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

Claim 13:
14. Apparatus for performing 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, and 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 apparatus comprising:
at least one computer processor configured to:
(a) receive from the 3D imaging device the 3D image data;
(b) receive 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) register the first and second 2D x-ray images to the 3D image data;
(d) identify 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) determine the first location of the portion of the tool with respect to the 3D image data, and (ii) derive 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 data,
track 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, derive the second location of the portion of the tool with respect to the 3D image data; and
(h) drive 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.