公开(公告)号：US11416995B2

公开(公告)日：2022-08-16

申请号：US17091920

申请日：2020-11-06

Applicant: Synaptive Medical Inc.

Inventor： Kirusha Srimohanarajah ,  Dorothy Lui ,  Gal Sela ,  Kai Hynna ,  Shysta Ismaili ,  Samson Ng ,  Jakub Jankowski

IPC: G06T7/00 ,  G06T7/246 ,  G06T11/00 ,  A61B34/20 ,  G16H20/40 ,  G06T7/80 ,  G16H40/60 ,  G16H30/40 ,  G16H40/40

Abstract: Methods and apparatuses for performing patient registration. 3D scan data from a 3D scanner, preoperative image data, first tracking data from a first tracking system, and second tracking data from a second tracking system are mapped to a common coordinate space. The 3D scan data and the first tracking data are mapped to each other using a transformation that is determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space. The 3D scan data and the preoperative image data are mapped to each other using a surface matching algorithm. The first tracking data and the second tracking data are mapped to each other based on tracking of the patient reference device.