Ultralow frequency to high frequency navigation

Abstract

A system and method includes transmitting a signal according to a set of frequencies. A frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz. The system and method include sensing an electromagnetic field based on transmitting the signal according to the set of frequencies, and determining a distortion associated with sensing the electromagnetic field. The system and method include identifying a frequency at which a magnitude of distortion is less than a threshold. The system and method include transmitting the signal according to one or more of the identified frequencies; and in response to transmitting the signal, providing navigation information associated with the environment.

Description

[0001] This application includes subject matter related to U.S. Patent Application No. 17 / 992,604. The entire disclosure of the above application is incorporated herein by reference. Technical Field

[0002] The present disclosure relates generally to navigation systems and, more particularly, to ultra-low frequency to high frequency navigation. Background Art

[0003] Navigation systems can assist surgeons or other medical providers in performing surgical procedures. Some navigation systems can utilize electromagnetic fields associated with objects associated with tracking and surgical procedures. Distortions that affect the electromagnetic fields can reduce the effectiveness of the navigation systems. Summary of the Invention

[0004] Example aspects of the present disclosure include:

[0005] A system comprising: a processor; and a memory storing instructions that, when executed by the processor, cause the processor to: send signals according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; determine a distortion associated with an electromagnetic field sensed at a tracking device, wherein the distortion is determined relative to the set of frequencies; identify a set of second frequencies from the set of frequencies having an amplitude of the distortion less than a threshold; send the signals according to one or more frequencies from the set of second frequencies; and in response to sending the signals according to the one or more frequencies, provide navigation information associated with an environment and the tracking device, wherein the navigation information includes pose information of the tracking device.

[0006] Any aspect herein, wherein the instructions can further be executed by the processor to: configure a model associated with compensating for a distortion relative to at least one of the one or more frequencies, wherein providing the navigation information is based on compensating for the distortion using the model.

[0007] Any aspect herein, wherein compensating for the distortion using the model includes: reducing the amplitude associated with the distortion.

[0008] Any aspect herein, wherein the at least one frequency is greater than a threshold frequency included in the one or more frequencies.

[0009] Any aspect herein, wherein: sending the signals according to the one or more frequencies includes: incrementing or decrementing a frequency associated with sending the signals from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

[0010] Any aspect of the present disclosure, wherein: the first boundary frequency is identified based on a comparison of the threshold and a first distortion amplitude associated with transmitting the signal according to the first boundary frequency; and the second boundary frequency is identified based on a comparison of the threshold and a second distortion amplitude associated with transmitting the signal according to the second boundary frequency.

[0011] Any aspect of the present disclosure, wherein determining the distortion is based on at least one of: the permeability associated with one or more objects in the environment; and the relative permeability associated with the one or more objects in the environment.

[0012] Any aspect of the present disclosure, the system further includes a set of transmitting coils, wherein the instructions can be further executed by the processor to: transmit the signal from a first transmitting coil in the set of transmitting coils; and transmit the signal or a second signal from a second transmitting coil in the set of transmitting coils according to one or more second frequencies in the set of frequencies; and provide the navigation information associated with the environment and the tracking device in response to transmitting the signal or the second signal according to the one or more second frequencies.

[0013] Any aspect of the present disclosure, wherein the distortion includes at least one of: a conductive distortion associated with one or more objects in the environment; and a magnetic distortion associated with the one or more objects in the environment.

[0014] Any aspect of the present disclosure, wherein the distortion is associated with one or more objects included in the environment, and the one or more objects include at least one of: one or more ferromagnetic objects and one or more non-ferromagnetic objects.

[0015] A method, the method includes: transmitting a signal according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; sensing an electromagnetic field based on transmitting the signal according to the set of frequencies; determining a distortion relative to the set of frequencies associated with sensing the electromagnetic field; identifying a set of second frequencies from the set of frequencies having a distortion amplitude less than a threshold; transmitting the signal according to one or more frequencies in the set of second frequencies; and providing navigation information associated with the environment and the tracking device in response to transmitting the signal according to the one or more frequencies, wherein the navigation information includes pose information of the tracking device.

[0016] Any aspect of the present disclosure, the system further includes: a configuration model associated with compensating for distortion relative to at least one of the one or more frequencies, wherein providing the navigation information is based on compensating for the distortion using the model.

[0017] Any aspect of the present disclosure, wherein compensating for the distortion using the model includes: reducing the magnitude associated with the distortion.

[0018] Any aspect of the present disclosure, wherein the at least one frequency includes a relatively high frequency included in the one or more frequencies.

[0019] Any aspect of the present disclosure, wherein: transmitting the signal according to the one or more frequencies includes: incrementing or decrementing the frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

[0020] Any aspect of the present disclosure, the system further includes: identifying the first boundary frequency based on a comparison of the threshold and a first distortion magnitude associated with transmitting the signal according to the first boundary frequency; and identifying the second boundary frequency based on a comparison of the threshold and a second distortion magnitude associated with transmitting the signal according to the second boundary frequency.

[0021] Any aspect of the present disclosure, wherein determining the distortion is based on at least one of: the permeability associated with one or more objects in the environment; and the relative permeability associated with the one or more objects in the environment.

[0022] Any aspect of the present disclosure, the system further includes: transmitting the signal from a first transmitting coil of the set of transmitting coils; transmitting the signal or a second signal from a second transmitting coil of the set of transmitting coils according to one or more second frequencies of the set of frequencies; and providing the navigation information associated with the environment and the tracking device in response to transmitting the signal or the second signal according to the one or more second frequencies.

[0023] Any aspect of the present disclosure, wherein determining the distortion includes determining at least one of: a conductive distortion associated with one or more objects in the environment; and a magnetic distortion associated with the one or more objects in the environment.

[0024] Any aspect of the present disclosure, wherein the distortion is associated with one or more objects included in the environment, the one or more objects including at least one of: one or more ferromagnetic objects and one or more non-ferromagnetic objects.

[0025] A system, the system comprising: a transmitting device configured to transmit a signal according to a set of frequencies from about 300 Hz to about 30 MHz; a tracking device; a processor; and a memory storing data thereon, the data causing the processor, when processed by the processor, to: determine a distortion associated with an electromagnetic field sensed at the tracking device, wherein the distortion is determined relative to the set of frequencies; identify a set of second frequencies from the set of frequencies having an amplitude of the distortion less than a threshold; use the transmitting device to transmit the signal according to one or more frequencies of the set of second frequencies; and in response to transmitting the signal according to the one or more frequencies, provide navigation information associated with the environment and the tracking device, wherein the navigation information includes pose information of the tracking device.

[0026] Any aspect of the aspects herein, wherein the data can further be executed by the processor to: configure a model associated with compensating for the distortion relative to at least one of the one or more frequencies, wherein providing the navigation information is based on applying the model.

[0027] Any aspect of the aspects herein, wherein: transmitting the signal according to the one or more frequencies includes: incrementing or decrementing a frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

[0028] Any aspect of the aspects herein, wherein: the first boundary frequency is identified based on a comparison of the threshold and a first distortion amplitude associated with transmitting the signal according to the first boundary frequency; and the second boundary frequency is identified based on a comparison of the threshold and a second distortion amplitude associated with transmitting the signal according to the second boundary frequency.

[0029] Any aspect of the aspects herein, wherein determining the distortion is based on at least one of: a permeability associated with one or more objects in the environment; and a relative permeability associated with the one or more objects in the environment.

[0030] Any aspect of the aspects herein, wherein the transmitting device includes a set of transmitting coils, and the data can further be executed by the processor to: transmit the signal from a first transmitting coil of the set of transmitting coils; transmit the signal or a second signal from a second transmitting coil of the set of transmitting coils according to one or more second frequencies of the set of frequencies; and in response to transmitting the signal or the second signal according to the one or more second frequencies, provide the navigation information associated with the environment and the tracking device.

[0031] Any aspect of the present disclosure, wherein the distortion includes at least one of the following: conductive distortion associated with one or more objects in the environment; and magnetic distortion associated with the one or more objects in the environment.

[0032] Any aspect of the present disclosure, wherein the distortion is associated with one or more objects included in the environment, and the one or more objects include at least one of the following: one or more ferromagnetic objects and one or more non-ferromagnetic objects.

[0033] A system, comprising: a navigation circuit configured to provide navigation information associated with an environment by: transmitting signals according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; sensing an electromagnetic field based on transmitting the signals according to the set of frequencies; determining a distortion associated with sensing the electromagnetic field, wherein the distortion is determined with respect to the set of frequencies; identifying a set of second frequencies from the set of frequencies at which an amplitude of the distortion is less than a threshold; transmitting the signals according to one or more frequencies of the set of second frequencies; and providing navigation information associated with the environment in response to transmitting the signals according to the one or more frequencies, wherein the navigation information includes pose information of one or more objects in the environment.

[0034] A non-transitory computer-readable medium including instructions that, when executed by a processor: transmit signals according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; determine a distortion associated with an electromagnetic field sensed at a tracking device, wherein the distortion is determined with respect to the set of frequencies; identify a set of second frequencies from the set of frequencies at which an amplitude of the distortion is less than a threshold; transmit the signals according to one or more frequencies of the set of second frequencies; and provide navigation information associated with the environment and the tracking device in response to transmitting the signals according to the one or more frequencies, wherein the navigation information includes pose information of the tracking device.

[0035] Any one aspect in combination with any one or more other aspects.

[0036] Any one or more features disclosed herein.

[0037] Any one or more features generally disclosed herein.

[0038] Any one or more features generally disclosed herein in combination with any one or more other features generally disclosed herein.

[0039] Any one of an aspect / feature / embodiment in combination with any one or more other aspects / features / embodiments.

[0040] Use any one or more of the aspects or features disclosed herein.

[0041] It should be understood that any feature described herein can be claimed in combination with any other feature described herein, regardless of whether the features are from the same described specific implementation.

[0042] Details of one or more aspects of the present disclosure are set forth in the following drawings and description. Other features, objects, and advantages of the techniques described in the present disclosure will be apparent from the description, drawings, and claims.

[0043] The foregoing is a simplified overview of the present disclosure to provide an understanding of some aspects of the present disclosure. This summary is neither an extensive nor an exhaustive overview of the present disclosure and its various aspects, specific implementations, and configurations. It is not intended to identify key or important elements of the present disclosure, nor is it intended to delineate the scope of the present disclosure. Instead, it presents selected concepts of the present disclosure in a simplified form as an introduction to the more detailed description presented below. As should be understood, other aspects, specific implementations, and configurations of the present disclosure may utilize one or more of the features set forth above or described in detail below, either alone or in combination.

[0044] Many additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the following detailed description of specific implementations provided below. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings are incorporated into and form a part of this specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the present disclosure. The drawings merely illustrate how to implement and use the preferred and alternative examples of the present disclosure, and these examples should not be construed as limiting the present disclosure to only the examples illustrated and described. Additional features and advantages will become apparent from the following more detailed description of the various aspects, specific implementations, and configurations of the present disclosure, as illustrated by the accompanying drawings.

