Ultrasound bone registration with learning-based segmentation and sound speed calibration

US11701090B2 · kind B2 · utility

Assignee

• MAKO Surgical Corp. · US

Inventors

• José Luis Moctezuma de la Barrera · Freiburg (Elbe), DE
• Mehrdad Salehi · Munich, DE
• Raphael Prevost · Munich, DE
• Wolfgang Wein · Princeton, US

Key dates

• Filing date: Aug 16, 2018
• Grant date: Jul 18, 2023
• Expiry date: Apr 5, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/10132
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A workflow is disclosed to accurately register ultrasound imaging to co-modality imaging. The ultrasound imaging is segmented with a convolutional neural network to detect a surface of the object. The ultrasound imaging is calibrated to reflect a variation in propagation speed of the ultrasound waves through the object by minimizing a cost function that sums the differences between the first and second steered frames, and compares the first and second steered frames of the ultrasound imaging with a third frame of the ultrasound imaging that is angled between the first and second steered frames. The ultrasound imaging is temporarily calibrated with respect to a tracking coordinate system by creating a point cloud of the surface and calculating a set of projection values of the point cloud to a vector. The ultrasound imaging, segmented and calibrated, is automatically registered to the co-modality imagine.