Systems and devices for generating and displaying augmented reality overlays

Abstract

Systems and methods for generating and displaying an overlay are provided. The systems and methods include inputting input data regarding positioning an imaging device, tracked pose information of the imaging device, and pose information of a target reference into an overlay model to generate an overlay. The overlay may include one or more steps for positioning the imaging device based on the tracked pose of the imaging device and the pose information of the target reference. The overlay may be displayed in an augmented display and the overlay may be positioned based on the tracked pose of the imaging device and the pose information of the target reference.

Description

SYSTEMS AND DEVICES FOR GENERATING AND DISPLAYING AUGMENTED REALITY OVERLAYSBACKGROUND

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 640,724, filed 30 April 2024, the entire content of which is incorporated herein by reference.

[0002] The present disclosure is generally directed to augmented reality, and relates more particularly to providing augmented reality overlays during an imaging procedure and / or other surgical procedures.

[0003] Imaging may be used by a medical provider for diagnostic and / or therapeutic purposes for applications such as, for example, complex spinal cases. Setting up and / or operating an imaging device for imaging may be time consuming or complex for a user.BRIEF SUMMARY

[0004] Example aspects of the present disclosure include:

[0005] A system according to at least one embodiment of the present disclosure comprises.

[0006] 1. A system comprising: an imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: track a pose of the imaging device; receive input data corresponding to positioning the imaging device; receive pose information of a target reference; input the input data, the tracked pose of the imaging device, and the pose information of the target reference into an overlay model; receive an overlay from the overlay model, the overlay including one or more steps for positioning the imaging device based on the tracked pose of the imaging device and the pose information of the target reference; and display the overlay in an augmented display, wherein the overlay is positioned based on the tracked pose of the imaging device and the pose information of the target reference.

[0007] Any of the aspects herein, wherein the imaging device comprises an o-arm imaging device.

[0008] Any of the aspects herein, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

[0009] Any of the aspects herein, wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

[0010] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: detect a collision between the imaging device and the target region; input the detected collision into the overlay model; receive an updatedoverlay from the overlay model; and display the updated overlay in the augmented display, wherein the updated overlay includes a notification of the detected collision.

[0011] Any of the aspects herein, wherein the pose of the target reference is obtained from a navigation imaging device.

[0012] A system according to at least one embodiment of the present disclosure comprises: a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive input data corresponding to a planned incision; receive pose information of a target reference; input the input data and the pose information of the target reference into an overlay model; receive an overlay from the overlay model, the overlay including a visualization of the planned incision based on the input data and the pose information of the target reference; and display the overlay in an augmented display, wherein the overlay is positioned based on the pose information of the target reference.

[0013] Any of the aspects herein, wherein the planned incision is positioned on the target reference.

[0014] Any of the aspects herein, wherein the imaging device comprises an o-arm imaging device.

[0015] Any of the aspects herein, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

[0016] Any of the aspects herein, wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

[0017] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive updated input data corresponding to one or more adjustments to the planned incision; input the updated input data into the overlay model; receive an updated overlay from the overlay model, the overlay including an updated visualization of the planned incision; and display the updated overlay in the augmented display.

[0018] Any of the aspects herein, wherein the pose of the target reference is obtained from a navigation imaging device.

[0019] A system according to at least one embodiment of the present disclosure comprises: an imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive input data corresponding to an estimated imaging area of the imaging device; receive pose information of a target reference; input the input data and the pose information of the target reference into an overlay model; receive an overlay from the overlay model, the overlay including a visualization of estimated imaging area based on the inputdata and the pose information of the target reference; and display the overlay in an augmented display, wherein the overlay is positioned based on the pose information of the target reference.

[0020] Any of the aspects herein, wherein the estimated imaging area comprises dimensions of the estimated imaging area.

[0021] Any of the aspects herein, wherein the visualization of the estimated imaging area comprises a line outline of the estimated imaging area.

[0022] Any of the aspects herein, wherein the imaging device comprises an o-arm imaging device.

[0023] Any of the aspects herein, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

[0024] Any of the aspects herein, wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

[0025] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive updated input data corresponding to one or more adjustments to the estimated imaging area; input the updated input data into the overlay model; receive an updated overlay from the overlay model, the overlay including an updated visualization of the estimated imaging area; and display the updated overlay in the augmented display.

[0026] Any aspect in combination with any one or more other aspects.

[0027] Any one or more of the features disclosed herein.

[0028] Any one or more of the features as substantially disclosed herein.

[0029] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

[0030] Any one of the aspects / features / embodiments in combination with any one or more other aspects / features / embodiments .

[0031] Use of any one or more of the aspects or features as disclosed herein.

[0032] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0033] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0034] The phrases “at least one”, “one or more”, and “and / or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least oneof A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and / or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as XI -Xn, Yl-Ym, and Zl-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0035] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0036] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0037] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0038] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0039] Fig. 1 is a block diagram illustrating a system according to at least one embodiment of the present disclosure;

[0040] Fig. 2 is a flowchart according to at least one embodiment of the present disclosure;

[0041] Fig. 3 is a flowchart according to at least one embodiment of the present disclosure;

[0042] Fig. 4 is an image of an example target reference according to at least one embodiment of the present disclosure;

[0043] Fig. 5 is an image of an example target reference according to at least one embodiment of the present disclosure;

[0044] Fig. 6A is an image of an example image boundary from a side view according to at least one embodiment of the present disclosure;

[0045] Fig. 6B is an image of an example image boundary from a front view according to at least one embodiment of the present disclosure;

[0046] Fig. 7 is a flowchart according to at least one embodiment of the present disclosure; and

[0047] Fig. 8 is a flowchart according to at least one embodiment of the present disclosure.DETAILED DESCRIPTION

[0048] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and / or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0049] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, functions may be implemented using machine learning models, neural networks, artificial neural networks, or combinations thereof (alone or in combination with instructions). Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0050] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0051] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.

