Abstract: An imaging system, including a head-mounted display worn by a system operator. A marker defines a plane when attached to a human subject. Optically reflective elements are disposed on the marker and on opposing sides of the plane in a non-symmetrical arrangement with respect to the plane. A memory stores a graphical representation of a tool used in a procedure performed on the human subject, and an image of anatomy of the human subject. A camera attached to the display acquires an image of the marker and the tool. A processor analyzes the image to identify the plane and to identify a side of the plane wherein the camera is located, and to render to the display the image of the anatomy of the human subject with the graphical representation of the tool superimposed thereon from a point of view in the identified side of the plane.

Abstract: A registration marker comprising a radiotransparent substrate and a pattern formed in at least two dimensions, which is disposed on the substrate and is optically visible. The registration marker also has a multiplicity of radiopaque elements, which are disposed in the substrate and are spatially arranged in at least two dimensions to provide a unique pattern.

Abstract: A tool adapter, consisting of an adapter arm having a proximal end terminating with a connection and a distal end having a circular coupling, the circular coupling having a center and defining an axis orthogonal to the circular coupling and passing through the center. The adapter also has a tool grip rotatingly connected to the circular coupling so as to permit rotation of the tool grip about the axis, the tool grip being configured to fixedly retain a tool along the axis.

Abstract: Apparatus, including a retaining structure (54), positioned near a subject's eye that has a pupil with a diameter, an optical combiner (52A) mounted on the structure before the eye, and a pixelated screen (60A) having an array of variably transparent pixels coating the combiner. There is an image capturing device (68A) mounted on the structure to capture an image of a scene viewed by the eye, and a projector (64A) is mounted on the structure to project at least one of a portion of the captured image and a stored image onto a section of the screen at a selected location thereof. A processor (26) renders the screen section at least partially opaque, selects the section location in response to a region of interest in the scene identified by analysis of the captured image, and determines a dimension of the section in response to the pupil diameter.

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.

Abstract: A marker (40) for image guided surgery, consisting of a base (94), having a base axis, connecting to a clamp (42), and an alignment target (44). The alignment target includes a target region (120) having an alignment pattern formed thereon, and a socket (124) connected to the target region and configured to fit rotatably to the base, whereby the alignment target is rotatable about the base axis. The alignment target also includes an optical indicator (162) for the socket indicating an angle of orientation of the alignment target about the base axis.

Abstract: A patient marker couples to an anchoring device via a base having a base axis, base connections and a first indicator. The marker includes: an adapter having a first surface with connections configured to mate with the base connections, and a second surface with connections congruent with the base connections, and at least one second indicator. The marker includes an alignment target, having a target region with an alignment pattern, and a socket connected to the target region with socket connections congruent with the first surface connections. In a first configuration the socket couples to the base by mating the first surface connections with the base connections and mating the socket connections with the second surface connections. In a second configuration, the socket fits onto the base by mating the socket connections with the base connections. One of the indicators indicates a target orientation angle about the base axis.

Abstract: An imaging system, including a head-mounted display worn by a system operator. A marker defines a plane when attached to a human subject. Optically reflective elements are disposed on the marker and on opposing sides of the plane in a non-symmetrical arrangement with respect to the plane. A memory stores a graphical representation of a tool used in a procedure performed on the human subject, and an image of anatomy of the human subject. A camera attached to the display acquires an image of the marker and the tool. A processor analyzes the image to identify the plane and to identify a side of the plane wherein the camera is located, and to render to the display the image of the anatomy of the human subject with the graphical representation of the tool superimposed thereon from a point of view in the identified side of the plane.

Abstract: A head-mounted display device includes a frame; a head mounting assembly; and a see-through display assembly coupled to the frame; the see-through display assembly including a display assembly frame; a waveguide lens coupled to the display assembly frame; an anterior lens affixed to the waveguide lens or to the display assembly frame in front of the waveguide lens; a posterior lens frame detachably coupled to the display assembly frame using at least one of: a snap fit, a friction fit, or a clip; and a posterior lens affixed to the posterior lens frame.

