| 主权项 |
1. A method of registering a tool of a robotic drive system to a fluoroscopy image of an anatomy of a patient, the method comprising:
tracking a location of a splayer of the robotic drive system using one or more splayer sensors coupled to the splayer, wherein a location of the tool with respect to the splayer is known; tracking a position of a table using one or more table sensors coupled to the table; comparing a splayer reference frame to a table reference frame to generate a registration of the splayer to the table; comparing the table reference frame to a fluoroscopy reference frame to generate a registration of the table to the fluoroscopy image; and determining a location of the tool in the fluoroscopy image of the anatomy, based on the registration of the table to the fluoroscopy image, the registration of the splayer to the table, and the known location of the tool with respect to the splayer. |
