# US 11,029,147 B2 · Method and system for facilitating surgery using an augmented reality system

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- Number: US 11,029,147 B2
- Document ID: US11029147B2
- Status: Granted
- Kind: B2
- Application number: 14/707,581
- Filed: 2015-05-08
- Published: 2015-09-03
- Granted: 2021-06-08
- Earliest claimed: 2013-07-12
- Assignees: Magic Leap, Inc.
- Applicants: Magic Leap, Inc.
- Inventors: Rony Abovitz; Brian T. Schowengerdt; Mathew D. Watson
- Web page: https://patentgrep.com/patent/US11029147B2

## CPC

- G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A63F 13/00: Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F 13/213: comprising photodetecting means, e.g. cameras, photodiodes or infrared cells (A63F13/219 takes precedence)
- A63F 13/428: involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
- G01B 11/303: {using photoelectric detection means}
- G02B 6/10: of the optical waveguide type (G02B6/02, G02B6/24 take precedence; devices or arrangements for the control of light by electric, magnetic, electro-magnetic or acoustic means G02F1/00; transferring the modulation of modulated light G02F2/00; optical logic elements G02F3/00; optical analogue/digital converters G02F7/00)
- G02B 6/34: utilising prism or grating {(G02B6/293 takes precedence)}
- G02B 27/0101: {characterised by optical features (G02B27/0172 takes precedence)}
- G02B 27/017: {Head mounted}
- G02B 27/0172: {characterised by optical features}
- G02B 27/42: Diffraction optics {, i.e. systems including a diffractive element being designed for providing a diffractive effect}(G02B27/60 takes precedence)
- G02B 27/4205: {having a diffractive optical element [DOE] contributing to image formation, e.g. whereby modulation transfer function MTF or optical aberrations are relevant}
- G02B 27/4227: {in image scanning systems}
- G06F 3/005: {Input arrangements through a video camera}
- G06F 3/013: {Eye tracking input arrangements (G06F3/015 takes precedence)}
- G06F 3/017: {Gesture based interaction, e.g. based on a set of recognized hand gestures (interaction based on gestures traced on a digitiser G06F3/04883)}
- G06F 3/0304: {Detection arrangements using opto-electronic means (constructional details of pointing devices not related to the detection arrangement using opto-electronic means G06F3/033; optical digitisers G06F3/042)}
- G06F 3/04815: Interaction with a metaphor-based environment or interaction object displayed as three-dimensional [3D], e.g. changing the user viewpoint with respect to the environment or object
- G06F 3/04842: Selection of displayed objects or displayed text elements (G06F3/0482 takes precedence)
- G06F 3/04845: for image manipulation, e.g. dragging, rotation, expansion or change of colour
- G06F 3/0485: Scrolling or panning
- G06F 3/0487: using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F 3/04883: for inputting data by handwriting, e.g. gesture or text
- G06F 16/7837: {using objects detected or recognised in the video content}
- G06F 18/22: Matching criteria, e.g. proximity measures
- G06Q 30/0643: {graphically representing goods, e.g. 3D product representation}
- G06T 7/60: Analysis of geometric attributes
- G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)}
- G06V 10/758: {Involving statistics of pixels or of feature values, e.g. histogram matching}
- G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59)
- G06V 20/20: in augmented reality scenes
- G06V 20/40: in video content (extracting overlay text G06V20/62; video retrieval G06F16/70; processing of video elementary streams in video servers H04N21/234; processing of video elementary streams in video clients H04N21/44)
- G06V 20/653: {by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces}
- G06V 40/28: {Recognition of hand or arm movements, e.g. recognition of deaf sign language (static hand signs G06V40/113)}
- G16H 40/00: ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H 40/20: for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
- G16H 40/67: for remote operation
- H04B 10/25891: {Transmission components (H04B10/40 takes precedence)}
- A61B 2034/101: {Computer-aided simulation of surgical operations}
- G02B 2027/0105: {Holograms with particular structures}
- G02B 2027/0127: {comprising devices increasing the depth of field}
- G02B 2027/014: {comprising information/image processing systems}
- G02B 2027/0178: {Eyeglass type (eyeglass details G02C)}
- G02B 2027/0185: {Displaying image at variable distance}
- G02B 2027/0187: {slaved to motion of at least a part of the body of the user, e.g. head, eye}
- G06T 2200/04: involving 3D image data
- G06T 2200/24: involving graphical user interfaces [GUIs]
- G06T 2207/10004: Still image; Photographic image
- G06T 2207/30196: Human being; Person
- G06T 2210/41: Medical
- G06T 2219/024: Multi-user, collaborative environment
- G06V 40/113: {Recognition of static hand signs}
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A63F: CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- H04B: TRANSMISSION

