Elbit Systems Ltd.

Beyeonics Surgical Ltd.

Ron Schneider

Abraham Zeitouny

Rani Ben-Yishai

Shahaf Zommer

Eran Segev

Yaara Solomon

Eyal Zohar

Ofer Bruce David

Einav Namer Yelin

Gil Benesh

Aron Arlievsky

Dror Yahav

Rani Ben Yishai

Avi Zeitouni

Avi Reuven

Eitan Yehiel Edrei

A microsurgery system includes a robotic arm, configured for movement; a head mounted display (HMD) configured to display to a user in real-time image sequences of an operated area; a camera coupled to the robotic arm, the camera configured to acquire operated-area image sequences of the operated area and being suspended above the operated area and being mechanically and optically disconnected from the HMD. The robotic arm enables the camera to capture the operated-area image sequences from a range of perspectives. A processing device is coupled with the HMD and the camera, and transmits the image sequences of the operated-area to the HMD. A tracker tracks at least one of a head of the user, a hand of the user, and a tool held by the use. The robotic arm is guidable according to movements tracked of the head, the hand, and/or the tool.

Microsurgery system for displaying in real-time magnified digital image sequences of an operated area

Systems and methods for imaging a body part during a medical procedure e.g., by imaging the body part using at least one image capture unit, where the image capture unit is configured to sense light at least in the IR spectrum; illuminating at least a portion of the body part with light in the infrared (IR) spectrum, using at least one IR light source such that IR illumination of at least one of the at least one IR light source is coaxial with an optical axis of one of the at least one image capture unit; and outputting imagery data emanating from the at least one image capture unit for displaying thereof.

Systems and methods for imaging a body part during a medical procedure

A surgical microscope lighting control system comprising a controller configured to: estimate or determine a lighting need of a surgeon during at least part of a surgical procedure based at least on a viewing status of a region of illumination, wherein the viewing status of the region of illumination is estimated or determined (a) based at least on whether or not the region of illumination is being displayed, or (b) based at least on tracking data of the surgeon or a head-mounted display; determine an adjustment to be made to an illumination provided by a lighting unit of a surgical microscope based on the lighting need; and in response to determining the adjustment, send a first signal to the lighting unit to change the illumination according to the adjustment.

System and method to automatically adjust illumination during a microsurgical procedure

A UI for a HMD system includes a HMD configured to be worn by a surgeon. A tracker is configured to track head gestures by the surgeon. A footswitch is configured to detect foot motion inputs by the surgeon. A computer couples to the HMD, the tracker, and the footswitch. A user interface includes the HMD, tracker, and footswitch. The use interface is configured to: provide to the computer the head gesture in association with the foot motion input, and display an image relating to a surgical procedure on the HMD. The computer is configured to: apply the head gesture received in association with the foot motion input to perform a first action on the HMD system when the HMD system is in a first system mode, and perform a second action on the HMD system when the HMD system is in a second system mode.

UI for head mounted display system

Imaging systems and methods are provided, which implement wide field imaging of a region for medical procedures and provide tracking of tools and tissues in the whole region while providing digitally magnified images of a portion of the captured region. Optical tracking may be implemented by stereoscopic imaging, and various elements may be optically tracked such as various markers and fiducials, as well as certain shapes and objects which are optically identifiable by image processing.

Magnified high resolution imaging and tracking for medical use

System for determining a position of a tool-point-of-interest of a tool, relative to an eye-tissue-of-interest, which includes and imager a tool-tracker and a processor. The imager acquires an image of a tissue-reference-marker. The tool-tracker determines information relating to the P&O of the tool in a reference-coordinate-system. The imager and the tool-tracker are in registration with the reference-coordinate-system. The processor determines the position of the tissue-reference-marker in the reference-coordinate-system, according to the acquired image of the tissue-reference-marker. The processor determines the P&O of the eye-tissue-of-interest in the reference-coordinate-system according to at least the position of the tissue-reference-marker and a relative position between the tissue-reference-marker and the eye-tissue-of-interest. The relative position is pre-determined from a stored-3D-model. The processor determines the position of a tool-point-of-interest in the reference-coordinate-system from the P&O of the tool in the reference-coordinate-system. The processor also determines a relative position between the tool-point-of-interest and the eye-tissue-of-interest.

