System and method for wireless positioning

Abstract

A wireless positioning system includes an exciter coil, a sensor coil, a surgical tool including a head defining a longitudinal axis, and a first wireless tag coupled to the head at a first location along the longitudinal axis. The first wireless tag is configured to generate a first signal in response to a magnetic field generated by the exciter coil. The wireless positioning system further includes a second wireless tag coupled to the head at a second location along the longitudinal axis, the second location being spaced apart from the first location. The second wireless tag is configured to generate a second signal in response to the magnetic field generated by the exciter coil. The wireless positioning system further includes a processor that determines a position of the head based on the first signal and the second signal detected by the sensor coil.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 63 / 392,177 filed on July 26, 2022 and U.S. Provisional Patent Application No. 63 / 424,977 filed on November 14, 2022, and is incorporated herein by reference in its entirety for all purposes. Technical Field

[0003] The present disclosure relates to systems, devices, assemblies and methods for wireless positioning in surgery and medical procedures. The systems, devices, assemblies and methods can be used in various applications, including integration with surgical tools. Background Art

[0004] For many medical procedures, a common and serious challenge is the accurate positioning of the treatment area. For example, the positioning of lesions (such as tumors) to be treated (including surgical resection) continues to challenge the medical community. Existing systems are expensive, complex, time-consuming, and often uncomfortable for the patient.

[0005] Traditional surgical treatment of pulmonary nodules illustrates these issues. In some cases, when a pulmonary nodule is difficult to locate with traditional open surgery or thoracoscopy, a hook wire, injection, or visible dye or radionuclide is placed in or around the nodule in an attempt to improve localization before removal. This procedure is usually performed in a computed tomography (CT) room before the nodule is removed. The patient is then transported to the operating room, and the surgeon follows the wire, uses a radionuclide detector, or uses visual landmarks to locate and remove the nodule.

[0006] A similar type of procedure is done to locate a lung nodule prior to resection. In some cases where a lung nodule is difficult to locate with traditional open surgery or thoracoscopy, a hooked guide wire, an injected visible dye, or a radionuclide is placed in or around the nodule in an attempt to improve localization prior to removal. This procedure is often done in a CT room prior to removal of the nodule. The patient is then transported to the operating room, and the surgeon follows the guide wire, uses a radionuclide detector, or uses visual landmarks to locate and remove the nodule.

[0007] Additionally, tools used during medical procedures can be difficult to locate. For example, the location of a handheld tool utilized by a surgeon (e.g., a surgical stapler) may be unknown rather than intuitively known by the surgeon. Any wired positioning sensor increases the number of guidewires, tubes, etc., extending from the handheld tool - thereby reducing the maneuverability of the tool.

[0008] There is a need for improved systems and methods for organizing and positioning tools for medical procedures in a variety of settings. Summary of the invention

[0009] In one aspect, the present disclosure provides a wireless positioning system, the wireless positioning system comprising an exciter coil, a sensor coil, a surgical tool and a first wireless tag, the surgical tool comprising a head defining a longitudinal axis, the first wireless tag being coupled to the head at a first position along the longitudinal axis. The first wireless tag is configured to generate a first signal in response to a magnetic field generated by the exciter coil. The wireless positioning system further comprises a second wireless tag coupled to the head at a second position along the longitudinal axis. The second position is spaced apart from the first position. The second wireless tag is configured to generate a second signal in response to the magnetic field generated by the exciter coil. The wireless positioning system further comprises a processor, the processor determining a position of the head based on the first signal and the second signal detected by the sensor coil.

[0010] In some embodiments, the system further includes a third wireless tag configured to generate a third signal in response to the magnetic field generated by the exciter coil. The processor determines the position of the head relative to the third wireless tag based on the first signal, the second signal, and the third signal detected by the sensor coil.

[0011] In some embodiments, the processor determines an orientation of the head.

[0012] In some embodiments, the first wireless tag defines a first volume no greater than 60 mm 3 , and the second wireless tag defines a second volume not greater than 60 mm 3 .

[0013] In some embodiments, the first wireless tag includes a ferrite rod, a coil wrapped around the ferrite rod, and an integrated circuit chip in electrical communication with the coil.

[0014] In some embodiments, the first wireless tag comprises a housing, and wherein the rod, coil, and integrated circuit chip are located within the housing.

[0015] In some embodiments, the system further includes a high magnetic permeability backing positioned within the housing.

[0016] In some embodiments, the first wireless tag includes an adhesive layer, and the first wireless tag is fixed to the head through the adhesive layer.

[0017] In some embodiments, the first wireless tag includes a first coil and a second coil, wherein the first coil is spaced apart from the second coil along the longitudinal axis.

[0018] In some embodiments, the magnetic field generated by the actuator coil is in the range of 1 μT to 50 μT at a frequency in the range of 125 kHz to 150 kHz.

[0019] In some embodiments, the first wireless tag has an inductance value at a frequency in the range of 0.5 mH to 20 mH.

[0020] In some embodiments, the antenna has a quality factor in the range of 5 to 20, wherein the quality factor is defined as the ratio of inductive reactance to resistance at the frequency.

[0021] In some implementations, the system further includes a user display including a perspective view of a virtual head shown at the location of the head.

[0022] In some embodiments, the user display includes a top-down view, a side view, an endoscopic camera view, or any combination thereof.

[0023] In some embodiments, the user display includes a partially spherical housing that indicates a relative position of the head with respect to the third wireless tag.

[0024] In some implementations, the user display includes a shortest distance path extending between the virtual head and the partially spherical shell.

[0025] In some embodiments, the virtual head includes an indicator to indicate a location where the shortest distance path intersects the virtual head.

[0026] In one aspect, the present invention discloses an apparatus comprising a wireless probe having a first end and a second end opposite to the first end, and a handle removably coupled to the second end of the wireless probe. The wireless probe generates a signal in response to a magnetic field and performs positioning based on the signal.

[0027] In some embodiments, the device further comprises a flexible tether coupled to the wireless probe. The flexible tether is located within the handle when the handle is coupled to the second end of the wireless probe.

[0028] In some embodiments, the wireless probe includes a plurality of markings along the length of the wireless probe.

[0029] In some embodiments, the wireless probe includes an axis extending between the first end and the second end. When the handle is coupled to the second end of the wireless probe, the handle is aligned with the axis.

[0030] In some embodiments, the device is configured for manual operation with the handle coupled to the wireless probe, manual operation with the wireless probe grasped by a surgical tool, and robotic operation with the handle removed from the wireless probe.

[0031] In one aspect, the present disclosure provides a device comprising a wireless tag and a reel, the reel comprising a mounting portion. The reel is configured to be attached to a workspace via the mounting portion. The device further comprises a tether extending between the wireless tag and the reel.

[0032] In some embodiments, the mounting portion includes an adhesive.

[0033] In some embodiments, the apparatus further comprises a clamp configured to at least partially receive the wireless tag.

[0034] In some embodiments, the adhesive is located on a first side of the mounting portion and the clip is located on a second side of the mounting portion.

[0035] In some embodiments, the wireless tag includes a plurality of markings spaced apart along a length of the wireless tag.

[0036] In some embodiments, the plurality of markings are equally spaced along the length of the wireless tag.

[0037] In some embodiments, the wireless tag includes an aperture, and the tether extends through the aperture.

[0038] In one aspect, the present invention provides a wireless tag applicator for a tool. The wireless tag applicator includes: a mounting seat, the mounting seat including a groove configured to receive at least a portion of the tool; a sliding member, the sliding member can move along an application axis relative to the mounting seat; and a wireless tag, the wireless tag can move with the sliding member. The wireless tag includes an adhesive oriented toward the groove. The wireless tag is coupled to the tool in response to the sliding member moving along the application axis.

