WO2025229496A1

WO2025229496A1 - Systems and methods for displaying one or more localized overlays

Info

Publication number: WO2025229496A1
Application number: PCT/IB2025/054398
Authority: WO
Inventors: Elizabeth R. ROONEY; Shreya SRIDHAR
Original assignee: Medtronic Navigation Inc
Current assignee: Medtronic Navigation Inc
Priority date: 2024-04-29
Filing date: 2025-04-28
Publication date: 2025-11-06
Anticipated expiration: 2026-10-29

Abstract

Systems and method for displaying one or more localized overlays. At least one image depicting a target anatomical region may be received from a first imaging device and at least one streaming view may be displayed from a second imaging device. A first distance between the first imaging device and the second imaging device and a second distance between the second imaging device and the target anatomical region are received. An overlay may be generated comprising the at least one image and localization information for positioning the overlay within the at least one streaming view.

Description

SYSTEMS AND METHODS FOR DISPLAYING ONE OR MORE LOCALIZED OVERLAYS

BACKGROUND

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63/640,064, filed 29 April 2024, the entire content of which is incorporated herein by reference.

[0002] The present disclosure is generally directed to overlays, and relates more particularly to providing localized 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, cranial procedures, etc. 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: at least one first imaging device; at least one second imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive at least one image from the at least one first imaging device, the at least one image depicting a target anatomical region; display at least one streaming view from the at least one second imaging device; receive a first distance between the at least one first imaging device and the at least one second imaging device; receive a second distance between the at least one second imaging device and the target anatomical region; and generate an overlay comprising the at least one image and localization information, the localization information including a position of the at least one image relative to a field of view of the at least one streaming view based on the first distance and the second distance.

[0006] Any of the aspects herein, wherein the first imaging device comprises at least one of a C- arm imaging device, a CT imaging device, an MRI imaging device, or 0-arm imaging device.

[0007] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: display, via a display, the overlay in the at least one streaming view.

[0008] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance and an updated second distance when the at least one second imaging device moves; and adjust the overlay based on the updated first distance and the updated second distance, wherein the at least one image remains in the position when the field of view of the at least one streaming view moves.

[0009] Any of the aspects herein, wherein the overlay comprises at least one of an estimated imaging area or a planned incision.

[0010] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance when the at least one first imaging device moves; and adjust the overlay based on the updated first distance, wherein the at least one image remains in the same position and the estimated imaging area is moved based on the updated first distance.

[0011] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive input data having information about dimensions of the estimated imaging area.

[0012] Any of the aspects herein, wherein the at least one second imaging device comprises a depth camera.

[0013] Any of the aspects herein, wherein the first distance is based on a pose of the at least one first imaging device and a pose of the at least one second imaging device, wherein the pose of the at least one first imaging device and the pose of the at least one second imaging device are received from a navigation system.

[0014] 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 at least one image depicting a target anatomical region; display at least one streaming view; receive a first distance between a first imaging device and a second imaging device; receive a second distance between the second imaging device and the target anatomical region; and generate an overlay comprising the at least one image and localization information, the localization information including a position of the at least one image relative to a field of view of the at least one streaming view based on the first distance and the second distance.

[0015] Any of the aspects herein, a first imaging device configured to image the target anatomical region; and a second imaging device configured to obtain the at least one streaming view.

[0016] Any of the aspects herein, wherein the first imaging device comprises an o-arm imaging device. [0017] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: display, via a display, the overlay in the at least one streaming view.

[0018] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance and an updated second distance when the at least one second imaging device moves; and adjust the overlay based on the updated first distance and the updated second distance, wherein the at least one image remains in the position when the field of view of the at least one streaming view moves.

[0019] Any of the aspects herein, wherein the overlay comprises at least one of an estimated imaging area or a planned incision.

[0020] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance when the at least one first imaging device moves; and adjust the overlay based on the updated first distance, wherein the at least one image remains in the same position and the estimated imaging area is moved based on the updated first distance.

[0021] Any of the aspects herein, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive input data having information about dimensions of the estimated imaging area.

[0022] Any of the aspects herein, wherein the at least one second imaging device comprises a depth camera.

