-axis or negative X-axis direction), may be pivotable relative to the base ring 212 (e.g., pivotable about the X-axis of the coordinate system 202), and / or the like to align the tool apparatus 228 relative to the target surgical site. In some embodiments, the tool apparatus 228 may enable multiple different surgical instruments to be connected to the tool apparatus 228 such that different surgical instruments can be connected and utilized at various steps in the surgery or surgical procedure. In one embodiment, the surgical instrument 236 may implant a surgical implant 240 into a target surgical site of the patient 208.

[0086] The frame reticles 224A-224B may be or comprise components connected to the stereotactic frame 204 that provide reference structures that enable imaging of a surgical site. The frame reticles 224A-224B comprise a first frame reticle 224A and a second frame reticle 224B, each of which may be disposed on either side of the set of arcs 220. As shown in Figs. 2B-2C, the first frame reticle 224 A may be positioned on the right hand side of the patient 208, while the second frame reticle 224B may be positioned on the left hand side of the patient 208, such that the first frame reticle 224A and the second frame reticle 224B are in predetermined and known locations relative to the set of arcs 220. It is to be understood that the frame reticles 224A-224B may be positioned at different locations than those illustrated.

[0087] The first frame reticle 224A and second frame reticle 224B may be adjustable relative to the base ring 212 or other components of the stereotactic frame 204 (e.g., the frame reticles 224 A- 224B may each be rotatable in the YZ-plane, the frame reticles 224A-224B may be movable in a circle around the patient 208 in the XY-plane, etc.). The frame reticles 224A-224B move with the set of arcs 220, such that the first frame reticle 224A and the second frame reticle 224B are in a known location relative to the other components of the set of arcs 220. The frame reticles 224A-224B may be positioned based on the type of surgery or surgical procedure being performed on the patient 208. For instance, the surgery or surgical procedure may comprise implanting an electrode in cranial tissue of the patient 208. The surgery or surgical procedure may prescribe the required positioning of the electrode (e.g., via a surgical plan). Based on the required position, the frame reticles 224A-224B may be positioned such that the cranial tissue is disposed between first frame reticle 224A and the second frame reticle 224B. As a result of the positioning of the first frame reticle 224A and the second frame reticle 224B relative to the cranial tissue, electrode will be positioned between the first frame reticle 224 A and the second frame reticle 224B when implanted. In some embodiments, a single frame reticle may be used, such as when robotic positioning of the imaging device 112 is controlled by the navigation system 118 to be aligned with the single frame reticle. Additionally or alternatively, virtual frame reticles may be used (e.g., frame reticles rendered to the user interface 110). In other words, the computing device 102 may calculate, based on virtual components such as virtual frame reticles, the alignment of the imaging device 112, and may move the imaging device 112 to the alignment location.

[0088] The first frame reticle 224A comprises a first reticule 244 and the second frame reticle 224B comprises a second reticule 248. Since the first frame reticle 224A and the second frame reticle 224B are mechanically configured to align with one another, the first reticule 244 and the second reticule 248 may each comprise a center 252 with crosshairs that specify a desired location of the surgical implant 240 (e.g., an electrode) once the tool apparatus 228 has been used to implant the surgical implant 240. As a result, when the imaging device 112 is aligned with both the first reticule 244 and the second reticule 248, an image captured by the imaging device 112 will depict the closest frame reticle (e.g., either the first frame reticle 224A or the second frame reticle 224B), the surgical implant 240, and the center 252. When the depiction of the surgical implant 240 is aligned with the crosshairs of the first frame reticle 224A and the second frame reticle 224B, the surgical implant 240 will be considered to have been implanted in the correct location of the surgical site. Stated differently, the first reticule 244 and the second reticule 248 may have a virtual path 256 therebetween when the imaging device 112 is aligned with the first reticule 244 and the secondreticule 248. When the surgical implant 240 is implanted, the surgical implant 240 is considered to be correctly positioned when the surgical implant 240 falls within the virtual path 256.

