Abstract: A tool adapter (18), consisting of an adapter arm (102) having a proximal end terminating with a connection (110) and a distal end having a circular coupling (104), the circular coupling having a center and defining an axis (114) orthogonal to the circular coupling and passing through the center. The adapter also has a tool grip (32) 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 (16) along the axis.

Abstract: Apparatus, consisting of a hinge (84) defining a hinge axis (88), and a pair of opposing jaws (80A, 80B), including a movable jaw and a fixed jaw having a predetermined part radiopaque, so that the fixed jaw location is identifiable from a fluoroscopic image of the fixed jaw. The opposing jaws terminate at proximal and distal regions, and the proximal regions are connected to the hinge so that the movable jaw rotates about the hinge between a closed state and an open state. The jaws are curved in planes parallel to the hinge axis, and terminate in narrowed ends at the distal regions, so that in the closed state the jaws grip sections of vertebrae. The apparatus also has a support structure (60) that retains the hinge and the pair of opposing jaws, and a multiplicity of sharp teeth (98) disposed on respective inner surfaces of the opposing jaws.

Abstract: Apparatus, consisting of a hinge defining a hinge axis, and a pair of opposing jaws, including a movable jaw and a fixed jaw having a predetermined part radiopaque, so that the fixed jaw location is identifiable from a fluoroscopic image of the fixed jaw. The opposing jaws terminate at proximal and distal regions, and the proximal regions are connected to the hinge so that the movable jaw rotates about the hinge between a jaws closed state and a jaws open state. The jaws are curved in planes parallel to the hinge axis, and terminate in narrowed ends at the distal regions, so that in the closed state the jaws grip one or more sections of vertebrae. The apparatus also has a support structure that retains the hinge and the pair of opposing jaws, and a multiplicity of sharp teeth disposed on respective inner surfaces of the opposing jaws.

Abstract: A tool adapter (18), consisting of an adapter arm (102) having a proximal end terminating with a connection (110) and a distal end having a circular coupling (104), the circular coupling having a center and defining an axis (114) orthogonal to the circular coupling and passing through the center. The adapter also has a tool grip (32) 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 (16) along the axis.

Abstract: A head mounted display device (HMD) includes a display including a first display and a second display; a first and a second digital cameras, respectively including a first image sensor and a second image sensor; and at least one processor configured to: generate a first image and a second image from a first image region of the first image sensor and from a second image region of the second image sensor, respectively, wherein: the first image region corresponds to a first image AFOV, and the second image region corresponds to a second image AFOV; change at least one of the first image region of the first image sensor or the second image region of the second image sensor based on a distance between the HMD and a Region of Interest (ROI) plane; and simultaneously display the first image on the first display and the second image on the second display.

Abstract: Disclosed herein are implementations for a digital stereoscopic display and digital loupes utilizing the digital stereoscopic display. The stereoscopic display may include display of magnified images.

Abstract: A system for image-guided surgery, the system comprising: a head-mounted unit comprising: a see-through augmented reality display; a depth sensor configured to generate depth data with respect to a region of interest (ROI) on a body of a patient viewed through the display by a user wearing the head-mounted unit and with respect to a surgical item when the item is placed within a field of view of the depth sensor, wherein the item comprises a first marker containing a predefined pattern disposed on the item; and a processor configured to: process the depth data to identify a shape of the item; compute, a first spatial transformation between a position of the first marker and a location and orientation of the item; track the position of the first marker as the user manipulates item; and generate an image of the item on the display in registration with the ROI.

Abstract: Apparatus, consisting of a hinge (84) defining a hinge axis (88), and a pair of opposing jaws (80A,80B), including a movable jaw and a fixed jaw having a predetermined part radiopaque, so that the fixed jaw location is identifiable from a fluoroscopic image of the fixed jaw. The opposing jaws terminate at proximal and distal regions, and the proximal regions are connected to the hinge so that the movable jaw rotates about the hinge between a closed state and an open state. The jaws are curved in planes parallel to the hinge axis, and terminate in narrowed ends at the distal regions, so that in the closed state the jaws grip sections of vertebrae. The apparatus also has a support structure (60) that retains the hinge and the pair of opposing jaws, and a multiplicity of sharp teeth (98) disposed on respective inner surfaces of the opposing jaws.

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: Disclosed herein are systems, devices, and methods for image-guided surgery. Some systems include a head-mounted unit, having a see-through augmented-reality display and a depth sensor, which is configured to generate depth data with respect to a region of interest (ROI) of a body of a patient that is viewed through the display by a user wearing the head-mounted unit. A processor, which is configured to receive a three-dimensional (3D) tomographic image of the body of the patient, computes a depth map of the ROI based on the depth data generated by the depth sensor, to compute a transformation over the ROI so as to register the tomographic image with the depth map, and to apply the transformation in presenting a part of the tomographic image on the display in registration with the ROI viewed through the display.

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: 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: 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 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 10 received from the second tracking device. Other applications are also described.

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: 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 medical marking device, consisting of a radiotransparent plate having a first plurality of radiopaque elements embedded therein in a first predefined pattern and a second plurality of optical reflectors positioned on a surface in proximity to the plate in a second predefined pattern. The device also includes 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 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.