[0052] The terms proximal and distal are used in this disclosure with their conventional medical meanings, proximal being closer to the operator or user of the system, and further from the region of surgical interest in or on the patient, and distal being closer to the region of surgical interest in or on the patient, and further from the operator or user of the system.

[0053] During imaging procedures such as, for example, two-dimensional (2D) long film and / or three-dimensional (3D) image acquisition, the imaging device (which may be, for example, an O- arm) setup time may be time consuming, especially for complex cases such as complex spine cases. Thus, it is desirable to reduce a cognitive load for the user setting up the imaging device and to reduce the mental effort required to set up the imaging device. Such reduction in the cognitive load may enable a safer and faster setup phase for the imaging device.

[0054] In at least one embodiment of the present disclosure, augmented reality overlays may be provided in real-time in an augmented display. The overlays may include step-by-step visuals overlaid in the physical world in real-time to minimize the contextual distance (i.e., the gap between the form in which the information is delivered and the context in which it is applied). The overlays may also include real-time operational and safety information for users such as, for example, surgeons and other medical providers during the imaging device setup phase and image acquisition. The overlays may be positioned based on, for example, a reference target such as a reference pin positioned on the patient. In such examples, the reference pin may be positioned in the posterior superior iliac spine (PSIS) vertebra. Such overlays may improve the user experience with the imaging device.

[0055] Embodiments of the present disclosure provide technical solutions to one or more of the problems of (1) positioning and / or operating an imaging device relative to a patient, (2) providing real-time operational and / or safety information to users positioning and / or operating the imaging device, and (3) increasing patient and medical team safety by reducing an overall procedure time.

[0056] Turning first to Fig. 1, a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 may be used to provide one or more augmented overlays for display in an augmented display for providing, for example, real-time guidance during set up of an imaging device, real-time guidance to avoid collision between the imaging device and a patient, real-time feedback of a target region, real-time guidance for incision planning, displaying an estimated imaging area, and / or to carry out one or more other aspects of one or more of the methods disclosed herein. The system 100 comprises a computing device 102, one or more imaging devices 112, a navigation system 118, an augmented display 126, a database 130, and / or a cloud or other network 134. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 100. For example, the system 100 may not include the imaging device 112, the navigation system 118, one or more components of the computing device 102, the database 130, the augmented display 126, and / or the cloud 134.

[0057] The computing device 102 comprises a processing circuitry 104, a memory 106, a communication interface 108, and a user interface 110. Computing devices according to other embodiments of the present disclosure may comprise more or fewer components than the computing device 102.

[0058] Processing circuitry 104 may include any one or more of a microprocessor, a controller, a central processing unit (CPU), graphics processing unit (GPU), DSP, an ASIC, an FPGA, or equivalent discrete or analog logic circuitry. In some examples, processing circuitry 104 may includemultiple components, such as any combination of one or more microprocessors, one or more controllers, one or more DSPs, one or more ASICs, or one or more FPGAs, as well as other discrete or integrated logic circuitry. The functions attributed to processing circuitry 104 herein may be embodied as software, firmware, hardware, or any combination thereof.

[0059] The processing circuitry 104 of the computing device 102 may be any processor described herein or any similar processor. The processing circuitry 104 may be configured to execute instructions stored in the memory 106, which instructions may cause the processing circuitry 104 to carry out one or more computing steps utilizing or based on data received from a database 130, an imaging device 112, a network, an augmented display 126, and / or other data sources.

[0060] Processing circuitry 104 may include hardware capable of implementing or executing a neural network, which may be embodied as hardware, firmware, software, or any combination thereof. The neural network module may comprise a dedicated hardware circuit, such as an ASIC, separate from other processing circuitry 104 components, such as a microprocessor, or a software module executed by a component of processing circuitry 104, which may be a microprocessor or ASIC. The neural network module may implement programmable neural networks such as augmented reality overlay systems.

[0061] In some examples, processing circuitry 104 of computing system 100 implements one or more artificial intelligence (Al) and / or machine learning (ML) systems, such as convolutional neural networks (CNNs). For instance, processing circuitry 104 may apply a generalized CNN and / or a specialized CNN to generate an overlay to display in the augmented display 126, as described elsewhere in this disclosure. Processing circuitry 104 may implement an Al system using specialpurpose circuitry or by executing software instructions stored on a computer-readable medium, such as memory 106. The communication interface 108 may be configured to receive image data from an imaging device 136, database 130, and / or other data sources and to transmit results of image processing as described herein to external devices such as a user device, a database 130, and / or other devices capable of receiving data.

[0062] Processing circuitry 104, in one example, is configured to implement functionality and / or process instructions for execution within the computing device 102. For example, processing circuitry 104 may be capable of processing instructions stored in memory 106 to, for example, implement or execute a neural network. Examples of processing circuitry 104 may include, any one or more of a microprocessor, a controller, a DSP, an ASIC, an FPGA, or equivalent discrete and / or integrated logic circuitry.

[0063] Memory 106 includes computer-readable instructions that, when executed by processing circuitry 104, cause the computing device 102 and processing circuitry 104 to perform various functions and execute various applications as described herein. Memory 106 may include any volatile, non-volatile, magnetic, optical, or electrical media, such as a RAM, ROM, non-volatile RAM (NVRAM), EEPROM, flash memory, or any other digital or analog media.

[0064] The memory 106 may be configured to store a variety of operational parameters, training data 114, and / or overlay(s) 120. In the illustrated example, memory 106 may store an overlay model 124 and / or input data 125. In other examples, the memory 106 may act as a temporary buffer for storing data until it can be uploaded to the database 130, the cloud 134, and / or another data repository.

[0065] The memory 106 as described herein may refer to one or more storage devices which may be configured to store information within the computing system 100 during operation. Such storage devices may in some examples be described as a computer-readable storage medium. In some examples, a storage device may comprise temporary or volatile memory. Examples of volatile memories include RAM, DRAM, SRAM, and other forms of volatile memories. In some examples, a storage device may be used to store program instructions for execution by processing circuitry 104. For example, a storage device may be used by software or applications running on the computing device 102 to temporarily store information during program execution.

