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

Claim 0:
1. A method for performing a procedure using a tool configured to be 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 method comprising:
(A) acquiring 3D image data of the skeletal portion;
(B) while a portion of the tool is disposed at a first location along the insertion path with respect to the skeletal portion, sequentially:
acquiring a first 2D x-ray image of at least the portion of the tool and the skeletal portion from a first view, using a 2D x-ray imaging device that is disposed at a first pose with respect to the subject's body;
moving the 2D x-ray imaging device to a second pose with respect to the subject's body; and
while the 2D x-ray imaging device is at the second pose, acquiring a second 2D x-ray image of at least the portion of the tool and the skeletal portion from a second view;

(C) using at least one computer processor:
registering the first and second 2D x-ray images to the 3D image data;
identifying a location of the portion of the tool with respect to the skeletal portion, within the first and second 2D x-ray images; and
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;

(D) subsequently, using the robot, moving 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;
(E) using the at least one computer processor, 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;
(F) using the at least one computer processor, 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
(G) using the at least one computer processor, driving a display to display the second location of the portion of the tool with respect to the 3D image data,
wherein the method further comprises iteratively repeating steps (D) and (E).