Abstract: A medical fiducial marker system includes a medical device chuck and a rotating fiducial marker array. The medical device chuck can clamp onto a cylindrical portion of a separate medical device during a medical procedure, resulting in the medical device chuck being unable to slide laterally along the cylindrical portion or pivot about the cylindrical portion with respect to a longitudinal axis of the cylindrical portion. The rotating fiducial marker array has a plurality of fiducial markers and is coupled to the medical device chuck such that the fiducial marker array rotates around the medical device chuck. Clamping the medical device chuck onto the cylindrical portion of the separate medical device results in each of the plurality of fiducial markers remaining at fixed distances from both the cylindrical longitudinal axis and a tip of the separate medical device when the fiducial marker array rotates around the medical device chuck.

Abstract: A fiducial marker array can have a rigid body and an array coupling arrangement. The rigid body can support a plurality of fiducial markers at fixed locations relative to each other along the rigid body to form an asymmetrical fixed positional arrangement of fiducial markers. The rigid body can include multiple array arms extending in multiple directions from a central region. The array coupling arrangement can be coupled to the rigid body at its central region and can be configured to couple the rigid body at its central region to a separate object such that the rigid body is rotatable relative to the separate object about a rotational axis extending through the central region. The array coupling arrangement can be further configured to facilitate locking the rigid body in place at one or more fixed rotational positions relative to the separate object, which can be a pivotable clamp.

Abstract: A magnetically couplable fiducial marker array can include a rigid body, a plurality of surgical fiducial markers, and a magnetic coupling arrangement. The rigid body can be configured to support the plurality of surgical fiducial markers at fixed positions relative to each other along the rigid body to form a fixed positional arrangement of surgical fiducial markers. At least a support portion of the rigid body can be arranged along a surgical fiducial marker support plane and the fixed positional arrangement of surgical fiducial markers can be asymmetrical. The magnetic coupling arrangement can be formed at the rigid body with array magnetic components and can be configured to form a magnetic coupling between the array magnetic components and separate magnetic components of a separate surgical spinous process clamp at a first fixed position relative to the separate surgical spinous process clamp.

Abstract: An adjustable navigated surgical drill sheath includes a handle, main body, and adjustment arrangement. The main body can receive a separate surgical drill bit through a top opening, a hollow region therethrough, and a bottom opening. The adjustment arrangement can facilitate setting a specific drill depth corresponding to the maximum distance that the drill bit can extend past the bottom opening and allows for multiple different specific drill depths. The adjustment arrangement can include a removable insert having locking features than can be moved up and down within the hollow region and a latching mechanism that interacts with the locking features to lock the insert at a specific position relative to the main body to set the specific drill depth. Fiducial markers coupled to the main body can facilitate use of the surgical drill sheath as a navigated device in an augmented reality environment.

Abstract: A pivotable medical device clamp has a main body, first and second arm arrangements, shaft, twisting component, and traveling nut. The main body includes a top, first side, second side, and pin extending therebetween. Both arm arrangements include top, bottom, and midsection portions that rotate about the pin in opposing directions. The twisting component facilitates rotation of the shaft, which extends through the main body top. The nut travels along the rotating shaft and pushes against arm arrangement top portions causing the arm arrangements to rotate about the pin so that their nonlinear bottom portions clamp onto a cylindrical portion of a separate medical device, such as a pedicle probe. When clamped, the pivotable medical device clamp cannot slide laterally along the cylindrical portion but can still pivot about its longitudinal axis. A clamp coupling component can rotatably couple and lock a separate rotatable fiducial marker array to the pivotable clamp.

Abstract: A calibration block configured to facilitate the calibration of separate surgical fiducial marker arrays on separate medical devices includes a main body having a top face and multiple side faces, top surgical fiducial markers at the top face, side surgical fiducial markers at the side faces, and screw openings at the top face. The top face includes a reference divot configured to accept therein a separate surgical probe tip for separate fiducial marker array calibration. The top and side surgical fiducial markers combine to form a fixed asymmetrical positional arrangement of surgical fiducial markers for calibration. Each screw opening is configured to accept therein a separate surgical screw coupled to a separate surgical screwdriver having a separate surgical screwdriver fiducial marker array coupled thereto for calibration.