[0039] In some embodiments, the slide is a first slide and the wireless tag is a first wireless tag; and wherein the applicator further comprises a second slide movable along the application axis relative to the mount and a second wireless tag movable with the second slide.

[0040] In some embodiments, the second wireless tag is coupled to the tool in response to movement of the second slider along the application axis.

[0041] In some embodiments, the tool is a surgical stapler, and wherein the wireless tag is coupled to a side surface of the first jaw.

[0042] In some embodiments, the groove receives a portion of the second jaw of the surgical stapler.

[0043] In some embodiments, the slider includes a cavity that at least partially receives the wireless tag.

[0044] In some embodiments, the applicator further comprises a magnet positioned within the cavity, and wherein the wireless tag comprises a ferromagnetic rod.

[0045] In some embodiments, the cavity includes a recess, and the wireless tag includes a housing having a protrusion positioned within the recess.

[0046] In some embodiments, the applicator further comprises a removable backing coupled to the slider.The removable backing abuts the adhesive of the wireless tag.

[0047] In some embodiments, the removable backing includes a grippable portion, a first portion extending from the grippable portion along a first axis, a second portion extending along a second axis, and an arcuate portion between the first portion and the second portion.

[0048] In some embodiments, the second axis is spaced apart from and parallel to the first axis.

[0049] In some embodiments, the slider further comprises a spring lever portion, and wherein the spring lever portion deflects in response to the slider moving along the apply axis.

[0050] In some embodiments, the spring lever portion biases the slider away from the groove.

[0051] In some embodiments, the mount further includes a ramp portion, and the slider includes a cam portion configured to slide relative to the ramp portion in response to movement of the slider along the application axis.

[0052] In some embodiments, the wireless tag applicator generates audible feedback in response to movement of the slider along the application axis.

[0053] In one aspect, the present disclosure provides a method for aligning a virtual display viewing angle with a camera viewing angle. The method includes: orienting the camera toward an area of ​​interest, wherein a first wireless tag is located in the area of ​​interest; positioning a second wireless tag within the field of view of the camera; determining a vector between the first wireless tag and the second wireless tag; and orienting the virtual display viewing angle by the vector.

[0054] In some embodiments, the imaging device is part of an endoscope.

[0055] In some embodiments, the region of interest is the patient's chest.

[0056] In some embodiments, positioning the second wireless tag within the field of view of the camera device includes positioning the second wireless tag at a center of the field of view.

[0057] In some implementations, positioning the second wireless tag within the field of view of the camera device includes positioning the second wireless tag within a threshold distance from the camera device.

[0058] In some embodiments, positioning the second wireless tag within the field of view of the camera device does not require a specific orientation of the second wireless tag.

[0059] In some implementations, the vector is determined in response to receiving user input.

[0060] In some embodiments, determining the vector between the first wireless tag and the second wireless tag includes receiving a first signal from the first wireless tag in response to a magnetic field and receiving a second signal from the second wireless tag in response to the magnetic field.

[0061] Other aspects of the disclosure will become apparent by consideration of the detailed description and accompanying drawings.

[0062] definition

[0063] As used herein, the terms "processor" and "central processing unit" or "CPU" are used interchangeably and refer to a device capable of reading a program from a computer memory (e.g., a ROM or other computer memory) and executing a set of steps according to the program. In addition, as used herein, the term "processor" (e.g., a microprocessor, a microcontroller, a processing unit, or other suitable programmable device) may include a control unit, an arithmetic logic unit ("ALC"), and a plurality of registers, and may be implemented using known computer architectures (e.g., a modified Harvard architecture, a von Neumann architecture, etc.). In some embodiments, the processor is a microprocessor that can be configured to communicate in a standalone and / or distributed environment, and can be configured to communicate with other processors via wired or wireless communications, wherein such one or more processors may be configured to operate on a device controlled by one or more processors that may be similar or different devices.

[0064] As used herein, the term "memory" is any memory storage, and is a non-transitory computer-readable medium. The memory may include, for example, a program storage area and a data storage area. The program storage area and the data storage area may include a combination of different types of memory, such as ROM, RAM (e.g., DRAM, SDRAM, etc.), EEPROM, flash memory, hard disk, SD card or other suitable magnetic, optical, physical or electronic memory devices. The processor may be connected to the memory and execute software instructions, which can be stored in the RAM of the memory (e.g., during execution), the ROM of the memory (e.g., on a generally permanent basis), or another non-transitory computer-readable medium, such as another memory or disk. In some embodiments, the memory includes one or more processor-readable and accessible memory elements and / or components, which may be inside the device controlled by the processor, outside the device controlled by the processor, and may be accessed via a wired or wireless network. The software included in the implementation of the method disclosed herein may be stored in the memory. The software includes, for example, firmware, one or more applications, program data, filters, rules, one or more program modules and other executable instructions. In addition, for example, the processor may be configured to retrieve and execute instructions related to the processes and methods described herein from the memory.

[0065] As used herein, the term "computer-readable medium" refers to any device or system for storing and providing information (e.g., data and instructions) to a computer processor. Examples of computer-readable media include, but are not limited to, DVDs, CDs, hard drives, magnetic tapes, and servers for streaming media over local or remote (e.g., cloud-based) networks.

[0066] "About" and "approximately" are used to provide flexibility to a numerical range endpoint by providing that a given value can be "a little above" or "a little below" the endpoint without affecting the desired result.

[0067] As used herein, the term "coupled" is defined as "connected," although not necessarily directly and not necessarily mechanically. Unless specific language to the contrary is present, the term coupled is understood to mean physically, magnetically, chemically, fluidically, electrically or otherwise coupled, connected or linked, and does not exclude the presence of intermediate elements between coupled elements.

[0068] As used herein, the term "in electronic communication" refers to electrical devices (e.g., computers, processors, etc.) that are configured to communicate with each other through direct or indirect signaling. Likewise, a computer that is configured to transmit (e.g., via cable, wire, infrared signal, telephone line, radio waves, etc.) information to another computer or device is in electronic communication with that other computer or device.

[0069] As used herein, the term "transfer" refers to moving information (eg, data) from one location to another (eg, from one device to another) using any appropriate means.

[0070] As used herein, the term "network" generally refers to any suitable electronic network, including, but not limited to, a wide area network ("WAN") (e.g., a TCP / IP-based network), a local area network ("LAN"), a neighborhood area network ("NAN"), a home area network ("HAN"), or a personal area network ("PAN") that employs any of a variety of communication protocols (such as Wi-Fi, Bluetooth, ZigBee, etc.). In some embodiments, the network is a cellular network, such as, for example, a Global System for Mobile Communications ("GSM") network, a General Packet Radio Service ("GPRS") network, an Evolution-Data Optimized ("EV-DO") network, an Enhanced Data Rates for GSM Evolution ("EDGE") network, a 3GSM network, a 4GSM network, a 5G New Wireless, a Digital Enhanced Wireless Communication ("DECT") network, a Digital AMPS ("IS-136 / TDMA") network, or an Integrated Digital Enhanced Network ("iDEN") network, etc.

[0071] As used herein, the term "subject" or "patient" refers to any animal (e.g., mammal) that is to be the recipient of a particular treatment, including but not limited to humans, non-human primates, companion animals, livestock, equines, rodents, etc. In general, the terms "subject" and "patient" are used interchangeably herein when referring to a human subject.

[0072] As used herein, the term "subject / patient suspected of having cancer" refers to a subject who exhibits one or more symptoms indicating cancer (e.g., a palpable lump or mass) or is undergoing cancer screening (e.g., during a routine physical examination). A subject suspected of having cancer may also have one or more risk factors. Subjects suspected of having cancer are generally not tested for cancer. However, "subjects suspected of having cancer" include individuals who have received a preliminary diagnosis (e.g., a lump shown on a CT scan) but whose cancer stage is unknown. The term further includes people who have had cancer (e.g., individuals in remission).