[0046] Figure 1A and Figure 1B illustrate examples of systems in accordance with aspects of the present disclosure.

[0047] Figure 2A illustrate examples of processing flows in accordance with aspects of the present disclosure. Figure 2B illustrate example responses of ferromagnetic objects in accordance with aspects of the present disclosure.

[0048] Figure 3A and Figure 3B illustrate example processing flows in accordance with aspects of the present disclosure. Figure 3C illustrate example distortion magnitudes in accordance with aspects of the present disclosure.

[0049] Figure 4 Illustrates an example processing flow according to aspects of the present disclosure. Detailed implementation

[0050] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that depending on the example or the specific implementation, certain actions or events of any of the processes or methods described herein can be performed in a different order, and / or additional, combined, or completely omitted (e.g., depending on different specific implementations of the present disclosure, not all of the described actions or events may be required to implement the disclosed technology). Additionally, although certain aspects of the present disclosure are described as being performed by a single module or unit for clarity, it should be understood that the technology of the present disclosure can be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0051] In one or more examples, the described methods, processes, and techniques can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions can be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, the functions can be implemented using a machine learning model, a neural network, an artificial neural network, or a combination thereof (either alone or in combination with instructions). Alternatively or additionally, the functions can be implemented using a machine learning model, a neural network, an artificial neural network, or a combination thereof (either alone or in combination with instructions). The computer-readable medium can include a non-transitory computer-readable medium, which corresponds to a tangible medium, such as a data storage medium (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can support storing the desired program code in the form of instructions or data structures and can be accessed by a computer).

[0052] The instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessor), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing unit), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Thus, as used herein, the term "processor" can refer to any one of the foregoing structures or any other physical structure suitable for implementing the described techniques. Additionally, these techniques can be fully implemented in one or more circuits or logic elements.

[0053] Before explaining any specific implementations of the present disclosure in detail, it should be understood that the present disclosure is not limited in its application to the construction details and component arrangements set forth in the following description or illustrated in the drawings. The present disclosure is capable of other specific implementations and can be practiced or carried out in various ways. Additionally, it should be understood that the terminology and phrases used herein are for the purpose of description and should not be regarded as restrictive. The use of "comprising," "including," or "having" and their variations herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. Furthermore, the present disclosure can use examples to illustrate one or more of its aspects. Unless otherwise expressly stated, the use or listing of one or more examples (which can be indicated by "for example," "by way of example," "such as," or similar language) is not intended and does not limit the scope of the present disclosure.

[0054] The terms proximal and distal are used in their conventional medical meanings in the present disclosure, where proximal is closer to the operator or user of the system and farther from the surgical area of concern within or on the patient's body, while distal is closer to the surgical area of concern within or on the patient's body and farther from the operator or user of the system.

[0055] In some navigation systems for various procedures, such as surgical procedures, assembly procedures, etc., instruments or objects can be tracked by measuring the effects of an electromagnetic field on a sensor coil. The sensor coil can include a conductive material placed within a magnetic field, in which a current is induced in the sensor coil. The measured induced current can support identifying or determining the position of the instrument or object.

[0056] Multiple coils, such as three orthogonally placed coils, can be used to generate the electromagnetic field. In some cases, multiple coils or multiple sets of orthogonally placed coils (e.g., multiple sets of three orthogonally placed coils) can be used to generate the electromagnetic field. Some electromagnetic navigation systems can include multiple coils for generating the electromagnetic field sensed by a tracking device (e.g., a sensor coil). Some navigation systems, such as surgical navigation systems, can use such electromagnetic fields to track and / or illustrate the tracked position of an instrument.

[0057] Some navigation systems support electromagnetic navigation of spinal segments using small trackers associated with spinal procedures. In some cases, multiple metal tools, implants, and robots used in association with spinal procedures can distort the electromagnetic field, thereby inhibiting successful electromagnetic navigation.

[0058] In the case of metal objects, the electromagnetic distortion can depend on the type, size, and shape of the metal. The distortion can also depend on the pose of the metal object relative to the transmitting device that transmits the signal associated with the induced current at the sensor coil. In some cases, the distortion can depend on the frequency of the transmitted electromagnetic field. In some other cases of metal objects, the magnetic permeability of stainless steel depends on the frequency of the applied magnetic field. Additionally, the skin depth of the induced current in all metals can depend on the magnetic permeability and frequency of the applied magnetic field.

[0059] According to an example aspect of the present disclosure, a system is described herein that supports navigation from ultra-low frequency to high frequency (e.g., 300 Hz to 30 MHz) associated with eliminating the effects of electromagnetic distortion on a tracker. The techniques for navigation from ultra-low frequency to high frequency described herein can reduce the forced distortion because the magnetic permeability decreases as the frequency increases. In some example aspects, navigating at such frequencies can reduce the induced distortion at low frequencies and, as the skin depth decreases as the frequency increases. The system can use multiple frequencies (e.g., multiple ultra-low frequencies to high frequencies) to determine or identify the remaining forced distortion and induced distortion. For example, the system can support a mechanism for correcting the effects of such distortion on the tracking device (e.g., mitigating the effects).

[0060] According to other example aspects of the present disclosure, the system may support navigation using a scan frequency associated with effectively eliminating electromagnetic distortion. The system may scan frequencies, sense and minimize distortion, and navigate at multiple target frequencies (e.g., optimal frequencies). In one example, the scan frequency changes ferromagnetic metal distortion from strongly forced to strongly induced. Based on the frequency scan, the system may identify frequencies that balance these interactions and minimize distortion. For example, navigating at the identified frequencies may achieve an optimal level of forced and induced distortion (e.g., below a corresponding threshold). In some aspects, the identified frequencies (also referred to herein as optimal frequencies) may depend on the metal properties, geometry, and pose relative to the electromagnetic transmitter. Navigation using multiple such identified frequencies may minimize the distortion effect on a tracking device (e.g., a tracking sensor).

[0061] Example aspects of the present disclosure may be implemented in association with supporting navigation and segment tracking for surgical procedures (e.g., spinal procedures) and other procedures where the presence of metal objects is relatively high. For example, specific implementations of the present disclosure regarding navigation from ultra-low frequencies to high frequencies and / or navigation using a scan frequency may provide a technical solution for achieving reliable segment tracking in surgical procedures (e.g., spinal procedures) with multiple metal tools, implants, and robots. Aspects of the present disclosure support eliminating or resolving effects caused by interference or distortion due to objects such as metal objects.

[0062] Figure 1A An example of a system 100 that supports aspects of the present disclosure is illustrated.

[0063] System 100 includes a computing device 102, one or more imaging devices 112, a robot 114, a navigation system 118, a database 130, and / or a cloud network 134 (or other network). Systems according to other specific implementations of the present disclosure may include more or fewer components than system 100. For example, system 100 may omit and / or include additional instances of one or more components of computing device 102, imaging device 112, robot 114, navigation system 118, database 130, and / or cloud network 134. In one example, system 100 may omit any instance of computing device 102, imaging device 112, robot 114, navigation system 118, database 130, and / or cloud network 134. System 100 may support the implementation of one or more other aspects of one or more of the methods disclosed herein.

[0064] Computing device 102 includes a processor 104, a memory 106, a communication interface 108, and a user interface 110. Computing devices according to other specific implementations of the present disclosure may include more or fewer components than computing device 102.

[0065] The processor 104 of the computing device 102 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions stored in the memory 106 that may cause the processor 104 to perform one or more computational steps using or based on data received from the imaging device 112, the robot 114, the navigation system 118, the database 130, and / or the cloud network 134.

[0066] The memory 106 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory for storing computer-readable data and / or instructions. The memory 106 may store information or data associated with completing any step of, for example, the method 400 described herein or any other method. The memory 106 may store instructions and / or machine learning models that support one or more functions of the computing device 102, the imaging device 112, the robot 114, and the navigation system 118. For example, the memory 106 may store content (e.g., instructions and / or machine learning models) that, when executed by the processor 104, enables image processing 120, segmentation 122, transformation 124, registration 128, and / or navigation processing 129. In some particular implementations, if provided as instructions, such content may be organized into one or more applications, modules, packages, layers, or engines.

[0067] Alternatively or additionally, the memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that may be processed by the processor 104 to perform the various methods and features described herein. Thus, although the various content of the memory 106 may be described as instructions, it should be understood that the functions described herein may be implemented using instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may cause the processor 104 to manipulate data stored in the memory 106 and / or received from or via the imaging device 112, the robot 114, the navigation system 118, the database 130, and / or the cloud network 134.

[0068] The computing device 102 may also include a communication interface 108. The communication interface 108 may support receiving data or other information from external sources (e.g., imaging device 112, robot 114, navigation system 118, database 130, cloud network 134, and / or any other system or component separate from system 100), and / or for sending instructions, data (e.g., navigation data, navigation frequencies, tracking information, distortion measurements, image data, etc.) or other information to external systems or devices (e.g., another computing device 102, imaging device 112, robot 114, navigation system 118, database 130, cloud network 134, and / or any other system or component that is not part of system 100). The communication interface 108 may include one or more wired interfaces (e.g., USB port, Ethernet port, FireWire port) and / or one or more wireless transceivers or interfaces (configured to send and / or receive information via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some specific embodiments, the communication interface 108 may support communication between the device 102 and one or more other processors 104 or computing devices 102, either to reduce the time required to complete computationally intensive tasks or for any other reason.

[0069] The computing device 102 may also include one or more user interfaces 110. The user interface 110 may be or include a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 110 may be used, for example, to receive user selections or other user input regarding any step of any method described herein. Nevertheless, any required input for any step of any method described herein may be automatically generated by system 100 (e.g., by processor 104 or another component of system 100) or received by system 100 from a source external to system 100. In some specific embodiments, the user interface 110 may support user modification (e.g., by a surgeon, medical staff, patient, etc.) of instructions to be executed by processor 104 in accordance with one or more specific embodiments of the present disclosure, and / or support user modification or adjustment of settings of other information displayed on or corresponding to the user interface 110.

[0070] In some specific embodiments, the computing device 102 may utilize a user interface 110 that is separately housed from one or more remaining components of the computing device 102. In some specific embodiments, the user interface 110 may be located near one or more other components of the computing device 102, while in other specific embodiments, the user interface 110 may be located remotely from one or more other components of the computing device 102.