[0066] The memory 106 may store information or data associated with completing, for example, any step of the methods described herein, or of any other methods. The memory 106 may store, for example, instructions and / or machine learning models that support one or more functions of the computing device 102. For instance, the memory 106 may store content (e.g., instructions and / or machine learning models) that, when executed by the processing circuitry 104, enable one or more overlay models 124, and other processes. Such content, if provided as in instruction, may, in some implementations, be organized into one or more applications, modules, packages, layers, or models.

[0067] Alternatively, or additionally, the memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processing circuitry 104 to carry out various methods and features described herein. Thus, although various contents of memory 106 may be described as instructions, it should be appreciated that functionality described herein can be achieved through use of instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may cause the processing circuitry 104 to manipulate data stored in the memory 106 and / or received from or via thecomputing device 102, the database 130, the imaging device 112, 136, and / or the augmented display 126.

[0068] The processing circuitry 104 may utilize data stored in memory 106 as one or more neural networks. In some aspects, the neural network may be or include one or more overlay model(s) 124. In some other aspects, the neural network may be or include any machine learning network such as, for example, a deep learning network, a CNN, a reconstructive neural network, a generative adversarial neural network, or any other neural network capable of accomplishing functions of the computing device 102 as described herein. Some elements stored in memory 106 may be described as or referred to as instructions or instruction sets, and some functions of the computing device 102 may be implemented using machine learning techniques.

[0069] An Al system, such as a neural network, may support various inputs supportive of implementing aspects of the present disclosure. For example, a neural network may support generating overlays as outputs based on model inputs including, but not limited to, patient data, 3D models of target anatomical elements, regions, and / or objects, a pose of the target anatomical elements, regions, and / or objects, etc. A neural network may include various appropriate model types supportive of implementing aspects of the present disclosure. For example, a neural network may include deep learning models (e.g., a CNN, recurrent neural network, deep reinforcement network, deep belief network, transformer network, etc.). In some examples, machine learning model(s) may include support vector machines (SVMs), CNN models, transformer models, or other machine learning models appropriate with implementing aspects of the present disclosure as described herein. A neural network may support unsupervised machine learning algorithms (e.g., principal component analysis (PCA) algorithms), semi-supervised machine learning algorithms, and supervised machine learning algorithms. A neural network may support locked execution modes and continuous learning execution modes. A neural network may support providing outputs including content, classifications, predictions, recommendations, and decisions.

[0070] The processing circuitry 104 may support overlay models 124 which may be machine learning model(s), and which may be trained and / or updated based on data (e.g., training data 114) provided or accessed by any of the computing device 102, the database 130, the imaging device 112, 136, and / or the augmented display 126. The overlay models 124 may be built and updated by the computing device 102 based on the training data 114. For example, the overlay models 124 may be trained with one or more training sets included in the training data 114. In some aspects, the training data 114 may include multiple training sets. In an example, the training data 114 may include a training set that includes historical anatomical elements, regions, and / or objects on which to generatean overlay, historical information provided on the overlay, historical incision information (e.g., incision placement, incision size, incision, depth, etc.), historical estimated imaging area(s). The overlay model 124 may be trained based on the training set to output an overlay for target references such as target anatomical elements, regions, and / or objects.

[0071] The computing device 102 may also comprise a communication interface 108. The communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, 136, the navigation system 118, the augmented display 126, the database 130, the cloud 134, and / or any other system or component not part of the system 100), and / or for transmitting instructions, images, or other information to an external system or device (e.g., another computing device 102, the imaging device 112, 136, the navigation system 118, the augmented display 126, the database 130, the cloud 134, and / or any other system or component not part of the system 100). The communication interface 108 may comprise one or more wired interfaces (e.g., a USB port, an Ethernet port, a Firewire port) and / or one or more wireless transceivers or interfaces (configured, for example, to transmit and / or receive information via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 108 may be useful for enabling the computing device 102 to communicate with one or more other processing circuitry 104 or computing devices 102, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0072] The computing device 102 may also comprise one or more user interfaces 110. The user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 110 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 100 (e.g., by the processing circuitry 104 or another component of the system 100) or received by the system 100 from a source external to the system 100. In some embodiments, the user interface 110 may be useful to allow a surgeon or other user to modify instructions to be executed by the processing circuitry 104 according to one or more embodiments of the present disclosure, and / or to modify or adjust a setting of other information displayed on the user interface 110 or corresponding thereto.

[0073] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 may utilize a user interface 110 that is housed separatelyfrom one or more remaining components of the computing device 102. In some embodiments, the user interface 110 may be located proximate one or more other components of the computing device 102, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the computer device 102.

[0074] The system 100 may include the augmented display 126. The augmented display 126 may communicate with the computing device 102 or the processing circuitry 104 of the computing device to receive and display at least one overlay such as the overlay 120. It will be appreciated that in some embodiments, the augmented display 126 can communicate with any component of the system 100 or any component external to the system 100. In some embodiments, the augmented display 126 is an augmented display in which an environment is visible through at least a portion of the display and at least one image may be displayed as an overlay 120 on the environment. In such embodiments, the augmented display 126 may comprise a headset, glasses, or screen worn by a user and / or supported in the environment by, for example, a stand, a ceiling mount, etc. The augmented display 126 (whether worn by a user or not) may comprise a screen through which the environment is visible to the user and on which the overlay 120 may be displayed on. In some embodiments, the augmented display 126 may display the overlay 120 including information corresponding to the imaging device 112, an object, anatomical element, portion of a patient, tool, and / or an instrument in a field of view of the augmented display 126, a notification, a warning, one or more steps to perform, etc. The augmented display 126 may be beneficial in, for example, providing information to a user such as a surgeon during a medical procedure. For example, the augmented display 126 may show one or more steps with respect to positioning an imaging device 112 relative to a patient. The augmented display 126 may also show the imaging device 112 being tracked and may provide an alert or notification to a user when the imaging device 112 may collide with, for example, the patient. The augmented display 126 may also be used during incision planning and can, for example, show information about the incision and / or overlay a model of an incision on the patient. The augmented display 126 may also, in other instances, be used to show an overlay of an estimated imaging area. Such estimated imaging area may be useful in informing a user such as, for example, a surgeon or other medical provider, an estimated region of the patient that will be exposed to, for example, ionizing radiation. Such information may be useful in planning subsequent imaging.

