Systems and methods for navigating instruments

Abstract

An instrument assembly useful in a procedure is disclosed. The instrument includes a connector for a working portion and connected to a tool handle (106). A tracking device (56) or assembly may be associated with the instrument to determine the position of the instrument.

Description

Technical Field

[0001] A system for tracking an instrument, and more particularly, a system and method for tracking an instrument during a procedure using a rotational tool. Background Art

[0002] This section provides background information related to the present disclosure which is not necessarily prior art.

[0003] The surgical instrument may be used during a procedure, such as within a selected area of ​​the subject's anatomy. During the procedure, the surgical instrument may be out of the user's field of view, such as beneath the subject's tissue. Thus, the user may be required to remove the instrument to observe the exact position of the instrument or the condition of the surgical site. Thus, the procedure may require intermittent application of selected surgical instruments, such as burrs. Summary of the invention

[0004] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

[0005] The driver can power an instrument such as a burr or other cutting or driven instrument during a selected procedure. The instrument can be removably connected to the driver, such as a power tool handle. The power tool handle can include a motor and a portion that can be grasped by a user (e.g., a surgeon).

[0006] When using an instrument during a procedure, a user may wish or choose to navigate the instrument. When navigating the instrument, a tracked position of at least a portion of the instrument is determined. When tracking the instrument, the navigation system can determine and illustrate the position of the instrument relative to the image of the subject or patient over a selected period of time.

[0007] The tracking device may include selected parts interconnected with the instrument or formed with the instrument. The instrument may include a working end, an elongated shaft, and a hub or connecting portion connected to the tool handle. The hub portion may include various parts, such as the tracking device.

[0008] Further areas of applicability will become apparent from the description provided herein.The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0010] Figure 1 is an environmental view of an operating room with a tracking system;

[0011] Figure 2are perspective views of tools and apparatus according to various embodiments;

[0012] Figure 3 is a detailed view of an apparatus having a tracking device according to various embodiments;

[0013] FIG. 4A to FIG. 4C are different plan views of an instrument hub and a connector rotating about a long axis of the hub according to various embodiments; and

[0014] Figure 4D is a detailed view of the hub.

[0015] Corresponding reference characters indicate corresponding parts throughout the several views of the drawings. DETAILED DESCRIPTION

[0016] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0017] Initial reference Figure 1 , during a procedure, the navigation system 10 can be used by the user 12 to perform a selected procedure. The navigation system 10 can include various components to assist in navigating a procedure that includes a selected tracking system. The tracking system can include various components or portions, such as various locators. The various locators can include an optical tracking system and / or an electromagnetic tracking system, the electromagnetic tracking system including a tracking coil array (TCA) locator 14. Although the optical tracking system can be combined with or used simultaneously with the TCA 14, it should be understood that only one tracking system can be used with the navigation system 10. Therefore, in various embodiments, both the optical locator 82 and the TCA 14 can be used together or simultaneously to track one or more instruments, or only one. The instrument 16 can be tracked in a selected procedure, such as a navigated procedure using the navigation system 10.

[0018] The TCA 14 may include one or more conductive coils 18 positioned relative to a subject 20 on which a procedure is performed. In various embodiments, the procedure may be performed on or near a head 20h of the subject 20. As discussed in further detail herein, a subject tracking device or assembly 30 may be connected to the subject 20, such as to the head 20h of the subject 20. The tracking assembly 30 may also be referred to as a dynamic reference frame (DRF) or a patient tracker.

[0019] Continue to refer Figure 1, the navigation system 10 may include various features or elements as described below. In general, the navigation system 10 may be used to determine or track the position of an instrument 16 in a volume. The position may include both the three-dimensional X, Y, Z position and orientation. The orientation may include one or more degrees of freedom, such as three degrees of freedom. Therefore, a total of at least six degrees of freedom may be determined for the position of the instrument 16.