[0073] As used herein, the term "biopsy" refers to a sample tissue (e.g., breast tissue) removed from a subject in order to determine whether the sample contains cancerous tissue. In some embodiments, a biopsy is obtained because the subject is suspected of having cancer. The biopsy is then examined (e.g., by microscopy; by molecular testing) to determine whether cancer is present.

[0074] As used herein, the term "sample" is used in its broadest sense. In a certain sense, it is meant to include specimens or cultures obtained from any source, as well as biological and environmental samples. Biological samples can be obtained from animals (including humans) and include fluids, solids, tissues and gases. Biological samples include tissues, blood products, such as plasma, serum, etc. However, this example should not be interpreted as limiting the sample types applicable to the present invention.

[0075] As used herein, the terms "tag", "identification tag", "wireless tag" or A small tag that, when excited by a time-varying magnetic field from an activator, emits a "homing beacon" spectrum that is received by "one or more sensor coils" or "one or more witness coils" and used to determine its location. It can be programmed to produce a unique spectrum, allowing multiple tags to be located simultaneously.

[0076] As used herein, the terms "comprise," "include," "having," "has," "may," "includes," and variations thereof are intended to be open transitional phrases, terms, or words that do not exclude the possibility of additional actions or structures. Unless the context clearly indicates otherwise, the singular forms "a / an," and "the" include the plural forms. Whether explicitly stated or not, the present disclosure also contemplates other embodiments that "comprise," "consist of," and "consist essentially of," the embodiments or elements provided herein.

[0077] For the recitation of numerical ranges herein, each intervening number with the same degree of precision therebetween is expressly contemplated. For example, for the range of 6-9, the numbers 7 and 8 are contemplated in addition to 6 and 9, and for the range of 6.0-7.0, the numbers 6.0, 6.1, 6.2, 6.3, 6.4, 6.5, 6.6, 6.7, 6.8, 6.9, and 7.0 are expressly contemplated.

[0078] In the foregoing description of the preferred embodiment, specific terms are used for the sake of clarity. However, it is not intended to limit the present invention to the specific terms so selected, and it should be understood that each specific term includes all technical equivalents that operate in a similar manner to achieve similar technical purposes. Terms such as "top" and "bottom", "front" and "rear", "interior" and "exterior", "above", "below", "upper", "lower", "vertical", "horizontal", "upright", etc., are for convenience and are used to provide reference points. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 is a perspective view of an antenna coupled to a portion of a surgical stapler.

[0080] Figure 2 is used for Figure 1 A graph of the model Q and inductance values ​​for different winding configurations of the antenna.

[0081] Figure 3 is a schematic diagram of a navigation display for positioning a wireless tag embedded in the body relative to a tracked probe.

[0082] Figures 4A-4C is a schematic diagram of a navigation display with a probe tracked relative to the position of a wireless tag embedded in the body.

[0083] Figure 5A is a schematic diagram of a navigation display with a surgical stapler wirelessly positioned relative to a wireless tag embedded in the body.

[0084] Figure 5B is a schematic diagram of a navigation display, where Figure 5A The surgical stapler is in a closed or clamped configuration.

[0085] Figure 6 is a navigation display having a surgical stapler wirelessly positioned relative to a wireless tag.

[0086] Figure 7 is a navigation display having a tracked probe wirelessly positioned relative to a wireless tag.

[0087] Figure 8 is a side view of a device including a wireless probe and a detachable handle.

[0088] Fig. 9 yes Figure 8 Side view of the device.

[0089] Fig.10 is a perspective view of a device including a wireless probe, a removable handle, and a tether.

[0090] Fig.11 is a front perspective view of an apparatus including a wireless tag and a reel.

[0091] Fig.12 yes Fig.11 Rear perspective view of the device

[0092] Fig.13 yes Fig.11 A perspective view of a device in which the reel is attached to a work environment and the wireless tag is spaced apart from the reel.

[0093] Fig.14 is a perspective view of a surgical stapler including a wireless tag.

[0094] Fig.15 yes Fig.14 Rear perspective view of a wireless tag.

[0095] Fig.16 yes Fig.15 A front perspective view of a wireless tag.

[0096] Fig.17A is a perspective view of an applicator for applying a wireless tag to a surgical stapler, shown in a stored configuration.

[0097] Fig. 17B is a perspective view of a surgical stapler and applicator, with the applicator shown in a ready configuration.

[0098] Fig. 17C is a perspective view of a surgical stapler mounted to an applicator, with the applicator shown in an actuated configuration.

[0099] Fig.17D is a perspective view of a surgical stapler removed from an applicator with a wireless tag mounted to the surgical stapler and the applicator shown in a use configuration.

[0100] Fig.18A yes Fig.17A The applicator is shown in a perspective view of a section taken along line 18A-18A.

[0101] Fig.18B yes Fig.17D The applicator is shown in a perspective view of a section taken along line 18B-18B.

[0102] Fig.19 yes Fig.17D A perspective view of a portion of an applicator.

[0103] Fig. 20 yes Fig.17A A cross-sectional perspective view of an applicator.

[0104] Fig.21 is a flow chart of a method for aligning a virtual display viewing angle with a camera viewing angle.

[0105] Fig. 22 It is a schematic diagram of a wireless positioning system.

[0106] Before any embodiments are explained in detail, it should be understood that the invention is not limited in its application to the details of construction and arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or carried out in various ways. DETAILED DESCRIPTION

[0107] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those of ordinary skill in the art are generally understood. In the event of a conflict, this document (including definitions) shall prevail. Preferred methods and materials are described below, although similar or equivalent methods and materials described herein may be used in the practice or testing of the present disclosure. All publications, patent applications, patents and other references mentioned herein are incorporated herein by reference in their entirety. The materials, methods and examples disclosed herein are illustrative only and are not intended to be limiting.

[0108] Provided herein are systems, devices, assemblies, and methods for integrating remotely located tags into medical procedures. Although this specification focuses on medical uses in human tissue, it should be understood that the system and method have broader uses, including non-human uses (e.g., use with non-human animals, such as livestock companion animals, wild animals, or any veterinary setting). For example, the system can be used in environmental settings, agricultural settings, industrial settings, and the like.

[0109] In addition to being located within human tissue, wireless tags can be integrated into tools to wirelessly track the location and orientation of tools used in various medical procedures. Such a wireless positioning system is described in detail in U.S. Patent Application No. 17 / 746,105 filed on May 17, 2022, the entire contents of which are incorporated herein by reference.

[0110] Reference Fig. 22, the present disclosure provides a wireless positioning system 2, which includes an exciter coil 3, a sensor coil 4, and a tool 5 (e.g., a surgical stapler, a surgical tool, a robotic tool). In the illustrated embodiment, the exciter coil 3 and the sensor coil 4 are located in a pad 6 below the patient 7. In the illustrated embodiment, the pad 6 is located in an operating table 8. The pad is further described in detail in U.S. Patent Application No. 17 / 746,105 filed on May 17, 2022, the entire contents of which are incorporated herein by reference.

[0111] Reference Fig.14 In the illustrated embodiment, a first wireless tag 404 and a second wireless tag 408 are coupled to a tool 5. In particular, the surgical tool 5 includes a head 400 defining a longitudinal axis 430. In the illustrated embodiment, the head 400 defines a terminal end 434 of the surgical tool 5. In the illustrated embodiment, the tracked tool 400 is a surgical stapler.

[0112] Continue to refer to Fig.14 , a first wireless tag 404 is coupled to the head 400 at a first position along the longitudinal axis 430. The first wireless tag 404 generates a first signal in response to a magnetic field generated by the exciter coil 3. A second wireless tag 408 is coupled to the head 400 at a second position along the longitudinal axis 430. The second position is spaced apart from the first position. In some embodiments, the first wireless tag 404 partially overlaps the second wireless tag 408 along the longitudinal axis 430. The second wireless tag 408 generates a second signal in response to a magnetic field generated by the exciter coil 3. In other words, the wireless tags 404, 408 are configured to generate a signal in response to a magnetic field generated by at least one exciter coil 3.

