Mazor Robotics Ltd.

Greeneden U.S. Holdings Ii, LLC

Amir Lev-Tov

Moshe Shoham

Yochai Konig

Yaniv Ben Zriham

Avraham Faizakof

Arnon Mazza

Shay Shimon Peretz

Tamir Tapuhi

A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.

Registration of time-separated X-Ray images

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Tel Aviv, Israel

Amir Lev-Tov