WO2002035454A1 - Fluoroscopic registration artifact with optical and/or magnetic markers - Google Patents

Fluoroscopic registration artifact with optical and/or magnetic markers Download PDF

Info

Publication number
WO2002035454A1
WO2002035454A1 PCT/US2001/030038 US0130038W WO0235454A1 WO 2002035454 A1 WO2002035454 A1 WO 2002035454A1 US 0130038 W US0130038 W US 0130038W WO 0235454 A1 WO0235454 A1 WO 0235454A1
Authority
WO
WIPO (PCT)
Prior art keywords
artifact
registration artifact
registration
markers
fluoroscopic
Prior art date
Application number
PCT/US2001/030038
Other languages
French (fr)
Other versions
WO2002035454A9 (en
Inventor
Rony A. Abovitz
Brandon D. Larocque
Julio J. Santos-Munne
Original Assignee
Z-Kat, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Z-Kat, Inc. filed Critical Z-Kat, Inc.
Priority to AU2001294718A priority Critical patent/AU2001294718A1/en
Priority to KR10-2003-7004328A priority patent/KR20030076568A/en
Priority to JP2002538364A priority patent/JP4022145B2/en
Priority to EP01975384.7A priority patent/EP1323120B1/en
Priority to CA002422950A priority patent/CA2422950A1/en
Publication of WO2002035454A1 publication Critical patent/WO2002035454A1/en
Publication of WO2002035454A9 publication Critical patent/WO2002035454A9/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/12—Devices for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing

Definitions

  • the invention relates to image guided surgical and interventional systems.
  • fluoroscopic images are registered using a registration artifact that may be relocated.
  • the registration artifact in which a plurality of radio-opaque fiducials are mounted in a known geometric relationship, includes a plurality of markers having a known relationship to the artifact.
  • the positions of the markers, and thus the position of the registration artifact, are tracked by a tracking system. Examples of such tracking systems include passive and active optical, magnetic and acoustic systems.
  • the position of the registration artifact with respect to a known coordinate frame is determined by the tracking system. Therefore, the registration artifact need not be kept in a fixed location in order to register the images. Rather, the registration artifact may be moved as necessary to fit the registration artifact into an image, and no modification of the fluoroscope is necessary.
  • FIGL ⁇ RJE 1 is a perspective view of an embodiment of a registration artifact
  • FIGURE 2 is a perspective view of a second embodiment of a registration artifact
  • FIGURE 3 is a diagram showing the registration artifact being located over a relevant anatomy of a patient with a drill guide according to the teachings of the present invention
  • FIGURE 4 is a diagram showing some of the tools that may be used in conjunction with the registration artifact according to the teachings of the present invention.
  • FIGURE 5 is a diagram showing an operating room set up according to the teachings of the present invention.
  • FIGURES 1 through 5 of the drawings like numerals being used for like and corresponding parts of the various drawings in a known geometric relationship.
  • registration artifact 10 includes a radio-transparent body 1 1 upon which radio-opaque fiducials 12-16 are mounted. Also mounted to the registration artifact 10 are a plurality of markers 20-26 that may be located and tracked using a tracking system. For example, trackable markers 20-26 may be active infrared emitting diodes (IREDs), reflective spheres, magnetically trackable objects, or other spacially trackable objects.
  • Registration artifact 10 may also include a direction indicator 28 to aid in the positioning of the artifact for a procedure. In the embodiment shown, direction indicator 28 is an opening in the shape of an arrow formed in the body 1 1 of registration artifact 10.
  • Optically trackable markers may be imaged and tracked in the infrared spectrum or visible spectrum by cameras.
  • the location of magnetically trackable markers are detected by measuring the disturbance of the magnetic field.
  • the cameras and detectors have a much wider field of "view" than the typical fluoroscopy images.
  • An advantage of using magnetic markers is that a line-of-sight between the camera/detector and each of the markers is not required. This may provide more flexibility in how the surgical instruments, robotic amis that assist with surgery, the patient, and a surgical team are positioned.
  • FIG. 2 a second embodiment of a registration artifact 30, like the registration artifact of FIG.
  • registration artifact 30 is mounted on a bracket 36 that clamps to a table 38 on which torso 40 of a patient rests.
  • the bracket allows the artifact to be positioned in the field of view of C-arm fluoroscope 66.
  • the registration artifact may be placed in any other suitable structure. As an example only, drill guide 42 is placed adjacent an entry opening in the patient's torso with a drill 43 being inserted.
  • the drill guide includes a frame on which a plurality of trackable markers, in the form of infrared reflective spheres 44, are attached in a known geometric relationship to the axis and end point of the drill guide.
  • the position of the axis and end point of the drill guide are registered to fluoroscopic images taken with registration artifact 30 in the field of view.
  • elements of an image guide surgical system include an optical tracking system and related surgical instruments.
  • Optical tracking systems are well known. Other types of tracking systems include magnetic, fiber-optic and acoustic tracking systems.
  • Optical tracking systems typically include a camera system 46 that senses the positions of trackable markers within its field of view that transmit or reflect infrared or other electro-magnetic radiation that is not harmful to persons. The signals from optical camera system are processed using a program running on computer 48. The programs locate the positions of trackable markers and determine the position of an object to which the markers are attached with respect to a known coordinate system or reference frame.
  • This position can be used by the computer to generate, for example, a representation of the object that is displayed on a fluoroscopic image of the patient in an accurate spatial relationship with the patient's anatomy for guiding the positioning of the object.
  • the computer includes a keyboard 50 and trackball 52, both of which function as input devices, a monitor 54 for display images and a backup power supply.
  • Surgical instruments include in addition to drill guide 42, probes 58 and 60. These instruments are mounted with trackable markers.
  • Tracker 62 also includes a plurality of trackable markers mounted in a known relationship. It may be clamped to other objects that do not have integrally mounted trackable markers.
  • fluoroscopic images of the patient's anatomy are captured from at least two different angels using C-arm fluoroscope with a registration artifact in the field of view.
  • the fluoroscopic images are registered by locating the positions of the fiducials in the images.
  • using this method requires the fiducials to remain in the same position.
  • registration artifact 10 When registration artifact 10 is used, the registration artifact no longer needs to remain in a same position in multiple fluoroscopic images.
  • the position of markers on the registration artifact is tracked between images using a tracking system, such as the optical tracking system shown in the figures or other type of tracking system, depending on the type of trackable markers used. This information is used to adjust or compensate for the movement of the registration artifact between the images when registering multiple fluoroscopic images. Therefore, the position of the registration artifact in each image is known.
  • the registration artifact can even be moved to another object, such as a surgical tool on the end of a robotic arm, and its new location tracked and calculated relative to the relevant anatomy of the patient.