[0113] Continue to refer to Fig.14 , the surgical stapler includes a first jaw 412 (e.g., a reloading jaw) and a second jaw 418 (e.g., anvil jaw). The first wireless tag 404 is coupled to a first side 422 of the first jaw 412, and the second wireless tag 408 is coupled to a second side 426 of the first jaw 412 opposite the first side 422. In the illustrated embodiment, the first wireless tag 404 is offset from the second wireless tag 408 along the axis 430 of the first jaw 412. In other words, the first wireless tag 404 is located at a first distance from the distal end 434 of the first jaw 412, and the second wireless tag 408 is located at a second distance from the distal end 434, wherein the first distance is shorter than the second distance. In the illustrated embodiment, the wireless tags 404, 408 are applied to the tool 400 in a position such that the wireless tags do not affect the ability of the tool to pass through an interface (e.g., by adding the wireless tags, the interface compatibility of the surgical tool remains unchanged).

[0114] Continue to refer to Fig. 22, the signals generated by the wireless tags 404, 408 are detected by at least one sensor coil 4. The system 2 further includes a processor 9 configured to determine the position of the tool 5 based on the signals detected by the sensor coils 4. In some embodiments, the processor 9 is configured to determine an orientation (or multiple orientations) and a position (e.g., positioning in six degrees of freedom, 6DOF) of the tool 5. In the illustrated embodiment, the processor 9 is electrically coupled to the pad 6 via a wired connection 10. In some embodiments, the processor 9 controls the magnetic field generated by the exciter coil 2 and receives the signals detected by the sensor coils 4.

[0115] In some embodiments, the system 2 further includes a third wireless tag 406 that generates a third signal in response to the magnetic field generated by the exciter coil 3. In some embodiments, the third wireless tag 408 is implanted in the patient. The processor 9 is configured to determine the position of the tool 5 relative to the implanted wireless tag 406 based on the signal detected by the sensor coil 4. In other words, the processor 9 determines the position of the tool head 400 and the orientation of the tool head 400 relative to the third wireless tag 406 based on the signal detected by the sensor coil 4.

[0116] Tracking the position and orientation of surgical staplers and wireless tags implanted in or on a patient simultaneously has advantages. In view of the implanted wireless tag marking target location (e.g., target location of cancer, etc.), after the stapler jaws are closed (and after the rearrangement of the tissue caused by the stapler closure), the edge of the tissue and the target location can be confirmed. In other words, before the stapler engages and cuts the tissue, the positioning and edge are confirmed by the wireless positioning system presented herein. If necessary, the stapler can be moved and closed again before cutting occurs. Therefore, the edge can be confirmed with a higher degree of confidence.

[0117] Surgical staplers are designed to fit through interfaces with limited space and clearance. It is challenging to design and manufacture small diameter staplers, and staplers generally do not have additional space relative to the interface. For example, the Sureform 45 stapler available from Intuitive Surgical is designed to fit through a 12 mm interface with little clearance between the stapler head and the interface.

[0118] In some embodiments, the wireless positioning system disclosed herein estimates the position and orientation of the stapler head according to the axis position and kinematic data from the device controlling or monitoring the articulation of the stapler head. Tracking the stapler head itself rather than just tracking the stapler axis outside the interface is advantageous because the stapler head can articulate in all directions. In addition, directly tracking the position of the stapler head requires less integration and software implantation, verification and communication.

[0119] Reference Figure 1 , the stapler head 12 (e.g., the head of the SureForm 45 stapler) has a narrow portion 14 to which the wireless tag 18 is mounted. In some embodiments, the wireless tag 18 is coupled to the narrow portion 14 by an adhesive. In the illustrated embodiment, the thickness 22 of the wireless tag 18 is in the range of about 0.3 mm to about 0.8 mm. In the illustrated embodiment, the width 26 of the wireless tag 18 is in the range of about 2 mm to about 4 mm. In some embodiments, the length 30 of the wireless tag 18 is about 30 mm. In some embodiments, the volume defined by the wireless tag 18 is no greater than 60 mm. 3 In other embodiments, the volume defined by the wireless tag 18 is no larger than 38 mm 3 In some embodiments, the thickness 22 of the wireless tag 18 is about 0.35 mm, the width 26 is about 3.5 mm, and the length 30 is about 30 mm. In other embodiments, the thickness 22 of the wireless tag 18 is about 0.75 mm, the width 26 is about 2.5 mm, and the length 30 is about 30 mm.

[0120] Continue to refer to Figure 1 In the illustrated embodiment, the wireless tag 18 includes an antenna 34 and a backing 38. In the illustrated embodiment, the antenna 34 includes a first coil 34A and a second coil 34B. The first coil 34A is spaced apart from the second coil 34B. In the illustrated embodiment, the first coil 34A is spaced apart from the second coil 34B along the longitudinal axis 38 of the tool 10 (e.g., the longitudinal axis of the stapler head). In the illustrated embodiment, the first coil 34 and the second coil 34B are located at the same distance from the longitudinal axis 40 of the stapler 12. In order to obtain high inductance, the coils 34A and 34B utilize thin wires and are wound as many turns as possible within the volume limit. In some embodiments, each of the coils 34A and 34B has approximately 100-150 turns. In some embodiments, each of the coils 34A and 34B has approximately 250-350 turns.

[0121] In the illustrated embodiment, the wireless tag 18 includes a dual coil antenna 34 having a high magnetic permeability, low electrical conductivity material backing 38. In some embodiments, the backing 38 is a material that can be obtained from 3M TM The obtained flux field directional material (FFDM) is EM25TP. In some embodiments, the relative magnetic permeability (μ') of the backing 38 is about 2000.

[0122] Even with small space constraints, the antenna 34 is able to collect enough power from the transmitted magnetic field from the exciter coil to power up and generate a signal. In some embodiments, the magnetic field generated by the exciter coil 3 is in the range of about 1 μT to about 50 μT at a frequency in the range of about 125 kHz to about 150 kHz. In some embodiments, the antenna transmits a signal at a frequency that is offset from the original transmitted signal.

[0123] In some embodiments, the wireless tag 18 (e.g., antenna, backing, etc.) has an inductance value at a frequency in the range of about 0.5 mH to about 20 mH. In some embodiments, the quality factor (Q) of the wireless tag 18 (e.g., the ratio of inductive reactance to resistance at a frequency) is in the range of about 5 to about 20. A higher quality factor (Q) will reduce the bandwidth of the wireless tag 18, and a lower quality factor will produce an insufficient signal. A lower inductance will produce insufficient voltage to power the wireless tag, while a higher inductance will reduce the field generated. In order to power the wireless tag 18, the antenna 34 needs sufficient inductance to produce sufficient voltage and needs to have a high quality factor (e.g., a high ratio of power stored in the circuit per cycle to power dissipated in the circuit per cycle). In addition, the antenna 34 must be in close proximity to metal to work because, for example, stitchers are typically metal.

[0124] Reference Figure 2 , modeling results for various configurations are shown. In particular, the quality factor (Q) and inductance for different winding configurations are shown. In some embodiments, the Q is about 7.7 and the inductance is about 3.15 mH. In another embodiment, the Q is about 9.4 and the inductance is about 3.6 mH.

[0125] As described in detail herein, system 2 uses a low-profile wireless tag (e.g., wireless tag 404, wireless tag 408, wireless tag 18, etc.) to wirelessly track a tool 5 (e.g., a robotic surgical stapler, a manual surgical stapler), which is adhered to the stapler head 400 without affecting the stapler's ability to pass through the surgical interface.

