System and method for anatomical markers

Abstract

An anatomical marker may comprise a body comprising a first material observable to a first imaging modality and a second material observable to a second imaging modality. The first material may be different from the second material. The first imaging modality may be x-ray, computer-aided tomography (CT), or magnetic resonance imaging (MRI). The second imaging modality may be fluorescent imaging. The body may be configured to secure to an external surface of an anatomical feature internal to a patient, without penetrating the external surface.

1 - 65 . (canceled) 
     
     
         66 . An anatomical marker, comprising:
 a body comprising a first material observable to a first imaging modality and a second material observable to a second imaging modality, wherein:
 the first material is different from the second material; 
 the first imaging modality is x-ray, computer-aided tomography (CT), or magnetic resonance imaging (MRI); 
 the second imaging modality is fluorescent imaging; and 
 the body is configured to secure to an external surface of an anatomical feature without penetrating the external surface, the anatomical feature being internal to a patient. 
   
     
     
         67 . The marker of  claim 66 , wherein the first material comprises a contrast agent. 
     
     
         68 . The marker of  claim 66 , wherein the first material comprises a radio-opaque material. 
     
     
         69 . The marker of  claim 66 , wherein the second material comprises a fluorescent dye. 
     
     
         70 . The marker of  claim 69 , wherein the fluorescent dye comprises indocyanine green (ICG). 
     
     
         71 . The marker of  claim 66 , wherein the first material comprises a gadolinium-based agent. 
     
     
         72 . The marker of  claim 66 , wherein the body is configured to be attached to the anatomical feature using one or more bio-adhesives. 
     
     
         73 . The marker of  claim 66 , wherein the body comprises a hollow shell, the first material and the second material being enclosed in the hollow shell. 
     
     
         74 . The marker of  claim 73 , wherein a shape of the hollow shell is unique to identify the marker. 
     
     
         75 . The marker of  claim 74 , wherein the shape is selected from a group consisting of a sphere, a circular cylinder, a rectangular box, a star-shaped cylinder, a polygonal cylinder, a letter, a number, a barcode pattern, and a chessboard pattern. 
     
     
         76 . The marker of  claim 74 , wherein the shape of the hollow shell has a major axis configured to be aligned with the anatomical feature. 
     
     
         77 . The marker of  claim 76 , wherein the anatomical feature comprises a bone. 
     
     
         78 . The marker of  claim 66 , further comprising one or more superabsorbent polymers, the first material and the second material being absorbed and contained by the one or more superabsorbent polymers. 
     
     
         79 . The marker of  claim 66 , further comprising a liquid or gel comprising the first and second materials. 
     
     
         80 . A method of controlling motion of a medical tool, comprising:
 obtaining one or more first images using a first imaging modality;   determining first coordinates of one or more anatomical markers relative to an anatomy of a patient based on content of the first images, at least a first anatomical marker of the one or more anatomical markers comprising a body configured to secure to an external surface of an anatomical feature internal to a patient without penetrating the external surface, the body including a first material observable to the first imaging modality and a second material observable to a second imaging modality wherein the first material is different from the second material, the first imaging modality comprising x-ray, computer-aided tomography (CT), or magnetic resonance imaging (MRI), the second imaging modality comprising fluorescent imaging;   obtaining one or more second images using the second imaging modality;   determining second coordinates of the one or more anatomical markers relative to the medical tool based on content of the second images; and   registering the medical tool to the anatomy of the patient based on the first and second coordinates.   
     
     
         81 . The method of  claim 80 , further comprising moving one or more joints of an articulated arm to which the medical tool is mounted. 
     
     
         82 . The method of  claim 80 , further comprising tracking the one or more anatomical markers. 
     
     
         83 . The method of  claim 80 , further comprising mapping the one or more anatomical markers to a surgical plan based on the first and second coordinates and one or more pre-operative images. 
     
     
         84 . The method of  claim 80 , wherein the first anatomical marker further comprises a liquid or gel comprising the first and second materials. 
     
     
         85 . The method of  claim 80 , further comprising controlling motion of the medical tool relative to the anatomy of the patient based on the registration of the medical tool to the anatomy of the patient.