[0023] Any of the aspects herein, wherein the first distance is based on a pose of the at least one first imaging device and a pose of the at least one second imaging device, wherein the pose of the at least one first imaging device and the pose of the at least one second imaging device are received from a navigation system.

[0024] A system according to at least one embodiment of the present disclosure comprises: at least one first imaging device; at least one second imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive at least one image from the at least one first imaging device, the at least one image depicting a target anatomical region; display at least one streaming view from the at least one second imaging device; receive a first distance between the at least one first imaging device and the at least one second imaging device; receive a second distance between the at least one second imaging device and the target anatomical region; generate an overlay comprising the at least one image and localization information, the localization information including a position of the at least one image relative to a field of view of the at least one streaming view based on the first distance and the second distance; receive an updated first distance when the at least one first imaging device moves; and adjust the overlay based on the updated first distance, wherein the at least one image remains in the same position and the estimated imaging area is moved based on the updated first distance.

[0025] Any aspect in combination with any one or more other aspects.

[0026] Any one or more of the features disclosed herein.

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

[0028] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

[0029] Any one of the aspects/features/embodiments in combination with any one or more other aspects/features/ embodiments .

[0030] Use of any one or more of the aspects or features as disclosed herein.

[0031] 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.

[0032] 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.

[0033] 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 one of 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).

[0034] 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. [0035] 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.

[0036] 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

[0037] 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.

[0038] Fig. 1 is a block diagram illustrating a system according to at least one embodiment of the present disclosure;

[0039] Fig. 2 is a flowchart according to at least one embodiment of the present disclosure;

[0040] Fig. 3 is a flowchart according to at least one embodiment of the present disclosure;

[0041] Fig. 4 is an image of an example streaming view according to at least one embodiment of the present disclosure;

[0042] Fig. 5 is an image of an example overlay and streaming view according to at least one embodiment of the present disclosure;

[0043] Fig. 6A is an image of an example overlay and streaming view according to at least one embodiment of the present disclosure;

[0044] Fig. 6B is an image of the example overlay and streaming view of Fig. 6A according to at least one embodiment of the present disclosure; [0045] Fig. 7 is an example overlay and streaming view according to at least one embodiment of the present disclosure; and

[0046] Fig. 8 is a flowchart according to at least one embodiment of the present disclosure.

DETAILED DESCRIPTION

[0047] 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 one or more imaging devices.

[0048] 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).

[0049] 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, i8, 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, Al 2, A12X, A12Z, or Al 3 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.

[0050] 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.

[0051] 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.

[0052] Patient imaging may be conducted during or prior to a surgical procedure. During such imaging, an imaging device may be positioned around a region of interest (ROI) on the patient. In embodiments where the imaging device is, for example, an 0-arm imaging device, a gantry of the 0-arm imaging device may be positioned around the ROI prior to acquiring a three- dimensional (3-D) scan of the region of interest. In other embodiments, the imaging device may be any imaging device such as, for example, an MRI imaging device, an ultrasound scanner, etc.

[0053] During setup of the imaging device it is desirable to avoid collisions between the imaging device and the patient and/or any components in the surgical space (e.g., patient arm boards, equipment attachment to the patient, medical staff or other users, and other objects in the surgical field), to quickly center the imaging device around the ROI, and to minimize radiation exposure to the patient. Conventional methods for centering the imaging device around the ROI may include viewing images obtained from the imaging device and renders a display box that allows user to move the gantry in a direction to capture intended anatomy. However, when the imaging device is moved (or more specifically, the gantry) as a part of the centering process, the users need to manually track where the gantry is moving to in order to avoid collisions. Further, it is desirable for users to know where to localize on the patient anatomy for planning incisions for the given procedure and often times, users will use imaging to determine where to make an incision. This step may add additional radiation doses to the patient.

[0054] Systems and methods according to at least one embodiment of the present disclosure provide users with a display that includes an overlay of a camera view on a view of a two- dimensional (2D) image. The camera view with the overlay provides visualization to both the surrounding area and the region of interest from a 2D image obtained from the imaging device such as the 0-arm imaging device. The 2D image may be referred to as a “scout image”. This allows a user to avoid collisions by showing the relevant anatomy in relation to the external environment. Showing the user the 2D image overlaid on the camera view enables the user to quickly adjust a position of the imaging device while avoiding collisions. Such overlay may also reduce radiation dosage to a patient by avoiding the need of additional 2D images for, for example incision planning.

