Russell Craig Taylor

US Patent:

59514752, Sep 14, 1999

Filed:

Sep 25, 1997

Appl. No.:

8/936935

Inventors:

Andre Pierre Gueziec - Mamaroneck NY
Peter Kazanzides - Sacramento CA
Russell H. Taylor - Severna Park MD

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

A61B 600

US Classification:

600425

Abstract:

A method and system is disclosed for registering two dimensional fluoroscopic images with a three dimensional model of a surgical tissue of interest. The method includes steps of: (a) generating, from CT or MRI data, a three dimensional model of a surgical tissue of interest; (b) obtaining at least two, two dimensional, preferably fluoroscopic, x-ray images representing at least two views of the surgical tissue of interest, the images containing radio-opaque markers for associating an image coordinate system with a surgical (robot) coordinate system; (c) detecting the presence of contours of the surgical tissue of interest in each of the at least two views; (d) deriving bundles of three dimensional lines that pass through the detected contours; and (e) interactively matching three dimensional points on three dimensional silhouette curves obtained from the three dimensional model with the bundles of three dimensional lines until the three dimensional model is registered within the surgical coordinate system to a predetermined level of accuracy. The step of iteratively matching includes steps of: defining a distance between surfaces of the model and a beam of three dimensional lines that approach the surfaces; and finding a pose of the surfaces that minimizes a distance to the lines using, preferably, a statistically robust method, thereby providing a desired registration between a surgical robot and a preoperative treatment plan.

Address:

420 Rock Barn Rd NE, Conover, NC 28613

Phone:

8283038956

VIN:

KMHDU4AD5AU889026

Make:

HYUNDAI

Model:

ELANTRA

Year:

2010