Granted Patent B2

US 12,734,011 · App. 18/894,779 · Granted Sep 15, 2026

Inventor: Dany Junio (Brookline, MA)

Assignee: Mazor Robotics Ltd.

A61B90/361A61B34/70A61B90/37A61B2090/363A61B2090/376

Abstract

Claims (26)

1 . A system for generating a corrected image comprising:

at least one imaging device;

a robotic arm having at least five degrees of freedom and configured to move the imaging device relative to a patient anatomy;

at least one processor; and

at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:

control the robotic arm to position the imaging device at a plurality of poses relative to the patient anatomy based on information associated with an object within the patient anatomy that causes attenuation saturation;

acquire, via the imaging device at the plurality of poses, a corresponding plurality of images depicting at least a portion of an anatomical element of the patient anatomy and the object;

determine, for each image acquired at the plurality of poses, a spatial pose of the imaging device relative to the patient anatomy, and control the robotic arm to maintain or adjust positioning of the imaging device based on the determined spatial pose;

identify, in the plurality of images acquired at the plurality of poses, a set of saturated areas in which the object has caused saturated attenuation and a set of unsaturated areas in which the object has not caused saturated attenuation, and control the robotic arm to reposition the imaging device to reduce the saturated attenuation in subsequently acquired images;

generate a corrected image by combining data from the set of unsaturated areas, the corrected image depicting the portion of the anatomical element from at least one unsaturated area, wherein the corrected image is generated based in part on the spatial pose corresponding to each image; and

control the robotic arm, based on at least one of (i) the determined spatial poses or (ii) the corrected image, to move the imaging device to one or more additional poses and acquire at least one additional image of the patient anatomy having reduced attenuation saturation.

2 . The system of claim 1 , wherein the corrected image enables successful registration of the anatomical element of the patient.

3 . The system of claim 1 , further comprising:

a navigation system for providing navigation to a surgeon or surgical robot during an operation using the corrected image.

4 . A system for generating a corrected image comprising:

at least one imaging device;

at least one processor; and

at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:

receive a surgical plan comprising information about an object within a patient's anatomy that causes saturated attenuation in an image of the patient's anatomy;

determine a plurality of poses for the imaging device based on the information to obtain an unobstructed view of each portion of an anatomical element of the patient's anatomy, and control operation of the imaging device to acquire an image set at the plurality of poses;

determine a pose of the imaging device for each image of the image set and control operation of the imaging device based on the determined pose to acquire one or more additional images;

identify one or more saturated areas and one or more unsaturated areas in each image of the image set, wherein the one or more saturated areas correspond to areas in which the object has caused saturated attenuation and the one or more unsaturated areas correspond to areas in which the object has not caused saturated attenuation;

control operation of the imaging device to adjust acquisition to reduce the saturated attenuation; and

generate a corrected image by combining data from a set of unsaturated areas comprising the one or more unsaturated areas of each image in the image set, wherein the corrected image is based at least in part on the pose of the imaging device corresponding to each image, and control operation of the imaging device based on the corrected image to acquire at least one additional image having reduced attenuation saturation.

5 . The system of claim 4 , further comprising:

a navigation system for providing navigation to a surgeon or surgical robot during an operation using the corrected image.

Assignments (1)

Continuity (3)

References Cited (52)