[0071] The imaging device 112 may be operable to image anatomical features (e.g., bones, veins, tissue, spine, etc.) and / or other aspects of the patient's anatomy to generate image data (e.g., image data depicting or corresponding to bones, veins, tissue, spine, etc.). As used herein, "image data" refers to data generated or captured by the imaging device 112, including data in machine-readable form, graphical / visual form, and in any other form. In various examples, the image data may include data corresponding to an anatomical feature or a portion thereof of a patient. The image data may be or include preoperative images, intraoperative images, postoperative images, or images taken independent of any surgical procedure. In some embodiments, the first imaging device 112 may support obtaining first image data (e.g., a first image) at a first time, and the second imaging device 112 may support obtaining second image data (e.g., a second image) at a second time after the first time. The imaging device 112 may be capable of taking 2D images or 3D images to generate image data. The imaging device 112 may be or include, for example, an ultrasound scanner (which may include, for example, physically separate transducers and receivers, or a single ultrasound transceiver), an O-arm, a C-arm, a G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermal imaging camera (e.g., an infrared camera), a radar system (which may include, for example, a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device 112 suitable for obtaining an image of a patient's anatomical feature. The imaging device 112 may be fully contained within a single housing, or may include a transmitter / transmitter and a receiver / detector in separate housings or otherwise physically separated.

[0072] In some embodiments, the imaging device 112 may include more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In still other embodiments, the same imaging device may support providing both first image data and second image data and / or any other image data described herein. The imaging device 112 may be used to generate an image data stream. For example, the imaging device 112 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and closed, in order to capture successive images. For the purposes of this disclosure, unless otherwise specified, image data may be considered continuous and / or provided as an image data stream if the image data represents two or more frames per second.

[0073] The robot 114 may be any surgical robot or surgical robot system. The robot 114 may be or include, for example, a Mazor XTM Stealth version robot guidance system. The robot 114 can be configured to position the imaging device 112 at one or more precise positions and orientations, and / or return the imaging device 112 to the same position and orientation at a later time point. The robot 114 can additionally or alternatively be configured to manipulate surgical tools (whether or not guided by the navigation system 118) to complete or assist in surgical tasks. In some specific embodiments, the robot 114 can be configured to hold and / or manipulate anatomical elements during or in conjunction with a surgical procedure. The robot 114 can include one or more robotic arms 116. In some specific embodiments, the robotic arm 116 can include a first robotic arm and a second robotic arm, but the robot 114 can include more than two robotic arms. In some specific embodiments, one or more of the robotic arms 116 can support holding and / or manipulating the imaging device 112. In embodiments where the imaging device 112 includes two or more physically separate components (e.g., a transmitter and a receiver), one robotic arm 116 can hold one such component, and another robotic arm 116 can hold another such component. Each robotic arm 116 can be positioned independently of the other robotic arms. The robotic arms 116 can be controlled in a single shared coordinate space or in separate coordinate spaces.

[0074] The robot 114 together with the robotic arms 116 can have, for example, one, two, three, four, five, six, seven or more degrees of freedom. Additionally, the robotic arms 116 can be positioned or can be positionable in any pose, plane, and / or focus. This pose includes position and orientation. Thus, the imaging device 112, surgical tool, or other object held by the robot 114 (or more specifically, by the robotic arms 116) can be precisely positioned at one or more desired and specific positions and orientations.

[0075] The robotic arm 116 can include one or more sensors that enable the processor 104 (or the processor of the robot 114) to determine the precise pose of the robotic arm (and any object or element held or attached to the robotic arm) in space.

[0076] In some specific implementations, reference markers (i.e., navigation markers) may be placed on the robot 114 (including, for example, on the robotic arm 116), the imaging device 112, or any other object in the surgical space (e.g., surgical tools, operating equipment, etc.). The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and / or by an operator of the system 100 or any of its components. In some specific implementations, the navigation system 118 may support other components of the tracking system (e.g., the imaging device 112), and the system may operate without using the robot 114 (e.g., when a surgeon manually manipulates the imaging device 112 and / or one or more surgical tools based on information and / or instructions generated by the navigation system 118).

[0077] During operation, the navigation system 118 may provide navigation for the surgeon and / or the surgical robot. The navigation system 118 can be any known or future-developed navigation system, including, for example, the Medtronic StealthStation TM S8 surgical navigation system or any of its subsequent products. The navigation system 118 may include one or more cameras or other sensors for tracking one or more reference markers, navigation trackers, or other objects within the operating room or other room in which part or all of the system 100 is located. The one or more cameras can be optical cameras, infrared cameras, or other cameras. In some specific implementations, the navigation system 118 may include one or more electromagnetic sensors. In various specific implementations, the navigation system 118 may support tracking the position and orientation (e.g., pose) of the imaging device 112, the robot 114, the robotic arm 116, and / or one or more surgical tools (or more specifically, tracking the pose of a navigated tracker directly or indirectly attached to one or more of the foregoing in a fixed relationship). In some cases, the navigation system 118 may use one or more tracking devices 140 associated with (e.g., mechanically and / or electronically coupled to) the imaging device 112, the robot 114, the robotic arm 116, and / or one or more surgical tools to track the position and orientation.

[0078] The navigation system 118 may include a display for displaying one or more images from an external source (e.g., the computing device 102, the imaging device 112, or other sources) or for displaying images and / or video streams from one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 may operate without using the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or its components, to the robot 114, or to any other element of the system 100 regarding, for example, the pose of one or more anatomical elements, whether a tool is in an appropriate trajectory, and / or how to move the tool into an appropriate trajectory to perform a surgical task according to a preoperative or other surgical plan.

[0079] In some aspects, the navigation system 118 may provide navigation information based on an electromagnetic field 151 generated by the transmission device 136 (illustrated later at Figure 1B ). For example, the transmission device 136 may be capable of generating the electromagnetic field 151 at multiple frequencies. In some aspects, the transmission device 136 may include an array of transmission coils 137 (also referred to herein as a transmission coil array (TCA)), which is capable of generating or forming the electromagnetic field 151 in response to corresponding currents driven through the respective transmission coils 137. In some aspects, the transmission device 136 may be referred to as an electromagnetic locator.

[0080] The navigation system 118 may include tracking devices 140 capable of sensing the electromagnetic field 151 at multiple frequencies. In some aspects, each of the tracking devices 140 may have one or more sensing devices (e.g., sensor coils) capable of sensing the electromagnetic field 151. Aspects of the navigation system 118 described herein may be implemented by the navigation processing 129. Example aspects of the navigation system 118 are described later herein.

[0081] The processor 104 may utilize the data stored in the memory 106 as a neural network. The neural network may include a machine learning architecture. In some aspects, the neural network may be or include one or more classifiers. In some other aspects, the neural network may be or include any machine learning network, such as, for example, a deep learning network, a convolutional neural network, a reconstruction neural network, a generative adversarial network, or any other neural network capable of implementing the functions of the computing device 102 described herein. Some elements stored in the memory 106 may be described as or referred to as instructions or instruction sets, and some functions of the computing device 102 may be implemented using machine learning techniques.

[0082] For example, the processor 104 may support a machine learning model 148 that may be trained and / or updated based on data provided or accessed by any one of the computing device 102, the imaging device 112, the robot 114, the navigation system 118, the database 130, and / or the cloud network 134 (e.g., training data 146). The machine learning model 148 may be constructed and updated based on the training data 146 (also referred to herein as training data and feedback).

[0083] For example, the machine learning model 148 may be trained using one or more training sets included in the training data 146. In some aspects, the training data 146 may include multiple training sets. In some examples, based on data (e.g., distortion amplitude associated with a signal frequency, etc.), a neural network may generate one or more algorithms that support any of the techniques described herein.

[0084] The database 130 may store information that associates one coordinate system to another (e.g., associates one or more robot coordinate systems to a patient coordinate system and / or a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about a target and / or image information about the patient's anatomy at and / or near the surgical site for use by the robot 114, the navigation system 118, and / or the user of the computing device 102 or the system 100); one or more images that may be used in connection with a surgical procedure performed by or with the assistance of one or more other components of the system 100; and / or any other useful information.

[0085] The database 130 may be configured to provide any such information to the computing device 102 or any other device of the system 100 or any other device external to the system 100, either directly or via the cloud network 134. In some embodiments, the database 130 may include candidate frequencies associated with the navigation system 118, distortion amplitudes associated with frequencies and objects in the environment, one or more models 148 for compensating for distortion associated with one or more of the frequencies, etc. In some embodiments, the database 130 may be or include a part of a hospital image storage system, such as a Picture Archiving and Communication System (PACS), a Health Information System (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0086] In some aspects, computing device 102 may communicate directly or indirectly with a server and / or a database (e.g., database 130) via a communication network (e.g., cloud network 134). The communication network may include any type of known communication medium or collection of communication media, and may use any type of protocol to transfer data between endpoints. The communication network may include wired communication technologies, wireless communication technologies, or any combination thereof.

[0087] Wired communication technologies may include, for example, Ethernet-based wired local area network (LAN) connections using physical transmission media (e.g., coaxial cables, copper cables / wires, fiber optic cables, etc.). Wireless communication technologies may include, for example, cellular or cellular data connections and protocols (e.g., digital cellular, personal communication service (PCS), cellular digital packet data (CDPD), general packet radio service (GPRS), enhanced data rates for global system for mobile communications (GSM) evolution (EDGE), code division multiple access (CDMA), single carrier radio transmission technology (1×RTT), evolution data optimized (EVDO), high speed packet access (HSPA), universal mobile telecommunications service (UMTS), 3G, long term evolution (LTE), 4G, and / or 5G, etc.), low power, Wi-Fi, radio, satellite, infrared connections, and / or communication protocols.

[0088] The Internet is an example of a communication network that constitutes an Internet protocol (IP) network, which is composed of multiple computers, computing networks, and other communication devices located at multiple locations, and components in the communication network (e.g., computers, computing networks, communication devices) can be connected through one or more telephone systems and other means. Other examples of communication networks may include, but are not limited to, standard plain old telephone system (POTS), integrated services digital network (ISDN), public switched telephone network (PSTN), local area network (LAN), wide area network (WAN), wireless LAN (WLAN), session initiation protocol (SIP) network, voice over Internet protocol (VoIP) network, cellular network, and any other type of packet-switched or circuit-switched network known in the art. In some cases, communication network 120 may include any combination of networks or network types. In some aspects, the communication network may include any combination of communication media, such as coaxial cables, copper cables / wires, fiber optic cables, or antennas for conveying data (e.g., sending / receiving data).

[0089] Computing device 102 may be connected to cloud network 134 using a wired connection, a wireless connection, or both via communication interface 108. In some embodiments, computing device 102 may communicate with database 130 and / or external devices (e.g., computing devices) via cloud network 134.

[0090] System 100 or a similar system can be used, for example, to implement one or more aspects of any of the methods 200, 300, and / or 400 described herein. System 100 or a similar system can also support other purposes.

[0091] Figure 1B An example specific implementation 101 of system 100 that supports aspects of the present disclosure is illustrated.

