Fixtures for fluoroscopic imaging systems and related navigation systems and methods
A fixture for a fluoroscopic x-ray imaging system is discussed, wherein the fluoroscopic imaging system includes a C-arm, an x-ray source at a first end of the C-arm, and an x-ray detector at a second end of the C-arm. The fixture includes a processor and memory coupled with the processor. The memory includes instructions that are executable by the processor so that the processor is configured to detect an x-ray emission from the x-ray source toward the x-ray detector, determine an offset of the x-ray source relative to the x-ray detector responsive to detecting the x-ray emission, and provide an indication of the offset of the x-ray source to a medical navigation system. Related methods and robotic systems are also discussed.
1. A fixture for a fluoroscopic x-ray imaging system, wherein the fluoroscopic x-ray imaging system includes a C-arm, an x-ray source at a first end of the C-arm, and an x-ray detector at a second end of the C-arm, the fixture comprising:
an x-ray opaque fiducial pattern in a single plane, wherein the fixture is configured to be coupled to the C-arm so that the x-ray opaque fiducial pattern is on an x-ray beam path between the x-ray detector and the x-ray emitter,
wherein a medical navigation system is configured to receive a first patient image from the fluoroscopic imaging system corresponding to a first orientation of the C-arm with the first patient image including first shadows corresponding to the x-ray opaque fiducial pattern, to receive a second patient image from the fluoroscopic imaging system corresponding to a second orientation of the C-arm with the second patient image including second shadows corresponding to the x-ray opaque fiducial pattern, and to provide a registration between a tracking coordinate system for a physical space monitored by tracking cameras and an image coordinate system for the first patient image and the second patient image based on a correlation of offsets of the x-ray source relative to the x-ray detector.
2. The fixture of claim 1 , wherein the x-ray opaque fiducial pattern comprises plurality of BB fiducials residing in the single plane.
3. The fixture of claim 2 , wherein the plurality of BB fiducials includes first, second, third, and fourth clusters of BB fiducials, wherein the first cluster of BB fiducials is spaced apart from the third cluster of BB fiducials along a first axis, wherein the second cluster of BB fiducials is spaced apart from the fourth cluster of BB fiducials along a second axis, and wherein the first axis is orthogonal with respect to the second axis.
4. The fixture of claim 1 , wherein the x-ray opaque fiducial pattern comprises first, second, third, and fourth x-ray opaque fiducial segments that extend in different directions from a common point, wherein the first x-ray opaque fiducial segment has a first break at a first distance from the common point, wherein the second x-ray opaque fiducial segment has a second break at a second distance from the common point greater than the first distance, and wherein the third x-ray opaque fiducial segment has a third break at a third distance from the common point greater than the second distance.
5. The fixture of claim 1 , wherein providing the registration based on the correlation of offsets of the x-ray source relative to the x-ray detector as a function of an orientation of the x-ray detector relative to gravity comprises providing the registration based on the correlation, based on a first orientation of the x-ray detector relative to gravity associated with the first orientation of the C-arm, and based on a second orientation of the x-ray detector relative to gravity associated with the second orientation of the C-arm.
6. The fixture of claim 5 , wherein the fixture includes an inertial measurement unit (IMU) configured to detect an orientation of the x-ray detector relative to gravity, and wherein the first orientation of the x-ray detector relative to gravity is determined based on a first output from the inertial measurement unit with the C-arm in the first orientation, and wherein the second orientation of the x-ray detector relative to gravity is determined based on a second output from the inertial measurement unit with the C-arm in the second orientation.
7. The fixture of claim 5 , further comprising:
a gravity vector coupled with the x-ray detector, wherein the gravity vector includes a pair of movably suspended optical tracking markers, wherein the first orientation of the x-ray detector relative to gravity is determined based on first positions of the pair of movably suspended optical tracking markers with the C-arm in the first orientation, and wherein the second orientation of the x-ray detector relative to gravity is determined based on second positions of the pair of movably suspended optical tracking markers with the C-arm in the second orientation.
8. The fixture of claim 1 , wherein the fixture includes a plurality of mounting pins, wherein each of the mounting pins is configured to detachably mate with a respective one of the mounting sockets.
9. The fixture of claim 1 , wherein the medical navigation system is configured to generate the correlation of offsets based on an air-shot image from the fluoroscopic imaging system wherein the air-shot image corresponds to one orientation of the C-arm.
10. The fixture of claim 9 , wherein the x-ray opaque fiducial pattern is a first x-ray opaque fiducial pattern, wherein a second x-ray opaque fiducial pattern is temporarily coupled with the x-ray detector between the fixture and the x-ray source so that the air-shot image includes shadows corresponding to the first x-ray opaque fiducial pattern and the second x-ray opaque fiducial pattern, and wherein the medical navigation system is configured to generate the correlation of offsets based on the air-shot image including the shadows corresponding to the first x-ray opaque fiducial pattern and the second x-ray opaque fiducial pattern.
11. The fixture of claim 9 , wherein the x-ray opaque fiducial pattern is a first x-ray opaque fiducial pattern, wherein a second x-ray opaque fiducial pattern is temporarily coupled with the x-ray source between the fixture and the x-ray source so that the air-shot image includes shadows corresponding to the first x-ray opaque fiducial pattern and the second x-ray opaque fiducial pattern, and wherein the medical navigation system is configured to generate the correlation of offsets based on the air-shot image including the shadows corresponding to the first x-ray opaque fiducial pattern and the second x-ray opaque fiducial pattern.
12. The fixture of claim 9 , wherein the medical navigation system is configured to generate the correlation of offsets based on the air-shot image and based on positions of the x-ray source corresponding to respective different orientations of the C-arm, wherein the positions of the x-ray source are determined based on an optical tracking array coupled with the x-ray source.
13. The fixture of claim 1 further comprising:
an optical tracking array coupled with the fixture; and
an optical surveillance marker coupled with the x-ray detector and/or the x-ray source;
wherein the medical navigation system is configured to determine a first position of the x-ray detector and/or the x-ray source associated with the first patient image based on the optical tracking array, validate the first position of the x-ray detector and/or the x-ray source based on a first position of the optical surveillance marker associated with the optical tracking array, determine a second position of the x-ray detector and/or the x-ray source associated with the second patient image based on the optical tracking array, validate the second position of the x-ray detector and/or the x-ray source based on a second position of the optical surveillance marker associated with the optical tracking array, and provide the registration based on the correlation of offsets, based on the first and second shadows, based on the first position of the x-ray detector and/or the x-ray source, based on validating the first position of the x-ray detector and/or the x-ray source, based on the second position of the x-ray detector and/or the x-ray source, and based on validating the second position of the x-ray detector and/or the x-ray source.
14. A fixture for a fluoroscopic x-ray imaging system, wherein the fluoroscopic x-ray imaging system includes a C-arm, an x-ray source at a first end of the C-arm, and an x-ray detector at a second end of the C-arm, the fixture comprising:
a processor; and
memory coupled with the processor, wherein the memory includes instructions that are executable by the processor so that the fixture is configured to,
detect an x-ray emission from the x-ray source toward the x-ray detector,
determine an offset of the x-ray source relative to the x-ray detector, responsive to detecting the x-ray emission, and
provide an indication of the offset of the x-ray source to a medical navigation system.
15. The fixture of claim 14 , wherein the memory includes instructions that are executable by the processor so that the fixture is further configured to,
determine an orientation of the x-ray detector responsive to detecting the x-ray emission,
wherein the offset of the x-ray source relative to the x-ray detector is determined based on the orientation of the x-ray detector.
16. The fixture of claim 15 , wherein the memory includes instructions that are executable by the processor so that the fixture is further configured to,
provide in memory a correlation between different orientations of the x-ray detector and respective offsets of the x-ray source relative to the x-ray detector,
wherein the offset of the x-ray source relative to the x-ray detector is determined based on the orientation of the x-ray detector and based on the correlation in memory.
17. The fixture of claim 14 further comprising:
an x-ray opaque fiducial pattern in a single plane; and
a mounting structure configured to provide a detachable mechanical coupling between the fixture and the C-arm of the fluoroscopic x-ray imaging system so that the fiducials are on an x-ray beam path between the x-ray detector and the x-ray source when the fixture is coupled to the C-arm using the mounting structure.
18. A fixture for a fluoroscopic x-ray imaging system, wherein the fluoroscopic x-ray imaging system includes a C-arm, an x-ray source at a first end of the C-arm, and an x-ray detector at a second end of the C-arm, the fixture comprising:
an x-ray opaque fiducial pattern in a single plane, wherein the fixture is configured to be coupled to the C-arm so that the x-ray opaque fiducial pattern is on an x-ray beam path between the x-ray detector and the x-ray emitter,
wherein a medical navigation system is configured to receive a first patient image from the fluoroscopic imaging system corresponding to a first orientation of the C-arm with the first patient image including first shadows corresponding to the x-ray opaque fiducial pattern, to receive a second patient image from the fluoroscopic imaging system corresponding to a second orientation of the C-arm with the second patient image including second shadows corresponding to the x-ray opaque fiducial pattern, and to provide a registration between a tracking coordinate system for a physical space monitored by tracking cameras and an image coordinate system for the first patient image and the second patient image based on a correlation of offsets of the x-ray source relative to the x-ray detector relative to the x-ray detector as a function of an orientation of the x-ray detector relative to gravity and based on the first shadows in the first patient image and the second shadows in the second patient image.
19. The fixture of claim 18 , wherein the x-ray opaque fiducial pattern comprises plurality of BB fiducials residing in the single plane.
20. The fixture of claim 18 , wherein the plurality of BB fiducials includes first, second, third, and fourth clusters of BB fiducials, wherein the first cluster of BB fiducials is spaced apart from the third cluster of BB fiducials along a first axis, wherein the second cluster of BB fiducials is spaced apart from the fourth cluster of BB fiducials along a second axis, and wherein the first axis is orthogonal with respect to the second axis.