US 11,766,296 B2Granted

Tracking system for image-guided surgery

AssigneeAugmedics Ltd.

InventorsStuart Wolf, Nissan Elimelech

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Abstract

Apparatus and methods are described including tracking a tool portion and a patient marker from a first line of sight, using a first tracking device disposed upon a first head-mounted device that includes a display. The tool portion and the patient marker are tracked from a second line of sight, using a second tracking device. When a portion of the patient marker and the tool portion are both within the first line of sight, an augmented reality image is generated upon the first display based upon data received from the first tracking device and without using data from the second tracking device. When at least the patient marker portion and the tool portion are not both within the first line of sight, a virtual image of the tool and anatomy of the patient is generated using data received from the second tracking device. Other applications are also described.

Claims26

Dependent claims

A method for use with a tool configured to be placed within a portion of a body of a patient, the method comprising:

tracking the tool and a patient marker that is placed upon the patient's body from a first line of sight, using a first tracking device that is disposed upon a first head-mounted device that is worn by a first person, the first head-mounted device including a first head-mounted display;
tracking the tool and the patient marker, from a second line of sight, using a second tracking device;
and
using at least one computer processor for:
generating an augmented reality image upon the first head-mounted display based upon data received from the first tracking device and without using data from the second tracking device, the augmented reality image including (a) a virtual image of the tool and anatomy of the patient, overlaid upon (b) the patient's body;
detecting that the first tracking device no longer has both the patient marker and the tool in the first line of sight;
in response to detecting that the first tracking device no longer has both the patient marker and the tool within the first line of sight, generating the virtual image of the tool and anatomy of the patient upon the first head-mounted display from the first line of sight of the first tracking device worn by the first person, by incorporating data received from the second tracking device with respect to a position of the tool in the body into the virtual image;
and
in response to detecting a portion of the tool being within the first line of sight, and a portion of the patient marker not being within the first line of sight:
determining a position of the tool with respect to the anatomy of the patient using data received from the second tracking device;
and
generating the virtual image of the tool and anatomy of the patient upon the first head-mounted display, based upon the determined position of the tool with respect to the anatomy of the patient.

9 more elements

A method for use with a tool configured to be placed within a portion of a body of a patient, the method comprising:

tracking the tool and a patient marker that is placed upon the patient's body from a first line of sight, using a first tracking device that is disposed upon a first head-mounted device that is worn by a first person, the first head-mounted device including a first head-mounted display;
tracking the tool and the patient marker, from a second line of sight, using a second tracking device;
and
using at least one computer processor for:
generating an augmented reality image upon the first head-mounted display based upon data received from the first tracking device and without using data from the second tracking device, the augmented reality image including (a) a virtual image of the tool and anatomy of the patient, overlaid upon (b) the patient's body;
detecting that the first tracking device no longer has both the patient marker and the tool in the first line of sight;
in response to detecting that the first tracking device no longer has both the patient marker and the tool within the first line of sight, generating the virtual image of the tool and anatomy of the patient upon the first head-mounted display from the first line of sight of the first tracking device worn by the first person, by incorporating data received from the second tracking device with respect to a position of the tool in the body into the virtual image;
and
in response to detecting a portion of the patient marker being within the first line of sight, and a portion of the tool not being within the first line of sight:
determining a position of the tool with respect to the anatomy of the patient using data received from the second tracking device;
generating the virtual image of the tool and anatomy of the patient upon the first head-mounted display, based upon the determined position of the tool with respect to the anatomy of the patient;
determining a position of the patient's body with respect to the first head-mounted device based upon data received from the first tracking device;
and
overlaying the virtual image upon the patient's body, based upon the determined position of the patient's body with respect to the first head-mounted device.

11 more elements

Apparatus for use with a tool configured to be placed within a portion of a body of a patient, the apparatus comprising:

a first head-mounted device comprising a first head-mounted display, and a first tracking device that is configured to track the tool and a patient marker from a first line of sight, wherein the patient marker is configured to be placed upon the patient's body;
a second tracking device that is configured to track the tool and the patient marker from a second line of sight;
and
at least one computer processor configured:
to generate an augmented reality image upon the first head-mounted display, based upon data received from the first tracking device and without using data from the second tracking device, the augmented reality image including (a) a virtual image of the tool and anatomy of the patient, overlaid upon (b) the patient's body;
after generating the augmented reality image, to detect that the first tracking device no longer has both the patient marker and the tool in the first line of sight;
in response to detecting that the first tracking device no longer has both the patient marker and the tool within the first line of sight, to generate the virtual image of the tool and anatomy of the patient upon the first head-mounted display from the first line of sight of the first tracking device worn by the first person, by incorporating data received from the second tracking device with respect to a position of the tool in the body into the virtual image;
and
in response to detecting a portion of the tool being within the first line of sight, and a portion of the patient marker not being within the first line of sight:
to determine a position of the tool with respect to the anatomy of the patient using data received from the second tracking device;
and
to generate the virtual image of the tool and anatomy of the patient upon the first head-mounted display, based upon the determined position of the tool with respect to the anatomy of the patient.

9 more elements

Apparatus for use with a tool configured to be placed within a portion of a body of a patient, the apparatus comprising:

a first head-mounted device comprising a first head-mounted display, and a first tracking device that is configured to track the tool and a patient marker from a first line of sight, wherein the patient marker is configured to be placed upon the patient's body;
a second tracking device that is configured to track the tool and the patient marker from a second line of sight;
and
at least one computer processor configured:
to generate an augmented reality image upon the first head-mounted display, based upon data received from the first tracking device and without using data from the second tracking device, the augmented reality image including (a) a virtual image of the tool and anatomy of the patient, overlaid upon (b) the patient's body;
after generating the augmented reality image, to detect that the first tracking device no longer has both the patient marker and the tool in the first line of sight;
in response to detecting that the first tracking device no longer has both the patient marker and the tool within the first line of sight, to generate the virtual image of the tool and anatomy of the patient upon the first head-mounted display from the first line of sight of the first tracking device worn by the first person, by incorporating data received from the second tracking device with respect to a position of the tool in the body into the virtual image;
and
in response to detecting a portion of the patient marker being within the first line of sight, and a portion of the tool not being within the first line of sight:
to determine a position of the tool with respect to the anatomy of the patient using data received from the second tracking device;
to generate the virtual image of the tool and anatomy of the patient upon the first head-mounted display, based upon the determined position of the tool with respect to the anatomy of the patient;
to determine a position of the patient's body with respect to the first head-mounted device based upon data received from the first tracking device;
and
to overlay the virtual image upon the patient's body, based upon the determined position of the patient's body with respect to the first head-mounted device.

11 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/200,144Filed 26 Nov 2018
Published: US 2020/0163723 A128 May 2020
Granted: 26 Sep 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification26 codes

A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 90/37
Image-producing devices or illumination devices not otherwise provided for: surgical systems with images on a monitor during operation
A61B 34/25
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: user interfaces for surgical systems
A61B 90/36
Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00,…