US 11,871,904 B2
Steerable endoscope system with augmented view
Peter Douglas Colin Inglis, Boulder, CO (US); and Derek Scot Tata, Longmont, CO (US)
Assigned to Covidien AG
Filed by COVIDIEN AG, Neuhausen am Rheinfall (CH)
Filed on Nov. 4, 2020, as Appl. No. 17/089,258.
Claims priority of provisional application 62/951,512, filed on Dec. 20, 2019.
Claims priority of provisional application 62/932,571, filed on Nov. 8, 2019.
Prior Publication US 2021/0137350 A1, May 13, 2021
Int. Cl. A61B 1/005 (2006.01); A61B 34/10 (2016.01); A61B 1/00 (2006.01); A61B 90/50 (2016.01); A61B 1/05 (2006.01); A61B 90/00 (2016.01)
CPC A61B 1/0051 (2013.01) [A61B 1/0005 (2013.01); A61B 1/00006 (2013.01); A61B 1/00016 (2013.01); A61B 1/00018 (2013.01); A61B 1/000095 (2022.02); A61B 1/00194 (2022.02); A61B 1/05 (2013.01); A61B 34/10 (2016.02); A61B 1/009 (2022.02); A61B 2034/105 (2016.02); A61B 2090/365 (2016.02); A61B 2090/502 (2016.02)] 11 Claims
OG exemplary drawing
 
1. A computer-implemented method for generating an augmented reality display over a field of view, comprising:
receiving, at a controller, a position signal from an endoscope, the position signal comprising position, orientation, or movement data of a steerable distal end of the endoscope;
receiving, at the controller, sensor signals from one or more sensors of the endoscope, the sensor signals comprising real-time data including a two-dimensional (2D) camera image associated with the current position of the endoscope;
rendering, at the controller, virtual objects comprising:
a three-dimensional anatomical model registered to a real object in the field of view;
an endoscope marker positioned within the anatomical model at the current position of the endoscope; and
a three-dimensional image portion, based on the 2D camera image, mapped onto the three-dimensional anatomical model in front of the endoscope marker; and
displaying the virtual objects through a head-mounted viewer.