[0092] Reference Figure 1B In example specific implementation 101, system 100 can support various purposes or procedures for one or more users such as user 154 (e.g., surgeon, medical technician, etc.). System 100 can support determining or tracking the position of instrument 156 (e.g., instrument 156-a, instrument 156-b, etc.) or multiple instruments 156 in a volume. The position can include both three-dimensional XYZ position and orientation. The orientation can include one or more degrees of freedom, such as three degrees of freedom. The position and orientation can be referred to as pose information. Example aspects of system 100 can be implemented, for example, by navigation system 118.

[0093] Tracking the position of instrument 156 can assist user 154 in determining the position of instrument 156, even if instrument 156 cannot be directly viewed by user 154 or the visual imaging device (e.g., imaging device 112, camera) of system 100. Various procedures may block the visibility of instrument 156. One example includes a surgical procedure, such as performing a minimally invasive (including minimally invasive) procedure on a living subject, including a spinal procedure, a nerve procedure, positioning a deep brain stimulation probe on a living subject, or other surgical procedures. Other examples of procedures include performing repairs or assembling inanimate systems, such as robotic systems, assembling parts of an aircraft fuselage or an automobile, etc.

[0094] In various embodiments, for example, subject 152 can be a living subject (e.g., a human subject), and a procedure can be performed on subject 152. However, it should be understood that for any suitable procedure, system 100 supports tracking instrument 156 and / or navigating the instrument relative to any subject 152. Tracking the instrument or navigating the instrument for a procedure on a human subject or a living subject, such as a surgical procedure, is an example.

[0095] System 100 can include a support 153 (e.g., a workbench, a platform, etc.) capable of supporting or holding subject 152 during a procedure (e.g., medical imaging, surgical procedure, etc.). The same or different supports 153 can support different parts of the procedure.

[0096] System 100 may acquire image data 113 via an imaging device 112 at any time instance. For example, system 100 may acquire image data 113 during or prior to a surgical procedure. System 100 may display static and / or real-time images on a display device (e.g., user interface 110 of computing device 102) based on the image data 113.

[0097] System 100 may support tracking of an instrument 156 in a trackable volume 150 using an electromagnetic field 151 generated by a transmission device 136. For example, transmission device 136 may include a transmitter antenna or an array of transmission coils (e.g., including transmission coil 137) capable of generating electromagnetic field 151. System 100 may track the pose (e.g., position, coordinates, orientation, etc.) of instrument 156 in the tracking volume 150 relative to a subject 152. In some aspects, system 100 may display an icon corresponding to any tracked instrument 156 via a user interface of computing device 102. For example, system 100 may overlay such an icon on and / or adjacent to an image displayed on the user interface. The terms “tracking volume,” “trackable volume,” “navigation volume,” and “volume” may be used interchangeably herein.

[0098] In some aspects, transmission device 136 may be referred to as a locator. For example, transmission device 136 may be an electromagnetic locator that may be operable to generate an electromagnetic field (e.g., electromagnetic field 151) via an array of transmission coils 137 (also referred to herein as a transmission coil array (TCA)). The TCA may include one or more coil groupings or arrays. In various embodiments, more than one group is included and each grouping in the group may include three coils, also referred to as a triplet or a triad.

[0099] Transmission device 136 may drive current through the coils of the coil grouping, thereby powering the coils to generate or form electromagnetic field 151. When current is driven through the coils, electromagnetic field 151 (or electromagnetic fields 151) will extend away from transmission coil 137 and form a navigation domain (e.g., volume 150). Volume 150 may include any part of subject 152 (e.g., spine, one or more vertebrae, brain, an anatomical element or a part thereof, etc.), e.g., as configured via system 100. Transmission coil 137 may be powered by a controller device and / or power supply provided by system 100.

[0100] System 100 may include a tracking device 139. Tracking device 139 may be a dynamic reference frame (DRF) or a reference frame tracker. In one example, tracking device 139 may be positioned such that tracking device 139 is in a fixed pose relative to subject 152. For example, tracking device 139 may be coupled to imaging device 112, and imaging device 112 may be stationary (e.g., in a fixed pose).

[0101] The navigation system 118 can track the pose and / or movement of the tracking device 140 relative to the tracking device 139. In one example, the tracking device 140-a can be coupled to the instrument 156-a, and the navigation system 118 can track the pose and / or movement of the instrument 156-a based on the pose and / or movement of the tracking device 140-a. Additionally or alternatively, the tracking device 140-b can be coupled to the instrument 156-b, and the navigation system 118 can track the pose and / or movement of the instrument 156-b based on the pose and / or movement of the tracking device 140-b.

[0102] Thus, for example, the navigation system 118 can support determining the position of the instrument 156-a and / or the instrument 156-b relative to the DRF. The instrument 156 can be, for example, a tool, such as a surgical tool, a drill, a lead, etc., and can be tracked by the navigation system 118 within the volume 150. The instrument 156 can be freely movable, such as freely movable by the user 154 or the robot 114 relative to the tracking device 139.

[0103] The tracking device 140 can include or be provided as a sensor (also referred to herein as a tracking sensor). The sensor can sense a selected portion or component of the electromagnetic field generated by the transmitting coil 137 of the transmitting device 136. In various embodiments, the transmitting coil 137 can be formed of a wire or line of conductive material. The transmitting coil 137 can also be referred to as a tracking or sensing coil capable of sensing and measuring the magnetic field strength, components of the field, etc.

[0104] The navigation system 118 can support the registration of the volume 150 to the image space of the subject 152 (e.g., via registration 128). The navigation system 118 can support superimposing an icon representing the instrument 156 (e.g., instrument 156-a, instrument 156-b, etc.) on the image. The system 100 can support delivering tracking information from the tracking device 140 to the navigation system 118. The tracking information can include, for example, data associated with the magnetic field sensed by the tracking device 140.

[0105] The tracking device 140 can communicate sensor information to the navigation system 118 for determining the positions of the tracked parts relative to each other and / or for positioning the instrument 156-a relative to the image. The imaging system 24 can support acquiring image data 113 to generate or produce an image of the subject 152. However, it should be understood that other suitable imaging systems can also be used. The navigation system 118 and / or the transmitting device 136 can include a controller that supports operating the transmitting coil 137 and powering the transmitting coil.

[0106] The transmitting device 136 (and the array formed by the transmitting coil 137) can be operated to transmit at any power and / or can be powered using any current associated with generating the electromagnetic field 151 described herein. For example, the transmitting device 136 (and the transmitting coil 137) can be operated to transmit in a power range from about 0.01 milliwatts (mW) to about 30 watts (W), including from about 0.1 mW to about 10 W, and also including from about 0.1 mW to about 5 W, but not limited thereto. In some example embodiments, the transmitting device 136 (and the transmitting coil 137) can be operated to transmit in a power range where the lowest transmitting power is 1 μW.

[0107] In some cases, objects that are not tracked by the navigation system 118 can be present in or near the electromagnetic field 151 (or electromagnetic fields 151) generated by the transmitting coil 137. The object can be located within the volume 150 and / or interfere with or be affected by the electromagnetic field 151. As discussed herein, various objects or components can be referred to as interfering or disrupting members, objects, or components. In some aspects, each of the interfering members can have a current induced in the interfering member, and the current generates a field separate from the electromagnetic field 151 (or electromagnetic fields 151) generated by the transmitting coil 137.

[0108] The object can include ferromagnetic objects and / or non-ferromagnetic objects. In some cases, the ferromagnetic object can be a conductive object and / or the non-ferromagnetic object can be a conductive object. Examples of such objects can include metal tools (e.g., tools different from the instrument 156, tools not tracked by the navigation system 118, etc.), medical implants (e.g., the implant 160 described later herein), other robots 114, end effectors 158 associated with the robot 114, etc.

[0109] In an example case of a ferromagnetic object, the properties of the ferromagnetic object can affect the ability of the navigation system 118 to track the tracking device 140. For example, the ferromagnetic object can introduce distortion into the electromagnetic field 151. The magnetic permeability of the ferromagnetic object (and correspondingly, the amplitude of the distortion) can depend on the frequency of the applied electromagnetic field 151, and the amplitude of the distortion can correspond to the resulting magnetic permeability. Thus, for example, the amplitude of the distortion generated by the ferromagnetic object can change the electromagnetic field 151 by superposition.

[0110] In an example case of a non-ferromagnetic object (such as a conductive object), eddy currents can be generated in the non-ferromagnetic object due to the electromagnetic field 151. The eddy currents can then generate an electromagnetic field in addition to the electromagnetic field 151. Thus, for example, the electromagnetic field generated by the non-ferromagnetic object can change the electromagnetic field 151 by superposition.

[0111] In various implementations, the conductive object may include all or a portion of the computing device 102, the imaging device 112, the support 153, and / or other instrumentation. However, it should be understood that various conductive members may be interfering members even if not specifically identified herein. Aspects of the present disclosure support implementations that address instances where any number of objects (e.g., ferromagnetic objects, non-ferromagnetic objects, etc.) are present in or near the electromagnetic field 151.

[0112] Example implementations of the present disclosure that support compensating for such distortions caused by non-ferromagnetic objects and / or ferromagnetic objects are described with reference to the following figures.

[0113] FIG. 2 illustrates an example of a processing flow 200 that supports navigation from ultra-low frequencies to high frequencies in accordance with aspects of the present disclosure.

[0114] In some examples, the processing flow 200 may implement aspects of the system 100 described with reference to Figure 1A and Figure 1B The processing flow 200 is described with reference to Figure 1A 、 Figure 1B and Figure 2B In the following description of the processing flow 200, the operations may be performed in an order different from the order shown, or the operations may be performed in a different order or at different times. Certain operations may be omitted from the processing flow 200, or other operations may be added to the processing flow 200.

[0115] It should be understood that the computing device 102, the navigation system 118, and / or the transmitting device 136 may perform multiple operations of the processing flow 200, and any device (e.g., another computing device 102 of the system 100, the navigation system 118, the transmitting device 136, etc.) may perform the operations shown.

[0116] At 205, the navigation system 118 may transmit a signal according to a frequency, a set of frequencies, and / or a set of frequency bands. In one example, the frequency, the set of frequencies, and / or the frequency bands may be included in a frequency range of approximately 300 Hz to 30 MHz. For example, the navigation system 118 may drive a single transmitting coil 137, a set of transmitting coils 137, or an array of transmitting coils 137 according to a signal frequency, a set of frequencies, or a set of frequency bands, thereby generating an electromagnetic field 151 associated with the signal frequency, the set of frequencies, or the set of frequency bands. In one example, generating the electromagnetic field 151 may define a volume 150.

[0117] At 210, the tracking device 140 can be moved into the electromagnetic field 151. For example, the tracking device 140 (or the instrument 156 to which the tracking device 140 is coupled) can be moved into the electromagnetic field 151 by the user 154 or the robot 114 (e.g., autonomously or in response to a command from the user 154). In some examples, the tracking device 140 may already be positioned within the volume 150, and the movement of the tracking device 140 at 210 may be omitted.