[0075] The imaging device 112 may be operable to image anatomical feature(s) (e.g., a bone, veins, tissue, etc.) and / or other aspects of patient anatomy to yield image data (e.g., image data depicting or corresponding to a bone, veins, tissue, etc.). The imaging device 112 may be capable of capturing a two-dimensional image, a series of two-dimensional images, a three-dimensional image,and / or a series of three-dimensional images to yield the image data. The imaging device 112 may be or comprise, for example, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), an O-arm, a C-arm, a G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a depth camera, a stereo camera, a thermographic camera (e.g., an infrared camera), a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), or any other imaging device 112 suitable for obtaining images of an anatomical feature of a patient.

[0076] The imaging device 112 may be operable to generate a stream of image data. For example, the imaging device 112 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and shut so as to capture successive images. For purposes of the present disclosure, unless specified otherwise, image data may be considered to be continuous and / or provided as an image data stream if the image data represents two or more frames per second.

[0077] In some embodiments, the imaging device 112 may be a first imaging device 112 and the system 100 may include a second imaging device 136, which may be the same as or similar to the imaging device 112. The second imaging device 136 may be used or be a part of, for example, the navigation system 118. In some embodiments, the second imaging device 136 is a depth camera which can be used to track poses of target anatomical elements, regions, objects, and / or the imaging device 112. The pose information of the target anatomical elements, regions, objects, and / or the imaging device 112 can be used, for example, to position an overlay such as the overlay 120 relative to the target anatomical elements, regions, objects, and / or the imaging device 112.

[0078] In some embodiments, reference markers (i.e., navigation markers) may be placed on the imaging device 112, or any other object in the surgical space. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used as input by the overlay model 124 and / or by an operator of the system 100 or any component thereof. In some embodiments, the navigation system 118 can be used to track other components of the system (e.g., imaging device 112).

[0079] The navigation system 118 may provide navigation during an operation. The navigation system 118 may be any now-known or future-developed navigation system, including, for example, the Medtronic StealthStation™ S8 surgical navigation system or any successor thereof. The navigation system 118 may include processing circuitry such as processing circuitry 128, which may be the same as or similar to the processing circuitry 104.

[0080] The navigation system 118 may include one or more imaging devices such as the imaging device 136 or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In various embodiments, the navigation system 118 may be used to track a position and orientation (i.e., pose) of the imaging device 112. The navigation system 118 may include a display for displaying one or more images from an external source (e.g., the computing device 102, imaging device 112, or other source) or for displaying an image and / or video stream from the one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 can operate without the use of the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or a component thereof, or to any other element of the system 100 regarding, for example, a pose of one or more anatomical elements, a pose of the imaging device 112 relative to a patient, an incision site, etc.

[0081] The database 130 may store, for example, one or more overlay model(s) 124, the input data 125, the overlay (s) 120, training data 114, and / or any other useful information. The database 130 may be configured to provide any such information to the computing device 102 or to any other device of the system 100 or external to the system 100, whether directly or via the cloud 134. In some embodiments, the database 130 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0082] The cloud 134 may be or represent the Internet or any other wide area network. The computing device 102 may be connected to the cloud 134 via the communication interface 108, using a wired connection, a wireless connection, or both. In some embodiments, the computing device 102 may communicate with the database 130 and / or an external device (e.g., a computing device) via the cloud 134.

[0083] The system 100 or similar systems may be used, for example, to carry out one or more aspects of any of methods 700 and 800 described herein. The system 100 or similar systems may also be used for other purposes.

[0084] Turning to Fig. 2, an example of a model architecture 200 that supports methods and systems (e.g., Artificial Intelligence (Al)-based methods and / or system) for generating an overlay for one or more target references such as, for example, anatomical elements, regions, and / or objects is shown. Reference will also be made to Figs. 4-6B which show an image of an example targetreference, another example target reference, and a first example and a second example of an overlay with an estimated imaging area, respectively.

[0085] An imaging device such as the imaging device 112 may be tracked by, for example, a navigation system such as the navigation system 118. The imaging device tracking data 202 from the navigation system 118 may be received as input into the overlay model 124. The imaging device tracking data 202 may include, for example, pose information of the imaging device 112. The pose information may be continuously obtained, or may be obtained in intervals. As will be described in detail in Figs. 2-8, the imaging device 112 may be tracked to provide information about positioning or operating the imaging device 112 during an imaging procedure such as, for example, a 2D long film or 3D image acquisition. The imaging device 112 may also be tracked to detect and alert a user of potential collision of the imaging device 112 with target anatomical elements, regions, and / or objects.

[0086] Pose information 204 of one or more target references may also be received from, for example, the navigation system 118, a dense pose Al model, markerless object orientation tracking, and / or marker-based computer vision tracking. The target references may be, for example, target anatomical elements, target regions, and / or target objects. In some embodiments, the target object may be, for example, a reference marker or a reference pin 400 as shown in Fig. 4. In another example, shown in Fig. 5, the target reference may be, for example, an anatomical element such as a vertebra 500. The pose of the reference pin 400 and / or the vertebra 500 (or any target reference) can be used to, for example, position the overlay 120 and / or orient the augmented display 126. More specifically, the overlay 120 can use the pose of the reference pin 400 or the vertebra 500 (or any other target reference) to determine poses of other references in the field of view of the augmented display 126. The overlay 120 can then be oriented relative to the reference pin 400, vertebra 500, and / or the other references in the augmented display 126.