[0020] Tracking the position of the instrument 16 can help the user 12 determine the position of the instrument 16 even if the user 12 cannot directly see the instrument 16. Various procedures may block the view of the user 12, such as performing repairs or assembling inanimate systems (e.g., robotic systems, assembling parts of an aircraft fuselage or automobile), etc. Various other procedures may include surgical procedures, such as spinal procedures, neurological procedures, positioning deep brain simulation probes, or other surgical procedures performed on living subjects. In various embodiments, for example, the living subject can be a human subject 20, and the procedure can be performed on the human subject 20. However, it should be understood that for any appropriate procedure, the instrument 16 can be tracked and / or navigated relative to any subject. Tracking or navigating an instrument for a procedure (e.g., a surgical procedure) on a human or living object is merely exemplary.

[0021] Nonetheless, in various embodiments, as further discussed herein, the surgical navigation system 10 may incorporate various components or systems, such as those disclosed in U.S. Pat. Nos. RE44,385, 7,697,972, 8,644,907, and 8,842,893, and U.S. Patent Application Publication No. 2004 / 0199072, all of which are incorporated herein by reference. Various components that may be used with or as part of the surgical navigation system 10 may include an imaging system 34 operable to image the object 20, such as Imaging systems, magnetic resonance imaging (MRI) systems, computed tomography systems, etc. Subject support 36 may be used to support or hold subject 20 during imaging and / or during a procedure. The same or different supports may be used for different parts of a procedure.

[0022] Image data may be acquired during the surgical procedure or prior to the surgical procedure to display an image 38 on a display device 39. The instrument 16 may be tracked in a trackable volume or navigation volume generated by a transmitter antenna or transmit coil array 18 incorporated into the localizer 14, such as a Figure 1The position of the instrument 16 can be tracked relative to the object 20 in the tracking volume and then depicted as the icon 16i using the display device 39. In various embodiments, the icon 16i can be superimposed on and / or adjacent to the image 38. As discussed herein, the navigation system 10 can incorporate the display device 39 and operate to reproduce and display the image 38 based on the image data. Moreover, the determined position of the instrument 16 can be implemented and displayed by the display device 39, such as the icon 16i.

[0023] refer to Figure 1 , the locator 14 can be an electromagnetic (EM) locator that is operable to generate an electromagnetic field using coils 18 of a transmitting coil array (TCA) 14 incorporated into the locator 14. The TCA 14 may include one or more coil groups or arrays. In various embodiments, more than one group is included, and each group may include three coils, also referred to as a tri-coil or tri-coil group. The coils may be powered by driving current through the coils of the coil grouping to generate or form an electromagnetic field. When current is driven through the coils, the generated electromagnetic field will extend away from the coils 18 and form a navigation domain or volume 50, such as covering all or a portion of the head 20h, spinal vertebrae, or other appropriate portion. The coils 18 may be powered by a TCA controller and / or a power supply 52.

[0024] The navigation domain or volume 50 generally defines a navigation space or patient space. As is generally understood in the art, an instrument 16, such as a drill, a guide wire, etc., can be tracked in the navigation domain relative to the patient or object using an instrument tracking device 56. For example, the instrument 16 can be freely moved, such as by the user 12, relative to the DRF 30, and the DRF 30 is fixed relative to the object 20. Both the tracking device 30, the tracking device 56 can include a tracking or sensing coil (e.g., a conductive material formed or placed in a coil) that senses and is used to measure magnetic field strength, etc. Since the tracking device 56 is connected or associated with the instrument 16, relative to the DRF 30, the navigation system 10 can be used to determine the position of the instrument 16 relative to the DRF 30.

[0025] The navigation volume or patient space may be registered to the patient's image space, and an icon 16i representing the instrument 16 may be depicted at the navigation (e.g., determined) and tracking position using the display device 39, such as superimposed on the image 38. Registration of the patient space to the image space and determining the position of the tracking device relative to the DRF (e.g., DRF 30) (e.g., using the tracking device 56) may be performed as generally known in the art, including as disclosed in U.S. Pat. Nos. RE44,385, 7,697,972, 8,644,907, and 8,842,893 and U.S. Patent Application Publication No. 2004 / 0199072, all of which are incorporated herein by reference.

