Stryker Corporation

Mako Surgical Corporation

Paul M Hoekstra

Donald W Malackowski

Jochen Breisacher

Jonathan Mark Morgan

David Hofmann

Emeric Umbdenstock

Michael Dale Dozeman

Chunwu Wu

Douglas Alan Staunton

Michael R Wildgen

Matt Shinew

Robert A Brindley

Don Malackowski

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

Disclosed is a navigation system configured to track an object. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. The tracker and the localization device are configured to wirelessly communicate using a first communication method operable on a first spectrum and to wirelessly communicate using a second communication method operable on a second spectrum different from the first spectrum. The localization device utilizes the first communication method to track the tracker and utilizes the first communication method to manage an operating parameter of the tracker with respect to the second communication method.

High bandwidth and low latency hybrid communication techniques for a navigation system

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.

A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.

Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site

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.

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.

Systems and methods for operating a robotic surgical system are provided. The system comprises a surgical tool for interacting with a surgical target, a manipulator comprising a plurality of links and supporting the tool, a navigation system comprising a manipulator tracker coupled to the manipulator and a patient tracker coupled to the surgical target and a localizer for monitoring states of the trackers. A controller determines commanded states for moving the tool relative to the surgical target using data (filtered according to a first filter length) from the manipulator and/or navigation system. The controller determines actual states of the tool while commanding the tool relative to the surgical target using data (filtered according to a second filter length being shorter than the first filter length) from the manipulator and/or navigation system. The controller compares the commanded and actual states and modifies tool operation based on an outcome of the comparison.

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.

A powered surgical tool system capable of providing energization signals to plural powered surgical handpieces. The system includes a console to which at least one footswitch is attached. The footswitch can be mapped to control any one of the handpieces connected to the console. The console includes a display on which representations of the footswitch and handpieces connected to the console are presented. The representations of the handpieces are in different colors. When the footswitch is mapped to a specific handpiece, the representation of the footswitch is presented in the same color as the representation of the handpiece to which the footswitch is mapped. When plural footswitches are attached to the console, the representation of each footswitch is presented in a color corresponding to the color of the representation of the handpiece to which the footswitch is mapped.

Surgical tool assembly including a console, plural surgical tools and a footswitch, wherein the console is able to custom map the footswitch to each surgical tool

High bandwidth, low latency hybrid communication techniques are disclosed for a navigation system. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. In one embodiment, the localization device is configured to utilize communication on a first spectrum to track the tracker and to manage an operating parameter of the tracker with respect to communication on a second spectrum. In another embodiment, the localization device is configured to utilize communication with a first modulation method to track the tracker and to manage an operating parameter of the tracker and to utilize communication with a second modulation method for receiving sensor data from the tracker.

A console for providing power to a surgical tool. Internal to the console is a power supply that supplies power, a processor that regulates the application of the power and a memory reader that reads data from a memory integral with the tool. The power is sourced over terminals also part of the console. The tool memory data are used to regulate the characteristics of the sourced power. An isolation circuit also internal to the console extends between the terminals over and the memory reader. The isolation circuit allows the memory reader to send read requests to the tool memory and receive data signals from the tool memory over the terminals while protecting the memory reader from the power signals sourced by the power supply.

Power console for a surgical tool capable of receiving memory data over which power signals are sourced to the tool

A surgical tool system with a powered tool that includes a memory in which data describing the characteristics of the power signals that are to be sourced to the toll are stored. A control console based on the data in the tool memory sources the power signal to the tool. Both the data signals written out from the tool memory and the power signals from the console are exchanged over common console terminals and common tool terminals. An isolation circuit in the tool prevents the applied power signals from the console from adversely effecting the tool memory.

Powered surgical tool with an isolation circuit connected between the tool power terminals and the memory internal to the tool

A marker for use with a surgical navigation system for tracking the tissue with which the marker is associated. The overall dimensions of the mark is such that it is shaped to be disposed below the skin of the patient in which the marker is implanted. The marker has a stem or a spike that allows the marker to be implanted in hard tissue such as bone. A head, containing navigation system components is located above the stem or spike. Once the procedure is completed the marker is removed from the patient by breaking the head free from the stem Alternatively the head may be rotated to cause the whole of the marker to break free from the bone in which the marker is implanted.

Surgical tracker and implantable marker for use as part of a surgical navigation system

A surgical tool system including plural powered surgical handpieces. The handpieces are removably connected to a single control console. The control console has a power supply. A controller internal to the control console simultaneously supplies power to the plural handpieces. In the event the handpieces collectively draw more power than the power supply can provide, the control console temporarily stops the application of power to one of the handpieces.

Control console to which powered surgical handpieces are connected, the console configured to simultaneously energize more than one and less than all of the handpieces

Growing community of inventors

Oshtemo Township, MI, United States of America

Paul M Hoekstra