[0087] The input data 125 may be received as user input through, for example, the user interface 110 or may be received from the computing device 102, the imaging device 112, the navigation system 118, the database 130, the cloud 134, or any other component of the system 100. The input data 125 may include, for example, a surgical plan, preoperative planning information, navigation information, depth map, one or more visual, textual, and / or audible steps for positioning an imaging device such as the imaging device 112, 3D scans and / or 3D models of target anatomical elements, regions, or objects, information about an incision (e.g., incision pose, incision layout, incision size, incision length, incision depth), information about the imaging device 112 (e.g., operating information, estimated region of imaging, imaging type, etc.), and / or patient information. Theestimated region of imaging or estimated imaging area may include, for example, dimensions of the estimated imaging area. For example, the dimensions of the estimated imaging area may include a surface area dimension, a width, a height, a diameter, or dimensions of a custom shape.

[0088] The input data 125, the imaging device tracking data 202, and / or the pose information 204 are received as input by the overlay model 124. It will be appreciated that any combination of the input data 125, the imaging device tracking data 202, and the pose information 204 may be received as input by the overlay model 124. The overlay model 124 may be configured to generate one or more overlay(s) 120 for display in the augmented display 126. The one or more overlays 120 may be generated as 2D or 3D images. The one or more overlay(s) 120 may include, for example, one or more steps for positioning and / or operating the imaging device 112. In such embodiments, the one or more steps may be displayed in real-time step-by-step as the imaging device 112 is executing an imaging procedure. In other words, the one or more steps may be displayed as the corresponding step is being executed. More specifically, the overlay 120 may be continuously updated based on the imaging device tracking data 202 information, the pose information 204, and the input data 125. Further, the overlay 120 may include a notification or warning when the imaging device 112 may collide with target anatomical elements, regions, and / or objects.

[0089] In other embodiments, the overlay 120 may include a generated image (whether 2D or 3D) of a planned incision on, for example, a patient that is visible through the augmented display 126. The overlay 120 may be updated based on adjustments to the planned incision by, for example, a user such as a surgeon or a medical provider providing adjustments through the user interface 110.

[0090] In still other embodiments, the overlay 120 may include a virtual boundary 600 - shown in Fig. 6 - correlating to an estimated imaging area. The virtual boundary 600 may be shown as a line outline of the estimated imaging area. In other embodiments, the virtual boundary 600 may be shown as, for example, a shaded area, a dotted line outline, etc. The estimated imaging area as displayed in the overlay 120 may be based on the input data 125 providing the imaging device type. The estimated imaging area as displayed in the overlay 120 may also be based on an estimated imaging area of the imaging device 112 and the imaging device tracking data 202. More specifically, the boundary can be placed based on where the imaging device 112 is positioned relative to, for example, a patient, and the dimensions of the boundary can be generated based on the estimated imaging area.

[0091] The overlay model 124 may be trained using historical anatomical elements, regions, and / or objects on which to generate an overlay, historical information provided on the overlay, historical incision information (e.g., incision placement, incision size, incision, depth, etc.), historicalestimated imaging area(s). In other embodiments, the overlay model 124 may be trained using the input data 125, the imaging device tracking 202, and / or the pose information 204. In such embodiments, the overlay model 124 may be trained prior to inputting the input data 125, the imaging device tracking data 202, and / or the pose information 204 into the overlay model 124 or may be trained in parallel with inputting the input data 125, the imaging device tracking data 202, and / or the pose information 204.

[0092] Turning to Fig. 3, a method 300 that may be used, for example, for generating the overlay model 124 is provided.

[0093] The method 300 (and / or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor or processing circuitry. The processing circuitry may be the same as or similar to the processing circuitry 104 of the computing device 102 and / or the processing circuitry 128 of the navigation system 118 described above. A processor or processing circuitry other than any processor described herein may also be used to execute the method 300. The at least one processor may perform the method 300 by executing instructions stored in a memory such as the memory 106. The instructions may correspond to one or more steps of the method 300 described below.

[0094] The method 300 comprises generating a model (step 304). The model may be, for example, the overlay model 124. A processor such as the processing circuitry 104, 128 may generate the model. The model may be generated to facilitate and enable, for example, generating one or more overlays such as the overlays 120 for display in an augmented display such as the augmented display 126.

[0095] The method 300 also comprises training the model (step 308). In embodiments where the model is trained prior to an imaging and / or surgical procedure, the model may be trained using historical target references (e.g., historical anatomical elements, historical objects, historical regions, etc.) on which to generate an overlay, historical information provided on the overlay, historical incision information (e.g., incision placement, incision size, incision, depth, etc.), historical estimated imaging area(s).

[0096] In other embodiments, the model may be trained in parallel with use of another model. Training in parallel may, in some embodiments, comprise training a model using input received during, for example, or prior to an imaging procedure and / or a surgical procedure, while also using a separate model to receive and act upon the same input. Such input may be specific to the imaging device and / or a patient undergoing the imaging procedure and / or surgical procedure. In some instances, when the model being trained exceeds the model in use (whether in efficiency, accuracy,or otherwise), the model being trained may replace the model in use. Such parallel training may be useful, for example, in situations, where a model is continuously in use (for example, when an input (such as, for example, an image) is continuously updated) and a corresponding model may be trained in parallel for further improvements.

[0097] In some embodiments, it will be appreciated that the model trained using historical data may be initially used as a primary model at a start of an imaging procedure and / or a surgical procedure. A training model may also be trained in parallel with the primary model using input from the imaging procedure and / or the surgical procedure until the training model is sufficiently trained. The primary model may then be replaced by the training model.

[0098] The method 300 also comprises storing the model (step 312). The model may be stored in memory such as the memory 106, a database such as the database 130, and / or a cloud such as the cloud 134 for later use. In some embodiments, the model is stored in the memory when the model is sufficiently trained. The model may be sufficiently trained when the model produces an output that meets a predetermined threshold, which may be determined by, for example, a user, or may be automatically determined by a processor such as the processing circuitry 104.