[0026] The navigation system 10 may further include a navigation processor system 66. The navigation processor system 66 may include the display device 39, the locator 14, the TCA controller 52, and other parts and / or connections thereto. For example, a wired connection may be provided between the TCA controller 52 and the navigation processing unit 70. In addition, the navigation processor system 66 may have one or more user control inputs, such as a keyboard 69, and / or have additional inputs, such as from one or more memory systems 72 that are integrated or communicated via a communication system. According to various embodiments, the navigation processor system 66 may include those systems disclosed in U.S. Pat. Nos. RE44,385, 7,697,972, 8,644,907, and 8,842,893 and U.S. Patent Application Publication No. 2004 / 0199072, all of which are incorporated herein by reference, and / or may also include commercially available systems sold by Medtronic Navigation, Inc. or Fusion TM Surgical Navigation Systems, a Medtronic Navigation Company, has its place of business in Louisville, Colorado.

[0027] Tracking information, including information about magnetic fields sensed using the tracking device 30, tracking device 56, can be communicated to a navigation processor system 66 including a navigation processor 70 via a communication system (e.g., a TCA controller 52, which can also be a tracking device controller 52). Thus, the tracked position of the instrument 16 can be depicted as an icon 16i relative to the image 38. Various other memory and processing systems can also be provided with and / or in communication with the processor system 66, including a memory system 72 that communicates with the navigation processor 70 and / or the imaging processing unit 76. The image processing unit 76 can be incorporated into the imaging system 34, for example as discussed above. Imaging system. Thus, the imaging system 34 may include various parts that are movable within the gantry 78, such as a source and an x-ray detector. The imaging system 34 may also be tracked by a tracking device 80. However, it should be understood that the imaging system 34 need not be present when tracking a tracking device including an instrument tracking device 56. Moreover, the imaging system 34 may be any suitable imaging system including MRI, CT, etc. In various embodiments, the positioner may also include an optical camera system 82. The optical camera system 82 may be used in conjunction with the positioner 14, or in place of the positioner 14 for tracking the instrument 16.

[0028] Information from all tracking devices may be communicated to the navigation processor 70 to determine the position of the tracked parts relative to each other and / or to locate the position of the instrument 16 relative to the image 38. The imaging system 34 may be used to acquire image data to generate or produce the image 38 of the object 20. However, it should be understood that other suitable imaging systems may also be used. The TCA controller 52 may be used to operate and power the TCA 14, as described above.

[0029] Continue to refer Figure 1 And also refer to Figures 2 to 4D , the instrument 16 may include various portions, such as a distal or working end 100. The working end 100 may be formed as a selected instrument working end or portion, such as a burr, grinder, cutter, or cutting tool that is rotated within a handle or tool handle 106 by a motor 104. The tool handle 106 can be held by a single hand of the user 12 and operated by the user 12. In various embodiments, a foot switch is provided to turn the power of the motor 104 on and off while the user is holding the handle 106. The instrument 16 may further include an elongated tube or shaft 110. The elongated tube 110 may include an inner portion and / or an outer portion, such as a burr, grinder, cutter, or cutting tool that is rotated within a handle or tool handle 106 by a motor 104. The tool handle 106 may be held by a single hand of the user 12 and operated by the user 12. In various embodiments, a foot switch is provided to turn the power of the motor 104 on and off while the user is holding the handle 106. The instrument 16 may further include an elongated tube or shaft 110. The elongated tube 110 may include an inner portion and / or an outer portion, such as a burr, grinder, cutter, or cutting tool that is rotated within a handle or tool handle 106 by a motor 104. The tool is sold with the M5 power handle by Medtronic, Inc., a business having a place of business in Minneapolis, Minnesota. In various embodiments, shaft 110 can be included as an elongated tube or tubular shaft.

[0030] The instrument 16 (including the elongated tube 110) may include an outer wall having an inner cannula through which the working end 100 is powered (e.g., by the elongated shaft 101) to drive the working end 100. As discussed further herein, the shaft 101 driving the working end 100 may be connected to the motor 104 through the hub 120. The hub 120 may engage a collet 124 to hold or secure the instrument 16 relative to the handle 106.

[0031] In various embodiments, irrigation can be provided through the instrument 16, such as by or through the irrigation barbs 226. It should be appreciated that the irrigation barbs 226 can be connected to an irrigation hose or irrigation tubing to provide irrigation through the instrument 16. Additionally, aspiration or drainage can be performed through the instrument 16 and handle 106 (e.g., through an aspiration tube 130). The aspiration tube 130 and electrical connections 132 can be connected to a console or controller that can be integrated with the TCA controller 52. It should be appreciated that the console or controller can be similar to the consoles sold by Medtronic, Inc. Power and Control Console or System. However, when operated by the user 12, the instrument 16 can be moved and powered by the handle 106.

