Patent ID: 11864934
Assignee: MAZOR ROBOTICS LTD.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 11:
12. A registration system, comprising:
an imaging device for capturing intraoperative images of a subject; and
a computer that executes a computer-executable algorithm to:
(a) acquire a set of preoperative images of at least a surgical site of the subject to which a preoperative surgical plan relates, the preoperative surgical plan showing a planned position of implants on images of the surgical site, wherein the set of preoperative images comprises three dimensional images;
(b) acquire a first at least one intraoperative image of the surgical site, wherein the first at least one intraoperative image is obtained by fluoroscopy;
(c) register the first at least one intraoperative image with the set of preoperative images showing the planned position of implants, such that the planned position of implants is virtually imposed on the first at least one intraoperative image;
(d) acquire a second at least one intraoperative image showing a position of previously inserted implants, the previously inserted implants being physically inserted into the subject to cause a change to a bony region of the subject according to the preoperative surgical plan, wherein the second at least one intraoperative image is obtained by fluoroscopy;
(e) register the second at least one intraoperative image showing the previously inserted implants from step (d) with the first at least one intraoperative image from step (c) using the previously inserted implants as fiducial markers;
(f) verify the position of the previously inserted implants inserted according to the preoperative surgical plan in further intraoperative images obtained by fluoroscopy, using the registration from step (e); and
(g) repeat at least some of steps (d) to (f) until the preoperative surgical plan is achieved.