[0099] The present disclosure encompasses embodiments of the method 300 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0100] Fig. 7 depicts a method 700 that may be used, for example, for operating an imaging device such as the imaging device 112.

[0101] The method 700 (and / or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) 104 of the computing device 102 described above. The at least one processor may be part of a navigation system (such as a navigation system 118). A processor other than any processor described herein may also be used to execute the method 700. The at least one processor may perform the method 700 by executing elements stored in a memory such as the memory 106. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 700. One or more portions of a method 700 may be performed by the processor executing any of the contents of memory, such as an overlay model 124.

[0102] The method 700 comprises tracking a pose of an imaging device (step 704). An imaging device such as the imaging device 112 may be tracked by, for example, a navigation system such as the navigation system 118 to yield imaging device tracking data such as the imaging device trackingdata 202. The imaging device tracking data may include, for example, pose information of the imaging device. The pose information may be continuously obtained or may be obtained in intervals. In other instances, the pose information may be obtained based on user input. For example, a user such as a medical provider may provide input to start the tracking and to end the tracking.

[0103] The imaging device may be, for example, an 0-arm imaging device. It will be appreciated that in other embodiments, the imaging device may be any imaging device. The imaging device may be tracked to provide information about positioning or operating the imaging device during an imaging procedure such as, for example, a 2D long film or 3D image acquisition. Such imaging procedure may be complex and time consuming. Further, the imaging device may also be tracked to detect and alert a user of potential collision of the imaging device with target anatomical elements, regions, and / or objects.

[0104] The method 700 also comprises receiving input data (step 708). The input data 125 may be received as user input through, for example, a user interface such as the user interface 110 or may be received from a computing device such as the computing device 102, the imaging device, the navigation system, a database such as the database 130, a cloud such as the cloud 134, or any other component of a system such as the system 100.

[0105] As previously described, the input data may include, for example, one or more visual, textual, and / or audible steps for positioning an imaging device such as the imaging device 112, 3D scans and / or 3D models of target anatomical elements, regions, or objects, information about an incision (e.g., incision pose, incision layout, incision size, incision length, incision depth), information about the imaging device (e.g., operating information, estimated region of imaging, imaging type, etc.), and / or patient information. The estimated region of imaging or estimated imaging area may include, for example, dimensions of the estimated imaging area. For example, the dimensions of the estimated imaging area may include a surface area dimension, a width, a height, a diameter, or dimensions of a custom shape.

[0106] The method 700 also comprises receiving pose information of a target reference (step 712). Pose information such as pose information 204 of one or more target references may also be received from, for example, the navigation system 118. In some embodiments, the pose information can be received from, for example, an imaging device such as the imaging device 136 of the navigation system. In such embodiments, the imaging device may be, for example, a depth camera. It will be appreciated that in other embodiments, the imaging device of the navigation system may be any imaging device.

[0107] The target references may be, for example, target anatomical elements, target regions, and / or target objects. In some embodiments, the target object may be, for example, a reference marker or a reference pin such as the reference pin 400. In another example, the target reference may be, for example, an anatomical element such as the anatomical element 500. The pose of the reference pin and / or the vertebra (or any target reference) can be used to, for example, position an overlay such the overlay 120 and / or orient an augmented display such as the augmented display 126. More specifically, the overlay can use the pose of the reference pin or the vertebra (or any other target reference) to determine poses of other references in the field of view of the augmented display. The overlay can then be oriented relative to the reference pin, vertebra, and / or the other references in the augmented display.

[0108] The method 700 also comprises inputting the input data, the tracked pose, and the pose information into an overlay model (step 716). An overlay model such as the overlay model 124 may be executed by processing circuitry such as the processing circuitry 104. The input data, the imaging device tracking, and / or the pose information are received as input by the overlay model. It will be appreciated that any combination of the input data, the imaging device tracking, and the pose information may be received as input by the overlay model. The overlay model may be configured to generate one or more overlay(s) for display in the augmented display.

[0109] The method 700 also comprises receiving an overlay (step 720). The one or more overlay(s) may include, for example, one or more steps for positioning and / or operating the imaging device. In such embodiments, the one or more steps may be displayed in real-time step-by-step as the imaging device is executing an imaging procedure. In other words, the one or more steps may be displayed as the corresponding step is being executed. More specifically, the overlay may be continuously updated based on the imaging device tracking information, the pose information, and the input data.

[0110] The method 700 also comprises displaying the overlay (step 724). The overlay may be displayed in the augmented display. As previously described, the augmented display may communicate with the computing device or the processing circuitry of the computing device to receive and display at least one overlay such as the overlay. It will be appreciated that in some embodiments, the augmented display can communicate with any component of the system or any component external to the system.

[0111] In some embodiments, the augmented display is an augmented display in which an environment is visible through at least a portion of the display and at least one image may be displayed as an overlay on the environment. In such embodiments, the augmented display maycomprise a headset, glasses, or screen worn by a user and / or supported in the environment by, for example, a stand, a ceiling mount, etc. The augmented display (whether worn by a user or not) may comprise a screen through which the environment is visible to the user and on which the overlay may be displayed on. In some embodiments, the augmented display may display the overlay including information corresponding to the imaging device, an object, anatomical element, portion of a patient, tool, and / or an instrument in a field of view of the augmented display, a notification, a warning, one or more steps to perform, etc. The augmented display may be beneficial in, for example, providing information to a user such as a surgeon during a medical procedure. For example, the augmented display may show one or more steps with respect to positioning an imaging device relative to a patient. The augmented display may also show the imaging device being tracked and may provide an alert or notification to a user when the imaging device may collide with, for example, the patient. The augmented display may also be used during incision planning and can, for example, show information about the incision and / or overlay a model of an incision on the patient. The augmented display may also, in other instances, be used to show an overlay of an estimated imaging area. Such estimated imaging area may be useful in informing a user such as, for example, a surgeon or other medical provider, and estimated region of the patient that will be exposed to, for example, ionizing radiation. Such information may be useful in planning subsequent imaging.

[0112] The method 700 also comprises detecting a collision between the imaging device and a target region (step 728). The collision may be detected, for example, when a distance between a pose of the tracked imaging device and the pose of the target reference is less than a predetermined threshold. When the distance is less than the predetermined threshold, this may indicate that the imaging device is near or close to the target reference such that the imaging device may contact the target reference.

[0113] The method 700 also comprises inputting the detected collision into the overlay model (step 732). The detected collision may be inputted into the overlay model as an input indicating that the collision has been detected in the step 732. In other embodiments, the overlay model may detect the collision based on the tracked imaging device data and the pose information of the target reference received in the step 716.

[0114] The method 700 also comprises receiving an updated overlay (step 736). The step 736 may be the same as or similar to the step 720 described above. Additionally or alternative to the overlay described in the step 720, the overlay may include a notification or warning when the imaging device may collide with target anatomical elements, regions, and / or objects. The notification may include a visual, audible, and / or tactile feedback. Additionally or alternatively, the notification maybe displayed or emitted from, for example, the user interface. Thus, in some examples, the notification may be displayed or emitted from more than one source (e.g., the augmented display, the user interface, etc.).

[0115] The method 700 also comprises displaying the updated overlay (step 740). The step 740 may be the same as or similar to the step 724 described above.

[0116] It will be appreciated that any steps or any combination of steps may be repeated, repeated continuously, and / or repeated at intervals. For example, the steps 704, 708, 712, 716, 720, and 724 may be repeated continuously to provide an updated overlay to display in the augmented display. In another example, the steps 728, 732, 736, 740 may be repeated at predetermined intervals. It will also be appreciated that in certain embodiments the method 700 may not include all of the steps or may include any combination of steps. For example, the method may not include the steps 728, 732, 736, 740.

[0117] The present disclosure encompasses embodiments of the method 700 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0118] Fig. 8 depicts a method 800 that may be used, for example, for operating an imaging device such as the imaging device 112.

[0119] The method 800 (and / or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) 104 of the computing device 102 described above. The at least one processor may be part of a navigation system (such as a navigation system 118). A processor other than any processor described herein may also be used to execute the method 800. The at least one processor may perform the method 800 by executing elements stored in a memory such as the memory 106. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 800. One or more portions of a method 800 may be performed by the processor executing any of the contents of memory, such as an overlay model 124.

[0120] The method 800 also comprises receiving input data (step 804). The step 804 may be the same as or similar to the step 708 of the method 700 described above.

[0121] The method 800 also comprises receiving pose information of a target reference (step 808). The step 808 may be the same as or similar to the step 712 of the method 700 described above.

[0122] The method 800 also comprises inputting the input data, the tracked pose, and the pose information into an overlay model (step 812). The step 812 may be the same as or similar to the step 716 of the method 700 described above.

[0123] The method 800 also comprises receiving an overlay (step 816). The overlay may be the same as or similar to the overlay 120 and may include a generated image (whether 2D or 3D) of a planned incision on, for example, a patient that is visible through an augmented display such as the augmented display 126. The generated image may be based on the input data such as, for example, the information about an incision (e.g., incision pose, incision layout, incision size, incision length, incision depth).

[0124] In still other embodiments, the overlay may include a virtual boundary such as the virtual boundary 600 correlating to an estimated imaging area. The estimated imaging area as displayed in the overlay may be based on the input data (providing the imaging device type and an estimated imaging area of the imaging device) and the imaging device tracked data. More specifically, the boundary can be placed based on where the imaging device is positioned relative to, for example, a patient, and the dimensions of the boundary can be generated based on the estimated imaging area.

[0125] The method 800 also comprises displaying the overlay (step 820). The step 820 may be the same as or similar to the step 724 of the method 700 described above.

[0126] The method 800 also comprises receiving updated input data (step 824). The step 824 may be the same as or similar to the step 812 describe above, except that the input data is updated input data. The updated input data may include adjustments to, for example, the incision or to the estimated imaging area.

[0127] The method 800 also comprises inputting the updated input data into the overlay model (828). The step 828 may be the same as or similar to the step 812 except that the updated input data is received as input by the overlay model.

[0128] The method 800 also comprises receiving an updated overlay (step 832). The step 832 may be the same as or similar to the step 816 except that an updated overlay based on the updated input data is received.

[0129] The method 800 also comprises displaying the updated overlay (step 836). The step 836 may be the same as or similar to the step 820 except that the updated overlay is displayed in the augmented display.

[0130] It will be appreciated that any steps or any combination of steps may be repeated, repeated continuously, and / or repeated at intervals. For example, the steps 824, 828, 832, 836 may berepeated continuously to provide an updated overlay to display in the augmented display. In another example, the steps 824, 828, 832, 836 may be repeated at predetermined intervals.

[0131] The present disclosure encompasses embodiments of the method 800 that comprise more or fewer steps than those described above, and / or one or more steps that are different than the steps described above.

[0132] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Figs. 7 and 8 (and the corresponding description of the methods 700 and 800), as well as methods that include additional steps beyond those identified in Figs. 7 and 8 (and the corresponding description of the methods 700 and 800). The present disclosure also encompasses methods that comprise one or more steps from one method described herein, and one or more steps from another method described herein. Any correlation described herein may be or comprise a registration or any other correlation.

[0133] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects he in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0134] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

[0135] The techniques of this disclosure may also be described in the following examples.

[0136] Example 1. A system comprising: an imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: track a pose of the imaging device; receive input data corresponding to positioning the imaging device; receive pose information of a target reference; input the input data, the tracked pose of the imaging device, and the pose information of the target reference into an overlay model; receive an overlay from the overlay model, the overlay including one or more steps for positioning the imaging device based on the tracked pose of the imaging device and the pose information of the target reference; and display the overlay in an augmented display, wherein the overlay is positioned based on the tracked pose of the imaging device and the pose information of the target reference.