[0126] Reference Fig. 22 The system 2 further includes a display 11 (eg, a monitor) for displaying a user display 50. Referring to Figure 3, the user display 50 includes a perspective view 54 of the positioning of a tool 52 (e.g., a wireless probe). In the illustrated embodiment, the user display 50 also includes a top-down view 58, a side view 62, and an endoscopic camera view 66 (e.g., a display drawn from a perspective similar to that of an endoscopic camera). The endoscopic camera view 66 can be on a separate screen, or overlaid on the same screen as the views 54, 58, 62. In some embodiments, the user display 50 includes a perspective view, a top-down view, a side view, an endoscopic camera view, or any combination thereof.

[0127] Continue to refer to Figure 3 , the user display 50 shows a wireless tag illustration 407 corresponding to the location of a physical wireless tag 406 implanted in the patient 7 (e.g., in the patient's lungs). In the illustrated embodiment, the wireless tag illustration 407 is located within a sphere 68. In some embodiments, the sphere 68 is a user-defined edge surrounding the implanted wireless tag 406. In the illustrated embodiment, the views 54, 58, 62 include two rings 70A, 70B in the XY plane and a ring 74 in the YZ plane. The user display 50 simultaneously shows the tracked tool 52 in real time. In the illustrated embodiment, the tracked tool 52 is virtually represented in the user display 50 as a cylinder 78. In some embodiments, the tracked tool 52 is a wired probe ( Figure 3 In other embodiments, the tracked tool is a wirelessly positioned stapler ( Figure 5A ). Line 82 shows the shortest path between the tracked tool 52 and the sphere 68 of the implanted wireless tag 406. The user display 50 further includes a spherical housing 86 that indicates the relative position of the tool 52 with respect to the implanted wireless tag 406.

[0128] Reference Figure 4A , 4B 4C, the spherical shell 86 indicates the relative position of the tool 52 relative to the implanted wireless tag 406. In other words, the spherical shell 86 provides relevant context to allow a user viewing the display 50 to understand the relative position of the tool 52 relative to the implanted wireless tag 406 without referring to multiple views. In some embodiments, as the distance between the tool 52 and the implanted wireless tag 406 increases, the size of the spherical shell 86 increases. Figure 4C As the tracked tool 52 approaches the target implanted wireless tag 406 , the curvature of the spherical shell 86 increases and the segment appears to surround the target sphere 68 .

[0129] In some embodiments, the color of the spherical shell 86 indicates to a user viewing the display 50 which side (inside or outside) of the spherical shell 86 is facing the viewer. In some embodiments, multiple spherical shells (each having a different size or color) are used to simultaneously display multiple tracked tools. In some embodiments, the color of the spherical shell 86 is light blue when the viewer is looking at the inside surface of the sphere. For example, from the perspective view 54 alone, without having to refer to the top-down view 58, this, together with the curvature, indicates to the user that the tracked tool 52 is within the implanted wireless tag 406 ( Figure 4A ). In some embodiments, the color of the spherical shell 86 is light purple when the viewer is looking at the outer surface of the sphere. For example, from the perspective view 54 alone, without having to refer to the top-down view 58, this, together with the curvature, indicates to the user that the tracked tool 52 is behind the implanted wireless tag 406 ( Figure 4B ) in front of the .

[0130] Reference Figure 5A-5B , the positioning of the stapler head 400 relative to the implanted wireless tag 406 is shown in the user display 50 - the stapler head 400 is virtually represented as a cylinder 104. In the illustrated embodiment, the length of the cylinder 104 is the same as the length of the stapler head 400. Figure 5A In the embodiment, the jaws of the stapler head 400 are open. Figure 5B , the jaws of the stapler head 404 are closed. With the stapler jaws closed, the user can advantageously confirm the position of the stapler head 404 relative to the implanted wireless tag 406 before cutting any tissue. In other words, when the stapler jaws are closed, the tissue can move, and the display 50 shows the relative position of the stapler head 400 relative to the implanted wireless tag 406 after the stapler jaws are closed.

[0131] Reference Figure 6, the user display 150 is shown with a perspective view 154, a top-down view 158, and a side view 162, showing a virtual head representation 166 (e.g., a virtual head corresponding to the position of the physical stapler head 400) implanted in the patient 7 relative to a virtual tag representation 407 (e.g., a virtual tag corresponding to the position of the physical wireless tag 406). The user display 150 includes a first user-defined volume 170 (e.g., a sphere) located around the wireless tag representation 407 (e.g., to indicate the size and shape of the tumor), and a second user-defined volume 174 (e.g., a sphere) located around the first user-defined volume 170 (e.g., to indicate the desired margin with the tumor). In some embodiments, the user-defined volumes 170, 174 are not spherical. The user display 150 further includes a shortest distance path 178 extending between the virtual head representation 166 (e.g., a virtual head) and the partially spherical shell 182. In some embodiments, the operation of the partially spherical shell 182 is similar to the spherical shell 86 of the user display 50 discussed herein. The user display 150 further includes an indicia 186 located on the virtual head 166 to indicate where the shortest distance path 178 intersects the virtual head 166. In other words, the indicia 186 identifies which portion of the head 400 is closest to the wireless tag 406. In the illustrated embodiment, the indicia 186 is a ring around the virtual head representation 166. In some embodiments, the user display 150 includes a virtual patient 190 that represents the orientation of the patient 7 in any given view (e.g., views 154, 158, 162).

[0132] Reference Figure 7 , the user display 150 displays a virtual wireless probe representation 194 (e.g., a virtual tag corresponding to the location of the physical wireless probe 204) implanted in the patient 7 relative to a virtual tag representation 407 (e.g., a virtual tag corresponding to the location of the physical wireless tag 406), Figure 8 In some embodiments, the user display 150 can be used to visualize the position and orientation of the tracked wireless tags ( Figure 7 ) and visualization of the tracked position and orientation of the stapler ( Figure 6 )

[0133] In some embodiments, the user display is presented within the robot console and / or drawn from nearly the same perspective as the endoscopic view. In some embodiments, the wireless positioning system subscribes to the robot positioning stream to determine the endoscopic camera viewpoint. In some embodiments, the user display viewpoint is configured to correspond to the endoscopic view. In some embodiments, two video outputs to the robot console are simultaneously presented to the user to provide a stereoscopic 3D view.

[0134] Reference Fig.21 , a method 700 of aligning a virtual display (e.g., display 150, display 50, etc.) with a camera viewing angle (e.g., an endoscopic camera viewing angle) is shown. Method 700 includes (step 701) orienting a camera (e.g., an endoscopic camera) toward a region of interest, wherein a first wireless tag is located in the region of interest. In some embodiments, the camera is part of an endoscope. In some embodiments, the camera is part of a robotic surgery system. In some embodiments, the region of interest is a patient's thorax. Method 700 further includes (step 702) positioning a second wireless tag within the camera's field of view. In some embodiments, positioning the second wireless tag within the camera's field of view includes positioning the second wireless tag at the center of the field of view. In some embodiments, positioning the second wireless tag within the camera's field of view includes positioning the second wireless tag within a threshold distance from the camera. In some embodiments, the threshold distance is approximately 6 inches. In other embodiments, the threshold distance is approximately 1 inch. In some embodiments, the threshold distance is in a range of approximately 1 inch to approximately 6 inches. Advantageously, positioning the second wireless tag within the field of view of the camera device does not require a specific orientation of the second wireless tag.

[0135] The method 700 further includes (step 703) determining a vector between the first wireless tag and the second wireless tag, and (step 704) viewing the vector to orient the virtual display viewing angle. In some embodiments, the vector is determined in response to receiving a user input (e.g., pressing a button). In some embodiments, determining the vector between the first wireless tag and the second wireless tag includes receiving a first signal from the first wireless tag in response to the magnetic field and receiving a second signal from the second wireless tag in response to the magnetic field.

