Patent ID: 11911118
Assignee: VUZE MEDICAL LTD.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 16:
17. A non-transitory computer software product for facilitating performing of a procedure in which a tool is advanced into a skeletal portion within a body of a subject along an insertion path, a portion of the tool being coupled to a portion of a robot, the computer software product for use with:
(i) a 3D imaging device configured to acquire 3D image data of the skeletal portion, and
(ii) a 2D imaging device that is configured, while a portion of the tool is disposed at a first location along the insertion path with respect to the skeletal portion, to sequentially:
acquire a first 2D x-ray image of at least the portion of the tool and the skeletal portion from a first view, while the 2D imaging device is disposed at a first pose with respect to the subject's body,
be moved to a second pose with respect to the subject's body, and
while the 2D imaging device is at the second pose, acquire a second 2D x-ray image of at least the portion of the tool and the skeletal portion from a second view, and
(iii) a display,
the computer software product comprising a non-transitory computer-readable medium in which program instructions are stored, which instructions, when read by a computer cause the computer to perform the steps of:
(a) receiving from the 3D imaging device the 3D image data;
(b) receiving from the 2D imaging device the first and second 2D x-ray images of at least the portion of the tool and the skeletal portion,
(c) registering the first and second 2D x-ray images to the 3D image data;
(d) identifying a location of the portion of the tool with respect to the skeletal portion, within the first and second 2D x-ray images;
(e) based upon the identified location of the portion of the tool within the first and second 2D x-ray images, and the registration of the first and second 2D x-ray images to the 3D image data, (i) determining the first location of the portion of the tool with respect to the 3D image data, and (ii) deriving a relationship between the first location of the portion of the tool with respect to the 3D image data and a given location within the 3D image data;
(f) upon the robot being used to move the portion of the tool to a second location along the insertion path with respect to the skeletal portion responsively to the relationship derived between the first location of the portion of the tool and the given location within the 3D image,
tracking the motion of the portion of the tool by tracking motion of the portion of the robot to which the portion of the tool is coupled relative to the first location;
(g) based on the tracking of the motion of the portion of the robot to which the portion of the tool is coupled, deriving the second location of the portion of the tool with respect to the 3D image data; and
(h) driving the display to display the second location of the portion of the tool with respect to the 3D image data,
wherein (f) is repeated iteratively.