[0089] Figs. 2D and 2E illustrate aspects of the frame reticles 224A-224B according to at least one embodiment of the present disclosure. Fig. 2D depicts an image captured by the imaging device 112 when the first reticule 244 and the second reticule 248 are not aligned. For example, the imaging device 112 may be positioned to capture the first frame reticle 224A, but has not been positioned such that the first frame reticle 224A is aligned with the second frame reticle 224B. As a result, the resulting image may depict the crosshairs of the second frame reticle 224B as not overlapping with the crosshairs of the first frame reticle 224A. The resulting offset may depict the surgical implant 240 as offset from the center 252, which may incorrectly indicate that the surgical implant 240 is not correctly positioned. However, as seen in Fig. 2E, when the first frame reticle 224A and the second frame reticle 224B are aligned from the view of the imaging device 112 capturing the image, the captured image may depict the first reticule 244 and the second reticule 248 as aligned. As a result, the center 252 may correctly depict the desired surgical location of the surgical implant 240. As shown in Fig. 2E, the surgical implant 240 falls within the center 252, indicating that the surgical implant 240 has been correctly implanted in the surgical site.

[0090] Figs. 3A-3B illustrate the imaging device 112 moving relative to the patient 208 according to embodiments of the present disclosure. As shown in Fig. 3A, the patient 208 may be positioned on a table 304, with the stereotactic frame 204 attached to both the patient 208 and the table 304.

[0091] The table 304 may be any operating table 304 configured to support the patient 208 during a surgical procedure. The table 304 may include any accessories mounted to or otherwise coupled to the table 304 such as, for example, a bed rail, a bed rail adaptor, an arm rest, an extender, or the like. In some embodiments, the stereotactic frame 204 may be mounted to the table 304. The operating table 304 may be stationary or may be operable to maneuver the patient 208 (e.g., the operating table 304 may be able to move). When the table 304 is operable to maneuver the patient 208, the base ring 212 is attached to table 304. In some embodiments, the table 304 has two positioning degrees of freedom and one rotational degree of freedom, which allows positioning of the specific anatomy of the patient anywhere in space (within a volume defined by the limits of movement of the table 304). For example, the table 304 can slide forward and backward and from side to side (e.g., translations in the X-axis and Z-axis directions), and can tilt (e.g., around the X-axis direction) and / or roll (e.g., around the Z-axis direction). In other embodiments, the table 304 can bend at one or more areas (which bending may be possible due to, for example, the use of a flexible surface for the table 304, or by physically separating one portion of the table 304 from another portion of the table 304 andmoving the two portions independently). In at least some embodiments, the table 304 may be manually moved or manipulated by, for example, a surgeon or other user, or the table 304 may comprise one or more motors, actuators, and / or other mechanisms configured to enable movement and / or manipulation of the table 304 by a processor such as the processor 104.

[0092] The imaging device 112 may be capable of moving relative to the patient 208 and the table 304 in one or more directions and angles in 3D space. In one embodiment, the imaging device 112 can translate in the X, Y, and Z-axis directions and rotate in the YZ, XZ, and XY planes. In such embodiments, the imaging device 112 may comprise an 0-arm or a C-arm. The imaging device 112 may be moved or caused to move by the surgeon or other user (e.g., a member of surgical staff) relative to the patient 208 and / or the table 304. In some embodiments, the imaging device 112 may be moved by the navigation system 118 based on the registration determined based on the localizer 216 of the stereotactic frame 204. For example, the navigation system 118 may receive instructions from the computing device 102 to capture one or more images of the patient 208 and the stereotactic frame 204, which may include the localizer 216. Then, as described above, the computing device 102 may use segmentation 122, transformation 124, and registration 128 to determine the position of the localizer 216 and, based on the predetermined pose of the localizer 216 relative to the base ring 212, the position of the base ring 212. Additionally, the computing device 102 may use segmentation 122, transformation 124, and registration 128 to determine the pose of the navigation marker 218 and the imaging device 112 relative to the base ring 212. In other words, coordinates associated with the localizer 216, the navigation marker 218, and the imaging device 112 may be mapped into a coordinate system associated with the base ring 212, effectively registering the imaging device 112 to the stereotactic frame 204. The registration may enable the imaging device 112 to be moved away from the surgical site — such as when the localizer 216 is removed from the base ring 212 and the set of arcs 220 are attached to the base ring 212 — and to be reintroduced to the surgical site without losing registration.