Abstract

A registration artifact (10) for use in registering two or more fluoroscopic images includes a plurality of radio opaque spheres (12, 14, 16) and a plurality of trackable markers, such as optical reflectors (20, 22, 24, and 26), mounted to a radio transparent body (11). A tracking system locates the position of registrable artifact using the trackable markers for registering the fluoroscopic images with respect to a known frame of reference.

Description

FLUOROSCOPIC REGISTRATION ARTIFACT WITH OPTICAL AND/OR MAGNETIC MARKERS
TECHNICAL FIELD OF THE INVENTION
The invention relates to image guided surgical and interventional systems.
BACKGROUND OF THE INVENTION Conventional fluoroscopic registration artifacts have X-ray transparent bodies holding radio-opaque fiducials in predetermined and fixed positions on the registration artifact. The fiducials show up as distinct dots on an X-ray and used to coordinate and register to a common coordinate system multiple X-ray images of a patient taken from different perspectives. The registration artifact remains fixed in position from one image to the next in order to register the images, as an assumption is made that the fiducials in the respective images are in the same positions.
In certain situations, it is advantageous or necessary to relocate the registration artifact. For example, in some instances it is difficult to fit the registration artifact and the relevant anatomy within the fluoroscopic field in the fluoroscopic images due to the particular anatomy or physical configuration of the patient. An obese patient may present such challenges, for example. One solution has been to track the position of fluoroscope in an operating room rather than use a registration artifact. However, tracking the fluoroscope requires expensive modifications to the fluoroscope.
SUMMARY OF THE INVENTION
According to the invention, fluoroscopic images are registered using a registration artifact that may be relocated. The registration artifact, in which a plurality of radio-opaque fiducials are mounted in a known geometric relationship, includes a plurality of markers having a known relationship to the artifact. The positions of the markers, and thus the position of the registration artifact, are tracked by a tracking system. Examples of such tracking systems include passive and active optical, magnetic and acoustic systems. The position of the registration artifact with respect to a known coordinate frame is determined by the tracking system. Therefore, the registration artifact need not be kept in a fixed location in order to register the images. Rather, the registration artifact may be moved as necessary to fit the registration artifact into an image, and no modification of the fluoroscope is necessary. BRIEF DESCRIPTION OF THE DRAWI-NGS
For a more complete understanding of the present invention, the objects and advantages thereof, reference is now made to the following descriptions taken in connection with the accompanying drawings in which: FIGLΪRJE 1 is a perspective view of an embodiment of a registration artifact;
FIGURE 2 is a perspective view of a second embodiment of a registration artifact;
FIGURE 3 is a diagram showing the registration artifact being located over a relevant anatomy of a patient with a drill guide according to the teachings of the present invention;
FIGURE 4 is a diagram showing some of the tools that may be used in conjunction with the registration artifact according to the teachings of the present invention; and
FIGURE 5 is a diagram showing an operating room set up according to the teachings of the present invention.
DETAILED DESCRIPTION OF THE DRAWINGS The preferred embodiment of the present invention and its advantages are best understood by referring to FIGURES 1 through 5 of the drawings, like numerals being used for like and corresponding parts of the various drawings in a known geometric relationship.
Referring to FIG. 1 , registration artifact 10 includes a radio-transparent body 1 1 upon which radio-opaque fiducials 12-16 are mounted. Also mounted to the registration artifact 10 are a plurality of markers 20-26 that may be located and tracked using a tracking system. For example, trackable markers 20-26 may be active infrared emitting diodes (IREDs), reflective spheres, magnetically trackable objects, or other spacially trackable objects. Registration artifact 10 may also include a direction indicator 28 to aid in the positioning of the artifact for a procedure. In the embodiment shown, direction indicator 28 is an opening in the shape of an arrow formed in the body 1 1 of registration artifact 10.