[0118] At 215, the tracking device 140 can sense the electromagnetic field 151 and any distortion generated by the electromagnetic field 151.

[0119] At 220, the tracking device 140 can provide data indicating the sensing of the electromagnetic field 151 and any corresponding distortion to the navigation system 118. For example, at 220, the tracking device 140 can provide a signal indicating the measurement results or the sensed field within the volume 150. In one example, the signal can include data indicating the measurement results or the sensed field. In some examples, the signal can include the pose information of the tracking device 140.

[0120] At 225, the navigation system 118 can determine the amount of distortion present within the electromagnetic field 151 (such as within the volume 150) based on the data provided by the tracking device 140. In some aspects, at 225, the navigation system 118 can use various metrics to determine the amount of distortion. For example, the navigation system 118 can determine a metric from the received signal. In some aspects, the navigation system 118 can construct a metric from the pose information of the tracking device 140.

[0121] At 230, the navigation system 118 can determine whether the amount of distortion is less than a distortion threshold (e.g., is the distortion less than the threshold?). In some alternative aspects (not illustrated), at 230, the navigation system 118 can determine whether any distortion exists (e.g., is there distortion?).

[0122] If the navigation system 118 determines that the amount of distortion is less than the distortion threshold (e.g., is the distortion less than the threshold? = yes), then the navigation system 118 can proceed to 245 and / or return to 205.

[0123] Additionally or alternatively, if at 230, the navigation system 118 determines based on the data provided by the tracking device 140 that the amount of distortion is greater than or equal to the distortion threshold (e.g., is the distortion less than the threshold? = no), then the navigation system 118 can configure (at 235) the model to compensate for the distortion. In some aspects, the navigation system 118 can store the model (or models) into the memory 106 and / or the database 130. For example, the navigation system 118 can call the model (or models) for future instances where the navigation system 118 determines a similar distortion level and / or distortion characteristics.

[0124] At 237, the navigation system 118 may apply a configured model to compensate for the distortion, thereby reducing the impact of the distortion on the electromagnetic field 151. For example, applying the configured model may reduce the distortion to a distortion level that is less than a distortion threshold. In some examples, applying the model may include effectively eliminating the distortion. In some aspects, the processing flow 200 may include repeating 225 to 237, for example, until the distortion level is less than the distortion threshold.

[0125] At 245, the navigation system 118 may provide navigation information 165 associated with the volume 150 and the tracking device 140. For example, the tracking device 140 may provide sensor information (e.g., pose information indicating the tracking device 140) to the navigation system 118 based on the applied model. In one example, using the navigation information 165, the user 154 and / or the robot 114 may navigate a surgical procedure.

[0126] In some aspects, the system 100 may support repeating any of 205 to 245 of the processing flow 200 for any number of frequencies.

[0127] Figure 2B An example magnetic response 201 of a ferromagnetic object based on the frequency of the applied electromagnetic field 151 is illustrated. The example magnetic response 201 includes a real component (μ Re ) and an imaginary component (μ Im ). In some aspects, in the case of a ferromagnetic object, determining the amount of distortion at Figure 2A 225 may be based on the relative magnetic permeability of the ferromagnetic object (illustrated in the example magnetic response 201).

[0128] The ferromagnetic object may be the instrument 156 described in reference Figure 1B , but is not limited thereto. In one example, the data provided to the navigation system 118 by the tracking device 140 (at 220) may indicate the electromagnetic field 151 as sensed by the tracking device 140 relative to the frequency f1, and may indicate the magnetic distortion associated with the instrument 156 (or a portion of the instrument 156, e.g., the magnetic portion of the instrument 156).

[0129] When determining the amount of distortion (at 225), the navigation system 118 may calculate the magnetic permeability μ m associated with the instrument 156 at the frequency f1. For example, the magnetic permeability μ m may be associated with the magnetic portion of the instrument 156. The magnetic permeability μ m of the magnetic portion is the ability of the magnetic portion (e.g., magnetic material) to support the formation of a magnetic field. For example, due to the magnetic permeability μ m of the magnetic portion in response to the electromagnetic field 151 at the frequency f1, the magnetic portion may introduce distortion to the electromagnetic field 151.

[0130] In some aspects, when determining the amount of distortion (at 225), the navigation system 118 may calculate the relative permeability μ associated with the instrument 156 at a frequency f1. r . For example, the relative permeability μ r may be associated with the magnetic portion of the instrument 156. The relative permeability μ of the magnetic portion r may be equal to the ratio of the permeability μ of the magnetic portion to the permeability μ0 of free space, as illustrated by the following example equation (1). m

[0131] μ r = μ m / μ0 (1)

[0132] The navigation system 118 may continue to calculate the relative permeability μ while changing the frequency associated with generating the electromagnetic field 151. r .

[0133] Figures 3A to 3C In some aspects, to identify the frequency that generates the electromagnetic field 151 and thus provides navigation, the navigation system 118 may start with a relatively high frequency associated with generating the electromagnetic field 151 (e.g., at 30 MHz or near 30 MHz), and determine the relative permeability μ of the object due to the electromagnetic field 151. r . If the relative permeability μ r is below the threshold TH_R, the navigation system 118 may decrease the frequency until the relative permeability μ r exceeds the threshold TH_R (e.g., via the frequency sweep described later with reference to Figures 3A to 3C ), thereby identifying the frequency that can support effective navigation. In some other aspects, for a frequency at which the relative permeability μ r exceeds the threshold TH_R, the navigation system 118 may configure and apply the model as described herein to reduce the relative permeability μ r to a level equal to or less than the threshold TH_R. In some other example aspects, for a frequency at which the relative permeability μ r does not exceed the threshold TH_R, the navigation system 118 may configure and apply the model as described herein to further reduce the relative permeability μ r .

[0134] Thus, for example, the navigation system 118 may identify the frequency range associated with the electromagnetic field 151 within which the distortion of the electromagnetic field 151 caused by the relative permeability μ of the object r is minimized. For example, the navigation system 118 may identify the impact of the relative permeability μ of the object r on the ability of the navigation system 118 to effectively track the tracking device 140 will be minimized.

[0135] Figure 3AIllustrates an example of process flow 300 that supports navigation using a scan frequency according to aspects of the present disclosure. Figure 3B Illustrates an example of process flow 301 that supports navigation using a scan frequency according to aspects of the present disclosure. Figure 3C Illustrates an example of the distortion magnitude relative to frequency for respective transmit coils 137 of transmit device 136 (labeled "Tx1" to "Tx3" in Figure 3C )

[0136] Figure 3A and Figure 3B Aspects of and support reducing distortion effects caused by ferromagnetic and / or non-ferromagnetic objects based on the frequency of the applied electromagnetic field 151. Distortion such as magnetic distortion associated with ferromagnetic objects may be referred to herein as "forced distortion". Distortion such as conductive distortion associated with conductive objects (e.g., ferromagnetic or non-ferromagnetic objects) may be referred to herein as "induced distortion". Reference Figure 3A and Figure 3B describe aspects that support navigation using a scan frequency associated with compensating for distortion caused by ferromagnetic and / or non-ferromagnetic objects.

[0137] In some examples, process flows 300 and 301 may implement aspects of system 100 described with reference to Figure 1A and Figure 1B Process flows 300 and 301 are described with reference to Figure 1A , Figure 1B and Figure 3C In the following description of process flows 300 and 301, operations may be performed in an order different from the order shown, or operations may be performed in a different order or at different times. Certain operations may be omitted from process flows 300 and 301, or other operations may be added to process flows 300 and 301. Process flows 300 and 301 include aspects of process flow 200, and for the sake of brevity, descriptions of similar elements are omitted.

[0138] It should be understood that computing device 102, navigation system 118, and / or transmit device 136 may perform multiple operations of process flows 300 and 301, and any device (e.g., another computing device 102 of system 100, navigation system 118, transmit device 136, etc.) may perform the operations shown.

[0139] According to an example aspect of the present disclosure, the navigation system 118 may transmit a signal according to a frequency in the frequency range from Freq 1 (e.g., about 300 Hz) to Freq 2 (e.g., about 30 MHz). For example, the navigation system 118 may drive an array of transmit coils 137 according to this frequency, thereby generating an electromagnetic field 151 associated with this frequency. Example aspects are described with reference to the navigation system 118 and the distortion amplitude associated with the transmit coil 137 referred to as "Tx1" (illustrated at Figure 3C ).

[0140] In an example described later with reference to Figure 3A , the navigation system 118 may start driving the array of transmit coils 137 at Freq 1 or near Freq1. In another example, the navigation system 118 may initially start driving the array at any relatively low frequency within the frequency range. For example, the navigation system 118 may initially start driving the array at a frequency higher than Freq 1.

[0141] In an example described later with reference to Figure 3B , the navigation system 118 may initially start driving the array at any relatively high frequency within the frequency range. For example, the navigation system 118 may start transmitting to drive the array of coils 137 at Freq 2 or near Freq2. In some examples, the navigation system 118 may initially start driving the array at a frequency lower than Freq 2.

[0142] For the initial frequency, the navigation system 118 may determine the amount of distortion present in the electromagnetic field 151 (such as within volume 150) based on data provided by the tracking device 140. In some aspects, the navigation system 118 may determine whether the induced distortion amount is less than a distortion threshold. Example aspects of starting to drive the transmit coil 137 at a relatively low frequency and at a relatively high frequency are described with reference to Figure 3A and Figure 3B respectively.

[0143] With reference to Figure 3A processing flow 300, an example of starting to drive the array of transmit coils 137 at Freq 1 is described herein.

[0144] At 305-a, the navigation system 118 may transmit a signal according to Freq 1 (e.g., about 300 Hz).

[0145] At 325-a, the navigation system 118 may determine the amount of distortion at Freq1. In some aspects, the navigation system 118 may use a similar aspect described in 225 of reference Figure 2A to determine the amount of distortion. In some aspects described later herein, the navigation device 118 may determine whether the distortion is mainly forced or mainly induced, for example, by further transmitting signals at other frequencies and determining the resulting distortion.

[0146] At 330-a, the navigation system 118 may determine whether the amount of distortion at Freq1 is less than a distortion threshold TH_1 (e.g., is the distortion less than the threshold?). In one example, the navigation system 118 may determine that the amount of distortion is not less than the distortion threshold (e.g., is the distortion less than the threshold? = no).

[0147] The navigation system 118 may iteratively optimize (e.g., adjust, increase, etc.) the frequency associated with the electromagnetic field 151 until the distortion is less than the distortion threshold. For example, at 331-a, the navigation system 118 may increase the frequency associated with the electromagnetic field 151. In one example, the navigation system 118 may transmit (at 305-a) a signal according to a frequency Freq 3 that is higher than Freq 1.

[0148] The navigation system 118 may return to 325-a and determine whether the amount of distortion according to Freq 3 is less than the distortion threshold TH_1 (e.g., is the distortion less than the threshold?).