[0093] Once the localizer 216 has been imaged, the localizer 216 may be removed from the stereotactic frame 204, and a set of arcs 220 may be attached to the stereotactic frame 204. Due to the known position of the set of arcs 220 relative to the base ring 212, the navigation system 118 may be able to determine, using the computing device 102 or components thereof such as the processor 104, the pose of the set of arcs 220 relative to the imaging device 112.

[0094] Once the set of arcs 220 have been connected to the base ring 212, a user (e.g., a surgeon, a member of surgical staff, etc.) may designate the target location and trajectory for a surgical implant (e.g., surgical implant 240). In some embodiments, the target location and / or the trajectory may bebased on information obtained from a surgical plan stored in the database 130 or the like. Based on the user designation, the computing device 102 determines coordinates for the set of arcs 220 to perform the surgical implant procedure. In other words, the computing device 102 may determine settings of the set of arcs 220 to align the frame guide tube of the tool apparatus 228 with the planned trajectory, such that when the surgical implant is progressed via the tool apparatus 228, the surgical implant arrives at the desired implant location. The computing device 102 may then render such settings to the user interface 110, enabling the user to adjust the set of arcs 220 and perform the implant procedure.

[0095] Once the surgical implant has been delivered to the desired location, the user may wish to confirm the location of the implant. The navigation system 118 may receive an input from the user to capture an image to confirm the location of the surgical implant. The input may be received from a user (e.g., a member of surgical staff) via the user interface 110. The imaging device 112 may be reintroduced to the surgical site (e.g., positioned relative to the patient 208), with the navigation system 118 tracking the position of the imaging device 112 (e.g., based on a navigation tracker disposed on the imaging device 112). The navigation system 118 may then determine the pose of the imaging device 112 relative to the base ring 212. In some embodiments, the navigation system 118 may provide information about the position of the imaging device 112 relative to the set of arcs 220 (based on, for example, the registration of the imaging device 112 to the base ring 212 and the known position of the set of arcs 220 relative to the base ring 212), as well as possible movements of the imaging device 112 to bring the imaging device 112 closer to alignment with the set of arcs 220.

[0096] Once the navigation system 118 has received the input to capture the confirmation image and the imaging device 112 is within a threshold distance from the set of arcs 220 (based on, for example, a threshold value stored in the database 130), the navigation system 118 may cause the imaging device 112 to move into a view location. The view location may comprise a location where the imaging device 112 is lined up with both the frame reticles 224A-224B, such that an image captured by the imaging device 112 will depict both centers 252 of the frame reticles 224A-224B sharing the same space (e.g., the crosshairs of the first frame reticle 224A align with the crosshairs of the second frame reticle 224B). The view location may also depict the surgical implant 240 relative to the center 252. In cases where the surgical implant 240 has been implanted according to the surgical plan, the image captured at the view location will depict the surgical implant 240 aligned with the center 252, allowing the surgeon or other user to confirm that the surgical implant 240 has been correctly implanted.

[0097] As shown in Fig. 3B, the imaging device 112 may move from a first pose 308A to a second pose 308B in moving to the view location. The movement of the imaging device 112 from the first pose 308A to the second pose 308B may comprise the imaging device 112 moving in one or more directions in 3D space and / or rotating about one or more axes in 3D space. In some embodiments, the imaging device 112 may comprise an emitter and a detector, and the movement from the first pose 308A to the second pose 308B may comprise moving the emitter in 3D space and moving the detector into a complementary pose such that radiation emitted by the emitter is captured and detected by the detector.