Optically trackable markers may be imaged and tracked in the infrared spectrum or visible spectrum by cameras. The location of magnetically trackable markers are detected by measuring the disturbance of the magnetic field. The cameras and detectors have a much wider field of "view" than the typical fluoroscopy images. An advantage of using magnetic markers is that a line-of-sight between the camera/detector and each of the markers is not required. This may provide more flexibility in how the surgical instruments, robotic amis that assist with surgery, the patient, and a surgical team are positioned. Referring to FIG. 2, a second embodiment of a registration artifact 30, like the registration artifact of FIG. 1 , includes a plurality of radio-opaque fiducials 32 arranged in a predetermined geometric relationship and a plurality trackable markers 34 arranged in a known geometric relationship. Referring to FIGS. 3-5, registration artifact 30 is mounted on a bracket 36 that clamps to a table 38 on which torso 40 of a patient rests. The bracket allows the artifact to be positioned in the field of view of C-arm fluoroscope 66. The registration artifact may be placed in any other suitable structure. As an example only, drill guide 42 is placed adjacent an entry opening in the patient's torso with a drill 43 being inserted. The drill guide includes a frame on which a plurality of trackable markers, in the form of infrared reflective spheres 44, are attached in a known geometric relationship to the axis and end point of the drill guide. The position of the axis and end point of the drill guide are registered to fluoroscopic images taken with registration artifact 30 in the field of view.
Referring only to FIG. 4, elements of an image guide surgical system include an optical tracking system and related surgical instruments. Optical tracking systems are well known. Other types of tracking systems include magnetic, fiber-optic and acoustic tracking systems. Optical tracking systems typically include a camera system 46 that senses the positions of trackable markers within its field of view that transmit or reflect infrared or other electro-magnetic radiation that is not harmful to persons. The signals from optical camera system are processed using a program running on computer 48. The programs locate the positions of trackable markers and determine the position of an object to which the markers are attached with respect to a known coordinate system or reference frame. This position can be used by the computer to generate, for example, a representation of the object that is displayed on a fluoroscopic image of the patient in an accurate spatial relationship with the patient's anatomy for guiding the positioning of the object. The computer includes a keyboard 50 and trackball 52, both of which function as input devices, a monitor 54 for display images and a backup power supply. Surgical instruments include in addition to drill guide 42, probes 58 and 60. These instruments are mounted with trackable markers. Tracker 62 also includes a plurality of trackable markers mounted in a known relationship. It may be clamped to other objects that do not have integrally mounted trackable markers.
Referring back to FIGS. 3-5, fluoroscopic images of the patient's anatomy are captured from at least two different angels using C-arm fluoroscope with a registration artifact in the field of view. As explained in LLS. Patent No. 5,799,055, entitled Apparatus and Method for Planning a Stereotactic Surgical Procedure Using Coordinated Fluoroscopy, issued on Aug. 25, 1998 to Peshkin et al., which is incorporated herein by reference, the fluoroscopic images are registered by locating the positions of the fiducials in the images. However, using this method requires the fiducials to remain in the same position.
When registration artifact 10 is used, the registration artifact no longer needs to remain in a same position in multiple fluoroscopic images. The position of markers on the registration artifact is tracked between images using a tracking system, such as the optical tracking system shown in the figures or other type of tracking system, depending on the type of trackable markers used. This information is used to adjust or compensate for the movement of the registration artifact between the images when registering multiple fluoroscopic images. Therefore, the position of the registration artifact in each image is known. The registration artifact can even be moved to another object, such as a surgical tool on the end of a robotic arm, and its new location tracked and calculated relative to the relevant anatomy of the patient. While the invention has been particularly shown and described by the foregoing detailed description, it will be understood by those skilled in the art that various changes, alterations, modifications, mutations and derivations in form and detail may be made without departing from the spirit and scope of the invention. What is claimed is:

Claims

Claims:
1. Registration artifact for use in registering fluoroscopic images comprising: a plurality of radio-opaque fiducials arranged in a known geometric relationship; and a plurality of trackable markers disposed on the artifact in a known geometric relationship to fiducials.
2. A method for registering fluoroscopic images comprising: capturing a first fluoroscopic image of a patient and a registration artifact from a first perspective, the registration artifact including, a plurality of radio-opaque fiducials arranged in a known geometric relationship and a plurality of trackable markers disposed in a known geometric relationship to fiducials; determining the position of the registration artifact in the first fluoroscopic image with respect to a known coordinate frame by determining the position of the markers using the tracking system; and capturing a second fluoroscopic image of the patient and the registration artifact frame second perspective; determining the position of the registration artifact in the second fluoroscopic image with respect to the known coordinate frame by determining the position of the markers using the tracking system; registering the first and second fluoroscopic images using the positions of the fiducials in each fluoroscopic image and the determined positions of the registration artifact. registering the fluoroscopic images.
PCT/US2001/030038 2000-09-25 2001-09-25 Fluoroscopic registration artifact with optical and/or magnetic markers WO2002035454A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU2001294718A AU2001294718A1 (en) 2000-09-25 2001-09-25 Fluoroscopic registration artifact with optical and/or magnetic markers
KR10-2003-7004328A KR20030076568A (en) 2000-09-25 2001-09-25 Fluoroscopic registration artifact with optical and/or magnetic markers
JP2002538364A JP4022145B2 (en) 2000-09-25 2001-09-25 Fluoroscopic superposition structure with optical and / or magnetic markers
EP01975384.7A EP1323120B1 (en) 2000-09-25 2001-09-25 Fluoroscopic registration artifact with optical and/or magnetic markers
CA002422950A CA2422950A1 (en) 2000-09-25 2001-09-25 Fluoroscopic registration artifact with optical and/or magnetic markers

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US23537600P 2000-09-25 2000-09-25
US60/234,376 2000-09-25
US09/963,873 US7139418B2 (en) 2000-09-25 2001-09-25 Fluoroscopic registration artifact with optical and/or magnetic markers

Publications (2)

Publication Number Publication Date
WO2002035454A1 true WO2002035454A1 (en) 2002-05-02
WO2002035454A9 WO2002035454A9 (en) 2003-03-20

Family

ID=38826438

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2001/030038 WO2002035454A1 (en) 2000-09-25 2001-09-25 Fluoroscopic registration artifact with optical and/or magnetic markers

Country Status (6)

Country Link
US (1) US7139418B2 (en)
EP (1) EP1323120B1 (en)
JP (1) JP4022145B2 (en)
AU (1) AU2001294718A1 (en)
CA (1) CA2422950A1 (en)
WO (1) WO2002035454A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007098899A2 (en) * 2006-02-28 2007-09-07 Elekta Ab (Publ) Improvements in or relating to radiotherapeutic apparatus
US7840256B2 (en) 2005-06-27 2010-11-23 Biomet Manufacturing Corporation Image guided tracking array and method
US8571637B2 (en) 2008-01-21 2013-10-29 Biomet Manufacturing, Llc Patella tracking method and apparatus for use in surgical navigation
EP2869780A4 (en) * 2012-07-03 2016-04-27 7D Surgical Inc Attachments for tracking handheld implements
US10022065B2 (en) 2014-11-30 2018-07-17 Elbit Systems Ltd. Model registration system and method