[0149] The navigation system 118 may continue to increase the frequency associated with the electromagnetic field 151 until it reaches a frequency Freq 4 at which the amount of distortion is less than the distortion threshold TH_1 (e.g., is the distortion less than the threshold? = yes).

[0150] For example, if the navigation system 118 determines at 330-a that the magnitude of the distortion 332-a (e.g., at Freq4) is less than the distortion threshold TH_1 (e.g., is the distortion less than the threshold? = yes), then the navigation system 118 may proceed to 345. Additionally or alternatively, the navigation system 118 may proceed to 335-a, aspects of which are described later herein.

[0151] At 345, for Freq 4 where the distortion is below the distortion threshold TH_1 (e.g., the magnitude of the distortion 332-a is less than the magnitude associated with the distortion threshold TH_1), the navigation system 118 may provide navigation information 165 associated with the volume 150 and the tracking device 140.

[0152] In some examples, the navigation system 118 may continue to increase the frequency to a frequency Freq 7 at which the magnitude of the distortion 332-a is equal to zero, and the navigation system 118 may provide navigation information 165 for a frequency range from Freq 4 to Freq 7.

[0153] Example aspects of the processing flow 300 also include applying a model to further reduce the distortion. For example, if the navigation system 118 determines at 330-a that the distortion is below the distortion threshold TH_1 (e.g., is the distortion less than the threshold? = yes), then the navigation system 118 may configure the model(s) to compensate for the remaining distortion.

[0154] For example, at 335-a, the navigation system 118 may configure the model (or models). At 337-a, the navigation system 118 may apply the model to compensate for the remaining distortion. In some aspects, the navigation system 118 may store the model (or models) in the memory 106 and / or the database 130. For example, the navigation system 118 may invoke the model for future instances in which a similar distortion level is determined by the navigation system 118. Thus, for example, the navigation system 118 may develop and apply a model that compensates for the remaining distortion in the frequency range from Freq 4 to Freq 7.

[0155] In one example, the model may include a first-principles model of the received signal as a function of frequency in the presence of forced distortion, and the first-principles model is extrapolated to frequencies with favorable characteristics (e.g., material properties that are known or otherwise easily tractable). In another example, the model may be based on machine learning, taking the distorted signals at different frequencies as inputs and providing an estimate of the undistorted signal at a target frequency (e.g., a useful frequency) as an output. In some aspects, the navigation system 118 may apply the model to correct or remove the distortion sensed in the electromagnetic field 151 and incorporated in the signals provided by the tracking device 140.

[0156] Reference Figure 3B to the processing flow 301, an example of driving the array of transmit coils 137 starting at Freq 2 is described herein.

[0157] At 305-b, the navigation system 118 may transmit a signal according to Freq 2 (e.g., approximately 30 MHz).

[0158] At 325-b, the navigation system 118 may determine the amount of distortion at Freq2. In some aspects, the navigation system 118 may use reference Figure 2A to the similar aspects described in 225 of

[0159] to determine the amount of distortion. In some aspects described later herein, the navigation system 118 may determine whether the distortion is mainly forced or mainly induced, for example, by further transmitting signals at other frequencies and determining the resulting distortion.

[0160] The navigation system 118 can iteratively optimize (e.g., adjust, reduce, etc.) the frequency associated with the electromagnetic field 151 until the distortion is less than the distortion threshold. For example, at 331-b, the navigation system 118 can reduce the frequency associated with the electromagnetic field 151. In one example, the navigation system 118 can transmit (at 305-b) a signal according to a frequency Freq 5 that is lower than Freq 2.

[0161] The navigation system 118 can return to 325-b and determine whether the amount of distortion according to Freq 5 is less than the distortion threshold TH_2 (e.g., is the distortion less than the threshold?).

[0162] The navigation system 118 can continue to reduce the frequency associated with the electromagnetic field 151 until it reaches a frequency Freq 6 at which the amount of distortion is less than the distortion threshold TH_2 (e.g., is the distortion less than the threshold? = yes).

[0163] For example, if the navigation system 118 determines at 330-b that the magnitude of the distortion 332-b (e.g., at Freq 6) is less than the distortion threshold TH_2 (e.g., is the distortion less than the threshold? = yes), then the navigation system 118 can proceed to 345. Additionally or alternatively, the navigation system 118 can proceed to 335-b.

[0164] At 345, the navigation system 118 can provide navigation information 165 associated with the volume 150 and the tracking device 140 at Freq 6 where the distortion is less than the distortion threshold TH_2 (e.g., the magnitude of the distortion 332-b is less than the magnitude associated with the distortion threshold TH_2).

[0165] In some examples, the navigation system 118 can continue to reduce the frequency to a frequency Freq 7 at which the magnitude of the distortion 332-b is equal to zero, and the navigation system 118 can provide navigation information 165 for the frequency range from Freq 6 to Freq 7.

[0166] Example aspects of the processing flow 300 also include applying a model to further reduce the distortion. For example, even if the navigation system 118 determines at 330-b that the distortion is below the distortion threshold TH_2 (e.g., is the distortion less than the threshold? = yes), the navigation system 118 can configure the model (or models) to compensate for the remaining distortion.

[0167] For example, at 335-b, the navigation system 118 may configure a model (or models). At 337-b, the navigation system 118 may apply the model to compensate for residual distortion. In some aspects, the navigation system 118 may store the model (or models) to the memory 106 and / or the database 130. For example, the navigation system 118 may invoke the model for future instances in which a similar distortion level is determined by the navigation system 118. Thus, for example, the navigation system 118 may develop and apply a model that compensates for residual distortion in the frequency range from Freq 6 to Freq 7.

[0168] In some alternative and / or additional aspects, the navigation system 118 may determine the frequency range from Freq 4 to Freq 6 (e.g., from Freq 4 to Freq 7 and from Freq 6 to Freq 7) by scanning through a relative middle of the frequency range from Freq 1 to Freq 2. For example, the navigation system 118 may select any frequency (e.g., Freq8) that is a relative middle of the frequency range from Freq 1 to Freq 2. The navigation system 118 may determine the amount of distortion for various frequencies while scanning from Freq 8 in a direction of decreasing frequency, e.g., until a distortion threshold TH_1 is reached. The navigation system 118 may determine the amount of distortion for various frequencies while scanning from Freq 8 in a direction of increasing frequency, e.g., until a distortion threshold TH_2 is reached.

[0169] As referenced Figure 3A and Figure 3B As described, the system 100 may support navigation using scan frequencies associated with effectively eliminating electromagnetic distortion. The system may scan across frequencies, sense and minimize distortion, and navigate at multiple frequencies that achieve an optimal level of forced distortion and induced distortion (e.g., below a threshold). Navigation using multiple such identified frequencies may minimize the distortion effect on the tracking device 140.

[0170] In some other aspects, the system 100 may support navigation using sampling frequencies associated with effectively eliminating electromagnetic distortion. As an example, using the transmit coil Tx3, the navigation system 118 may transmit a signal at Freq1, and then transmit a signal at Freq 2, and exhibit opposite distortion. Then, the navigation system 118 may transmit a signal at Freq 4 using the transmit coil Tx3, then transmit a signal at Freq 6, then transmit a signal at Freq 7 (or transmit at Freq 8 and then scan from Freq 8 to Freq 7).

[0171] As another example, using transmit coil Tx3, navigation system 118 can transmit signals simultaneously at Freq 1 and Freq 2 and exhibit opposite distortion. Navigation system 118 can then use transmit coil Tx3 to transmit signals simultaneously at Freq 4 and Freq 6 and subsequently transmit at Freq 7 (or transmit at Freq 8 and scan down to Freq 7).

[0172] As another example, using transmit coil Tx3, navigation system 118 can transmit signals simultaneously at Freq 1, Freq 2, Freq 4, and Freq 6 and subsequently transmit at Freq 7 (or transmit at Freq 8 and scan down to Freq 7).

[0173] In accordance with example aspects of the present disclosure, using transmit coil Tx1 and transmit coil Tx2, navigation system 118 can similarly scan or sample (or sample and scan) across a set of the same or slightly different frequencies as described herein with reference to transmit coil Tx3.

[0174] Thus, for example, navigation system 118 can generate electromagnetic field 151 at the frequencies described herein to reduce distortion (e.g., forced distortion) when the magnetic permeability decreases with increasing frequency and to reduce distortion at low frequencies (e.g., induced distortion) when the skin depth decreases with increasing frequency.

[0175] Figure 4 Illustrates an example of process flow 400 in accordance with aspects of the present disclosure. In some examples, process flow 400 can implement aspects of computing device 102, imaging device 112, robot 114, and navigation system 118 described with reference to Figure 1A and Figure 1B In the following description of process flow 400, operations may be performed in an order different from the order shown, or operations may be performed in a different order or at different times. Certain operations may be omitted from process flow 400, or other operations may be added to process flow 400. It should be understood that any one of the operations of process flow 400 can be performed by any device (e.g., computing device 102, imaging device 112, robot 114, navigation system 118, etc.).

[0176] At 405, process flow 400 includes transmitting signals according to a set of frequencies, wherein the frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz.

[0177] At 410, process flow 400 includes sensing an electromagnetic field based on transmitting signals according to the set of frequencies.

[0178]

[0179] ​At 415, process flow 400 includes determining a distortion relative to the set of frequencies associated with the sensed electromagnetic field.

[0180] In some aspects, determining the distortion is based on at least one of the following: the permeability associated with one or more objects in the environment; and the relative permeability associated with one or more objects in the environment. In some aspects, determining the distortion includes determining at least one of the following: the conductive distortion associated with one or more objects in the environment; and the magnetic distortion associated with one or more objects in the environment. In some aspects, the distortion is associated with one or more objects included in the environment, and the one or more objects include at least one of the following: one or more ferromagnetic objects and one or more non-ferromagnetic objects.

[0181] At 420, process flow 400 includes identifying a set of frequencies from the set of frequencies for which the magnitude of the distortion is less than a threshold.

[0182] At 425, process flow 400 includes configuring a model that is associated with compensating for the distortion relative to at least one of the one or more frequencies.

[0183] In some aspects, the at least one frequency is greater than a threshold frequency included in the one or more frequencies.

[0184] At 430, process flow 400 includes transmitting a signal according to one or more frequencies from the set of second frequencies.

[0185] In some aspects, transmitting the signal according to the one or more frequencies includes: incrementing or decrementing the frequency associated with the transmitted signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies. In some aspects, process flow 300 may include: identifying the first boundary frequency based on a comparison of the threshold and a first distortion magnitude associated with transmitting the signal according to the first boundary frequency; and identifying the second boundary frequency based on a comparison of the threshold and a second distortion magnitude associated with transmitting the signal according to the second boundary frequency.