[0098] In some embodiments, the movement of the imaging device 112 may be controllable by user input. For example, the imaging device 112 may comprise a manual override (e.g., a “kill switch”) that automatically stops the movement of the imaging device 112 based on user input. In one example, the override may require a user to hold down a button or switch to enable the imaging device 112 to move, and when the user releases the button or switch, the imaging device 112 may stop. The user input may be received from, for example, the user interface 110. The user may provide the input when the user believes that the movement of the imaging device 112 from the first pose 308A to the second pose 308B poses a possibility of collision, or for any other reason. In some embodiments, the first pose 308A of the imaging device 112 may begin close to the first frame reticle 224A (or more generally, close to the view location). For example, the user may manually align the imaging device 112 proximate to the first frame reticle 224A. As a result, the movement from the first pose 308A to the second pose 308B may be a smaller movement of the imaging device 112 that in instances where the imaging device 112 begins at a default location or a location further from the stereotactic frame 204, which may reduce the likelihood of the imaging device 112 colliding with the patient 208 or other equipment in the surgical environment.

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

[0100] It is to be understood that, while the above discussion is directed toward driving an imaging device to a view location, the present disclosure is not limited to driving the imaging device to the view location, and other instruments or equipment controlled by the navigation system (e.g., surgicaltools, other imaging devices, etc.) may additionally or alternatively be driven to different locations relative to the stereotactic frame 204 based on the determined pose of the components of the stereotactic frame 204.

[0101] Fig. 4 depicts a method 400 that may be used, for example, to align an imaging device with a view location to, for example, confirm an implant has been positioned in a planned location.

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

[0103] The method 400 comprises receiving a plurality of images captured with an imaging device (step 404). The imaging device may be similar to or the same as the imaging device 112 (e.g., an O- arm). The plurality of images may be or comprise a 2D image and / or a 3D image (e.g., a CT scan) depicting the patient 208 and / or one or more surgical devices (e.g., the stereotactic frame 204, etc.). In one embodiment, the step 404 may occur after the stereotactic frame 204 (e.g., the base ring 212, the localizer 216, and the navigation marker 218) has been attached to patient’s head. In some embodiments, the imaging device 112 may be tracked (e.g., using a navigation system 118) while capturing the plurality of images.

[0104] The method 400 also comprises identifying a first component of a surgical device depicted in the plurality of images (step 408). In some embodiments, the surgical device may be or comprise a stereotactic frame 204, and the first component may be or comprise localizer 216. The method 400 may include using image processing 120 and / or segmentation 122 to identify the first component of the surgical device. In some embodiments, the rods 216A-216B may be depicted in different locations relative to the imaging device 112 in each image of the plurality of images. The rods 216A- 216B may be attached to the localizer 216 in a predetermined pose (in other words, the rods 216A- 216B may have a predetermined and known geometry), and the localizer 216 may be connected tothe base ring 212 of the stereotactic frame 204 in a predetermined way, such that the position of the base ring 212 can be determined based on identification of the rods 216A-216B.

[0105] The method 400 also comprises registering, based on the first component, the surgical device to the imaging device (step 412). The method 400 may include using registration 128 to register coordinates associated with the imaging device 112 into a coordinate system associated with the first component (e.g., base ring 212). In some embodiments, coordinates associated with the identified rods 216A-216B in the step 408 may be registered in the coordinate system associated with the base ring 212. Then, based on a predetermined location of the rods 216A-216B relative to the base ring 212 and the tracked location of the imaging device 112 while capturing the plurality of images in the step 404, coordinates associated with the imaging device 112 may be registered into the coordinate system associated with the base ring 212.