[0032] In various embodiments, the tracking device 56 may be incorporated into or onto the hub 120. Figures 3 to 4C , the tracking device 56 can be coupled to the hub 120 of the instrument 16. Figure 3 As shown, the hub 120 of the instrument 16 can be connected to the shaft 110 through which the shaft 101 or working end 100 of the drill bit passes. The shaft 101 extends through the hub 120 and can terminate and / or engage a tongue 140. The tongue 140 can terminate and / or have a terminal 142. The terminal 142 can have a keyed portion or an engagement portion, such as an engagement wall 144, to engage an internal element in the handle 106. For example, the shaft extending from the motor 104 can engage the engagement wall 144 of the tongue 140. The interference between the shaft extending from the motor 104 and the engagement wall 144 can allow force to be transmitted from the motor 104 to the tongue 140. When the tongue 140 is connected to the drill bit shaft 101, the working end 100 can then rotate due to the force transmitted through the tongue 140. The shaft 101 passing through the hub 120 can allow the hub 120 to be positioned or moved relative to the handle 106 and carry various components, such as the tracking device 56.

[0033] Typically, the drill shaft 101, working end 100, tongue 140 and hub 120 assembly is provided as a single assembly, such as from a supplier. Thus, the user 12 can connect the instrument 16 to the handle 106, including the motor 104, as a single action or assembly. In addition, the instrument can be a single-use instrument or a disposable instrument. This allows the instrument to be used in conjunction with the handle 106 for a procedure, including tracking the instrument 16 while allowing easy assembly and effective aseptic preparation and disposal.

[0034] Hub 120 in Figure 4A , 4B 4C and are illustrated in more detail and discussed below. Figure 4D A detailed view of the hub 120 is depicted. First, the working end 100 and the associated shaft 101 can be formed of a selected material, such as a metal or metal alloy. In various embodiments, the shaft 110 of the instrument 16 can also be formed of a selected metal or metal alloy material. The hub 120 can be formed as a single component with the shaft 110 or separately from the shaft 110. For example, the hub 120 can be formed of a selected polymer material that can be overmolded or injection molded onto the shaft 110. However, it should be understood that the hub 120 can be formed separately from the shaft 110 and connected during the assembly process of the instrument 16. In addition, it should be understood that the hub 120 can be formed of a selected suitable material, such as a polymer, a copolymer, a metal alloy, a selected bearing material, a combination thereof, etc.

[0035] The hub 120 generally extends from a proximal end 150 to a distal end 152. The proximal end 150 and the distal end 152 may further be terminal ends of the hub 120. Figure 3 As illustrated and further discussed herein, at least a portion of the distal portion, such as a portion extending from the distal end 152 toward the proximal end 150, can be a covering or encapsulation 154. The encapsulation portion or encapsulation component 154 can include a wrap or shrink wrap formed over a selected portion of the hub 120, as further discussed herein. It should also be understood that the covering 154 can be a rigid component that is transferred to the hub 120, such as over the shaft 110. The tracking device 56 can have an outer dimension (e.g., a cross-sectional diameter) 56a that is less than or equal to an outer dimension 106a of a portion of a handle that is proximate or adjacent to the hub 120 and / or an outer dimension 106a' of a chuck or instrument attachment, even when covered. Thus, the hub 120 including the tracking device 56 can allow for an open field of view and efficient operation of the instrument 16 and the handle 106.

[0036] For example, located and / or fixed to the hub 120 may be a plurality of tracking elements or components that form the tracking device 56. The tracking elements may include a first tracking coil assembly 160, a second tracking coil assembly 162, and a third tracking component 164. Each of the tracking components 160, 162, 164 may be combined with or form a portion of the tracking device 56. For example, each of the component portions 160, 162, 164 may include a coil, such as a microcoil 166, 168, 170, respectively. The coils 166 to 170 may be formed around an inner core or a magnetically conductive core and positioned relative to a contact member or support. The coils 166 to 170 may be formed of a selected wire or connecting material of a selected diameter. For example, the coil is formed by winding around an air core or a selected core and at a selected end. Each of the coils 166 to 170 may be placed or connected to a board (e.g., a printed circuit board 174, 176, 178, respectively). The ends of the coils 166 - 170 may be mounted or secured to selected conductive portions of the respective plates 174 - 178 .

