公开(公告)号：US09545233B2

公开(公告)日：2017-01-17

申请号：US14402696

申请日：2013-05-21

Applicant: Mazor Robotics Ltd.

Inventor： Yael Sirpad ,  Eli Zehavi ,  Moshe Shoham ,  Leonid Kleyman

IPC: G06K9/00 ,  A61B6/12 ,  A61B6/00 ,  G06K9/62 ,  G06T7/00 ,  G06T15/00

CPC classification number: A61B6/12 ,  A61B6/5235 ,  A61B6/5247 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/376 ,  A61B2090/3966 ,  G06K9/6202 ,  G06T7/70 ,  G06T15/00 ,  G06T2207/10121 ,  G06T2207/30008

Abstract: A method verifying the position of a surgically inserted orthopedic insert. A preoperative three dimensional image data set of the surgical site is generated, showing the bone into which the insert is to be inserted. During the insertion procedure, a series of intraoperative two-dimensional fluoroscope images are generated, each at a known pose relative to the bone, showing the insert during or after insertion into the bone. The 3-D position of the insert is determined in an intraoperative three dimensional image data set reconstructed from the series of intraoperative 2-D fluoroscope images. The reconstructed intraoperative 3-D image data set is registered with the preoperative three dimensional image data set, such as by comparison of imaged anatomical features. Once this registration is achieved, the determined 3-D position of the insert is used to implant a virtual image of the insert into the preoperative three dimensional image data set.

Abstract translation: 一种验证手术插入的整形外科插入物的位置的方法。 产生手术部位的术前三维图像数据集，显示插入物插入其中的骨骼。 在插入过程期间，产生一系列术中二维荧光镜图像，每个以相对于骨骼的已知姿势生成，在插入骨骼期间或之后显示插入物。 插入物的3-D位置是在从一系列术中2-D荧光镜图像重建的术中三维图像数据集中确定的。 例如通过比较成像的解剖特征，将重建的术中3-D图像数据集与术前三维图像数据集进行配准。 一旦达到该注册，则使用所确定的插入物的3-D位置将插入物的虚拟图像植入到术前三维图像数据集中。

公开(公告)号：US20150150523A1

公开(公告)日：2015-06-04

申请号：US14402696

申请日：2013-05-21

Applicant: MAZOR ROBOTICS LTD.

Inventor： Yael Sirpad ,  Eli Zehavi ,  Moshe Shoham ,  Leonid Kleyman

IPC: A61B6/12 ,  A61B6/00 ,  G06K9/62 ,  G06T7/00 ,  G06T15/00

CPC classification number: A61B6/12 ,  A61B6/5235 ,  A61B6/5247 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/376 ,  A61B2090/3966 ,  G06K9/6202 ,  G06T7/70 ,  G06T15/00 ,  G06T2207/10121 ,  G06T2207/30008

Abstract: A method verifying the position of a surgically inserted orthopedic insert. A preoperative three dimensional image data set of the surgical site is generated, showing the bone into which the insert is to be inserted. During the insertion procedure, a series of intraoperative two-dimensional fluoroscope images are generated, each at a known pose relative to the bone, showing the insert during or after insertion into the bone. The 3-D position of the insert is determined in an intraoperative three dimensional image data set reconstructed from the series of intraoperative 2-D fluoroscope images. The reconstructed intraoperative 3-D image data set is registered with the preoperative three dimensional image data set, such as by comparison of imaged anatomical features. Once this registration is achieved, the determined 3-D position of the insert is used to implant a virtual image of the insert into the preoperative three dimensional image data set.

Abstract translation: 一种验证手术插入的整形外科插入物的位置的方法。 产生手术部位的术前三维图像数据集，显示插入物插入其中的骨骼。 在插入过程期间，产生一系列术中二维荧光镜图像，每个以相对于骨骼的已知姿势生成，在插入骨中期间或之后显示插入物。 插入物的3-D位置是在从一系列术中2-D荧光镜图像重建的术中三维图像数据集中确定的。 例如通过比较成像的解剖特征，将重建的术中3-D图像数据集与术前三维图像数据集进行配准。 一旦达到该注册，则使用所确定的插入物的3-D位置将插入物的虚拟图像植入到术前三维图像数据集中。