Abstract: Various embodiments of a physical instrument are described herein. The physical instrument includes a main body with a top portion, a bottom portion, a first side and a second side. A first reflector and a first off-set reflector are each disposed on the top portion. The first reflector comprises a center region in alignment with a central axis of the main body, the central axis running from a first terminal end of the main body to a second terminal end of the main body. The first off-set reflector comprises a center region positioned according to a misalignment with the central axis of the main body. The first side includes an indentation and the second side includes a portion of a grip region with one or more grip ridges.

Abstract: Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to a Trace Alignment Engine that captures a plurality of coordinates identifying respective locations of a physical surface. Based on the captured plurality of coordinates, the Trace Alignment Engine determines a region(s) of an Augmented Reality (AR) rendering of the physical surface that represents the respective locations. The Trace Alignment Engine determines a mapping of the region of the AR rendering of the physical surface to the respective locations. Based on the mapping, the Trace Alignment Engine displays the AR rendering of the physical surface as a virtual overlay in alignment with the physical surface with concurrent display of a traced line.

Abstract: Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to a Trajectory Alignment Engine that generates within a unified three-dimensional (3D) coordinate space: (i) a 3D virtual medical model positioned according to a model pose, (ii) a virtual trajectory extending from a target point associated with a selected portion of the 3D virtual medical model and (iii) a dynamic navigation guide virtual object. The Trajectory Alignment Engine detects one or more changes in an instrument pose and/or an instrument position of a physical instrument in the 3D coordinate space. The Trajectory Alignment modifies the display of the dynamic navigation guide virtual object in the AR display at least in part on one or more of: the instrument pose changes and the instrument position changes.

Abstract: A spinous process clamp can include opposing arms, opposing gripping components, an adjustable spacing arrangement, and a coupling component. Each arm can have a top distal end, a midsection, and a bottom distal end. Each gripping component can be located proximate the bottom distal end of an arm and can be configured to grip a side of a spinous process. The arms can be pivotally coupled about their midsections to adjust the distance between the gripping components. The adjustable spacing arrangement can be coupled to the arms proximate their top distal ends and can be configured to adjust and maintain a pivoted position of the arms. The coupling component can be coupled to the top distal end of and arm and can be configured to rotationally couple the spinous process clamp to a separate surgical component, which can be a surgical fiducial marker positioner.

Abstract: Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to a Custom Reference Engine. In some embodiments, the Custom Reference Engine captures intra-operative imagery data of a portion of physical anatomy that includes portrayal of one or more embedded fiducial markers (“embedded markers”). The Custom Reference Engine acquires a custom reference position of the portion of physical anatomy based on respective coordinates, in a unified three-dimensional (3D) coordinate space, of the one or more embedded markers. The Custom Reference Engine terminates visual interference of a view of portion of physical anatomy transforming the custom reference position over to one or more transfer fiducial markers that surround the portion of physical anatomy.

Abstract: A spinous process clamp includes a main body, first arm, second arm, shaft, traveling component, and clamp coupling arrangement. The main body has a top region, first and second side regions and a pin extending therebetween. Each arm has a top portion, bottom portion, and midsection configured to rotate about the pin. The shaft extends through the top region of the main body. The traveling component is configured to travel along the shaft and to push against the top portions of the first and second arms when the traveling component travels sufficiently downward along the shaft. Pushing against the arm top portions causes the arms to rotate about the pin such that the arm bottom portions clamp onto a spinous process placed therebetween. The clamp coupling arrangement couples the spinous process clamp to a separate surgical device, such as a fiducial marker array, and the coupling can be magnetic.

Abstract: Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to an Interaction Engine. According to various embodiments, Interaction Engine generates within a unified three-dimensional (3D) coordinate space, a virtual 3D medical model positioned according to a model pose. The Interaction Engine receives video data from a plurality of video sources. The Interaction Engine renders a first Augmented Reality (AR) display that includes concurrent display of the virtual 3D medical model and visualization of at least a portion of video data from a first video source. The Interaction Engine renders a second Augmented Reality (AR) display that includes concurrent display of the virtual 3D medical model and visualization of at least a portion of video data from a second video source.