[0137] Example 2. The system of example 1, wherein the imaging device comprises an o-arm imaging device.

[0138] Example 3. The system of example 1, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

[0139] Example 4. The system of example 3, wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

[0140] Example 5. The system of example 1, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: detect a collision between the imaging device and the target region; input the detected collision into the overlay model; receive an updated overlay from the overlay model; and display the updated overlay in the augmented display, wherein the updated overlay includes a notification of the detected collision.

[0141] Example 6. The system of example 1, wherein the pose of the target reference is obtained from a navigation imaging device.

[0142] Example 7. A system comprising: a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive input data corresponding to a planned incision; receive pose information of a target reference; input the input data and the pose information of the target reference into an overlay model; receive an overlay from the overlay model, the overlay including a visualization of the planned incision based on the input data and the pose information of the target reference; and display the overlay in an augmented display, wherein the overlay is positioned based on the pose information of the target reference.

[0143] Example 8. The system of example 7, wherein the planned incision is positioned on the target reference.

[0144] Example 9. The system of example 7, wherein the imaging device comprises an o-arm imaging device.

[0145] Example 10. The system of example 7, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

[0146] Example 11. The system of example 10, wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

[0147] Example 12. The system of example 7, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive updated input data corresponding to one or more adjustments to the planned incision; input the updated input data into the overlay model; receive an updated overlay from the overlay model, the overlay including an updated visualization of the planned incision; and display the updated overlay in the augmented display.

[0148] Example 13. The system of example 7, wherein the pose of the target reference is obtained from a navigation imaging device.

[0149] Example 14. A system for providing an overlay, the system comprising:

[0150] an imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive input data corresponding to an estimated imaging area of the imaging device; receive pose information of a target reference; input the input data and the pose information of the target reference into an overlay model; receive an overlay from the overlay model, the overlay including a visualization of estimated imaging area based on the input data and the pose information of the target reference; and display the overlay in an augmented display, wherein the overlay is positioned based on the pose information of the target reference.

[0151] Example 15. The system of example 14, wherein the estimated imaging area comprises dimensions of the estimated imaging area.

[0152] Example 16. The system of example 14, wherein the visualization of the estimated imaging area comprises a line outline of the estimated imaging area.

[0153] Example 17. The system of example 14, wherein the imaging device comprises an o-arm imaging device.

[0154] Example 18. The system of example 14, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

[0155] Example 19. The system of example 18, Wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

[0156] Example 20. The system of example 14, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive updated input data corresponding to one or more adjustments to the estimated imaging area; input the updated input data into the overlay model; receive an updated overlay from the overlay model, the overlay including an updated; visualization of the estimated imaging area; and display the updated overlay in the augmented display.

Claims

CLAIMSWhat is claimed is:

1. A system comprising: an imaging device (112); a processor (104); and a memory (106) storing data for processing by the processor, the data, when processed, causes the processor to: track a pose of the imaging device; receive input data (126) corresponding to positioning the imaging device; receive pose information (204) of a target reference; input the input data, the tracked pose of the imaging device, and the pose information of the target reference into an overlay model (124); receive an overlay (120) from the overlay model, the overlay including one or more steps for positioning the imaging device based on the tracked pose of the imaging device and the pose information of the target reference; and display the overlay in an augmented display (126), wherein the overlay is positioned based on the tracked pose of the imaging device and the pose information of the target reference.

2. The system of claim 1, wherein the imaging device comprises an o-arm imaging device.

3. The system of claims 1 or 2, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

4. The system of claim 3, wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

5. The system of any preceding claim, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: detect a collision between the imaging device and the target region; input the detected collision into the overlay model; receive an updated overlay from the overlay model; anddisplay the updated overlay in the augmented display, wherein the updated overlay includes a notification of the detected collision.

6. The system of any preceding claim wherein the pose of the target reference is obtained from a navigation imaging device.

7. A system comprising: a processor (104); and a memory (106) storing data for processing by the processor, the data, when processed, causes the processor to: receive input data (126) corresponding to a planned incision; receive pose information (204) of a target reference; input the input data and the pose information of the target reference into an overlay model (124); receive an overlay (120) from the overlay model, the overlay including a visualization of the planned incision based on the input data and the pose information of the target reference; and display the overlay in an augmented display (126), wherein the overlay is positioned based on the pose information of the target reference.

8. The system of claim 7, wherein the planned incision is positioned on the target reference.

9. The system of claims 7 or 8, wherein the imaging device comprises an o-arm imaging device.

10. The system of any preceding claim, wherein the target reference comprises at least one of a target anatomical element, a target region, or a target object.

11. The system of claim 10, wherein the target object comprises a reference pin, the reference pin configured to be implanted in an anatomical element.

12. The system of any preceding claim, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive updated input data corresponding to one or more adjustments to the planned incision; input the updated input data into the overlay model;receive an updated overlay from the overlay model, the overlay including an updated visualization of the planned incision; and display the updated overlay in the augmented display.

13. The system of any preceding claim, wherein the pose of the target reference is obtained from a navigation imaging device.

14. A system for providing an overlay, the system comprising: an imaging device (112); a processor (104); and a memory (106) storing data for processing by the processor, the data, when processed, causes the processor to: receive input data (126) corresponding to an estimated imaging area of the imaging device; receive pose information (204) of a target reference; input the input data and the pose information of the target reference into an overlay model (124); receive an overlay (120) from the overlay model, the overlay including a visualization of estimated imaging area based on the input data and the pose information of the target reference; and display the overlay in an augmented display (126), wherein the overlay is positioned based on the pose information of the target reference.

15. The system of claim 14, wherein the estimated imaging area comprises dimensions of the estimated imaging area.

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