[0037] refer to Figure 4D , the coil assembly 162 is depicted in more detail. The hub 120 may include various mounting or assembly parts. For example, a well or holding area 167 may be defined by a wall. An end wall 169a, a proximal wall 169b and one or more side walls 169c, 169d may extend from the surface of the hub 120. The wall 169 may form or define a well to receive or hold the coil assembly 162 in a selected position, including a position and orientation relative to the hub 120. The well may help manufacture so that the coil assembly 162 is positioned in a selected and appropriate position of each hub 120. In addition, each of the coil assemblies may be placed in a similar well.

[0038] The coil 168 may include an end of a coiled wire mounted to a board 176 (e.g., mounted to a pad). The circuit board 176 may include traces to additional pads 173, 175. The pads 173, 175 on the board 176 allow for connection of the connector 188, such as an effective and repeatable connection. In addition, it will be appreciated by those skilled in the art that each coil assembly may include a similar assembly.

[0039] The coil and plate assembly can then be secured to the hub 120 in a selected manner. For example, the coils can be epoxied or adhered to the respective plates 174 to 178, respectively. The epoxy assembly can be adhered or epoxied to the hub 120, for example into the well or recess 167. Typically, component portions 160, 162, 164 are generally of similar or identical size and generally rectangular shape, with the dimensions of the rectangular shape being approximately 2 millimeters (mm) to approximately 6 millimeters per side, wherein the measurements may include measurement and / or manufacturing tolerances of approximately 0.01 mm to approximately 2 mm. Exemplary dimensions may include approximately 5 mm by approximately 3 mm, approximately 3 mm by approximately 2 mm, approximately 3.05 mm by 3.81 mm, and approximately 2.54 mm by approximately 5.33 mm. Typically, the component portions may have a thickness of approximately 13 mm. 2 area, including less than about 20mm 2 , less than about 15mm 2 and less than about 8mm 2 .

[0040] In addition, the connector or communication line 184 can have selected twisted pair conductors for each board, such as a first conductor 186, a second conductor 188, and a third conductor 190. Each of the individual conductors 186 to 190 can also be fixed to the respective boards 174 to 178. It is understood that the terminals of the individual conductors 186 to 190 and the coils 166 to 170 can be welded or selectively fixed to the respective boards 174 to 178, as is generally understood in the art.

[0041] The wires may follow the common connector line 184 to a proximal connector 196. The connector 196 may include a physical connection 198 to a selected console or assembly, such as the TCA controller 52. As discussed herein, navigation or tracking information from the tracking device 56 may be transmitted along the common connector 184 to the connector 196 and the physical connection 198.

[0042] In the connector 196, in various embodiments, the physical connector 198 may include a selected memory and / or processor assembly 200. The memory and / or processor assembly 200 may include information about the instrument 16, wherein the hub 120 is fixed to the instrument 16. The information may include a geometric structure, such as a geometric position of the working end relative to the tracking device. For example, the information may include a distance 210 from the tracking device along an axis 214 of the instrument 16. Additionally and / or alternatively, the information may include an offset distance 212 from the axis 214 of the instrument 16 to a working end plane or position 216 of the working end 100.

[0043] Thus, the memory and / or processor assembly 200 can calibrate the predetermined or known position of the working end 100 relative to the tracking device 56 stored thereon. When the physical plug-in 198 has been attached to the TCA controller 52, the stored information can be transferred to the navigation system 10. When the information is transferred, such as when the information is sent to the navigation processor system 66 using a signal from the memory and / or processor assembly 200, the processor system 66 can access or determine the calibrated position of the working end 100 relative to the tracking device 56.