[0106] The method 400 also comprises receiving information associated with a view location, wherein the imaging device, when at the view location, is aligned with a second component of the surgical device (step 416). The second component of the surgical device may comprise one or more of the frame reticles 224A-224B. The alignment of the imaging device with the second component of the surgical device may enable the imaging device to capture an image of a surgical implant (e.g., surgical implant 240) after the surgical implant has been inserted into the target location. The view location may be determined by the computing device 102 using the tracked pose of the imaging device 112 relative to the base ring 212 based on, for example, the registration determined in the step 412. In other words, the computing device 102 may use the registration between the imaging device 112 and the base ring 212, and the known position of the frame reticles 224A-224B relative to the base ring 212, to determine the position of the imaging device 112 to align the imaging device 112 with the frame reticles 224A-224B. The imaging device 112, when at the view location, may be able to capture an image that depicts the alignment of the first frame reticle 224A with the second frame reticle 224B. Such an image may inform the surgeon or other user about whether the implant is positioned at the correct location.

[0107] The method 400 also comprises determining, based on a combination of the view location and the registering, a movement of the imaging device to position the imaging device at the view location (step 420). After the view location is determined, the navigation system 118 may use the registration between the stereotactic frame 204 (or more specifically the base ring 212) and the imaging device 112 to determine the coordinates of the first frame reticle 224A and / or the second frame reticle 224B in a coordinate system associated with the base ring 212. Then, the navigation system 118 may determine a movement of the imaging device 112 that would move the imagingdevice 112 into a pose such that the imaging device 112 can capture an image of the target location (e.g., an image that depicts the crosshairs of the first frame reticle 224A as aligned with the crosshairs of the second frame reticle 224B). In some embodiments, the navigation system 118 may use knowledge about the location of the joints of the imaging device 112 and / or the range of motion of the imaging device 112 in determining the movement to position the imaging device 112 at the view location. The method 400 may use one or more transformations 124 to determine a path along which the imaging device 112 can move to avoid collision with the patient and to position the imaging device 112 at the view location.

[0108] The method 400 also comprises causing the imaging device to perform the movement to the view location (step 424). Once the path of the imaging device 112 has been determined, the navigation system 118 may navigate the imaging device 112 into the view location. The navigation may include sending commands to the imaging device 112 to drive translational and / or rotational joints of the imaging device 112 to align the imaging device 112 with the view location. In some embodiments, the movement of the imaging device 112 may occur automatically, while in other embodiments the movement of the imaging device 112 may occur after a user (e.g., a physician, a member of surgical staff, etc.) has input a movement command into the system, such as via a user interface 110. The user input may occur in one or multiple user-initiated steps (e.g., the navigation path is separated into a plurality of sub-movements, with user input required at each sub-movement before the imaging device 112 moves) to lessen the likelihood of collision. In some embodiments, the imaging device 112 may be equipped with a manual override (e.g., a “kill switch”) that may enable a user (e.g., a physician, a member of surgical staff, etc.) to stop the movement of the imaging device 112. The manual override may improve safety by reducing the risk of the imaging device 112 accidentally colliding with the patient and / or other surgical elements in the surgical environment.

[0109] The method 400 also comprises causing the imaging device to capture at least one image while at the view location (step 428). Once the imaging device 112 has been positioned at the view location, the imaging device 112 may capture one or more images at the view location. While at the view location, the one or more images may depict an alignment of the frame reticles 224A-224B with one another, which may enable a user to determine whether the surgical implant 240 has been positioned in the correct location. In some embodiments, the one or more images may comprise a lateral view of the patient that depicts at least one of the frame reticles 224A-224B and / or the surgical implant 240. Based on the position of the surgical implant 240 relative to the center 252 of the frame reticles 224A-224B, a user or the computing device 102 (e.g., using image processing 120and segmentation 122) can determine whether or not the surgical implant 240 has been correctly implanted.