[0055] Such systems and methods enable a user to position the imaging device accurately because the relationship of the camera position to the imaging device is known. The distance between the camera and the anatomy is also known from depth measurements from the camera. These two measurements enable the system to accurately display the position and size of the overlay of the 2D image on the camera view and thus, provides a localized overlay. Additionally, the localized overlay may be used for incision planning. A user could acquire the 2D image and overlay the 2D image on the camera view to aid, for example, a surgeon in visualizing the underlying anatomy as the surgeon performs the incision.

[0056] 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) reducing radiation exposure to a patient, and (3) increasing patient and medical team safety by reducing an overall procedure time.

[0057] 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 localized overlays 124 for display in at least one streaming view 400 (shown in Figs. 4-7) from, for example, one or more imaging devices 112 and/or to carry out one or more other aspects of one or more of the methods disclosed herein. The localized overlay 124 enables a user to view a surrounding environment of (for example) a surgical operating area and a region of interest (e.g., the localized overlay) visible in the streaming view 400. The localized overlay 124 remains in position during movement of the imaging device 112 to provide visualization of, for example, target anatomical elements or regions relative to the external environment shown in the streaming view 400 from the imaging device 112. Such localized overlay 124 may assist in avoiding collisions between any component of the system 100 and a patient, visualizing an imaging area, planning incisions, and quickly positioning one or more components of the system 100 around the ROI on the patient.

[0058] The system 100 comprises a computing device 102, one or more imaging devices 112, a navigation system 118, a display 132, 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 display 132, and/or the cloud 134.

[0059] 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.

[0060] 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 include multiple 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.

[0061] 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, a display 132, and/or other data sources.

[0062] 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.

[0063] 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 124 to display in the display 132, as described elsewhere in this disclosure. Processing circuitry 104 may implement an Al system using special-purpose 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 112, 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 104, and/or other devices capable of receiving data.

[0064] 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.

[0065] 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.

[0066] The memory 106 may be configured to store a variety of operational parameters, training data 126, and/or overlay(s) 124. In the illustrated example, memory 106 may store an overlay model 120 and/or input data 122. 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.

[0067] 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.

[0068] 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 120, 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.

[0069] 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 the computing device 102, the database 104, the imaging device 112, and/or the display 132.

[0070] 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 the one or more overlay model(s) 120. 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.

[0071] 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, distances between imaging devices, distances between imaging devices and patient ROIs, 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 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 (PC A) 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.

[0072] The processing circuitry 104 may support overlay models 120 which may be machine learning model(s), and which may be trained and/or updated based on data (e.g., training data 126) provided or accessed by any of the computing device 102, the database 130, the imaging device 112, and/or the display 132. The overlay models 120 may be built and updated by the computing device 102 based on the training data 126. For example, the overlay models 120 may be trained with one or more training sets included in the training data 126. In some aspects, the training data 126 may include multiple training sets. In an example, the training data 126 may include a training set that includes historical streaming view(s) 206 on which to generate an overlay 124, historical information provided on the overlay 124, historical incision information (e.g., incision placement, incision size, incision, depth, etc.), and/or historical estimated imaging area(s). The overlay model 120 may be trained based on the training set to output an overlay 124 and more specifically, a localized overlay 124. It will be appreciated that the overlay 124 may be generated by the overlay model 120, though in other instances, the overlay 124 may be generated based on an algorithm, or using any other method.

[0073] 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, the navigation system 118, the display 132, 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, the navigation system 118, the display 132, 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 802.1 la/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.

[0074] 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.

[0075] 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 separately from 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.

[0076] The system 100 may include the display 132. The display 132 may communicate with the computing device 102, the processing circuitry 104 of the computing device 102, and/or the imaging device 112 to receive and display at least one overlay such as the overlay 124 on a streaming view such as the streaming view 400 received from the imaging device 112. It will be appreciated that in some embodiments, the display 132 can communicate with any component of the system 100 or any component external to the system 100. In some embodiments, the display 132 is a 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 124 on the environment (e.g., an augmented display). In such embodiments, the display 132 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 display 132 (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 124 may be displayed on.