System and method for determining the position and orientation of a tool tip relative to eye tissue of interest

Systems and method are provided which enhance ophthalmological surgical procedures. Systems may include camera(s) configured to capture and magnify eye image(s) (possibly stereoscopic), a tissue position and orientation (P&O) tracker configured in to track a P&O of a specified eye tissue, a tool P&O tracker configured to track a P&O of treatment tool(s) and derive a tool tip pointing vector therefrom, a processing unit configured to calculate an intersection between the tool tip pointing vector and the specified eye tissue and to relate spatially optical coherence tomography (OCT) image(s) of the eye tissue to the tool tip location and/or to the intersection, and a display module configured to display the magnified image(s) of the eye tissue with the OCT image(s) associated therewith according to the spatial relation. An OCT imager may be mounted on the tool tip to provide the OCT image(s) in real time.

Localized optical coherence tomography images for ophthalmological surgical procedures

Optical systems and methods are provided, which combine see-through view of the real world and display source images using a conical optical combiner cut to have flat surfaces normal to the viewer line of sight. The conical shape minimizes interferences in the view of the real world as the edges of the optical combiner are tangent to the viewer vision field of view and the inner part of the optical combiner is semitransparent. Additionally, the optical system comprises a beam splitter, a shutter(s) for attenuating or blocking the see-through path and may employ polarizing element to improve the contrast between the scene observation and the projected display and thus enabling selective viewing of either. The system may also be configured to enable diopter adjustment and virtual display distance adjustments.

Conical optical combiner

A system captures and displays video of surgeries. The system may include at least one digital image sensor optically coupled to one or more lenses and configured to capture a video sequence of a scene in a surgery; at least one interface configured to receive at least one region on interest (ROI) of the captured video sequence; an electronic display, selected so that at least one of the digital image sensors has a pixel resolution which is substantially greater than the pixel resolution of the electronic display; and a computer processor configured to: receive the at least one captured video sequence and the at least one received ROI and display over the at least one electronic display a portion of the captured video sequence based on the at least one selected ROI.

Microsurgery system for displaying in real time magnified digital image sequences of an operated area

A novel surgical lens system including a lens and a reflective element. The lens is placed on, or above, a cornea of an eye of a subject for enabling inspection of the eye. The reflective element is incorporated into the lens. The reflective element reflects a light beam toward the eye of the subject. The reflective element increases the divergence of the light beam, such that the divergence of the reflected light beam is larger than the divergence of the light beam. The light beam is emitted by a non-invasive light source positioned externally to the eye.

Lens system for inspection of an eye

System and method for determining the position and orientation (P&O) of a tool-tip relative to an eye tissue of interest. The system includes and imaging and tracking module coupled with a processor. The imaging and tracking module at least includes an imager. The imager acquires at least one image of at least one tissue-reference-marker. The imaging and tracking module further determines information relating to the P&O of the tool. The processor determines the P&O of the tissue-reference-marker according to the acquired image of the tissue-reference-marker. The processor determines the P&O of the eye tissue of interest, according to the P&O of the tissue-reference-marker, and a predetermined relative P&O between the tissue-reference-marker and the eye tissue of interest. The processor also determines the P&O of a tool-tip according to a tool-marker and determines the relative P&O between the tool-tip and the eye tissue of interest.

System and method for presenting magnified images locked onto object of interest in operator environment. A camera disposed on head of operator captures images of scene, where camera moves in conjunction with head movements. A head tracker detects the operator LOS by detecting at least head orientation. A processor obtains designated coordinates of object of interest in scene, and determines relative angle between detected operator LOS and object. The processor determines coordinates of object in acquired images, and applies image processing for fine stabilization of images based on previous images so as to compensate for operator head movements. The processor rescales an image region surrounding object of interest, in accordance with at least one display parameter, to produce respective magnified image frames of object. A head-mounted display displays the magnified images to operator such that object of interest appears in a defined position on display regardless of operator head movements.

Growing community of inventors

Haifa, Israel

Ron Schneider