[0110] The present disclosure encompasses embodiments of the method 400 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

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

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

[0113] The method 500 comprises determining a set of coordinates associated with the first component in a first coordinate system (step 504). The first component may comprise one or more of the rods 216A-216B, and the first coordinate system may be or comprise a coordinate system associated with the stereotactic frame 204 (or, more specifically, the base ring 212) to which the rods 216A-216B are attached. In some embodiments, the step 504 may continue from the step 408 of the method 400, where a plurality of images are captured that depict the rods 216A-216B. The computing device 102 uses segmentation 122 to identify the rods 216A-216B and transformation 124 to transform the depictions of the rods 216A-216B into a common reference frame. The computing device 102 may then assign coordinates to the rods 216A-216B in the first coordinate system.

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

[0115] The method 500 also comprises transforming coordinates associated with the imaging device in a second coordinate system into the first coordinate system (step 512). Continuing from the step 508, the computing device 102 may determine coordinates of the imaging device 112 in the second coordinate system. In some embodiments, the second coordinate system may be the imaging device 112 coordinate system, while in other embodiments the second coordinate system may be or comprise a global coordinate system. The navigation system 118 may track the pose of the imaging device 112 in the second coordinate system when the imaging device 112 generates the plurality of images. The computing device 102 may use the pose of the imaging device 112 and the resulting images of the rods 216A-216B to determine a position mapping between the imaging device 112 and the rods 216A-216B. Since the computing device 102 knows the coordinates of the rods 216A-216B and the stereotactic frame 204 or components thereof (e.g., the base ring 212) in the first coordinate system, the computing device 102 may then use registration 128 to transform the coordinate associated with the imaging device 112 into the first coordinate system associated with base ring 212. In some embodiments, the method 500 may continue by proceeding to the step 416 of the method 400.

[0116] The present disclosure encompasses embodiments of the method 500 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0117] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Figs. 4 and 5 (and the corresponding description of the methods 400 and 500), as well as methods that include additional steps beyond those identified in Figs. 4 and 5 (and the corresponding description of the methods 400 and 500). The present disclosure also encompasses methods that comprise one or more steps from one method described herein, and one or more steps from another method described herein. Any correlation described herein may be or comprise a registration or any other correlation.

[0118] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure maybe combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0119] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

[0120] Example 1. A system, comprising: a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: receive a plurality of images captured with an imaging device; identify a first component of a surgical device depicted in the plurality of images; register, based on the first component, the surgical device and the imaging device; receive information associated with a view location, wherein the imaging device, when at the view location, is aligned with a second component of the surgical device; and determine, based on a combination of the view location and the registering, a movement of the imaging device to position the imaging device at the view location.

[0121] Example 2. The system of example 1, wherein the imaging device comprises an 0-arm or a C-arm.

[0122] Example 3. The system of example 1, wherein the data further enable the processor to: cause the imaging device to perform the movement to the view location; and cause the imaging device to capture at least one image while at the view location.

[0123] Example 4. The system of example 3, wherein the at least one image comprises an image of a lateral view of a patient that depicts at least one of the second component and a surgical implant.

[0124] Example 5. The system of example 4, wherein the second component is a virtual component.

[0125] Example 6. The system of example 1, wherein the surgical device comprises a stereotactic frame, and wherein the first component comprises a localizer that is connectable to a base ring of the stereotactic frame.

[0126] Example 7. The system of example 6, wherein the second component comprises a plurality of reticles attached to a set of arcs connectable to the base ring of the stereotactic frame.

[0127] Example 8. The system of example 7, wherein the localizer is disconnected from the stereotactic frame after the plurality of images are captured, and wherein the set of arcs is connected to the base ring before the imaging device is driven to perform the movement.

[0128] Example 9. The system of example 1, wherein the registering further comprises:

[0129] transforming coordinates associated with the imaging device into a coordinate system associated with the surgical device.

[0130] Example 10. A method, comprising:

[0131] identifying, based on a plurality of images captured with an imaging device, a first component of a surgical device; registering, based at least partially on the first component, the surgical device and the imaging device; calculating a view location, wherein the imaging device, when at the view location, is aligned with a second component of the surgical device; determining, based on a combination of the view location and the registering, a movement of the imaging device to position the imaging device at the view location; and causing the imaging device to perform the movement.

