Claronav Inc.

Koninklijke Philips Corporation N.v.

Claron Technology Inc.

Kofax International Switzerland Sarl

Doron Dekel

Arish A Qazi

Jacob Scott Durgan

Thorsten R Fleiter

Claudio Gatti

Raghavendra Chandrashekara

Razvan Mitulescu

Ahmad Kolahi

Ido Bermanis

A system and method of operating a surgical navigation system to determine the location of a point of interest (POI) in a 3D coordinate frame of a surgical tool (tool frame) using a calibrated imaging device to capture an image of a portion of the surgical tool's surface the calibrated imaging device having calibration data that enables a processor of the surgical navigation system to map from a 2D location in the image to a projection line in a 3D coordinate frame of the imaging device (image frame). The system is operated to determine a mapping between an image frame and a tool frame. The processor is operated to determine the location of the POI in the tool frame based on the image and the mapping between the image frame and the tool frame.

Surgical tool calibration

Systems and methods of tracking a head of a patient are provided. The system includes a motion tracking system and a head tracker. The head tracker includes a frame, at least one trackable target coupled to the frame, at least one nose pad coupled to the frame, and a pair of adjustable ear coupling members coupled to the frame and shaped for engaging with at least a portion of a back surface of an ear of the patient. The head tracker is configured to apply a clamping force to hold the trackable target in a stable spatial relationship with a location of interest in the head. The motion tracking system includes a sensor for tracking the trackable target and a processor configured for determining a position of the location of interest from the position and orientation of the trackable target and the stable spatial relationship.

Head tracking frame for dental navigation

Surgical systems and methods of controlling a surgical instrument are provided. The system includes a surgical instrument having a cutting portion and a body, the body having a handle, a drive motor for driving the cutting portion in a rotating, a reciprocating or a vibrating motion, a plurality of adjustment motors for adjusting a cutting pose of the cutting portion relative to the handle; and, a controller configured to measure the deviations between the cutting pose and a desired pose of the cutting portion and to activate the adjustment motors to reduce those deviations. The method involves coupling a cutting portion of a surgical instrument to a plurality of adjustment motors; holding the handle of the surgical instrument; operating a controller to measure deviations between a cutting pose and a desired pose; and operating the adjustment motors to adjust the cutting pose relative to the handle to reduce the deviations.

Robotic surgical tool

A method and system are provided for measuring changes in a pose of a human jaw within a coordinate system of a pose tracking system. The method involves providing a configurable arm; configuring the configurable arm such that at least one rigid target portion of the configurable arm is compliant with operational conditions of the pose tracking system when a selected anchor region of a surface of an anchor portion of the configurable arm is in close proximity to a selected attachment region of the human jaw; positioning the configurable arm such that the anchor region is in close proximity to the attachment region; applying and curing a paste to rigidly couple the anchor region to the attachment region, and operating the pose tracking system to measure changes to the pose of the at least one rigid target portion when the configurable arm is rigidly coupled to the human jaw.

Photocured resin based attachment to jaw

An apparatus, method and kit are provided for registering a human jaw with a CT image of the human jaw. The apparatus includes a moldable retainer and an arm having a moldable link portion and a rigid fixation portion. The link portion is attachable to the retainer and hardenable to maintain a fixed mapping between the fixation portion and the retainer. The fixation portion includes a CT marker connection region for detachably attaching a CT marker that includes a fiducial. The fixation portion also includes a tag connection region for detachably attaching a tag that is trackable by a pose measurement system. The pose of the tag connection region relative to a pose of the CT marker connection region is fixed prior to attaching either the tag or the CT marker, providing a known and fixed tag to fiducial coordinate mapping.

Appliance for dental navigation

A computer-implemented method and system are provided for registering a human jaw with a volumetric computed tomography image of that jaw positioned in an image reference coordinate system and stored in a computer-readable memory. The method involves attaching a jaw marker to the jaw to establish a pose trackable jaw reference coordinate system; moving a surface sampling tool over at least one portion of the surface of the jaw while operating a pose tracking system and a computer processor to record samples in the jaw reference coordinate system indicative of locations within the at least one portion of the surface of the jaw; operating a computer processor to determine an approximate initial registration mapping; then beginning with the approximate initial registration mapping, incrementally adjust the registration mapping. Incrementally adjusting the registration mapping involves computing an edge proximity value at each sample location mapped to the image by the registration mapping.