[0077] In some embodiments, the display 132 may display the overlay 124 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 display 132, a notification, a warning, one or more steps to perform, etc. The display 132 may be beneficial in, for example, providing information to a user such as a surgeon during a medical procedure. For example, the display 132 may show an environment of the imaging device 112 relative to an ROI of the patient (shown as, for example, an overlay) such that the imaging device 112 can be positioned with respect to the ROI of the patient while avoiding collision with the patient. The display 132 may also be used during incision planning and can, for example, show information about the incision and/or overlay 124 a model of an incision on the patient (discussed in, for example, Fig. 7). The display 132 may also, in other instances, be used to show an overlay 124 of an estimated imaging area 600 (discussed in, for example, Figs. 6A-6B). Such estimated imaging area 600 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.

[0078] 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 0-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.

[0079] The imaging device 112 may be operable to generate a stream of image data to show a streaming view. 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.

[0080] In some embodiments, the imaging device 112 may include a first imaging device 112A and a second imaging device 112B. The first imaging device 112A and the second imaging device 112B may be the same types of imaging devices or may be different types of imaging devices. For example, the first imaging device 112A may be used to obtain one or more images used in the overlay 124 and the second imaging device 112B may be used to provide the streaming view 400. In such instances, the first imaging device 112A may be, for example, an O- arm imaging device and the second imaging device 112B may be, for example, a depth camera or any optical camera. The first imaging device 112A and/or the second imaging device 112B may be used or be a part of, for example, the navigation system 118.

[0081] 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 120 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).

[0082] 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.

[0083] The navigation system 118 may include one or more imaging devices such as the imaging device 112 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.

[0084] The database 130 may store, for example, one or more overlay model(s) 124, the input data 122, the overlay(s) 124, training data 126, 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.

[0085] 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.

[0086] The system 100 or similar systems may be used, for example, to carry out one or more aspects of any of method 800 described herein. The system 100 or similar systems may also be used for other purposes.

[0087] 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 one or more overlays for displaying in one or more streaming views.

[0088] The input data 122 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 (whether the first imaging device 112A and/or the second imaging device 112B), the navigation system 118, the database 130, the cloud 134, or any other component of the system 100. The input data 126 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. The estimated region of imaging or estimated imaging area 600 may include, for example, dimensions of the estimated imaging area 600. For example, the dimensions of the estimated imaging area 600 may include a surface area dimension, a width, a height, a diameter, or dimensions of a custom shape.

[0089] A first distance 202 and a second distance 204 may be received from, for example, the navigation system 118 and/or the imaging device 112 (whether the first imaging device 112A and/or the second imaging device 112B). The first distance 202 may correlate to a distance between the first imaging device 112A and the second imaging device 112B. The first distance 202 may be determined based on a pose of the first imaging device 112A and a pose of the second imaging device 112B, which may be obtained from, for example, the navigation system 118. The second distance 204 may correlate to a distance between the second imaging device 112B and an ROI on the patient being imaged. The second distance 204 may be obtained from, for example, the second imaging device 112B. In such embodiments, the second imaging device 112B may be a depth camara capable of obtaining depth measurements between the camera and the ROI (or any other component or object of the system 100).

[0090] At least one image 208 may be received from, for example, the first imaging device 112A. The first imaging device 112A may be, for example, an 0-arm imaging device. In other embodiments, the first imaging device 112A may be any imaging device such as, for example, an MRI imaging device, an ultrasound scanner, etc. The at least one image 208 may be, for example, a scout image that can be used as an overlay, as will be discussed in detail below. The at least one image 208 may be one or more 2D images, though it will be appreciated that in other embodiments, the at least one image 208 may be one or more 3D images.