[0132] Example 11. The method of example 10, further comprising: causing the imaging device to capture at least one image when in the view location.

[0133] Example 12. The method of example 11, wherein the at least one image comprises an image of a lateral view of a patient that depicts at least one of the second component and a surgical implant.

[0134] Example 13. The method of example 11, wherein the second component is a virtual component.

[0135] Example 14. The method of example 10, wherein the surgical device comprises a stereotactic frame, and wherein the first component comprises a localizer that is connectable to the stereotactic frame.

[0136] Example 15. The method of example 14, wherein the second component comprises a reticle attached to a set of arcs connectable to the stereotactic frame.

[0137] Example 16. The method of example 15, wherein the localizer is disconnected from the stereotactic frame after the plurality of images are captured, and wherein the set of arcs is connected to the stereotactic frame before the imaging device is caused to perform the movement.

[0138] Example 17. The method of example 10, wherein the registering further comprises: transforming coordinates associated with the imaging device in a first coordinate system into a second coordinate system associated with the surgical device.

[0139] Example 18. The method of example 17, wherein the transforming further comprises: determining a set of coordinates associated with the first component in the first coordinate system; and determining, based on the set of coordinates and a predetermined pose of the first component relative to the surgical device, the coordinates associated with the surgical device in the first coordinate system.

[0140] Example 19. A system, comprising:an imaging device; a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: identify a first component of a surgical device depicted in a plurality of images captured by the imaging device; register, based on the first component, the surgical device and the imaging device; receive information associated with a view location, wherein the imaging device, when at the view location, is aligned with a second component of the surgical device; determine, based on a combination of the view location and the registering, a movement of the imaging device to position the imaging device at the view location; and cause the imaging device to perform the movement.

[0141] Example 20. The system of example 19, wherein the registering further comprises: transforming coordinates associated with the imaging device into a coordinate system associated with the surgical device.

[0142] Example 21. The system of example 19, wherein the imaging device captures at least one image when at the view location, and wherein the at least one image comprises an image of a lateral view of a patient that depicts at least one of the second component and a surgical implant.

[0143] Example 22. The system of example 21, wherein the second component is a virtual component.

[0144] Example 23. The system of example 19, wherein the surgical device comprises a stereotactic frame, wherein the first component comprises a localizer that is connectable to the stereotactic frame, and wherein the second component comprises a reticle connected to a set of arcs connectable to the stereotactic frame.

[0145] Example 24. A system (100), comprising: a processor (104); and a memory (106) storing data thereon that, when processed by the processor (104), enable the processor (104) to: receive a plurality of images captured with an imaging device (112);identify a first component of a surgical device depicted in the plurality of images; register, based on the first component, the surgical device and the imaging device (112); receive information associated with a view location, wherein the imaging device (112), when at the view location, is aligned with a second component of the surgical device; and determine, based on a combination of the view location and the registering, a movement of the imaging device (112) to position the imaging device (112) at the view location.

[0146] Example 25. The system according to example 24, wherein the imaging device (112) comprises an 0-arm or a C-arm.

[0147] Example 26. The system according to example 24 or 25, wherein the data further enable the processor (104) to: cause the imaging device (112) to perform the movement to the view location; and cause the imaging device (112) to capture at least one image while at the view location.

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

[0149] Example 28. The system according to any of example 24 to 27, wherein the surgical device comprises a stereotactic frame (204), and wherein the first component comprises a localizer (216) that is connectable to a base ring (212) of the stereotactic frame (204).

[0150] Example 29. The system according to example 28, wherein the second component comprises a plurality of reticles (224A, 224B) attached to a set of arcs (220) connectable to the base ring (212) of the stereotactic frame (204).

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

[0152] Example 31. The system according to any of examples 24 to 30, wherein the registering further comprises: transforming coordinates associated with the imaging device (112) into a coordinate system associated with the surgical device.