Jaw surface based registration

A medical or dental cart for carrying medical or dental instruments. The cart comprises a base, a back pillar mounted on the base, a boom arm connected to the back pillar using hinged joints, and an instrument carrier connected to the boom arm using hinged joints. The instrument carrier is configured to carry medical or dental instruments. The hinged joints are configured such that the boom arm is rotatable toward the base and away from the base, and such that the instrument carrier is held at a substantially fixed orientation relative to the base throughout the range of motion of the boom arm. The hinged joints are also configured to impede sideways rotation, thereby impeding movement of the instrument carrier in a substantially sideways direction and thus impeding sideways tipping of the cart.

Medical cart

Method and apparatus are described herein for registering an anatomical region with a scanned image of the anatomical region. The method includes pressing a moldable appliance against a surface of the anatomical region or a facsimile thereof to provide an intermediate appliance; hardening the intermediate appliance to provide the formed appliance; providing a fiducial body attached to the formed appliance; attaching the formed appliance with the fiducial body attached thereto to the anatomical region; scanning the anatomical region with the formed appliance attached thereto and the fiducial body attached to the formed appliance to obtain a three-dimensional volume representation of the fiducial body and an interior of the anatomical region; segmenting the part of the fiducial body in the three-dimensional volume representation to obtain a segmented fiducial body region; aligning the segmented fiducial body region with a reference model of the fiducial body to obtain a mapping transformation; and operating a data processor to map locations in an interior of the anatomical region to corresponding locations in the three-dimensional volume representation of the interior of the anatomical region based on the mapping transformation. The apparatus may include a moldable appliance configured for molding into a formed appliance and a fiducial body being attached to the moldable appliance, wherein the fiducial body is scan detectable entirely or in part, shaped such that an orientation of the fiducial body relative the anatomical region is uniquely determinable, and rigidly fixed to the formed appliance such that the fiducial body is in a fixed spatial relationship with the formed appliance.

Method and apparatus for automated registration and pose tracking

The invention relates to a method, system and computer program product for registering 3D image data. It comprises (a) receiving a first 3D image and a second 3D image; (b) determining a rendering transform for applying to each of the first 3D image and the second 3D image; (c) applying the rendering transform to the first 3D image to provide a first 2D projection and to the second 3D image to provide a second 2D projection; and (d) determining an elastic registration for mapping locations of the first 2D projection to homologous locations in the second 2D projection.

Method, system and software product for providing efficient registration of 3D image data

In a virtual endoscopy method, an unfolding axis substantially along an elongated lumen is divided into axis segments. Ray casting directions are selected extending generally radially from the axis segments. At least some of the ray casting directions are tilted away from a camera position. Ray casting is performed along the tilted ray casting directions to define pixel values that are arranged into an unfolded view. The ray casting employs at least one of (i) volume rendering and (ii) computing a statistical characteristic of voxels over a preselected distance (d) along the ray casting direction into the lumen-defining structure.

Virtual endoscopy

In a virtual endoscopy method, an unfolding axis (') substantially along an elongated lumen () is divided into axis segments (). Ray casting directions () are selected extending generally radially from the axis segments. At least some of the ray casting directions are tilted away from a camera position (). Ray casting is performed along the tilted ray casting directions to define pixel values that are arranged into an unfolded view. The ray casting employs at least one of (i) volume rendering and (ii) computing a statistical characteristic of voxels () over a preselected distance (dinterval) along the ray casting direction into the lumen-defining structure.

A measurement system and method for detecting and tracking the pose of an object displaceable in a coordinate reference frame. In the system and method a visible target pattern is provided on the object. The visible target pattern includes a series of contrast regions for providing at least two feature points. Each of these feature points is located at a juncture of an optically detectable plurality of edges. Each edge in the optically detectable plurality of edges separates different contrast regions. The method and system determine the location of the feature points by first locating the edges using the change in contrast between contrast regions, and then determining junctures of multiple edges. The method and system also involve a stereoscopic digital camera for generating a pair of digital images of the target pattern and a marker template comprising a set of reference characteristics including a relationship between the feature points.

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Toronto, Canada

Doron Dekel