[0091] The input data 122, the first distance 202, the second distance 204, and the at least one image 208 are received as input by the overlay model 120. It will be appreciated that any combination of the input data 122, the first distance 202, the second distance 204, and the at least one image 208 may be received as input by the overlay model 120. The overlay model 120 may be configured to generate one or more overlay(s) 124 for display in the display 132. The one or more overlays 124 may be generated as 2D or 3D images. The one or more overlay(s) 124 may include, for example, the at least one image 208 and localization information to display the at least one image 208 in a streaming view 400. The localization information may include a relative location to display the at least one image 208 within the streaming view 400 based on the first distance 202 and the second distance 204. The overlay 124 may also include a representation of a planned incision 700 (shown in Fig. 7) displayed in the overlay 124. The overlay 124 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. In still other embodiments, the overlay 124 may include the estimated imaging area 600 - shown in Figs. 6A- 6B - correlating to an estimated imaging area. The estimated imaging area 600 may be shown as a line outline of the estimated imaging area. In other embodiments, the estimated imaging area 600 may be shown as, for example, a shaded area, a dotted line outline, etc. The estimated imaging area 600 as displayed in the overlay 124 may be based on the input data 122 providing the imaging device type and an estimated imaging area of the first imaging device 112 A. 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 boundary can be generated based on the estimated imaging area.

[0092] The overlay model 120 may be trained using historical streaming views on which to generate an overlay, historical incision information (e.g., incision placement, incision size, incision, depth, etc.), historical input data, historical first or second distances, historical images, and/or historical estimated imaging area(s). In other embodiments, the overlay model 120 may be trained using the input data 122, the first distance 202, the second distance 204, and the at least one image 208. In such embodiments, the overlay model 120 may be trained prior to inputting the input data 122, the first distance 202, the second distance 204, and the at least one image 208 into the overlay model 120 or may be trained in parallel with inputting the input data 122, the first distance 202, the second distance 204, and the at least one image 208.

[0093] Turning to Fig. 3, a method 300 that may be used, for example, for generating the overlay model 120 is provided.

[0094] 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.

[0095] The method 300 comprises generating a model (step 304). The model may be, for example, the overlay model 120. 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 124 for display in a display such as the display 132.

[0096] 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 streaming views on which to generate an overlay, historical incision information (e.g., incision placement, incision size, incision, depth, etc.), historical input data, historical first or second distances, historical images, and/or historical estimated imaging area(s).

[0097] 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.

[0098] 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.

[0099] 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 the 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. [0100] 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.

[0101] Reference will be made to Figs. 4-7 which show an image of an example streaming view, an example overlay and streaming view, a first example and a second example of an overlay with an estimated imaging area, and an example overlay for incision planning, respectively. Figs. 4-7 will be discussed concurrently with Fig. 8, beginning with a description of Fig. 8.

[0102] Fig. 8 depicts a method 800 that may be used, for example, for generating and displaying localized overlay(s) such as the overlay(s) 124 in one or more streaming view(s).

[0103] 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 120.

[0104] The method 800 comprises positioning a system around a patient (step 804). The system may be the same as or similar to the system 100. Positioning the system around the patient may include, for example, positioning a first imaging device such as the first imaging device 112A around the patient. More specifically, the first imaging device may be an 0-arm imaging device and a gantry of the 0-arm imaging device may be positioned around the patient. The gantry may be positioned in a position near or at the ROI of the patient. In other embodiments, the gantry may be positioned anywhere around the patient. In other embodiments, the first imaging device may be any imaging device such as, for example, an MRI imaging device, an ultrasound scanner, etc.

[0105] Positioning the system may also include positioning a second imaging device such as the second imaging device 112B. The second imaging device may be, for example, a camera capable of providing a streaming view such as the streaming view 400 shown in Figs. 4-7. The camera may also be configured to measure and provide depth measurements. The camera may be positioned such that at least a portion of the ROI is visible in the streaming view. In other embodiments, the camera may be positioned anywhere in the surgical space. It will be appreciated that in some embodiments, more than one second imaging device may be positioned in the surgical space. In such embodiments, more than one streaming view may be provided by each respective second imaging device. In such embodiments, one or more images may be overlaid in multiple second imaging devices (e.g., cameras) that cover different fields of view in the surgical field.

[0106] It will be appreciated that any other component(s) (e.g., a navigation system such as the navigation system 118 and/or a display such as the display 132) of the system may be positioned anywhere in the surgical space.

[0107] The method 800 also comprises setting up the system (step 808). Setting up the system may include operating the first imaging device, the second imaging device, the display, and/or the navigation system.

[0108] The method 800 also comprises receiving at least one streaming view (step 812). The at least one streaming view may be received from, for example, the second imaging device. The at least one streaming view may be a streaming view 400 as depicted in, for example, Figs. 4-7. The at least one streaming view may depict an ROI of a patient such as an ROI of a patient 402 and an area surrounding the ROI. It will be appreciated that in other instances, the at least one streaming view may depict any portion of the surgical space and environment.