[0186] At 435, process flow 400 includes providing navigation information associated with the environment and the tracking device in response to transmitting the signal according to one or more frequencies, wherein the navigation information includes pose information of the tracking device.

[0187] In some aspects, providing the navigation information is based on compensating for the distortion using the model. In some aspects, compensating for the distortion using the model includes reducing the magnitude associated with the distortion.

[0188] In some aspects, process flow 400 may include transmitting (at 405) a signal from a first transmit coil of a set of transmit coils. In some aspects, process flow 400 may include transmitting the signal or a second signal from a second transmit coil of the set of transmit coils according to one or more second frequencies of the set of frequencies. In some aspects, process flow 400 may include providing navigation information associated with the environment and the tracking device (at 435) in response to transmitting the signal or the second signal according to the one or more second frequencies.

[0189] Process flow 400 (and / or one or more of its operations) may be implemented or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to processor 104 of computing device 102 described above. The at least one processor may be part of a robot (such as robot 114) or part of a navigation system (such as navigation system 118). A processor other than any processor described herein may also support the execution of process flow 400. The at least one processor may perform the operations of process flow 400 by executing elements stored in a memory (such as memory 106). The elements stored in the memory and executed by the processor may cause the processor to perform one or more of the functions shown in process flow 400. One or more portions of process flow 400 may be performed by a processor that executes any of the content in the memory, such as navigation process 129.

[0190] As described above, the present disclosure encompasses methods having fewer steps than all of the steps identified in Figure 2A , Figure 3A , Figure 3B and Figure 4 (and the descriptions of the corresponding process flows), as well as methods including additional steps beyond those identified in Figure 2A , Figure 3A , Figure 3B and Figure 4 (and the descriptions of the corresponding process flows). The present disclosure also encompasses methods including one or more steps from one method described herein and one or more steps from another method described herein. Any correlation described herein may be or include registration or any other correlation.

[0191] The foregoing is not intended to limit the present disclosure to one or more forms disclosed herein. In the foregoing detailed description, for example, for the purpose of simplifying the present disclosure, various features of the present disclosure are grouped together in one or more aspects, embodiments, and / or configurations. Features of aspects, embodiments, and / or configurations of the present disclosure may be combined in alternative aspects, embodiments, and / or configurations other than those discussed above. The methods of the present disclosure should not be construed as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as reflected in the following claims, the aspects of the invention lie in less than all of the features of a single foregoing disclosed aspect, embodiment, and / or configuration. Accordingly, the following claims are hereby incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of the present disclosure.

[0192] In addition, although the foregoing has included a description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the present disclosure after understanding the present disclosure, for example, within the skill and knowledge of those skilled in the art. It is intended to obtain rights to include alternative aspects, embodiments, and / or configurations within the scope of what is permitted, including alternative, interchangeable, and / or equivalent structures, functions, scopes, or steps of those claimed, whether or not such alternative, interchangeable, and / or equivalent structures, functions, scopes, or steps are disclosed herein, and not intended to disclose subject matter dedicated to any patentable subject.

[0193] Example aspects of the present disclosure include:

[0194] A system comprising: a processor; and a memory storing instructions that, when executed by the processor, cause the processor to: transmit a signal according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; determine a distortion associated with an electromagnetic field sensed at a tracking device, wherein the distortion is determined with respect to the set of frequencies; identify a set of second frequencies from the set of frequencies having an amplitude of the distortion less than a threshold; transmit the signal according to one or more frequencies of the set of second frequencies; and in response to transmitting the signal according to the one or more frequencies, provide navigation information associated with the environment and the tracking device, wherein the navigation information includes pose information of the tracking device.

[0195] Any aspect of the aspects herein, wherein the instructions can further be executed by the processor to: configure a model associated with compensating for distortion with respect to at least one of the one or more frequencies, wherein providing the navigation information is based on compensating for the distortion using the model.

[0196] Any aspect of the present disclosure, wherein compensating for the distortion using the model includes: reducing the magnitude associated with the distortion.

[0197] Any aspect of the present disclosure, wherein the at least one frequency is greater than a threshold frequency included in the one or more frequencies.

[0198] Any aspect of the present disclosure, wherein: transmitting the signal according to the one or more frequencies includes: incrementing or decrementing a frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

[0199] Any aspect of the present disclosure, wherein: the first boundary frequency is identified based on a comparison of the threshold and a first distortion magnitude associated with transmitting the signal according to the first boundary frequency; and the second boundary frequency is identified based on a comparison of the threshold and a second distortion magnitude associated with transmitting the signal according to the second boundary frequency.

[0200] Any aspect of the present disclosure, wherein determining the distortion is based on at least one of: a permeability associated with one or more objects in the environment; and a relative permeability associated with the one or more objects in the environment.

[0201] Any aspect of the present disclosure, the system further includes a set of transmitting coils, wherein the instructions can be further executed by the processor to: transmit the signal from a first transmitting coil in the set of transmitting coils; and transmit the signal or a second signal from a second transmitting coil in the set of transmitting coils according to one or more second frequencies in the set of frequencies; and provide the navigation information associated with the environment and the tracking device in response to transmitting the signal or the second signal according to the one or more second frequencies.

[0202] Any aspect of the present disclosure, wherein the distortion includes at least one of: a conductive distortion associated with one or more objects in the environment; and a magnetic distortion associated with the one or more objects in the environment.

[0203] Any aspect of the present disclosure, wherein the distortion is associated with one or more objects included in the environment, the one or more objects including at least one of: one or more ferromagnetic objects and one or more non-ferromagnetic objects.

[0204] A method, the method comprising: transmitting a signal according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; sensing an electromagnetic field based on transmitting the signal according to the set of frequencies; determining a distortion relative to the set of frequencies associated with sensing the electromagnetic field; identifying a set of second frequencies from the set of frequencies for which an amplitude of the distortion is less than a threshold; transmitting the signal according to one or more frequencies of the set of second frequencies; and providing navigation information associated with the environment and the tracking device in response to transmitting the signal according to the one or more frequencies, wherein the navigation information includes pose information of the tracking device.

[0205] In any aspect of the aspects herein, the system further comprises: a configuration model associated with compensating for a distortion relative to at least one of the one or more frequencies, wherein providing the navigation information is based on compensating for the distortion using the model.

[0206] In any aspect of the aspects herein, compensating for the distortion using the model comprises: reducing an amplitude associated with the distortion.

[0207] In any aspect of the aspects herein, the at least one frequency comprises a relatively high frequency included in the one or more frequencies.

[0208] In any aspect of the aspects herein, wherein: transmitting the signal according to the one or more frequencies comprises: incrementing or decrementing a frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

[0209] In any aspect of the aspects herein, the system further comprises: identifying the first boundary frequency based on a comparison of the threshold and a first distortion amplitude associated with transmitting the signal according to the first boundary frequency; and identifying the second boundary frequency based on a comparison of the threshold and a second distortion amplitude associated with transmitting the signal according to the second boundary frequency.

[0210] In any aspect of the aspects herein, wherein determining the distortion is based on at least one of: a permeability associated with one or more objects in the environment; and a relative permeability associated with the one or more objects in the environment.

[0211] In any aspect of the aspects herein, the system further comprises: transmitting the signal from a first transmitting coil of the set of transmitting coils; transmitting the signal or a second signal from a second transmitting coil of the set of transmitting coils according to one or more second frequencies of the set of frequencies; and providing the navigation information associated with the environment and the tracking device in response to transmitting the signal or the second signal according to the one or more second frequencies.

[0212] Any aspect of the present disclosure, wherein determining the distortion includes determining at least one of the following: an electrical distortion associated with one or more objects in the environment; and a magnetic distortion associated with the one or more objects in the environment.

[0213] Any aspect of the present disclosure, wherein the distortion is associated with one or more objects included in the environment, the one or more objects including at least one of the following: one or more ferromagnetic objects and one or more non-ferromagnetic objects.

[0214] A system comprising: a transmitting device configured to transmit a signal according to a set of frequencies from about 300 Hz to about 30 MHz; a tracking device; a processor; and a memory storing data which, when processed by the processor, causes the processor to: determine a distortion associated with an electromagnetic field sensed at the tracking device, wherein the distortion is determined relative to the set of frequencies; identify a set of second frequencies from the set of frequencies at which the amplitude of the distortion is less than a threshold; use the transmitting device to transmit the signal according to one or more frequencies from the set of second frequencies; and in response to transmitting the signal according to the one or more frequencies, provide navigation information associated with the environment and the tracking device, wherein the navigation information includes pose information of the tracking device.

[0215] Any aspect of the present disclosure, wherein the data can further be executed by the processor to: configure a model associated with compensating for the distortion relative to at least one of the one or more frequencies, wherein providing the navigation information is based on applying the model.

[0216] Any aspect of the present disclosure, wherein: transmitting the signal according to the one or more frequencies includes: incrementing or decrementing the frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

[0217] Any aspect of the present disclosure, wherein: the first boundary frequency is identified based on a comparison of the threshold and a first distortion amplitude associated with transmitting the signal according to the first boundary frequency; and the second boundary frequency is identified based on a comparison of the threshold and a second distortion amplitude associated with transmitting the signal according to the second boundary frequency.

[0218] Any aspect of the present disclosure, wherein determining the distortion is based on at least one of the following: the permeability associated with one or more objects in the environment; and the relative permeability associated with the one or more objects in the environment.

[0219] Any aspect of the present disclosure, wherein the transmitting device includes a set of transmitting coils, and the data can be further executed by the processor to: transmit the signal from a first transmitting coil of the set of transmitting coils; transmit the signal or a second signal from a second transmitting coil of the set of transmitting coils according to one or more second frequencies of the set of frequencies; and provide the navigation information associated with the environment and the tracking device in response to transmitting the signal or the second signal according to the one or more second frequencies.

[0220] Any aspect of the present disclosure, wherein the distortion includes at least one of the following: conductive distortion associated with one or more objects in the environment; and magnetic distortion associated with the one or more objects in the environment.

[0221] Any aspect of the present disclosure, wherein the distortion is associated with one or more objects included in the environment, and the one or more objects include at least one of the following: one or more ferromagnetic objects and one or more non-ferromagnetic objects.

[0222] A system includes: a navigation circuit configured to provide navigation information associated with an environment by: transmitting a signal according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; sensing an electromagnetic field based on transmitting the signal according to the set of frequencies; determining a distortion associated with sensing the electromagnetic field, wherein the distortion is determined with respect to the set of frequencies; identifying a set of second frequencies from the set of frequencies at which an amplitude of the distortion is less than a threshold; transmitting the signal according to one or more frequencies of the set of second frequencies; and providing navigation information associated with the environment in response to transmitting the signal according to the one or more frequencies, wherein the navigation information includes pose information of one or more objects in the environment.