[0153] Example 32. A method, comprising: identifying, based on a plurality of images captured with an imaging device (112), a first component of a surgical device; registering, based at least partially on the first component, the surgical device and the imaging device (112); calculating a view location, wherein the imaging device (112), when at the view location, is aligned with a second component of the surgical device; determining, based on a combination of the view location and the registering, a movement of the imaging device (112) to position the imaging device (112) at the view location; and causing the imaging device (112) to perform the movement.

[0154] Example 33. The method according to example 32, further comprising: causing the imaging device (112) to capture at least one image when in the view location.

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

[0156] Example 35. The method according to any of examples 32 to 34, wherein the surgical device comprises a stereotactic frame (204), and wherein the first component comprises a localizer (216) that is connectable to the stereotactic frame (204).

[0157] Example 36. The method according to example 35, wherein the second component comprises a reticle (224A) attached to a set of arcs (220) connectable to the stereotactic frame (204).

[0158] Example 37. The method according to example 36, wherein the localizer (216) is disconnected from the stereotactic frame (204) after the plurality of images are captured, and wherein the set of arcs (220) is connected to the stereotactic frame (204) before the imaging device (112) is caused to perform the movement.

[0159] Example 38. A system (100), comprising: an imaging device (112); a processor (104); and a memory (106) storing data thereon that, when processed by the processor (104), enable the processor (104) to: identify a first component of a surgical device depicted in a plurality of images captured by the imaging device (112); register, based on the first component, the surgical device and the imaging device (112); receive information associated with a view location, wherein the imaging device (112), when at the view location, is aligned with a second component of the surgical device; determine, based on a combination of the view location and the registering, a movement of the imaging device (112) to position the imaging device (112) at the view location; and cause the imaging device (112) to perform the movement.

Claims

CLAIMSWhat is claimed is:

1. A system ( 100) , comprising : a processor (104); and a memory (106) storing data thereon that, when processed by the processor (104), enable the processor (104) to: receive a plurality of images captured with an imaging device (112); identify a first component of a surgical device depicted in the plurality of images; register, based on the first component, the surgical device and the imaging device (112); receive information associated with a view location, wherein the imaging device (112), when at the view location, is aligned with a second component of the surgical device; and determine, based on a combination of the view location and the registering, a movement of the imaging device (112) to position the imaging device (112) at the view location.

2. The system according to claim 1, wherein the imaging device (112) comprises an O- arm or a C-arm.

3. The system according to claim 1 or 2, wherein the data further enable the processor (104) to: cause the imaging device (112) to perform the movement to the view location; and cause the imaging device (112) to capture at least one image while at the view location.

4. The system according to claim 3, wherein the at least one image comprises an image of a lateral view of a patient (208) that depicts at least one of the second component and a surgical implant (240).

5. The system according to any of claims 1 to 4, wherein the surgical device comprises a stereotactic frame (204), and wherein the first component comprises a localizer (216) that is connectable to a base ring (212) of the stereotactic frame (204).

6. The system according to claim 5, wherein the second component comprises a plurality of reticles (224A, 224B) attached to a set of arcs (220) connectable to the base ring (212) of the stereotactic frame (204).

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

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

9. A method, comprising: identifying, based on a plurality of images captured with an imaging device (112), a first component of a surgical device; registering, based at least partially on the first component, the surgical device and the imaging device (112); calculating a view location, wherein the imaging device (112), when at the view location, is aligned with a second component of the surgical device; determining, based on a combination of the view location and the registering, a movement of the imaging device (112) to position the imaging device (112) at the view location; and causing the imaging device (112) to perform the movement.

10. The method according to claim 9, further comprising: causing the imaging device (112) to capture at least one image when in the view location.

11. The method according to claim 10, wherein the at least one image comprises an image of a lateral view of a patient (208) that depicts at least one of the second component and a surgical implant (240).

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

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

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

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

Images