METHOD AND APPARATUS FOR REGISTERING A PHYSICAL SPACE TO IMAGE SPACE
First Claim
Patent Images
1. A method of registering image space and physical space in a computer aided surgical navigation system, comprising:
- acquiring image data to define the image space including a plurality of points having a sub-plurality of fiducial points;
forming a template of a fiducial marker;
comparing the template to the plurality of points;
determining the sub-plurality of fiducial points from the plurality of points based on the comparing the template;
identifying a plurality of fiducial markers in the physical space;
matching a first subset of the fiducial points with a first subset of the fiducial markers;
calculating a transformation of the image space to the physical space; and
registering the image space to the physical space.
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Abstract
A method and apparatus for registering physical space to image space is disclosed. The system allows for determining fiducial markers as pixels or voxels in image data. The system can correlate and register the determined fiducial points with fiducial markers in physical space.
102 Citations
52 Claims
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1. A method of registering image space and physical space in a computer aided surgical navigation system, comprising:
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acquiring image data to define the image space including a plurality of points having a sub-plurality of fiducial points; forming a template of a fiducial marker; comparing the template to the plurality of points; determining the sub-plurality of fiducial points from the plurality of points based on the comparing the template; identifying a plurality of fiducial markers in the physical space; matching a first subset of the fiducial points with a first subset of the fiducial markers; calculating a transformation of the image space to the physical space; and registering the image space to the physical space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A method of registering image space and physical space in a computer aided surgical navigation system, comprising:
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imaging a member including a fiducial marker affixed to the member to acquire image data; comparing a computer readable fiducial template to the image data to identify fiducial points in the image data; tracking a device defining a single registration point relative to the fiducial marker; determining a position of the fiducial marker based on tracking the device; comparing the identified fiducial points and the determined fiducial markers; and registering the image space and the physical space. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A computer aided surgical navigation system to navigate a procedure relative to a patient having registration of image space and physical space, comprising:
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a tracking system having a localizer and a tracking device; a fiducial marker operable to be associated with the patient and defining a fiducial marker point; an instrument associated with the tracking device, wherein the instrument includes a fiducial marker contact portion defining a single fiducial marker association point; a processor operable with the tracking system to determine a position of the single fiducial marker association point in physical space; a memory system operable to store the image data of the patient and the fiducial marker; and a display device operable to display the image data; wherein the processor is operable to execute a first set of instructions to compare the image data of the patient and the fiducial marker to a predetermined fiducial template to determine fiducial points in the image data; wherein the processor is operable to execute a second set of instructions to match the fiducial points in image space to fiducial marker points in physical space. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52)
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Specification