## Abstract

A method for facilitating surgery using an augmented reality system, comprises retrieving patient data relating to a surgical procedure on a patient, generating virtual content comprising a virtual three-dimensional (3D) anatomical model based on the patient data, and displaying the virtual content, such that, when viewed by the first user, the virtual 3D anatomical model appears to be fixed at a physical location, whereby the virtual 3D anatomical model may be viewed by the first user from any angle or orientation merely by walking around the physical location.

## Claims

### Claim 1

A method for facilitating surgery using a display device worn on the head of a first user, comprising:
the display device receiving patient data relating to a surgical procedure on a patient;
the display device tracking a head pose of a first user relative to a physical location;
the display device rendering virtual content comprising a virtual three-dimensional (3D) anatomical model based on the received patient data and the tracked head pose of the first user; and
the display device displaying the virtual content while worn on the head of the first user such that the virtual 3D anatomical model, when viewed by the first user, appears to be fixed at the physical location, whereby the virtual 3D anatomical model may be viewed by the first user from any angle or orientation merely by walking around the physical location.

### Claim 2 (depends on 1)

The method of claim 1, wherein the 3D anatomical model is a 3D heart model.

### Claim 3 (depends on 1)

The method of claim 1, wherein the patient data is received from a networked memory.

### Claim 4 (depends on 1)

The method of claim 1, further comprising another display device worn on the head of a second user displaying the 3D anatomical model to second user that is in a second location different from a first location of the first user.

### Claim 5 (depends on 4)

The method of claim 4, further comprising the display device displaying a visual representation of the second user to the first user.

### Claim 6 (depends on 4)

The method of claim 4, wherein the second user is selected from the group consisting of a consulting surgeon, a patient, a party related to the patient, and a medical student.

### Claim 7 (depends on 1)

The method of claim 1, further comprising:
receiving user input at the display device;
the display device rendering additional virtual content based on the user input; and
the display device displaying the additional virtual content while worn by the first user while the first user is performing the surgical procedure.

### Claim 8 (depends on 7)

The method of claim 7, wherein the user input is selected from the group consisting of a gesture, visual data, audio data, sensory data, a direct command, a voice command, eye tracking, and selection of a physical button.

### Claim 9 (depends on 1)

The method of claim 1, wherein the virtual 3D anatomical model is a pre-mapped 3D anatomical model of the patient.

### Claim 10 (depends on 1)

The method of claim 1, further comprising the display device receiving a set of map points corresponding to the physical location, wherein the virtual 3D anatomical model, when displayed, appears to be fixed to the set of map points.

### Claim 11 (depends on 1)

The method of claim 1, wherein the virtual content further comprises one of medical images, patient identification information, vital patient sign information, and a medical chart.

### Claim 12 (depends on 1)

The method of claim 1, wherein the display device is at least partially transparent, such that the first user may view physical objects of the real world through the display device.

### Claim 13 (depends on 12)

The method of claim 12, wherein the display device comprises at least one planar waveguide into which light is input to generate the virtual content.

### Claim 14 (depends on 12)

The method of claim 12, wherein the display device is a scanning light display.