Mako Surgical Corporation

Stryker European Operations Limited

Stryker European Holdings I LLC

David Hofmann

Jochen Breisacher

Paul M Hoekstra

Jonathan Mark Morgan

Emeric Umbdenstock

Fadi Ghanam

Fabian Riegelsberger

Andreas Reutter

Jean Stawiaski

Reinhold Zimmermann

Florian Herrmann

Udo Pfrengle

Hans Schöpp

Florian Dr Herrmann

A tracker, a surgical navigation system with the tracker, and a method of operating the tracker are described. The tracker comprises a first switch configured to be operated between a first switch configuration and a second switch configuration. The tracker also comprises one or more sources of electromagnetic radiation configured to selectively emit electromagnetic radiation with a first radiation characteristic or a second radiation characteristic. The tracker further comprises electrical circuitry configured to selectively control the one or more sources of electromagnetic radiation to emit electromagnetic radiation having the first radiation characteristic in the first switch configuration and to emit electromagnetic radiation having the second radiation characteristic in the second switch configuration, wherein the second radiation characteristic is different from the first radiation characteristic.

Tracker with switchable radiation characteristics

Surgical navigation systems and methods for tracking an object within an operating room involve a camera unit that houses a first stereoscopic sensing system and a second stereoscopic sensing system each comprising sensing elements adapted to sense light. A controller utilizes the first stereoscopic sensing system to sense light from the object and track the object according to a first resolution. The controller utilizes the second stereoscopic sensing system to sense light from the object and track the object according to a second resolution that is lower than the first resolution. The controller obtains data related to the object from the second stereoscopic sensing system and modifies control of the sensing elements of the first stereoscopic sensing system based on the obtained data related to the object.

Systems and methods for tracking objects

Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.

Systems and methods for calibration of a surgical tool having a tracker. At least one camera captures images of the tracker at a first exposure and captures images of the surgical tool at a second exposure with a different exposure time and/or illumination than the first exposure. Controller(s) recognize a pose of the tracker based on the first exposure images and recognize a geometry of the surgical tool based on the second exposure images. The controller(s) correlate the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool and calibrate the surgical tool based on the defined relationship.

System and method for image based registration and calibration

Systems and methods to track objects within an operating room with a navigation system that includes an optical sensor including sensing elements and a controller in communication with the optical sensor. The controller controls the optical sensor to process a first quantity of the sensing elements to view a first region of interest. The object is tracked within the first region of interest with the optical sensor. The controller obtains data related to the object within the operating room. The data may include a type of the object and/or prior pose data of the object being tracked. Based on the data, the controller controls the optical sensor to process a second quantity of the sensing elements, different from the first quantity, to view a second region of interest different from the first region of interest. The object is tracked within the second region of interest with the optical sensor.

A method, a controller, and a surgical hybrid navigation system for transferring a registration of three dimensional image data of a surgical object from a first to a second surgical navigation system are described. A first tracker that is detectable by a first detector of the first surgical navigation system is arranged in a fixed spatial relationship with the surgical object and a second tracker that is detectable by a second detector of the second surgical navigation system is arranged in a fixed spatial relationship with the surgical object. The method includes registering the three dimensional image data of the surgical object in a first coordinate system of the first surgical navigation system and determining a first position and orientation of the first tracker in the first coordinate system and a second position and orientation of the second tracker in a second coordinate system of the second surgical navigation system.

Technique for transferring a registration of image data of a surgical object from one surgical navigation system to another surgical navigation system

Systems and methods track objects within an operating room. A machine vision system includes a camera and a controller. A navigation system includes a camera unit including a sensor array. The sensor array includes a plurality of sensing elements. The controller system identifies a first subset of the plurality of sensing elements to be active based on the position of the object. The controller is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.

Navigation systems and methods for tracking physical objects near a target site during a surgical procedure are provided, the navigation system comprises a robotic device and an instrument attached to the robotic device; a process of optical registration and calibration can improve operation results by increasing accuracy and speed and eliminate the need for additional reference trackers, such as a pointer.

Systems and methods track objects within an operating room. A machine vision system includes at least one camera and a machine vision controller. A navigation system includes a camera unit including a plurality of sensor arrays. The sensor arrays include a plurality of sensing elements. For each of the plurality of sensor arrays, the navigation system identifies a first subset of the plurality of sensing elements to be active based on the position of the object and a second subset of the plurality of sensing elements to be inactive based on the position of the object. The navigation processor is also configured to track a movement of the object within the operating room using the first subset of the plurality of sensing elements while preventing the use of the second subset of the plurality of sensing elements.

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Freiburg, Germany

David Hofmann