Abstract: A surgical fiducial marker positioner can include a rigid frame and a positioner coupling component. The rigid frame can support a plurality of surgical fiducial markers at fixed positions relative to each other along the rigid frame to form a fixed positional arrangement of surgical fiducial markers. The rigid frame can define a polygon arranged along a plane and the fixed positional arrangement of surgical fiducial markers can be asymmetrical. The positioner coupling component can be coupled to the rigid frame and can be configured to couple the surgical fiducial marker positioner to a separate surgical component at fixed position(s) relative to the separate surgical component, which can be a spinous process clamp. The surgical fiducial marker positioner can also include the surgical fiducial markers and fiducial marker couplers that removably couple the surgical fiducial markers to the rigid frame at the fixed positions.

Abstract: Various embodiments are directed to generating a contour object for a region of interest represented by medical data corresponding to internal anatomy of a patient. Respective display coordinates are determined by performing a transformation on the medical data of the contour object. The display coordinates correspond to a unified three-dimensional (3D) space of an Augmented Reality (AR) environment. Respective edges of the contour object are displayed according to trace points. The trace points are portrayed in the AR environment as a visual outline in alignment with an ultrasound imagery visualization of the region of interest in the patient's physical internal anatomy. The trace points are registered as internal landmarks for the region of interest in the patient's physical internal anatomy.

Abstract: An example operation(s) includes defining a display position of an image plane proximate to a current position of an ultrasound probe instrument. An Augmented Reality (AR) situated view is rendered on the image plane, the situated view portrays ultrasound imagery captured by the ultrasound probe instrument. An AR display orientation of the image plane is determined based on one or more detected movements of the AR headset device. One or more portions of the ultrasound imagery are registered as being representative of respective portions of a three-dimensional (3D) medical model.

Abstract: Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to a Detached Visualization Engine for detecting coordinates for a target portion of a physical anatomy in a unified three-dimensional (3D) coordinate space. The Detached Visualization Engine renders an overlay visualization of a display of medical data in alignment with the target portion of the physical anatomy. The Detached Visualization Engine applies an offset to coordinates of the overlay visualization. In some embodiments, the Detached Visualization Engine determines a secondary 3D coordinate space based on applying the offset to the entire unified 3D coordinate space. The Detached Visualization Engine renders a detached visualization according to the secondary 3D coordinate space.

Abstract: Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to a Registration Engine that identifies a region of interest from an infrared image portraying a target portion of a physical anatomy in a current physical pose. The Registration Engine generates a 3D point cloud of the region of interest. The Registration Engine identifies region of interest isosurface data by detecting matches between isosurface data and the 3D point cloud. The Registration Engine determines display location, at the target portion of the physical anatomy, for the region of interest isosurface data. The Registration Engine renders an Augmented Reality (AR) display of medical data with respect to the display location.

Abstract: A surgical fiducial marker positioner can include a rigid frame and a positioner coupling component. The rigid frame can support a plurality of surgical fiducial markers at fixed positions relative to each other along the rigid frame to form a fixed positional arrangement of surgical fiducial markers. The rigid frame can define a polygon arranged along a plane and the fixed positional arrangement of surgical fiducial markers can be asymmetrical. The positioner coupling component can be coupled to the rigid frame and can be configured to couple the surgical fiducial marker positioner to a separate surgical component at fixed position(s) relative to the separate surgical component, which can be a spinous process clamp. The surgical fiducial marker positioner can also include the surgical fiducial markers and fiducial marker couplers that removably couple the surgical fiducial markers to the rigid frame at the fixed positions.

Abstract: A reference marker system configured for use with a separate medical device can include a main body and a plurality of reference marker sites. The main body can have outer and inner surfaces and an overall geometry that interacts with a distinctive feature on the separate medical device. The main body can removably couple to the separate medical device along its inner surface at a specific orientation based on the distinctive feature. The reference marker sites can be coupled to the outer surface and configured to host reference markers suitable for use with a separate augmented reality system. The reference marker sites can be distributed across the outer surface at fixed positions relative to each other to form an asymmetrical fixed positional arrangement, which can be known for a medical procedure using the separate medical device without requiring any reference marker calibration based on the specific orientation.