[0136] In one embodiment, a method for camera alignment for an endoscopic procedure is summarized as follows: (a) the user orients the endoscope so that the expected location of the tumor is approximately centered in the endoscope display; (b) the user then inserts the probe into the chest cavity (if not already there); (c) the user moves the probe as close to the endoscope lens as possible and centers the probe on the endoscope display. During this process, the orientation of the probe is not affected; (d) the user presses a software button to direct the system to realign the main user display with the camera; (e) the processor executes software to calculate a vector created between the center of the probe and the center of the target wireless tag; (f) the processor executes software to align the virtual camera in the user display with the vector; and (g) the endoscope and the user display are displayed in the same orientation. If the endoscope has been moved to the point where the alignment is no longer accurate, the process can be repeated as needed.

[0137] Reference Figure 8and Fig. 9 , the device 200 includes a wireless probe 204 and a handle 208 removably connected to the wireless probe 204. In some embodiments, the wireless probe 204 includes a wireless tag similar to those described herein. For embodiments in which the wireless probe 204 includes a single wireless tag, the wireless tag is as large as possible without affecting interface compatibility (e.g., the ability of the wireless probe 204 to pass through a given diameter circle). In some embodiments, the wireless probe 204 includes at least two wireless tags. For embodiments in which the wireless probe 204 includes two wireless tags, the two wireless tags are positioned at an angle formed therebetween. In some embodiments, the angle between the two wireless tags in the wireless probe is up to about 90 degrees.

[0138] The wireless probe 204 includes a first end 212 and a second end 216 opposite the first end 212. In the illustrated embodiment, the first end 212 is tapered and includes a point. The handle 208 is removably coupled to the second end 216 of the wireless probe 204. In some embodiments, the handle 208 engages the wireless probe 204 with a releasable interference fit. In other embodiments, the handle selectively engages the wireless probe with a latch, a release, a hook, or any other suitable mechanism.

[0139] For example, the wireless probe 204 helps locate another wireless tag that has been implanted in the patient. Figure 3 In other words, the device 200 is a wireless tracking tool in which the wireless probe 204 is located in response to an electromagnetic field (eg, an electromagnetic field generated by an actuator coil).

[0140] Device 200 is configured for manual operation and / or robotic operation. As an example of manual operation, handle 208 can be attached to wireless probe 204, and the user physically moves the wireless probe via handle 208. As another example of manual operation, wireless probe 204 is gripped by a surgical tool (e.g., surgical forceps) operated by the user. In some embodiments, handle 208 is replaced by using a surgical tool. For robotic operation, handle 208 can be removed from wireless probe 204, and wireless probe 204 is directly gripped by, for example, a robotic actuator or a robotically operated surgical tool. In some embodiments, wireless probe 204 includes a durable soft exterior that is easily gripped by a robotic actuator. In other words, wireless probe 204 includes a soft material covering the outer shell, so that wireless probe 204 is easily gripped by a hand-operated or robotically operated gripper.

[0141] Reference Fig.10, the device 300 includes a wireless probe 304, a handle 308 removably coupled to the wireless probe 304, and a flexible tether 310 coupled to the wireless probe 304. The wireless probe 304 includes a first end 312 and a second end 316 opposite the first end 312. The handle 308 is removably coupled to the second end 316 of the wireless probe 304. An axis 320 extends between the first end 312 and the second end 316. When the handle 308 is coupled to the second end 316 of the wireless probe 304, the handle 308 is aligned with the axis 320. In the illustrated embodiment, the wireless probe 304 includes a plurality of length markings 324 spaced apart along the axis 320. In some embodiments, the spacing between adjacent markings 324 is equal.

[0142] When the handle 308 is coupled to the second end 316 of the wireless probe 304, the flexible tether 310 is located within the handle 308. In other words, if and / or when the handle 308 is removed from the wireless probe 304, the flexible tether 310 is exposed. In some embodiments, the handle can be separated from the tether. In other embodiments, the handle remains on the tether (e.g., the user slides the handle back and the tether remains within the handle core). For example, if a human or robotic operator drops the wireless probe, the tether 310 can be used to catch the wireless probe. In other words, the tether 310 allows the wireless probe 304 to be easily removed or retrieved from the cavity. In some embodiments, a tether is not included. In some embodiments, a handle is not included.

[0143] Reference Figure 11-13 , the device 800 includes a wireless tag 804, a reel 808, and a tether 812 extending between the wireless tag 804 and the reel 808. The reel 808 includes a mounting portion 816, and the reel 808 is configured to be attached to a workspace 820 ( Fig.13 ). In the illustrated embodiment, the mounting portion 806 includes an adhesive 824 having a removable backing 828.

[0144] Reference Fig.11 , the device 800 includes a holder 832 configured to at least partially receive the wireless tag 804. In other words, the wireless tag 804 is located within the holder 832 in a storage configuration. In the storage configuration, the tether 812 is wound around the reel 808. In the illustrated embodiment, the adhesive 824 is located on the first side 817 of the mounting portion 816, and the holder 832 is located on the second side 818 of the mounting portion 816.

[0145] Continue to refer to Fig.11 and Fig.13, the wireless tag 804 includes a plurality of indicia 836 spaced apart along a length 840 of the wireless tag 804. In the illustrated embodiment, the indicia 836 are equally spaced along the length 840 of the wireless tag 804. The wireless tag 804 further includes a hole 844 formed at one end. The tether 812 extends through the hole 844 and is secured to the wireless tag 804.

[0146] Reference Fig.13 In operation, the reel 808 is attached to the working environment 820 and the tether 812 is at least partially unfastened from the reel 808, with the wireless tag 804 spaced apart from the reel 808. The wireless tag 804 of the device 800 can be deployed (e.g., within a patient's body) and positioned without any wires connected to the wireless tag 804, but the tether 812 advantageously allows the wireless tag 804 to be easily retrieved by a surgeon, for example, after a procedure is completed.

[0147] Reference Fig.15 and 16 , a wireless tag 500 is shown. In some embodiments, the wireless tag 500 corresponds to one or both of the wireless tag 404 and the wireless tag 408. The wireless tag 500 includes a rod 504 and a coil 508 connected to the rod 504. In some embodiments, the rod 504 is a ferrite rod. The advantage of ferrite is that it has high magnetic permeability (μ') and low complex magnetic permeability (μ") at the operating frequency. High magnetic permeability increases inductance, and low complex magnetic permeability reduces core loss. In some embodiments, the rod 504 has a large aspect ratio (e.g., a large ratio of length to diameter). In some embodiments, the length of the rod 504 is in the range of about 15 mm to about 20 mm. In some embodiments, the diameter of the rod 504 is in the range of about 0.6 mm to about 0.75 mm.

[0148] The coil 508 includes a number of turns wound around the rod 504. In some embodiments, the coil 508 includes a number of turns around the rod 504 in the range of about 500 to about 1000. In some embodiments, the number of turns is in the range of about 400 to about 1200. In some embodiments, the coil 508 is made of a wire in the range of 47AWG to 53AWG. In some embodiments, the coil 508 has a number of layers with a number of turns in the range of 1 layer to 3 layers. In some embodiments, the number of turns and layers of the coil 508 are selected to produce an inductance in the range of about 2mH and about 5mH. In the illustrated embodiment, the rod 504 and the coil 508 are aligned with the axis 512.

[0149] The wireless tag 500 further includes an integrated circuit chip 516 electrically connected to the coil 508. In some embodiments, the integrated circuit chip 516 is a contactless identification device. In some embodiments, the wireless tag 500 further includes a high magnetic permeability backing. In some embodiments, the backing is a 3M TM The obtained flux field oriented material (FFDM) is EM25TP. In some embodiments, the relative magnetic permeability (μ) of the backing is about 2000. In some embodiments, the backing is located between the rod 504 and the tool to increase the overall inductance and Q value.

