Fiducial marker devices and systems that facilitate improved tracking in surgical environments are disclosed. In one example, this technology includes a fiducial marker device having active and backing layers in which the backing layer includes beacon(s) or a printed visual pattern. The adhesive layer includes an adhesive material to facilitate adhesion of the fiducial marker device when in contact with fluid associated with an anatomical structure. In another example, a fiducial marker stamp pen includes a body and a shaft disposed within an inner lumen of the body and coupled to a slider. The slider is advanced to move the shaft to deposit a material, via cutouts in a tip of the body or embossed features extending from a tip of the shaft, on an anatomical structure. In yet another example, a fiducial marker deformable applicator assembly is configured to deposit a pattern that can represent a fiducial marker.

Method and apparatus are provided for use with a procedure in which interventions are performed with respect to at least first and second vertebrae of a spine of a subject. Imaging data of the subject's spine is acquired using an imaging device. At least one computer processor is used to generate, upon a display, a spinal roadmap image of at least a portion of the spine that contains the first and second vertebra, automatically label vertebra within the spinal roadmap image, determine that an intervention has been performed with respect to the first vertebra, such that an appearance of the first vertebra has changed, and automatically update the spinal roadmap to reflect the change in the appearance of the first vertebra, such that the updated spinal roadmap is displayed while the intervention is performed with respect to the second vertebra. Other applications are also described.

Respective longitudinal insertion paths for two tools are planned and associated with 3D image data of a skeletal portion. While respective portions of the tools are disposed at first respective locations along their respective longitudinal insertion paths, first and second x-rays of the respective portions of the tools and the skeletal portion are acquired from respective first and second views. A computer processor matches between a tool in the first x-ray and the same tool in the second x-ray by: (A) identifying respective tool elements of each tool within the first and second x-rays, (B) registering the first and second x-rays to the 3D image data, and (C) based upon the identified respective tool elements and the registration, identifying for at least one tool element a correspondence between the tool element and the respective planned longitudinal insertion path for that tool. Other applications are also described.

A head stabilization device or HFD includes a plurality of integrated markers. The HFD may be in the form of a skull clamp, vacuum bag, combinations thereof, or other supporting structure. The integrated markers include MRI markers detectable by an MRI scanner and fiducial markers detectable by a registration tool of a navigation system. The markers provide a reference point relative to an operation site in a patient for use in a navigation guided procedure and aid in registering or calibrating the location of the patient with captured images used in the navigation guided procedure.

A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: determine, based on a navigation element of a first type and a navigation element of a second type both disposed on a navigation tracker, a first registration between the navigation tracker and an anatomical element; determine, based on a navigation element of a third type disposed on the navigation tracker, a second registration between a robotic arm and the navigation tracker; and navigate, based on the first registration and the second registration, the robotic arm relative to the anatomical element.

The present disclosure relates to embodiments of a patient-specific or patient-matched, customized apparatus for assisting in various surgical procedures. In varying embodiments, patient-specific guides may comprise multiple patient-specific surfaces for mating with the underlying patient anatomy and may further comprise one or more protrusions or projections for facilitating placement and attachment, at least temporarily, to the desired location of the patient's anatomy. The apparatus described herein are preferably used with cervical and/or certain thoracic levels of the human spine and may comprise single or multi-level guides for placement of instruments and/or implants during a variety of surgical procedures.

A registration marker comprising a radiotransparent substrate and a pattern formed in at least two dimensions, which is disposed on the substrate and is optically visible. The registration marker also has a multiplicity of radiopaque elements, which are disposed in the substrate and are spatially arranged in at least two dimensions to provide a unique pattern.

A registration marker (40), consisting of a radiotransparent substrate (44) and a pattern (58) formed in at least two dimensions, which is disposed on the substrate and is optically visible. The registration marker also has a multiplicity of radiopaque elements (60), which are disposed in the substrate and are spatially arranged in at least two dimensions to provide a unique pattern.

In general, devices, systems, and methods for fiducial identification and tracking are provided.

In general, devices, systems, and methods for fiducial identification and tracking are provided.