Families Citing this family (164)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7635390B1 (en) 2000-01-14 2009-12-22 Marctec, Llc Joint replacement component having a modular articulating surface
WO2001064124A1 (en) * 2000-03-01 2001-09-07 Surgical Navigation Technologies, Inc. Multiple cannula image guided tool for image guided procedures
US7708741B1 (en) 2001-08-28 2010-05-04 Marctec, Llc Method of preparing bones for knee replacement surgery
US20030210812A1 (en) * 2002-02-26 2003-11-13 Ali Khamene Apparatus and method for surgical navigation
EP1605810A2 (en) * 2003-02-04 2005-12-21 Z-Kat, Inc. Computer-assisted knee replacement apparatus and method
WO2004069040A2 (en) * 2003-02-04 2004-08-19 Z-Kat, Inc. Method and apparatus for computer assistance with intramedullary nail procedure
AU2004203173A1 (en) * 2003-07-14 2005-02-03 Sunnybrook And Women's College And Health Sciences Centre Optical image-based position tracking for magnetic resonance imaging
US20050049485A1 (en) * 2003-08-27 2005-03-03 Harmon Kim R. Multiple configuration array for a surgical navigation system
DE102004004620A1 (en) * 2004-01-29 2005-08-25 Siemens Ag Medical x-ray imaging method for recording an examination area for use in medical navigational procedures, whereby a spatial position of an examination area is recorded just prior to each shot and images then spatially compensated
US20050267353A1 (en) * 2004-02-04 2005-12-01 Joel Marquart Computer-assisted knee replacement apparatus and method
US20070073306A1 (en) * 2004-03-08 2007-03-29 Ryan Lakin Cutting block for surgical navigation
CA2561493A1 (en) * 2004-03-31 2005-10-20 Smith & Nephew, Inc. Methods and apparatuses for providing a reference array input device
EP1645241B1 (en) * 2004-10-05 2011-12-28 BrainLAB AG Position marker system with point light sources
US8320612B2 (en) 2005-06-09 2012-11-27 Naviswiss Ag System and method for the contactless determination and measurement of a spatial position and/or a spatial orientation of bodies, method for the calibration and testing, in particular, medical tools as well as patterns or structures on, in particular, medical tools
US20070016008A1 (en) * 2005-06-23 2007-01-18 Ryan Schoenefeld Selective gesturing input to a surgical navigation system
US7643862B2 (en) * 2005-09-15 2010-01-05 Biomet Manufacturing Corporation Virtual mouse for use in surgical navigation
US20070073133A1 (en) * 2005-09-15 2007-03-29 Schoenefeld Ryan J Virtual mouse for use in surgical navigation
US8494805B2 (en) 2005-11-28 2013-07-23 Orthosensor Method and system for assessing orthopedic alignment using tracking sensors
US8000926B2 (en) * 2005-11-28 2011-08-16 Orthosensor Method and system for positional measurement using ultrasonic sensing
US8098544B2 (en) 2005-11-29 2012-01-17 Orthosensor, Inc. Method and system for enhancing accuracy in ultrasonic alignment
US8864686B2 (en) * 2005-12-01 2014-10-21 Orthosensor Inc. Virtual mapping of an anatomical pivot point and alignment therewith
US8814810B2 (en) * 2005-12-01 2014-08-26 Orthosensor Inc. Orthopedic method and system for mapping an anatomical pivot point
US8219178B2 (en) 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US10653497B2 (en) 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US8165659B2 (en) 2006-03-22 2012-04-24 Garrett Sheffer Modeling method and apparatus for use in surgical navigation
US7556428B2 (en) * 2006-04-14 2009-07-07 Xoran Technologies, Inc. Surgical navigation system including patient tracker with removable registration appendage
WO2007143859A1 (en) 2006-06-14 2007-12-21 Macdonald Dettwiler & Associates Inc. Surgical manipulator with right-angle pulley drive mechanisms
US8421642B1 (en) 2006-08-24 2013-04-16 Navisense System and method for sensorized user interface
US8638296B1 (en) 2006-09-05 2014-01-28 Jason McIntosh Method and machine for navigation system calibration
US8934961B2 (en) 2007-05-18 2015-01-13 Biomet Manufacturing, Llc Trackable diagnostic scope apparatus and methods of use
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US20080312528A1 (en) * 2007-06-15 2008-12-18 Bertolina James A Guidance of medical instrument using flouroscopy scanner with multple x-ray sources
US20080319491A1 (en) 2007-06-19 2008-12-25 Ryan Schoenefeld Patient-matched surgical component and methods of use
US9189083B2 (en) 2008-03-18 2015-11-17 Orthosensor Inc. Method and system for media presentation during operative workflow
US9011448B2 (en) * 2009-12-31 2015-04-21 Orthosensor Inc. Orthopedic navigation system with sensorized devices
EP2632336B1 (en) * 2010-12-30 2016-07-20 Mediguide Ltd System and method for registration of fluoroscopic images in a coordinate system of a medical system
WO2012131660A1 (en) 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system for spinal and other surgeries
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US10799298B2 (en) 2012-06-21 2020-10-13 Globus Medical Inc. Robotic fluoroscopic navigation
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US10874466B2 (en) 2012-06-21 2020-12-29 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US10842461B2 (en) 2012-06-21 2020-11-24 Globus Medical, Inc. Systems and methods of checking registrations for surgical systems
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
WO2013192598A1 (en) 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US10646280B2 (en) 2012-06-21 2020-05-12 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US9642606B2 (en) * 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
US9216068B2 (en) 2012-06-27 2015-12-22 Camplex, Inc. Optics for video cameras on a surgical visualization system
