Loupe display
First Claim
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1. A method of presenting virtual content to a user of a head mounted display, the method comprising:
- receiving emplacement data associated with a first emplacement sensor with respect to a first coordinate system;
receiving emplacement data associated with a second emplacement sensor with respect to the first coordinate system;
receiving emplacement data associated with a third emplacement sensor with respect to a second coordinate system, the third emplacement sensor associated with a head mounted display;
determining a first emplacement of a first virtual medical device with respect to a third coordinate system based at least in part on the received emplacement data associated with the first emplacement sensor, a predetermined offset, and the received emplacement data associated with the third emplacement sensor;
determining a first emplacement of a second virtual medical device with respect to the third coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor;
receiving a real-time medical imaging stream associated with the second virtual medical device;
determining a first emplacement of the real-time medical imaging stream with respect to the third coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor;
determining a second emplacement of the first virtual medical device with respect to a fourth coordinate system based at least in part on the received emplacement data associated with the first emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor;
determining a second emplacement of the second virtual medical device with respect to the fourth coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor;
determining a second emplacement of the real-time medical imaging stream with respect to the fourth coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor;
causing a first opaque stereoscopic display of the head mounted display to display a first 3D rendered view of a virtual 3D volume including;
a 3D rendering of the first virtual medical device based at least in part on the determined first emplacement of the first virtual medical device,a 3D rendering of the second virtual medical device based at least in part on the determined first emplacement of the second virtual medical device, anda 3D rendering of the real-time medical imaging stream based at least in part on the determined first emplacement of the real-time medical imaging stream; and
causing a second opaque stereoscopic display of the head mounted display to display a second 3D rendered view of the virtual 3D volume including;
a 3D rendering of the first virtual medical device based at least in part on the determined second emplacement of the first virtual medical device,a 3D rendering of the second virtual medical device based at least in part on the determined second emplacement of the second virtual medical device, anda 3D rendering of the real-time medical imaging stream based at least in part on the determined second emplacement of the real-time medical imaging stream,wherein the first 3D rendered view and the second 3D rendered view change in relation to a change in the emplacement data associated with the third emplacement sensor.
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Abstract
A system and method for providing image guidance for placement of one or more medical devices at a target location. The system can determine one or more intersections between a medical device and an image region based at least in part on first emplacement data and second emplacement data. Using the determined intersections, the system can cause one or more displays to display perspective views of image guidance cues, including an intersection indicator in a virtual 3D space.
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Citations
20 Claims
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1. A method of presenting virtual content to a user of a head mounted display, the method comprising:
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receiving emplacement data associated with a first emplacement sensor with respect to a first coordinate system; receiving emplacement data associated with a second emplacement sensor with respect to the first coordinate system; receiving emplacement data associated with a third emplacement sensor with respect to a second coordinate system, the third emplacement sensor associated with a head mounted display; determining a first emplacement of a first virtual medical device with respect to a third coordinate system based at least in part on the received emplacement data associated with the first emplacement sensor, a predetermined offset, and the received emplacement data associated with the third emplacement sensor; determining a first emplacement of a second virtual medical device with respect to the third coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor; receiving a real-time medical imaging stream associated with the second virtual medical device; determining a first emplacement of the real-time medical imaging stream with respect to the third coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor; determining a second emplacement of the first virtual medical device with respect to a fourth coordinate system based at least in part on the received emplacement data associated with the first emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor; determining a second emplacement of the second virtual medical device with respect to the fourth coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor; determining a second emplacement of the real-time medical imaging stream with respect to the fourth coordinate system based at least in part on the received emplacement data associated with the second emplacement sensor, the predetermined offset, and the received emplacement data associated with the third emplacement sensor; causing a first opaque stereoscopic display of the head mounted display to display a first 3D rendered view of a virtual 3D volume including; a 3D rendering of the first virtual medical device based at least in part on the determined first emplacement of the first virtual medical device, a 3D rendering of the second virtual medical device based at least in part on the determined first emplacement of the second virtual medical device, and a 3D rendering of the real-time medical imaging stream based at least in part on the determined first emplacement of the real-time medical imaging stream; and causing a second opaque stereoscopic display of the head mounted display to display a second 3D rendered view of the virtual 3D volume including; a 3D rendering of the first virtual medical device based at least in part on the determined second emplacement of the first virtual medical device, a 3D rendering of the second virtual medical device based at least in part on the determined second emplacement of the second virtual medical device, and a 3D rendering of the real-time medical imaging stream based at least in part on the determined second emplacement of the real-time medical imaging stream, wherein the first 3D rendered view and the second 3D rendered view change in relation to a change in the emplacement data associated with the third emplacement sensor. - View Dependent Claims (2, 3, 4, 5)
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6. A method of presenting virtual content to a user, the method comprising:
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receiving first emplacement data associated with a first emplacement sensor with respect to a first coordinate system; receiving second emplacement data associated with a second emplacement sensor with respect to the first coordinate system; receiving third emplacement data associated with a third emplacement sensor with respect to a second coordinate system, the third emplacement sensor associated with a user; determining an emplacement of a first virtual medical device with respect to a third coordinate system based at least in part on the first emplacement data; applying a predetermined offset to the emplacement of the first virtual medical device in the third coordinate system to provide an offset emplacement of the first virtual medical device with respect to the third coordinate system; determining an emplacement of a second virtual medical device with respect to the third coordinate system based at least in part on the second emplacement data; applying the predetermined offset to the emplacement of the second virtual medical device in the third coordinate system to provide an offset emplacement of the second virtual medical device with respect to the third coordinate system; receiving a medical imaging stream associated with the second virtual medical device; determining an emplacement of the medical imaging stream with respect to the third coordinate system based at least in part on the second emplacement data; applying the predetermined offset to the emplacement of the medical imaging stream in the third coordinate system to provide an offset emplacement of the medical imaging stream with respect to the third coordinate system; and causing a display to display a 3D rendered view of a scene including; a 3D rendering of the first virtual medical device based at least in part on the offset emplacement of the first virtual medical device and the third emplacement data, a 3D rendering of the second virtual medical device based at least in part on the offset emplacement of the second virtual medical device and the third emplacement data, and a 3D rendering of the medical imaging stream based at least in part on the offset emplacement of the medical imaging stream and the third emplacement data, wherein the 3D rendered view changes in relation to a change in the determined emplacement of the third emplacement sensor. - View Dependent Claims (7, 8, 9)
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10. A guidance system, comprising one or more processors, the guidance system configured to:
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receive first emplacement data associated with a first emplacement sensor with respect to a first coordinate system; receive second emplacement data associated with a second emplacement sensor with respect to the first coordinate system; determine an emplacement of a medical image with respect to a second coordinate system based at least in part on the received first emplacement data; determine an emplacement of a virtual medical device based at least in part on the second emplacement data; apply a predetermined offset to the emplacement of the medical image in the second coordinate system to provide offset emplacement of the medical image with respect to the second coordinate system; apply the predetermined offset to the emplacement of the virtual medical device in the second coordinate system to provide offset emplacement of the virtual medical device with respect to the second coordinate system; and cause a display to display; a perspective rendering of the virtual medical device based at least in part on the offset emplacement of the virtual medical device, and a perspective rendering of the medical image based at least in part on the offset emplacement of the medical image, wherein the perspective rendering of the medical image varies in relation to a change in the received first emplacement data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification