7d Surgical Inc.

7d Surgical Ulc

Peter Siegler

Beau Anthony Standish

Victor X D Yang

Adrian Mariampillai

Michael Leung

Adrian Linus Dinesh Mariampillai

Michael K K Leung

Michael Ka Kit Leung

Ronald G Litke

Ernest N Corrao, Jr

Victor Yang

Kathleen Chancellor-Maddison

Andrew Kula

Glenn Paul DiCostanzo

Elena Berman

Victor Xd Yang

Kenneth Kuei-Ching Lee

Jean-Francois Paul

Adrian Linus Mariampillai

Michael Kk Leung

Systems and methods are disclosed whereby a surface detection system is employed to obtain intraoperative surface data characterizing an exposed surface of the spine. In some embodiments, this intraoperative surface data is registered to segmented surface data obtained from volumetric data of the spine in order to assess the intraoperative orientation of the spine and provide feedback associated with the intraoperative orientation of the spine. The feedback may characterize the intraoperative spinal orientation as a change relative to the preoperative orientation.

Systems and methods for determining intraoperative spinal orientation

Alignment systems and devices are provided for controlling the alignment of an optical payload. In some embodiments, an optical positioning system is provided that includes a yoke supporting an optical payload. The yoke, which includes a plurality of articulated segments and associated pivot joints, is mechanically coupled to the optical payload, such that when the optical payload is oriented in a given direction, such as towards a distal target, the optical payload is rotatable about a distal pivot axis associated with a distal pivot joint of the yoke. The pivot joints of the yoke may be configured such that the rotation axis associated with a given pivot joint passes sufficiently close to a respective center of mass of a distalward portion of the optical alignment system beyond the given pivot joint, such that the position and orientation of the optical payload is maintained in the absence of external forces.

Optical alignment system

Various example embodiments of the present disclosure provide systems and methods for performing image-guided navigation during medical procedures using intraoperative surface detection. A surface detection device is employed to obtain intraoperative surface data characterizing multiple surface regions of a subject. Pre-operative volumetric image data is registered to each surface region, providing per-surface-region registration transforms. In some example embodiments, navigation images may be generated intraoperatively based on the dynamic selection of a suitable registration transform. For example, a registration transform for generating navigation images may be dynamically determined based on the proximity of a tracked surgical tool relative to the surface regions. In an alternative example embodiment, multiple navigation images may be displayed, wherein each navigation image is generated using a different registration transform.

Systems and methods for performing intraoperative surface-based registration and navigation

The present disclosure provides systems and methods for generating spatial annotations within guidance images that are displayed during a guided medical procedure, where the spatial annotations provide spatial graduations indicating known length measures. The spatial measures may be employed to visually assess the sizes of anatomical and/or functional features displayed in the guidance images.

Systems and methods for displaying guidance images with spatial annotations during a guided medical procedure

The present disclosure relates to the generation of partial surface models from volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.

System and method for generating partial surface from volumetric data for registration to surface topology image data

Systems and methods are provided in which intraoperatively acquired surface data is employed to verify the correspondence of an intraoperatively selected spinal level with a spinal level that is pre-selected based on volumetric image data. Segmented surface data corresponding to the pre-selected spinal levels may be obtained from the volumetric image data, such that the segmented surface data corresponds to a spinal segment that is expected to be exposed and identified intraoperatively during the surgical procedure. The segmented surface data from the pre-selected spinal level, and adjacent segmented surface data from an adjacent spinal level that is adjacent to the pre-selected spinal level, is registered to the intraoperative surface data, and quality measures associated with the registration are obtained, thereby permitting an assessment or a determination of whether or not the pre-selected spinal surface (in the volumetric frame or reference) is likely to correspond to the intraoperatively selected spinal level.

Systems and methods for intraoperative spinal level verification

Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.

Attachments for tracking handheld implements

Systems and methods are provided for performing intraoperative fusion of two or more volumetric image datasets via surface-based image registration. The volumetric image datasets are separately registered with intraoperatively acquired surface data, thereby fusing the two volumetric image datasets into a common frame of reference while avoiding the need for complex and time-consuming preoperative volumetric-to-volumetric image registration and fusion. The resulting fused image data may be processed to generate one or more images for use during surgical navigation.

Systems and methods for performing intraoperative image registration

Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system. Example methods are also provided to detect whether or not a tracking marker support structure has moved from its initial position during a procedure.

Tracking marker support structure and surface registration methods employing the same for performing navigated surgical procedures

Disclosed are systems and methods for obtaining a structured light reconstruction using a hybrid spatio-temporal pattern sequence projected on a surface. The method includes projecting a structured light pattern, such as a binary de Bruijn sequence, onto a 3D surface and acquiring an image set of at least a portion of this projected sequence with a camera system, and projecting a binary edge detection pattern onto the portion of the surface and acquiring an image set of the same portion of the projected binary pattern. The acquired image set of the binary pattern is processed to determine edge locations therein, and then employed to identify the locations of pattern edges within the acquired image set of the structured light pattern. The detected edges of the structured light pattern images are employed to decode the structured light pattern and calculate a disparity map, which is used to reconstruct the 3D surface.

Systems and methods for obtaining a structured light reconstruction of a 3D surface

Systems and methods are provided for use in image-guided surgical procedures, in which intraoperatively acquired surface data is employed to verify the correspondence between intraoperatively selected fiducial points and volumetric fiducial points, where the volumetric fiducial points are selected based on volumetric image data. Segmented surface data obtained from the volumetric image data is registered to the intraoperative surface data using the intraoperative and volumetric fiducial points for initial surface alignment, and this process is repeated for other permutations of the correspondence between the intraoperatively fiducial points and the volumetric fiducial points. Quality measures may be determined that relate to the registration quality for each fiducial correspondence permutation, where the quality measures may be employed to assess of the likelihood that the initially prescribed fiducial correspondence is correct. A graphical representation may be generated for visually displaying the alignment of the registered surfaces for the different fiducial correspondence permutations.

Systems and methods for verification of fiducial correspondence during image-guided surgical procedures

The present disclosure relates to the generation of partial surface models them volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.

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Toronto, Canada

Peter Siegler