[0109] The at least one streaming view may comprise more than one streaming view. For example, a first streaming view may comprise an AP camera view and a second streaming view may comprise a LAT camera view.

[0110] The method 800 also comprises receiving at least one image (step 816). The at least one image may be the same as or similar to the at least one image 208 and may be received from, for example, the first imaging device. The at least one image may be, for example, a scout image that can be used as an overlay, as will be discussed in detail below. In some embodiments, the at least one image is an X-ray image. The at least one image may also be one or more 2D images, though it will be appreciated that in other embodiments, the at least one image may be one or more 3D images. The at least one image may depict at least a portion of the ROI of the patient, though in other instances, the at least one image may depict any portion of the surgical space and environment.

[0111] The at least one image may comprise more than image. For example, a first image may comprise an AP image and a second image may comprise a LAT image. [0112] The method 800 also comprises receiving a first distance (step 820). The first distance may be the same as or similar to the first distance 202. The first distance may be received from, for example, the navigation system and/or the imaging device (whether the first imaging device and/or the second imaging device). The first distance may correlate to a distance between the first imaging device and the second imaging device. The first distance may be determined based on a pose of the first imaging device and a pose of the second imaging device, which may be obtained from, for example, the navigation system.

[0113] The method 800 also comprises receiving a second distance (step 824). The second distance may be the same as or similar to the second distance 204. The second distance may be received from, for example, the navigation system and/or the imaging device (whether the first imaging device and/or the second imaging device). The second distance may correlate to a distance between the second imaging device and an ROI on the patient being imaged. The second distance may be obtained from, for example, the second imaging device. In such embodiments, the second imaging device may be a depth camara capable of obtaining depth measurements between the camera and the ROI (or any other component or object of the system).

[0114] The method 800 also comprises generating and displaying an overlay in the least one streaming view (step 828). The first distance, the second distance, the at least one image, and/or input data such as the input data 112 are received as input by an overlay model such as the overlay model 120. It will be appreciated that any combination of the input data, the first distance, the second distance, and/or the at least one image 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 a display such as the display 132. The one or more overlays may be generated as 2D or 3D images.

[0115] As previously described, the one or more overlay(s) may include, for example, the at least one image and localization information to display the at least one image in a field of view of the streaming view. The localization information may include a relative location to display the at least one image within the streaming view based on the first distance and the second distance. For example, in Fig. 5, an overlay (overlay 124) is shown positioned on the streaming view.

[0116] It will be appreciated that in other embodiments, the overlay may be generated using an algorithm. For example, the first distance, the second distance, the at least one image, and/or input data can be inputted into an algorithm (by, for example, the processor), which can be used to calculate a position of the at least one image for the overlay. [0117] In embodiments where the at least one image comprises at least a first image and a second image, relative positions of the first image to the second image may be calculated to overlay both the first image and the second image in a display. In such embodiments, the relative positions may be calculated by, for example, the overlay model, the algorithm, or any other method used for generating an overlay.

[0118] In some embodiments, the overlay may include a virtual boundary representing the estimated imaging area such as the estimated imaging area 600 - shown in Figs. 6A-6B - correlating to an estimated imaging area. The estimated imaging area may be shown as a line outline of the estimated imaging area. In other embodiments, the estimated imaging area may be shown as, for example, a shaded area, a dotted line outline, etc. 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 first imaging device. 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 boundary can be generated based on the estimated imaging area.

[0119] The overlay may also include a representation of a planned incision such as a planned incision 700 displayed in the overlay as shown in Fig. 7. The planned incision may be a digital rendering of the planned incision shown on the overlay. The overlay 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 a user interface such as the user interface.

[0120] The method 800 also comprises receiving an updated first distance and/or an updated second distance (step 832). The step 832 may be the same as or similar to the step 820 and/or the step 824 except that an updated first distance and/or an updated second distance may be obtained. The updated first distance and/or the second updated second distance may be received when the first imaging device and/or the second imaging device moves. In instances where the second imaging device moves (e.g., the camera and thus, the streaming view moves), both the updated first distance and the updated second distance are received. In such instances, as the field of view of the streaming view moves, the overlay remains in the same position relative to the patient. This beneficially enables a user to view other portions of the environment in the field of view of the streaming view while being able to view the localized overlay relative to other portions of the environment. Thus, this may aid a user in positioning other components relative to the localized overlay while avoiding collisions.

