System and method for navigating and illustrating a procedure
Disclosed is a system to assist in a procedure. During the procedure an object may be moved relative to a subject, such as being positioned and/or placed within a subject. The system and related method may be used to assist in displaying and/or determining a pose of the object relative to a subject, such as rigid portions of a subject.
1. A system to automatically display a representation of an object, comprising:
a display device operable to display image data of a subject, the image data identifying at least a first portion of the subject and a second portion of the subject;
a processor operable to execute instructions to:
determine a pose of the first portion of the subject based on tracking a first tracking device attached to the first portion of the subject;
determine a pose of the second portion of the subject based on tracking a second tracking device attached to the second portion of the subject;
determine a geometry of a region of interest between the first portion of the subject and the second portion of the subject based on the determined pose of the first portion of the subject and the determined pose of the second portion of the subject;
determine a pose of the object relative to the first portion of the subject and the second portion of the subject, the object having a first fixed shape portion and a second configurable portion;
determine whether at least the second configurable portion of the object is contacting at least the first portion of the subject based on a configuration of the object;
determine a geometry of the object including the first fixed shape portion and the second configurable portion based at least on the determination of whether the second configurable portion is contacting at least the first portion of the subject; and
generate a graphical representation of the object including the first fixed shape portion and the second configurable portion in real time based on the determined geometry of the object.
2. The system of claim 1 , wherein the determination of the geometry of the object is based further on the determined pose of the object.
3. The system of claim 1 , wherein the determination of the geometry of the object is based further on a determination of whether the object is contacting both the first portion of the subject and the second portion of the subject.
4. The system of claim 1 , further comprising:
the first tracking device attached to the first portion of the subject and configured to track the first portion of the subject;
the second tracking device attached to the second portion of the subject and configured to track the second portion of the subject; and
a third tracking device attached to the object and configured to track the object.
5. The system of claim 4 , further comprising:
a localizer configured to track the first tracking device, the second tracking device and the third tracking device in real time.
6. The system of claim 5 , further comprising:
a memory system operable to store a model of the object, wherein the model includes at least (i) a dimension of the first fixed shaped portion of the object and (ii) a plurality of possible configurations of the second configurable portion of the object,
wherein the processor is operable to access the model stored on the memory system to determine the geometry of the object.
7. The system of claim 6 , wherein the processor is further operable to determine the geometry of the object in the determined pose of the object at least by executing further instructions to evaluate the accessed model based on the determination of whether the second configurable portion of the object (i) is in contact with at least a first edge or a second edge and (ii) the determined geometry of at least a first edge or a second edge.
8. The system of claim 1 , wherein the first portion of the subject is a first vertebra and the second portion of the subject is a second vertebra.
9. The system of claim 8 , further comprising a spinal implant configured to be positioned between the first vertebra and the second vertebra, wherein the spinal implant is the object.
10. The system of claim 9 , wherein a determined geometry of the region of interest between the first portion of the subject and the second portion of the subject includes determining a geometry between a first end plate of the first vertebra and a second end plate of the second vertebra.
11. The system of claim 10 , wherein the processor is further operable to execute instructions to segment the image data of the subject to automatically identify the first end plate of the first vertebra and the second end plate of the second vertebra.
12. The system of claim 1 , wherein the processor is operable to execute instructions to perform a machine learning analysis to determine the geometry of the object including the first fixed shape portion and the second configurable portion of the object.
13. The system of claim 1 , wherein the second configurable portion includes a contacting surface configured to contact at least the first portion of the subject, wherein the contacting surface includes a first portion movable relative to a second portion of the contacting surface.
14. The system of claim 1 , further comprising:
a user input device to input a selection of the region of interest between the first portion of the subject and the second portion of the subject.