[0223] A non-transitory computer-readable medium includes instructions that, when executed by a processor: transmit a signal according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; determine a distortion associated with an electromagnetic field sensed at a tracking device, wherein the distortion is determined with respect to the set of frequencies; identify a set of second frequencies from the set of frequencies at which an amplitude of the distortion is less than a threshold; transmit the signal according to one or more frequencies of the set of second frequencies; and provide navigation information associated with the environment and the tracking device in response to transmitting the signal according to the one or more frequencies, wherein the navigation information includes pose information of the tracking device.

[0224] Any one aspect in combination with any one or more other aspects.

[0225] Any one or more features disclosed herein.

[0226] One or more of the features described herein are generally disclosed.

[0227] One or more of the features generally disclosed herein are combined with one or more other features generally disclosed herein.

[0228] Any one of an aspect / feature / embodiment is combined with one or more other aspects / features / embodiments.

[0229] Use any one or more of the aspects or features disclosed herein.

[0230] It should be understood that any feature described herein can be combined with any other feature described herein to claim protection, regardless of whether the features are from the same described embodiment.

[0231] The phrases "at least one", "one or more", and "and / or" are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions "at least one of A, B, and C", "at least one of A, B, or C", "one or more of A, B, and C", "one or more of A, B, or C", "A, B, and / or C", and "A, B, or C" means only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together.

[0232] The term "a" entity means one or more of that entity. Thus, the terms "a", "one or more", and "at least one" can be used interchangeably herein. It should also be noted that the terms "comprising", "including", and "having" can be used interchangeably.

[0233] As used herein, the term "automatically" and its variants refer to any process or operation that is generally continuous or semi - continuous and can be completed without substantial human input when the process or operation is performed. However, even if the execution of a process or operation uses substantial or significant human input, the process or operation can still be automatic if the input is received prior to the execution of the process or operation. If the human input affects the manner in which the process or operation is performed, then the input is considered substantial. Human input that merely consents to the execution of the process or operation is not considered "substantial".

[0234] Aspects of the present disclosure may take the form of embodiments that are entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or embodiments that combine software and hardware aspects, which may all be generally referred to herein as "circuits", "modules", or "systems" in this document. Any combination of one or more computer - readable media may be utilized. The computer - readable media may be a computer - readable signal medium or a computer - readable storage medium.

[0235] A computer-readable storage medium may be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0236] A computer-readable signal medium may include a propagated data signal embodied in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated signal may take any of a variety of forms, including but not limited to electromagnetic, optical, or any suitable combination thereof. A computer-readable signal medium may be any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The program code embodied on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0237] As used herein, the terms "determine", "calculate", "estimate", and variations thereof may be used interchangeably and include any type of method, process, mathematical operation, or technique.

Claims

1. A system, the system comprising: a processor; and a memory storing instructions that, when executed by the processor, cause the processor to: transmit a signal according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; determine a distortion associated with an electromagnetic field sensed at a tracking device, wherein the distortion is determined relative to the set of frequencies; identify a set of second frequencies from the set of frequencies at which the amplitude of the distortion is less than a threshold; transmit the signal according to one or more frequencies of the set of second frequencies; and in response to transmitting the signal according to the one or more frequencies, provide navigation information associated with the environment and the tracking device, wherein the navigation information includes pose information of the tracking device.

2. The system according to claim 1, wherein the instructions can further be executed by the processor to: configure a model associated with compensating for the distortion relative to at least one of the one or more frequencies, wherein providing the navigation information is based on compensating for the distortion using the model.

3. The system according to claim 2, wherein compensating for the distortion using the model comprises: reduce the amplitude associated with the distortion.

4. The system according to claim 2, wherein the at least one frequency is greater than a threshold frequency included in the one or more frequencies.

5. The system according to claim 1, wherein: transmitting the signal according to the one or more frequencies includes: incrementing or decrementing a frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

6. The system according to claim 5, wherein: the first boundary frequency is identified based on a comparison of the threshold and a first distortion amplitude associated with transmitting the signal according to the first boundary frequency; and the second boundary frequency is identified based on a comparison of the threshold and a second distortion amplitude associated with transmitting the signal according to the second boundary frequency.

7. The system according to claim 1, wherein determining the distortion is based on at least one of the following: a magnetic permeability associated with one or more objects in the environment; and a relative magnetic permeability associated with the one or more objects in the environment.

8. The system according to claim 1, the system further comprising a set of transmitting coils, wherein the instructions can further be executed by the processor to: transmit the signal from a first transmitting coil of the set of transmitting coils; transmit the signal or a second signal from a second transmitting coil of the set of transmitting coils according to one or more second frequencies of the set of frequencies; and in response to transmitting the signal or the second signal according to the one or more second frequencies, provide the navigation information associated with the environment and the tracking device.

9. The system according to claim 1, wherein the distortion includes at least one of the following: a conductive distortion associated with one or more objects in the environment; and a magnetic distortion associated with the one or more objects in the environment.

10. The system according to claim 1, wherein the distortion is associated with one or more objects included in the environment, and the one or more objects include at least one of the following: one or more ferromagnetic objects; and one or more non-ferromagnetic objects.

11. A method, the method comprising: transmitting a signal according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; sensing an electromagnetic field based on transmitting the signal according to the set of frequencies; determining a distortion associated with sensing the electromagnetic field with respect to the set of frequencies; identifying a set of second frequencies from the set of frequencies at which an amplitude of the distortion is less than a threshold; transmitting the signal according to one or more frequencies of the set of second frequencies; and providing navigation information associated with the environment and the tracking device in response to transmitting the signal according to the one or more frequencies, wherein the navigation information includes pose information of the tracking device.

12. The method according to claim 11, the method further comprising: configuring a model associated with compensating for the distortion with respect to at least one of the one or more frequencies, wherein providing the navigation information is based on compensating for the distortion using the model.

13. The method according to claim 12, wherein compensating for the distortion using the model comprises: reducing an amplitude associated with the distortion.

14. The method according to claim 12, wherein the at least one frequency includes a relatively high frequency included in the one or more frequencies.

15. The method according to claim 11, wherein: transmitting the signal according to the one or more frequencies includes: incrementing or decrementing a frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

16. The method according to claim 15, the method further comprising: identifying the first boundary frequency based on a comparison of the threshold and a first distortion amplitude associated with transmitting the signal according to the first boundary frequency; and identifying the second boundary frequency based on a comparison of the threshold and a second distortion amplitude associated with transmitting the signal according to the second boundary frequency.

17. The method according to claim 11, wherein determining the distortion is based on at least one of the following: a permeability associated with one or more objects in the environment; and a relative permeability associated with the one or more objects in the environment.

18. The method according to claim 11, the method further comprising: transmitting the signal from a first transmitting coil of a set of transmitting coils; transmitting the signal or a second signal from a second transmitting coil of the set of transmitting coils according to one or more second frequencies of the set of frequencies; and providing the navigation information associated with the environment and the tracking device in response to transmitting the signal or the second signal according to the one or more second frequencies.

19. The method according to claim 11, wherein determining the distortion includes determining at least one of the following: a conductive distortion associated with one or more objects in the environment; and Magnetic distortion associated with one or more objects in the environment.

20. The method according to claim 11, wherein the distortion is associated with one or more objects included in the environment, the one or more objects including at least one of the following: One or more ferromagnetic objects; and One or more non-ferromagnetic objects.

21. A system, the system comprising: A transmitting device configured to transmit a signal according to a set of frequencies from about 300 Hz to about 30 MHz; A tracking device; A processor; And A memory storing data thereon, the data when processed by the processor causes the processor to: Determine a distortion associated with an electromagnetic field sensed at the tracking device, Wherein the distortion is determined relative to the set of frequencies; Identify a set of second frequencies from the set of frequencies at which the amplitude of the distortion is less than a threshold; Transmit the signal using the transmitting device according to one or more frequencies in the set of second frequencies; And Provide navigation information associated with the environment and the tracking device in response to transmitting the signal according to the one or more frequencies, wherein the navigation information includes pose information of the tracking device.

22. The system according to claim 21, wherein the data can be further executed by the processor to: Configure a model associated with compensating for the distortion relative to at least one of the one or more frequencies, Wherein providing the navigation information is based on applying the model.

23. The system according to claim 21, wherein: Transmitting the signal according to the one or more frequencies includes: incrementing or decrementing the frequency associated with transmitting the signal from a first boundary frequency included in the set of second frequencies to a second boundary frequency included in the set of second frequencies.

24. The system according to claim 23, wherein: The first boundary frequency is identified based on a comparison of the threshold and a first distortion amplitude associated with transmitting the signal according to the first boundary frequency; and The second boundary frequency is identified based on a comparison of the threshold and a second distortion amplitude associated with transmitting the signal according to the second boundary frequency.

25. The system according to claim 21, wherein determining the distortion is based on at least one of the following: The permeability associated with one or more objects in the environment; and The relative permeability associated with the one or more objects in the environment.

26. The system according to claim 21, wherein the transmitting device includes a set of transmitting coils, and the data can be further executed by the processor to: Transmit the signal from a first transmitting coil in the set of transmitting coils; Transmit the signal or a second signal from a second transmitting coil in the set of transmitting coils according to one or more second frequencies in the set of frequencies; and Provide the navigation information associated with the environment and the tracking device in response to transmitting the signal or the second signal according to the one or more second frequencies.

27. The system according to claim 21, wherein the distortion includes at least one of the following: Conductive distortion associated with one or more objects in the environment; and Magnetic distortion associated with the one or more objects in the environment.

28. The system according to claim 21, wherein the distortion is associated with one or more objects included in the environment, and the one or more objects include at least one of the following: One or more ferromagnetic objects; and One or more non-ferromagnetic objects.

29. A system, the system comprising: A navigation circuit configured to provide navigation information associated with an environment by: Transmitting signals according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; Sensing an electromagnetic field based on transmitting the signals according to the set of frequencies; Determining a distortion associated with sensing the electromagnetic field, wherein the distortion is determined with respect to the set of frequencies; Identifying a set of second frequencies from the set of frequencies having an amplitude of the distortion less than a threshold; Transmitting the signals according to one or more frequencies in the set of second frequencies; And Providing the navigation information associated with the environment in response to transmitting the signals according to the one or more frequencies, wherein the navigation information includes pose information of one or more objects in the environment.

30. A non-transitory computer-readable medium, the non-transitory computer-readable medium comprising instructions that, when executed by a processor: Transmit signals according to a set of frequencies, wherein a frequency range associated with the set of frequencies is from about 300 Hz to about 30 MHz; Determine a distortion associated with an electromagnetic field sensed at a tracking device, wherein the distortion is determined with respect to the set of frequencies; Identify a set of second frequencies from the set of frequencies having an amplitude of the distortion less than a threshold; Transmit the signals according to one or more frequencies in the set of second frequencies; and Provide navigation information associated with an environment and the tracking device in response to transmitting the signals according to the one or more frequencies, wherein the navigation information includes pose information of the tracking device.

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