US10441236B2 (en) 2012-10-19 2019-10-15 Biosense Webster (Israel) Ltd. Integration between 3D maps and fluoroscopic images
EP2999414B1 (en) 2013-05-21 2018-08-08 Camplex, Inc. Surgical visualization systems
US20150011868A1 (en) * 2013-06-11 2015-01-08 Adventist Health System/Sunbelt, Inc. MRI-Compatible Fiducial Markers and Methods for Using the Same
WO2015042460A1 (en) 2013-09-20 2015-03-26 Camplex, Inc. Surgical visualization systems and displays
US10881286B2 (en) 2013-09-20 2021-01-05 Camplex, Inc. Medical apparatus for use with a surgical tubular retractor
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
DE102013221026A1 (en) * 2013-10-16 2015-04-16 Fiagon Gmbh Field generator and position detection system
DE102013222230A1 (en) 2013-10-31 2015-04-30 Fiagon Gmbh Surgical instrument
EP3094272B1 (en) 2014-01-15 2021-04-21 KB Medical SA Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
US10039605B2 (en) 2014-02-11 2018-08-07 Globus Medical, Inc. Sterile handle for controlling a robotic surgical system from a sterile field
US10004562B2 (en) 2014-04-24 2018-06-26 Globus Medical, Inc. Surgical instrument holder for use with a robotic surgical system
CN106999248B (en) 2014-06-19 2021-04-06 Kb医疗公司 Systems and methods for performing minimally invasive surgery
JP5915949B2 (en) * 2014-06-25 2016-05-11 パナソニックＩｐマネジメント株式会社 Projection system
US10765438B2 (en) 2014-07-14 2020-09-08 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
EP3169252A1 (en) 2014-07-14 2017-05-24 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
EP3226781B1 (en) 2014-12-02 2018-08-01 KB Medical SA Robot assisted volume removal during surgery
WO2016090336A1 (en) 2014-12-05 2016-06-09 Camplex, Inc. Surgical visualization systems and displays
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
WO2016131903A1 (en) 2015-02-18 2016-08-25 KB Medical SA Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
WO2016154589A1 (en) 2015-03-25 2016-09-29 Camplex, Inc. Surgical visualization systems and displays
US10646298B2 (en) 2015-07-31 2020-05-12 Globus Medical, Inc. Robot arm and methods of use
US10058394B2 (en) 2015-07-31 2018-08-28 Globus Medical, Inc. Robot arm and methods of use
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
EP3344179B1 (en) 2015-08-31 2021-06-30 KB Medical SA Robotic surgical systems
USD778441S1 (en) 2015-09-10 2017-02-07 7D Surgical Inc. Fiducial marker support
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
WO2017091704A1 (en) 2015-11-25 2017-06-01 Camplex, Inc. Surgical visualization systems and displays
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11064904B2 (en) * 2016-02-29 2021-07-20 Extremity Development Company, Llc Smart drill, jig, and method of orthopedic surgery
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
CN205849553U (en) * 2016-06-08 2017-01-04 北京天智航医疗科技股份有限公司 A kind of location of operation scale
US10993771B2 (en) * 2016-09-12 2021-05-04 Synaptive Medical Inc. Trackable apparatuses and methods
JP7170631B2 (en) 2016-10-05 2022-11-14 ニューヴェイジヴ，インコーポレイテッド Surgical navigation system and related methods
FR3057757B1 (en) 2016-10-21 2021-04-16 Medtech AUTOMATIC REGISTRATION DEVICE AND METHOD FOR 3D INTRA-OPERATIVE IMAGES
US11039893B2 (en) 2016-10-21 2021-06-22 Globus Medical, Inc. Robotic surgical systems
EP3565497A1 (en) 2017-01-04 2019-11-13 Medivation AG A mobile surgical tracking system with an integrated fiducial marker for image guided interventions
JP2018114280A (en) 2017-01-18 2018-07-26 ケービー メディカル エスアー Universal instrument guide for robotic surgical system, surgical instrument system, and method of using them
JP7233841B2 (en) 2017-01-18 2023-03-07 ケービー メディカル エスアー Robotic Navigation for Robotic Surgical Systems
EP3351202B1 (en) 2017-01-18 2021-09-08 KB Medical SA Universal instrument guide for robotic surgical systems
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
US10918455B2 (en) 2017-05-08 2021-02-16 Camplex, Inc. Variable light source
US10675094B2 (en) 2017-07-21 2020-06-09 Globus Medical Inc. Robot surgical platform
US11382666B2 (en) 2017-11-09 2022-07-12 Globus Medical Inc. Methods providing bend plans for surgical rods and related controllers and computer program products
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
US10898252B2 (en) 2017-11-09 2021-01-26 Globus Medical, Inc. Surgical robotic systems for bending surgical rods, and related methods and devices
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
EP3719749A1 (en) 2019-04-03 2020-10-07 Fiagon AG Medical Technologies Registration method and setup
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
US20210030511A1 (en) * 2019-07-29 2021-02-04 Augmedics Ltd. Fiducial marker
US11612440B2 (en) 2019-09-05 2023-03-28 Nuvasive, Inc. Surgical instrument tracking devices and related methods
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11941814B2 (en) 2020-11-04 2024-03-26 Globus Medical Inc. Auto segmentation using 2-D images taken during 3-D imaging spin
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
CN112932664A (en) * 2021-01-27 2021-06-11 南京逸动智能科技有限责任公司 Circular patch for surgical navigation system
CN112932665B (en) * 2021-01-27 2022-02-25 南京逸动智能科技有限责任公司 A two position operation positioning scaleplates for X-ray imaging
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US11896445B2 (en) 2021-07-07 2024-02-13 Augmedics Ltd. Iliac pin and adapter
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
US11911115B2 (en) 2021-12-20 2024-02-27 Globus Medical Inc. Flat panel registration fixture and method of using same
CN114391975A (en) * 2022-01-13 2022-04-26 北京罗森博特科技有限公司 Positioning scale

