Biomechanical model assisted image guided surgery system and method
US10426556B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 1, 2017 |
| Grant date | Oct 1, 2019 |
| Priority date | — |
| Expiry date | Oct 12, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30204
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method for image guided surgery includes obtaining intraoperative locations including intraoperative fiducial locations for a non-rigid structure and intraoperative rigid structure locations for associated rigid structures, estimating a gravity deformation for the non-rigid structure based on a first rigid registration for preoperative fiducial locations in a computer model relative to the intraoperative fiducial locations and a second rigid registration for the preoperative rigid structure locations for a rigid structure in the computer model with respect to the intraoperative rigid structure locations, modifying the preoperative fiducial locations using first rigid registration and the gravity deformation, determining a third rigid registration for the modified fiducial locations relative to the intraoperative fiducial locations, calculating a non-rigid transformation for the computer model using the volumetric gravity field deformation and first boundary conditions from errors in the third rigid registration, and displaying image data for the non-rigid structure modified to undergo the non-rigid transformation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.