[0150] The wireless tag 500 further includes a housing 524. In some embodiments, the rod 504, the coil 508, and the integrated circuit chip 516 are located within the housing 524. In some embodiments, a high magnetic permeability backing is located within the housing 524. The wireless tag 500 further includes an adhesive layer 528. In the illustrated embodiment, the adhesive layer 528 is coupled to the housing 524. In some embodiments, the adhesive layer 528 couples the wireless tag 500 to a tool surface (e.g., the side 422 of the jaws 412, Fig.14 ). In other words, the wireless tag 500 is configured to be fixed to the tool via the adhesive layer 528. In some embodiments, the wireless tag 500 is encapsulated, bonded, or epoxied to the surface of the tool.

[0151] Continue to refer to Fig.16 , the housing 524 includes a flange 532, a recess 536 for receiving the rod 504, and at least one protrusion 540. In the illustrated embodiment, the housing 524 includes a plurality of protrusions 540. As described in further detail herein, the protrusions 540 advantageously ensure that, for example, an applicator (e.g., applicator 600, Fig.17A ) within the housing. In some embodiments, the housing 524 is formed of glass.

[0152] Reference Figures 17A-17D , shows an applicator 600 for applying wireless tags 404, 408 to a tool head 400. The applicator 600 includes a mounting seat 616 having a recess 620 configured to receive at least a portion of the tool head 400. The applicator 600 includes a mounting seat 616 that can be moved relative to the mounting seat 616 along an applicator axis 628 ( Fig. 17C) and a second slide 632 that can move relative to the mount 616 along the applicator axis 628. Before the wireless tags 404, 408 are applied to the tool head 400, the first wireless tag 404 is coupled to the first slide 624 and can move with the first slide, and the second wireless tag 408 is coupled to the second slide 632 and can move with the second slide. In the illustrated embodiment, the wireless tags 404, 408 include an adhesive (e.g., an adhesive layer 528, Fig.15 ). In other words, the adhesive on the wireless tags 404, 408 is oriented toward the tool head 400 when the tool is coupled to the mount 616.

[0153] Reference Fig.17A , the applicator 600 includes a removable backing 636 coupled to the first slide 624 and the second slide 632. The removable backing 636 includes a first side 640 that abuts the adhesive of the first wireless tag 404 and a second side 644 that abuts the adhesive of the second wireless tag 408. The removable backing 636 includes a grippable portion 648 that a user can grip to pull and remove the removable backing 636 from the applicator 600 - thereby exposing the wireless tags 404, 408. Each side 640, 644 includes a first portion 652 extending from the grippable portion 648 along a first axis 656, a second portion 660 extending along a second axis 664, and an arcuate portion 668 located between the first portion 652 and the second portion 660. In the illustrated embodiment, the second axis 664 is spaced apart from and parallel to the first axis 656. Advantageously, the entire removable backing 636 can be removed from the first wireless tag 404 and the second wireless tag 408 by a single pulling motion of the user on the grippable portion 648. In other words, in response to the user pulling the grippable portion 648 in the removal direction 672, the adhesive on both wireless tags 404, 408 is exposed.

[0154] Reference Fig. 17B In the illustrated embodiment, the tool is a surgical stapler, and the groove 620 receives a portion of the second jaw 418 of the stapler head 400 .

[0155] Reference Fig. 17C , the wireless tags 404, 408 are coupled to the tool head 400 in response to the sliders 624, 632 moving along the application axis 628. In particular, once the tool head 400 is in place on the applicator 600, the user moves the sliders 624, 632 along the axis 628 to install the wireless tags 404, 408 on the tool 5.

[0156] Reference Fig.17D, after contacting the tool head 400, the slides 624, 632 retract away from the tool head 400, leaving the wireless tags 404, 408 coupled to the tool 5. In the illustrated embodiment, the wireless tag 404 is coupled to the side surface 422 of the jaw 412, and the wireless tag 408 is coupled to the opposite side surface 426 of the jaw 412. Advantageously, the applicator 600 physically aligns the stapler head 400 and the jaws 412, 418 to ensure that the wireless tags 404, 408 are applied to the correct position on the stapler 5.

[0157] Reference Fig.17D , 18A , 19 and 20, the first slide 624 includes a first cavity 676 that at least partially receives the first wireless tag 404. Similarly, the second slide 632 includes a second cavity 680 that at least partially receives the second wireless tag 408. At least one magnet 684 is located in the first cavity 676 and is magnetically coupled to the first wireless tag 404 (e.g., the ferromagnetic rod 504). Fig.19 In the illustrated embodiment, a plurality of magnets 684 are positioned within the cavity 676 to magnetically support the wireless tag 404 within the cavity 676 before the wireless tag 404 is attached to the surgical stapler head 400 .

[0158] Continue to refer to Fig.19 , cavity 676 includes a notch 688. In some embodiments, notch 688 facilitates insertion of magnet 684. In some embodiments, notch 688 receives protrusion 540 formed on housing 524 of wireless tag 404. In other words, when applicator 600 is in Fig.17A and 17B In the illustrated configuration, the cavity 676 includes a recess 688 , and the first wireless tag 404 includes a housing 524 with the protrusion 540 positioned within the recess 688 .

[0159] Reference Fig.18A and 18B, the first slide 624 includes a spring lever portion 690, and the second slide 632 includes a spring lever portion 692. When the first slide 624 moves relative to the mount 616, the spring lever portion 690 abuts a portion of the mount 616. Similarly, when the second slide 632 moves relative to the mount 616, the spring lever portion 692 abuts a portion of the mount 616. In the illustrated embodiment, the spring lever portions 690, 692 are deflected in response to the slides 624, 632, respectively, moving along the application axis 628 to attach the wireless tags 404, 408 to the stapler head 400. After the compression of the slides 624, 632 is removed, the spring lever portions 690, 692 bias the slides 624, 632 away from the groove 620 and the stapler head 400 located within the groove 620. In other words, when the sliders 624, 632 are compressed by the user, the spring lever portions 690, 692 are deflected as they abut the mount 616. When the sliders 624, 632 are released by the user, the spring lever portions 690, 692 bias the sliders 624, 632 away from the tool head 400. Advantageously, the sliders 624, 632 are biased away from the tool head 400 after the wireless tag 404, 408 is attached to the tool head 400, to a sufficient distance to provide clearance for the wireless tag 404, 408 to leave the applicator 600 without contacting the applicator 600 when the surgical tool 5 is removed from the applicator 600. In other words, the spring lever portions 690, 692 bias the sliders 624, 632 outwardly to provide clearance for the wireless tag 404, 408 when it is removed with the stapler head 400.

[0160] Continue to refer to Fig.18A and 18B , the mount 616 further includes a ramp portion 694, and the first slider 624 includes a cam portion 696. Similarly, the second slider 632 includes a cam portion 696, which corresponds to another ramp portion 694 formed on the mount 616. The cam portion 696 is configured to slide relative to the ramp portion 694 in response to the sliders 624, 632 moving along the application axis 628. In some embodiments, the wireless tag applicator 600 generates audible feedback (e.g., a click) in response to the first slider 624 and / or the second slider 632 moving along the application axis 628. In the illustrated embodiment, an audible click is generated in response to the cam portion 696 crossing the ramp portion 694 on the mount 616. Advantageously, the audible feedback signals to the user that the sliders 624, 632 have been compressed a sufficient distance to successfully apply the wireless tags 404, 408 to the stapler head 400.

[0161] Various features and advantages are set forth in the following claims.

Claims

1. A wireless positioning system, comprising: Exciter coil; Sensor coil; a surgical tool comprising a head defining a longitudinal axis; a first wireless tag coupled to the head at a first location along the longitudinal axis; the first wireless tag configured to generate a first signal in response to a magnetic field generated by the exciter coil; a second wireless tag coupled to the head at a second location along the longitudinal axis, the second location being spaced apart from the first location, the second wireless tag being configured to generate a second signal in response to the magnetic field generated by the exciter coil; as well as A processor is provided to determine a position of the head based on the first signal and the second signal detected by the sensor coil.