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5389101A (en) * 1992-04-21 1995-02-14 University Of Utah Apparatus and method for photogrammetric surgical localization
WO1998035720A2 (en) * 1997-02-14 1998-08-20 Biosense Inc. X-ray guided surgical location system with extended mapping volume
US5799055A (en) * 1996-05-15 1998-08-25 Northwestern University Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy
US5951475A (en) * 1997-09-25 1999-09-14 International Business Machines Corporation Methods and apparatus for registering CT-scan data to multiple fluoroscopic images

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4991579A (en) * 1987-11-10 1991-02-12 Allen George S Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants
US6405072B1 (en) * 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US5603318A (en) * 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
DE4233978C1 (en) * 1992-10-08 1994-04-21 Leibinger Gmbh Body marking device for medical examinations
US5588430A (en) 1995-02-14 1996-12-31 University Of Florida Research Foundation, Inc. Repeat fixation for frameless stereotactic procedure
US5729129A (en) * 1995-06-07 1998-03-17 Biosense, Inc. Magnetic location system with feedback adjustment of magnetic field generator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5389101A (en) * 1992-04-21 1995-02-14 University Of Utah Apparatus and method for photogrammetric surgical localization
US5799055A (en) * 1996-05-15 1998-08-25 Northwestern University Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy
WO1998035720A2 (en) * 1997-02-14 1998-08-20 Biosense Inc. X-ray guided surgical location system with extended mapping volume
US5951475A (en) * 1997-09-25 1999-09-14 International Business Machines Corporation Methods and apparatus for registering CT-scan data to multiple fluoroscopic images