[0044] The hub 120 may further include other components, such as a securing portion or feature 220, to help retain the single wire 184 relative to the hub 120. The securing member 220 may be a selected adhesive, wrap, insulating wrap, etc. In addition, the hub 120 may include selected connection features, such as a keyed or non-cylindrical feature 222 that may include an interfering wall or facet. In addition, the hub 120 may include an irrigation line connection, such as a hose barb 226, to allow an irrigation line to be connected to the hub 120. In various embodiments, an irrigation line may be connected to the barb 226 to provide fluid delivery through the hub 120 and thereafter through the shaft 110 around the working end 100. As described above, due to the aspiration line 130, aspiration may also be provided through the second inner cannula.

[0045] To help track the instrument 16 or portions thereof, the tracking device 56 includes tracking components 160, 162, 164 selectively positioned on the hub 120. For example, each of the individual coils 166-170 can be positioned relative to each other about the axis 214 at about 100 to about 150 degrees, including about 120 degrees or exactly 120 degrees. It should be understood that the tracking components 160-164 can be selectively positioned for various purposes.

[0046] Each of the individual coils 166 to 170 can be positioned orthogonally relative to each other. The field generated by the TCA 14 can then be sensed by the coils 166 to 170, which are positioned on the hub 120. That is, the first coil 166 can sense a field having a major axis that is substantially perpendicular to the field sensed by the second coil 166 and the third coil 170. In order to sense the field in a selected direction, the individual coils 166 to 170 can be positioned in a selected manner on the individual plates 174 to 178, or each of them can be formed in connection and positioned in different directions on the hub 120. It should be understood by those skilled in the art that the coils 166 to 170 can also generate individual fields (e.g., orthogonal to each other) that are sensed by the TCA 14 for tracking the tracking device 56.

[0047] During use of the navigation system 10, for example, when the user 12 is moving the instrument 16 relative to the object 20, the tracking device 56 can sense the field generated by the TCA 14. As described above, the sensed field can be used to determine the position of the instrument 16, such as the position of the working end 100 relative to the object 20. In various embodiments, the DRF 30 can be used in conjunction with the tracking device 56 to determine the relative position of the instrument 16 relative to the object 20. Therefore, as described above, the icon 16i can be drawn on the display device 39 to depict the position of the instrument 16 relative to the object 20.

[0048] When the tracking components 160-164 are positioned at various locations on the hub 120, such as being oriented orthogonally to one another, selected degrees of freedom regarding the position of the tracking device 56 can be determined. For example, six degrees of freedom can be determined, including three dimensions (e.g., x, y, z position) and orientation (e.g., three degrees of freedom). However, it should be understood that the tracking device 56 can use fewer than three tracking components. Thus, when the motor 104 powers the shaft 101 of the instrument 16 (e.g., rotates), the position of the working end 100 can be determined and depicted as icon 16i. Tracking of the tracking device 56 occurs during operation of the instrument 16 (e.g., rotation and resection) and during movement of the instrument 16 (e.g., toward and away from a surface).

[0049] In addition, the size or position of the working end 100 relative to the tracking device 56 can be recalibrated or determined during the procedure. For example, the user 12 can position the working end 100 at a selected or known position relative to the DRF 30. The navigation system 10 can then calibrate or determine the position of the working end 100 relative to the tracking device 56 by determining or tracking the DRF 30 and the tracking device 56. Then, if not already connected, the instrument 16 can be connected to the handle 106, and navigation can be performed without a predetermined calibration or a predetermined known position of the working end 100 relative to the tracking device 56.

[0050] Example embodiments are provided so that the present disclosure will be thorough and will fully convey its scope to those skilled in the art. Many specific details are set forth, such as examples of specific components, devices, and methods, to provide a thorough understanding of the embodiments of the present disclosure. Those skilled in the art will appreciate that specific details need not be employed, that example embodiments may be implemented in many different forms, and should not be construed to limit the scope of the present disclosure. In some example embodiments, well-known methods, well-known device structures, and well-known technologies are not described in detail.

[0051] The foregoing description of the embodiments is provided for the purpose of illustration and description. It is not intended to be exhaustive or to limit the present disclosure. The individual elements or features of a specific embodiment are generally not limited to the specific embodiment, but are interchangeable when applicable and can be used in the selected embodiment (even if not specifically shown or described). The individual elements or features of a specific embodiment can also change in many ways. Such changes should not be considered as departing from the present disclosure, and all such modifications are intended to be included in the scope of the present disclosure.