[0121] In instances where the first imaging device moves (e.g., when the first imaging device is moved to image a different portion of the patient), the updated first distance may be received. The updated first distance may be used to adjust, for example, an estimated imaging area relative to the at least one image. For example, the at least one image may depict an X-ray image of a portion of the patient, as shown in Fig. 6A. The first imaging device may be shifted in the direction of an arrow 602. The overlay may be adjusted to shift the estimated imaging area in the direction of the arrow while the X-ray image remains in the same position, as shown in Fig. 6B. By moving the estimated imaging area, a user can visualize where a new image may be obtained relative to the initial X-ray image (or any image). Such information can be useful to determine an optimized location to position the first imaging device to obtain an additional image. Such optimized location may beneficially result in reducing redundancy between the initial image and a subsequent image.

[0122] The method 800 also comprises adjusting the overlay (step 836). Adjusting the overlay may include adjusting the position of the overlay relative to the field of view of the streaming view such that the overlay remains in the same localized position as when the overlay was initially generated and displayed. Thus, in instances where the streaming view moves, the localized overlay appears to remain in the same position. As described above, in embodiments where the overlay includes an estimated imaging area, the overlay may be adjusted to display the initial image in the same location while adjusting a location of the estimated imaging area relative to the initial image. In embodiments where an incision is shown in the overlay, the overlay may be adjusted to show changes to the incision.

[0123] 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 804, 808, 812, 816, 820, 824, and 828 may be repeated continuously to provide an updated overlay to display in the display. It will also be appreciated that the method 800 may not include all of the steps or may include any combination of steps.

[0124] 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.

[0125] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Fig. 8 (and the corresponding description of the method 800), as well as methods that include additional steps beyond those identified in Fig. 8 (and the corresponding description of the method 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.

[0126] 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 lie 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.

[0127] 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.

[0128] The techniques of this disclosure may also be described in the following examples

[0129] Example 1. A system comprising: at least one first imaging device; at least one second imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive at least one image from the at least one first imaging device, the at least one image depicting a target anatomical region; display at least one streaming view from the at least one second imaging device; receive a first distance between the at least one first imaging device and the at least one second imaging device; receive a second distance between the at least one second imaging device and the target anatomical region; and generate an overlay comprising the at least one image and localization information, the localization information including a position of the at least one image relative to a field of view of the at least one streaming view based on the first distance and the second distance.

[0130] Example 2. The system of example 1, wherein the first imaging device comprises at least one of a C-arm imaging device, a CT imaging device, an MRI imaging device, or O-arm imaging device.

[0131] Example 3. The system of example 1, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: display, via a display, the overlay in the at least one streaming view.

[0132] Example 4. The system of example 1, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance and an updated second distance when the at least one second imaging device moves; and adjust the overlay based on the updated first distance and the updated second distance, wherein the at least one image remains in the position when the field of view of the at least one streaming view moves.

[0133] Example 5. The system of example 1, wherein the overlay comprises at least one of an estimated imaging area or a planned incision.

[0134] Example 6. The system of example 5, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance when the at least one first imaging device moves; and adjust the overlay based on the updated first distance, wherein the at least one image remains in the same position and the estimated imaging area is moved based on the updated first distance.

[0135] Example 7. The system of example 5, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive input data having information about dimensions of the estimated imaging area. [0136] Example 8. The system of example 1, wherein the at least one second imaging device comprises a depth camera.

[0137] Example 9. The system of example 1, wherein the first distance is based on a pose of the at least one first imaging device and a pose of the at least one second imaging device, wherein the pose of the at least one first imaging device and the pose of the at least one second imaging device are received from a navigation system.

[0138] Example 10. A system comprising: a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive at least one image depicting a target anatomical region; display at least one streaming view; receive a first distance between a first imaging device and a second imaging device; receive a second distance between the second imaging device and the target anatomical region; and generate an overlay comprising the at least one image and localization information, the localization information including a position of the at least one image relative to a field of view of the at least one streaming view based on the first distance and the second distance.