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7840256B2 (en) 2005-06-27 2010-11-23 Biomet Manufacturing Corporation Image guided tracking array and method
WO2007098899A2 (en) * 2006-02-28 2007-09-07 Elekta Ab (Publ) Improvements in or relating to radiotherapeutic apparatus
WO2007098899A3 (en) * 2006-02-28 2008-03-27 Elekta Ab Improvements in or relating to radiotherapeutic apparatus
US7907699B2 (en) 2006-02-28 2011-03-15 Elekta Ab (Publ) Radiotherapeutic apparatus
US8571637B2 (en) 2008-01-21 2013-10-29 Biomet Manufacturing, Llc Patella tracking method and apparatus for use in surgical navigation
EP2869780A4 (en) * 2012-07-03 2016-04-27 7D Surgical Inc Attachments for tracking handheld implements
US10034713B2 (en) 2012-07-03 2018-07-31 7D Surgical Inc. Attachments for tracking handheld implements
US10022065B2 (en) 2014-11-30 2018-07-17 Elbit Systems Ltd. Model registration system and method
US10932689B2 (en) 2014-11-30 2021-03-02 Elbit Systems Ltd. Model registration system and method

Also Published As

Publication number Publication date
US20030059097A1 (en) 2003-03-27
AU2001294718A1 (en) 2002-05-06
EP1323120A4 (en) 2007-05-09
JP2004519271A (en) 2004-07-02
WO2002035454A9 (en) 2003-03-20
CA2422950A1 (en) 2002-05-02
US7139418B2 (en) 2006-11-21
JP4022145B2 (en) 2007-12-12
EP1323120A1 (en) 2003-07-02
EP1323120B1 (en) 2018-11-14

Similar Documents

Publication Publication Date Title
EP1323120B1 (en) Fluoroscopic registration artifact with optical and/or magnetic markers
US11801097B2 (en) Robotic fluoroscopic navigation
US6484049B1 (en) Fluoroscopic tracking and visualization system
US6856826B2 (en) Fluoroscopic tracking and visualization system
US6856827B2 (en) Fluoroscopic tracking and visualization system
US7097357B2 (en) Method and system for improved correction of registration error in a fluoroscopic image
US6050724A (en) Method of and device for position detection in X-ray imaging
US7344307B2 (en) System and method for integration of a calibration target into a C-arm
US8350914B2 (en) Systems and methods for on-line marker-less camera calibration using a position tracking system
US7621169B2 (en) Systems and methods for integrating a navigation field replaceable unit into a fluoroscopy system
EP3320874A1 (en) Systems and methods of checking registration for surgical systems
EP3295887B1 (en) Robotic fluoroscopic navigation
EP4197478A1 (en) Robotic fluoroscopic navigation
KR20030076568A (en) Fluoroscopic registration artifact with optical and/or magnetic markers
EP4289387A1 (en) Surgical navigation system with flat panel registration fixture
US20240074819A1 (en) Robotic fluoroscopic navigation
CN1481539A (en) Fluoroscopic registration artifact with optical and/or magnetic markers

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PH PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
COP Corrected version of pamphlet

Free format text: PAGES 1/5-5/5, DRAWINGS, REPLACED BY NEW PAGES 1/3-3/3; DUE TO LATE TRANSMITTAL BY THE RECEIVING OFFICE

WWE Wipo information: entry into national phase

Ref document number: 2001975384

Country of ref document: EP

Ref document number: 2002538364

Country of ref document: JP

Ref document number: 2422950

Country of ref document: CA

Ref document number: 1020037004328

Country of ref document: KR

Ref document number: 018162215

Country of ref document: CN

Ref document number: 2001294718

Country of ref document: AU

WWP Wipo information: published in national office

Ref document number: 2001975384

Country of ref document: EP

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

WWP Wipo information: published in national office

Ref document number: 1020037004328

Country of ref document: KR