2. The system according to claim 1, wherein: The system further includes a third wireless tag configured to generate a third signal in response to the magnetic field generated by the exciter coil; and wherein the processor determines the position of the head relative to the third wireless tag based on the first signal, the second signal and the third signal detected by the sensor coil.

3. The system according to claim 1, wherein: The processor determines an orientation of the head.

4. The system according to claim 1, wherein: The first wireless tag limits the first volume to no more than 60 mm 3 , and the second wireless tag limits the second volume to no more than 60mm 3 .

5. The system according to claim 1, wherein: The first wireless tag includes a ferrite rod, a coil wound around the ferrite rod, and an integrated circuit chip in electrical communication with the coil.

6. The system according to claim 5, wherein: The first wireless tag includes a housing, and wherein the rod, the coil, and the integrated circuit chip are located within the housing.

7. The system of claim 6, further comprising a high magnetic permeability backing located within the housing.

8. The system according to claim 5, wherein: The first wireless tag includes an adhesive layer, and the first wireless tag is fixed to the head by the adhesive layer.

9. The system according to claim 1, wherein: The first wireless tag includes a first coil and a second coil, wherein the first coil is spaced apart from the second coil along the longitudinal axis.

10. The system according to claim 1, wherein: The magnetic field generated by the exciter coil is in the range of 1 μT to 50 μT at a frequency in the range of 125 kHz to 150 kHz.

11. The system according to claim 10, wherein: The first wireless tag has an inductance value at a frequency within a range of 0.5 mH to 20 mH.

12. The system according to claim 10, wherein: The quality factor of the antenna is in the range of 5 to 20, wherein the quality factor is defined as the ratio of inductive reactance to resistance at the frequency.

13. The system of claim 1, further comprising a user display comprising a perspective view of a virtual head shown at the location of the head.

14. The system according to claim 13, wherein: The user display includes a top-down view, a side view, an endoscopic camera view, or any combination thereof.

15. The system of claim 13, wherein: The user display includes a partially spherical housing that indicates a relative position of the head relative to a third wireless tag.

16. The system of claim 15, wherein: The user display includes a shortest distance path extending between the virtual head and the partially spherical shell.

17. The system of claim 16, wherein: The virtual head includes an indicator to indicate a location where the shortest distance path intersects the virtual head.

18. A device, comprising: a wireless probe having a first end and a second end opposite to the first end; and a handle removably coupled to the second end of the wireless probe; The wireless probe generates a signal in response to a magnetic field and performs positioning based on the signal.

19. The apparatus of claim 18, further comprising a flexible tether coupled to the wireless probe; wherein The tether is located within the handle when the handle is coupled to the second end of the wireless probe.

20. The device according to claim 18, wherein The wireless probe includes a plurality of markings along a length of the wireless probe.

21. The device according to claim 18, wherein The wireless probe includes an axis extending between the first end and the second end; and wherein the handle is aligned with the axis when the handle is coupled to the second end of the wireless probe.

22. The device according to claim 18, wherein The apparatus is configured for manual operation with the handle coupled to the wireless probe, manual operation with the wireless probe grasped by a surgical tool, and robotic operation with the handle removed from the wireless probe.

23. A device, comprising: Wireless tags; a reel, the reel comprising a mounting portion, wherein the reel is configured to be attached to a workspace via the mounting portion; as well as A tether extends between the wireless tag and the reel.

24. The device according to claim 23, wherein: The mounting portion includes an adhesive.

25. The apparatus of claim 24, further comprising a holder configured to at least partially receive the wireless tag.

26. The device according to claim 25, wherein The adhesive is located on a first side of the mounting portion and the clip is located on a second side of the mounting portion.

27. The device according to claim 23, wherein: The wireless tag includes a plurality of markings spaced apart along a length of the wireless tag.

28. The device according to claim 27, wherein The plurality of markings are equally spaced along the length of the wireless tag.

29. The device according to claim 23, wherein: The wireless tag includes an aperture, and the tether extends through the aperture.

30. A wireless tag applicator for a tool, the wireless tag applicator comprising: a mount including a recess configured to receive at least a portion of the tool; a slide member movable relative to the mounting seat along an application axis; and a wireless tag, the wireless tag being movable together with the slider, the wireless tag including an adhesive oriented toward the groove; wherein the wireless tag is coupled to the tool in response to movement of the slider along the application axis.

31. The wireless tag applicator according to claim 30, wherein: The slider is a first slider and the wireless tag is a first wireless tag; and wherein the applicator further comprises a second slider movable relative to the mount along the application axis and a second wireless tag movable with the second slider.

32. The wireless tag applicator according to claim 31, wherein The second wireless tag is coupled to the tool in response to the second slide moving along the application axis.

33. The wireless tag applicator according to claim 30, wherein: The tool is a surgical stapler, and wherein the wireless tag is coupled to a side surface of the first jaw.

34. The wireless tag applicator according to claim 33, wherein: The groove receives a portion of the second jaw of the surgical stapler.

35. The wireless tag applicator according to claim 30, wherein: The slider includes a cavity that at least partially receives the wireless tag.

36. The wireless tag applicator of claim 35, further comprising a magnet located within the cavity, and wherein: The wireless tag includes a ferromagnetic rod.

37. The wireless tag applicator according to claim 35, wherein: The cavity includes a recess, and the wireless tag includes a housing having a protrusion located in the recess.

38. The wireless tag applicator of claim 30, further comprising a removable backing coupled to the slider, wherein: The removable backing abuts the adhesive of the wireless tag.

39. The wireless tag applicator according to claim 38, wherein: The removable backing includes a grippable portion, a first portion extending from the grippable portion along a first axis, a second portion extending along a second axis, and an arcuate portion between the first portion and the second portion.

40. The wireless tag applicator according to claim 39, wherein: The second axis is spaced apart from and parallel to the first axis.

41. The wireless tag applicator according to claim 30, wherein: The slider further includes a spring lever portion, and wherein the spring lever portion deflects in response to the slider moving along the apply axis.

42. The wireless tag applicator according to claim 41, wherein The spring lever portion biases the slider away from the groove.

43. The wireless tag applicator according to claim 30, wherein: The mount further includes a ramp portion, and the slider includes a cam portion configured to slide relative to the ramp portion in response to movement of the slider along the application axis.

44. The wireless tag applicator according to claim 30, wherein: The wireless tag applicator generates audible feedback in response to movement of the slider along the application axis.

45. A method for aligning a virtual display viewing angle with a camera viewing angle, the method comprising: orienting the camera device toward a region of interest in which the first wireless tag is located; positioning a second wireless tag within the field of view of the camera device; determining a vector between the first wireless tag and the second wireless tag, and The virtual display viewing angle is oriented by the vector.

46. ​​The method of claim 45, wherein: The camera device is part of an endoscope.

47. The method of claim 45, wherein: The region of interest is the patient's thorax.

48. The method of claim 45, wherein: Positioning the second wireless tag within the field of view of the camera device includes positioning the second wireless tag at a center of the field of view.

49. The method of claim 45, wherein: Positioning the second wireless tag within the field of view of the camera includes positioning the second wireless tag within a threshold distance from the camera.

50. The method of claim 45, wherein: Positioning the second wireless tag within the field of view of the camera device does not require a specific orientation of the second wireless tag.

51. The method of claim 45, wherein: The vector is determined in response to receiving user input.

52. The method of claim 45, wherein: Determining the vector between the first wireless tag and the second wireless tag includes receiving a first signal from the first wireless tag in response to a magnetic field and receiving a second signal from the second wireless tag in response to the magnetic field.

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