Claims

1. A system for determining the position of a working end of a driven instrument, the system comprising: an elongated tubular member having a cannula therein; a hub connected to the elongated tubular member; as well as a tracking device connected to the hub, the tracking device comprising at least one tracking component; a tool motor handle, the hub being configured to be coupled to the tool motor handle, the tool motor handle having a tool motor driving a shaft, the shaft being positioned and extending through the cannula, and the tracking device having an outer transverse dimension that is at least less than a transverse distal dimension of the tool motor handle; as well as the working end attached to the shaft and extending from the elongated tubular member for rotation by the shaft; Wherein the hub defines at least one well formed into the hub, the at least one well accommodating the at least one tracking component within the at least one well.

2. The system of claim 1, wherein the shaft extends through the hub and the tracking device is fixed relative to the rotational axis.

3. The system of claim 1, further comprising: the tool motor handle; Wherein the elongated tubular member, the hub, the tracking device, the shaft and the working end are configured as an assembly and attached to the tool motor handle as a single unit.

4. The system of claim 1 , wherein the hub comprises a plurality of walls extending from an outer surface to form the at least one well; Wherein the at least one tracking component is retained within the well.

5. The system of claim 1 , wherein the tracking component comprises a coil of conductive material formed around a core and a printed circuit board; wherein the conductive material is connected to the printed circuit board.

6. The system of claim 1, wherein the working end comprises a burr, a rotary cutter, a grinder, or a combination thereof.

7. The system of claim 1, further comprising: a connector electrically connected to the tracking device; Wherein the connector includes a memory having calibration information about the driven instrument.

8. The system of claim 1, wherein the at least one tracking component comprises a plurality of the at least one tracking component.

9. A system for determining the position of a working end of a driven instrument, the system comprising: An apparatus assembly comprising: an elongated tubular member having a cannula therein; a working tool having a rotation shaft extending through the cannula and a working end attached to the rotation shaft, wherein the working end extends from the elongated tubular member and is configured to be rotated by the rotation shaft; a hub fixedly connected to the elongated tubular member, wherein the rotational shaft extends through the fixed hub; as well as a tracking device connected to the fixed hub, wherein the tracking device includes at least one tracking component, the at least one tracking component having a size less than 20 square millimeters; as well as a tracking system configured to track the position of the tracking device; a tool motor, the fixed hub being configured to be connected to the tool motor to rotate the rotation shaft; Wherein the hub has an outer surface defining a well formed within the outer surface, the well receiving the at least one tracking component.

10. The system of claim 9, further comprising: The tool motor comprises a handle and a motor; Wherein the working tool is rotated by the motor while the tracking system tracks the tracking device fixed to the hub.

11. The system of claim 10, wherein the hub and the tracking device have outer lateral dimensions that are smaller than lateral dimensions of the handle adjacent the fixed hub.

12. The system of claim 9, wherein the fixed hub includes a wall having the outer surface and the tracking device is adhered to the outer surface of the hub.

13. The system of claim 12, wherein the fixed hub comprises a plurality of walls extending from the outer surface forming a well; Wherein the tracking device is adhered to the outer surface of the hub within the well defined by the plurality of well-forming walls.

14. A system for tracking an instrument, comprising: a hub extending along the axis; a tubular member connected to the hub; a rotating instrument shaft extending through the tubular member and the hub; a tracking member secured to an outer surface of the wall of the hub; a power tool handle, the hub being configured to be secured to the power tool handle and fixed relative to the rotary instrument shaft; Wherein the hub has an outer surface defining a well formed within the outer surface, the well receiving the tracking component.

15. The system of claim 14, wherein the tracking component is configured to track a position of a working end coupled to the instrument shaft while the instrument shaft is rotating.

16. The system of claim 15, wherein the tracking member is secured to the hub and defines an outer transverse dimension that is less than an outer transverse dimension of the power tool handle.

17. The system of claim 14, further comprising: The power tool handle, wherein the power tool handle includes a motor configured to selectively rotate the tool shaft.

18. The system of claim 17, wherein the power tool handle is manipulable by a single hand of a user to perform a procedure.

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