[0139] Example 11. The system of example 10, further comprising: a first imaging device configured to image the target anatomical region; and a second imaging device configured to obtain the at least one streaming view.

[0140] Example 12. The system of example 11, wherein the first imaging device comprises an o- arm imaging device.

[0141] Example 13. The system of example 10, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: display, via a display, the overlay in the at least one streaming view.

[0142] Example 14. The system of example 10, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance and an updated second distance when the at least one second imaging device moves; and adjust the overlay based on the updated first distance and the updated second distance, wherein the at least one image remains in the position when the field of view of the at least one streaming view moves.

[0143] Example 15. The system of example 10, wherein the overlay comprises at least one of an estimated imaging area or a planned incision.

[0144] Example 16. The system of example 15, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive an updated first distance when the at least one first imaging device moves; and adjust the overlay based on the updated first distance, wherein the at least one image remains in the same position and the estimated imaging area is moved based on the updated first distance.

[0145] Example 17. The system of example 15, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive input data having information about dimensions of the estimated imaging area.

[0146] Example 18. The system of example 10, wherein the at least one second imaging device comprises a depth camera.

[0147] Example 19. The system of example 10, wherein the first distance is based on a pose of the at least one first imaging device and a pose of the at least one second imaging device, wherein the pose of the at least one first imaging device and the pose of the at least one second imaging device are received from a navigation system.

[0148] Example 20. A system comprising: at least one first imaging device; at least one second imaging device; a processor; and a memory storing data for processing by the processor, the data, when processed, causes the processor to: receive at least one image from the at least one first imaging device, the at least one image depicting a target anatomical region; display at least one streaming view from the at least one second imaging device; receive a first distance between the at least one first imaging device and the at least one second imaging device; receive a second distance between the at least one second imaging device and the target anatomical region; generate an overlay comprising the at least one image and localization information, the localization information including a position of the at least one image relative to a field of view of the at least one streaming view based on the first distance and the second distance; receive an updated first distance when the at least one first imaging device moves; and adjust the overlay based on the updated first distance, wherein the at least one image remains in the same position and the estimated imaging area is moved based on the updated first distance.

Claims

CLAIMS What is claimed is:

1. A system (100) for generating one or more reconstructions, 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 at least one image dataset (202) from the imaging device, and generate a plurality of reconstructions (210) based on the at least one image dataset, wherein each reconstruction of the plurality of reconstructions is a different reconstruction.

2. The system of claim 1, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive information about a plurality of applications (206), wherein generating the plurality of reconstructions is based on the information about the plurality of applications, and wherein each reconstruction correlates to an application.

3. The system of claim 2, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: determine a reconstruction type for each application of the plurality of applications, wherein each reconstruction is generated based on the determined reconstruction type.

4. The system of claim 2, wherein the information about the plurality of applications comprises user input regarding one or more target applications.

5. The system of any of the preceding claims, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: automatically transmit the plurality of reconstructions to a navigation system (118).

6. The system of any of the preceding claims, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: display at least one reconstruction of the plurality of reconstructions.

7. The system of claim 6, wherein displaying the at least one reconstruction is based on user input.

8. The system of any of the preceding claims, wherein the at least one image dataset comprises a single scan.

9. The system of any of the preceding claims, wherein the imaging device comprises an O-arm.

10. The system of any of the preceding claims, wherein the plurality of reconstructions comprises at least one of a soft tissue reconstruction, a hard tissue reconstruction, or a hardware reconstruction.

11. A system (100) for generating one or more reconstructions, 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 at least one image dataset (202) from the imaging device, receive information about a plurality of applications (206), generate a plurality of reconstructions (210) based on the at least one image dataset and the plurality of applications, and wherein each reconstruction of the plurality of reconstructions is a different reconstruction.

12. The system of claim 11, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: determine a reconstruction type for each application of the plurality of applications, wherein each reconstruction is generated based on the determined reconstruction type.

13. The system of claims 11 or 12, wherein the information about the plurality of applications comprises user input regarding one or more target applications.

14. The system of any of the preceding claims, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: automatically transmit the plurality of reconstructions to a navigation system (118).

15. The system of any of the preceding claims, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: display at least one reconstruction of the plurality of reconstructions.