Abstract: A head-mounted display system includes a frame; an adjustable strap assembly that includes a first side strap coupled to the frame; a second side strap coupled to the frame; and an adjustment mechanism configured to adjust a circumferential size defined by the first side strap, the second side strap, and the frame; a see-through display assembly pivotably coupled to the frame; a first temple housing pivotably coupled to the frame and slidably coupled to the first side strap; and a second temple housing pivotably coupled to the frame and slidably coupled to the second side strap.

Abstract: A medical marking device, consisting of a radiotransparent plate having a plurality of radiopaque elements embedded therein in a predefined pattern. The device also has a sigmoid mounting arm having a first end connected to the radiotransparent plate and a second end containing one or more fastening receptacles.

Abstract: A registration marker (40), consisting of a radiotransparent substrate (44) and a pattern (58) formed in at least two dimensions, which is disposed on the substrate and is optically visible. The registration marker also has a multiplicity of radiopaque elements (60), which are disposed in the substrate and are spatially arranged in at least two dimensions to provide a unique pattern.

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.

Abstract: A registration marker comprising a radiotransparent substrate and a pattern formed in at least two dimensions, which is disposed on the substrate and is optically visible. The registration marker also has a multiplicity of radiopaque elements, which are disposed in the substrate and are spatially arranged in at least two dimensions to provide a unique pattern.

Abstract: Apparatus for mounting in a bone of a patient, consisting of a rigid elongated member having an axis of symmetry and a distal section, a proximal section, and an intermediate section connecting the distal and proximal sections. The apparatus has n helical blades, formed in the distal section, distributed symmetrically about the axis, each of the blades having a helix angle greater than zero and less than 45°. A cross-section of the distal section, taken orthogonally to the axis of symmetry, includes n mirror planes containing the axis of symmetry, wherein n is a whole number greater than one, and wherein the blades are configured to penetrate into the bone and engage stably therein. Adapters coupling the apparatus to different types of markers are also described.

Abstract: An imaging system, including a head-mounted display worn by a system operator. A marker defines a plane when attached to a human subject. Optically reflective elements are disposed on the marker and on opposing sides of the plane in a non-symmetrical arrangement with respect to the plane. A memory stores a graphical representation of a tool used in a procedure performed on the human subject, and an image of anatomy of the human subject. A camera attached to the display acquires an image of the marker and the tool. A processor analyzes the image to identify the plane and to identify a side of the plane wherein the camera is located, and to render to the display the image of the anatomy of the human subject with the graphical representation of the tool superimposed thereon from a point of view in the identified side of the plane.

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.

Abstract: A marker for image guided surgery, consisting of a base, having a base axis, connecting to a clamp; and an alignment target. The alignment target includes a target region having an alignment pattern formed thereon, and a socket connected to the target region and configured to fit rotatably to the base, whereby the alignment target is rotatable about the base axis. The alignment target also includes an optical indicator for the socket indicating an angle of orientation of the alignment target about the base axis.

Abstract: An imaging system, including a head-mounted display worn by a system operator. A marker defines a plane when attached to a human subject. Optically reflective elements are disposed on the marker and on opposing sides of the plane in a non-symmetrical arrangement with respect to the plane. A memory stores a graphical representation of a tool used in a procedure performed on the human subject, and an image of anatomy of the human subject. A camera attached to the display acquires an image of the marker and the tool. A processor analyzes the image to identify the plane and to identify a side of the plane wherein the camera is located, and to render to the display the image of the anatomy of the human subject with the graphical representation of the tool superimposed thereon from a point of view in the identified side of the plane.

Abstract: A positioning marker, consisting of a base having a retroreflective surface. The marker also has a cover, which is fitted over and fastened to the base and has a plurality of openings through which the retroreflective surface is visible.