Robotic fluoroscopic navigation
A registration fixture for use with a surgical navigation system for registration of a medical image or images to a three-dimensional tracking space that includes a first ring having at least one tracking marker, a second ring coupled to the first ring having at least one tracking marker and wherein the first ring and the second ring are spaced apart from one another and further include optical markers.
1. A method for registration of a medical image or images to a three-dimensional tracking space comprising:
providing a registration fixture for use with a surgical navigation system including:
a first ring having at least one tracking marker;
a second ring coupled to the first ring having at least one tracking marker;
wherein the first ring and the second ring are spaced apart from one another and include optical markers, and
wherein the registration fixture is removably coupled to a source of an imaging system,
wherein the surgical navigation system includes a robot system, the robot system configured to move based on registration data received from the registration fixture,
mapping points in the three-dimensional tracking space to a two-dimensional space associated with the medical image or images by determining vectors through a known points in the first ring and the second ring that are created to form a conic pattern, wherein the conical pattern is used by the surgical navigation system to interpolate the vectors through regions of interest in the two-dimensional space associated with the medical image or images.
2. The method of claim 1 , wherein the first and second rings are positioned concentrically in parallel planes.
3. The method of claim 1 , wherein the first and second rings are spaced apart by 50 to 300 mm.
4. The method of claim 1 , wherein the first and second rings include crosshairs formed of wire that extend the diameter of the first and second rings.
5. The method of claim 1 , wherein the first and second rings have unequal diameters.
6. The method of claim 1 , wherein the registration fixture is partly formed of radio-opaque materials.
7. The method of claim 4 , wherein the crosshairs of the first and second rings pass through the exact center of the first and second rings.
8. The method of claim 4 , wherein the registration fixture is coupled to an imaging device.
9. The method of claim 8 , wherein the imaging device is a fluoroscope.
10. The method of claim 1 , wherein a third ring is coupled to the first or second ring.
11. A method for registering a medical image or images to a three-dimensional tracking space comprising:
providing a registration fixture;
providing a surgical navigation system including a robot system configured to be coupled to a imaging device, the registration fixture coupled to the imaging device;
a first structure positioned on a first plane;
a second structure positioned on a second plane, the first structure and the second structure coupled to one another;
a plurality of radio-opaque markers positioned on the first and second structures providing a pattern on an image;
wherein a first set of the plurality of radio-opaque markers are positioned along a plurality of radii on the first structure;
wherein a second set of the plurality of radio-opaque markers are positioned along a plurality of radii on the second structure
wherein the robot system configured to move based on registration data received from the registration fixture,
mapping points in the three-dimensional tracking space to a two-dimensional space associated with the medical image or images by determining vectors through the pattern, wherein the pattern is used by the surgical navigation system to interpolate the vectors through regions of interest in the two-dimensional space associated with the medical image or images.
12. The method of claim 11 , wherein the pattern is unique for calibration of the registration fixture.
13. The method of claim 11 , wherein the plurality of markers are spaced apart.
14. The method of claim 11 , wherein the first set of the plurality of radio-opaque markers are sized to provide accurate mapping of 2D-3D and image correction.
15. The method of claim 11 , wherein the second set of the plurality of radio-opaque markers are sized to detect rotation and flip position of an image.
16. The method of claim 11 , wherein the plurality of radio-opaque markers are spaced around the perimeter of first and second structures.
17. The method of claim 11 , wherein the registration fixture is coupled to a fluoroscope.
18. The method of claim 11 , wherein a first diameter of the first structure and a second diameter of the second structure are not equal.
19. A method for registration in a surgical procedure comprising:
providing a surgical navigation system having:
a surgical robot coupled to an imaging system;
a registration fixture for use with the surgical navigation system for registration of a medical image or images to a three-dimensional tracking space, the registration fixture comprising:
a first ring having at least one tracking marker;
a second ring coupled to the first ring having at least one tracking marker;
wherein the first ring and the second ring are spaced apart from one another and include optical markers, and
wherein the registration fixture is removably coupled to a source of an imaging system
wherein the robot system configured to move based on registration data received from the registration fixture; and
mapping map points in the three-dimensional tracking space to a two-dimensional space associated with the medical image or images by determining vectors through a known points in the first ring and the second ring that are created to form a conic pattern, wherein the conical pattern is used by the surgical navigation system to interpolate the vectors through regions of interest in the two-dimensional space associated with the medical image or images.