Surgical navigation system and method

Abstract

To provide a surgical system including one or more surgical instrument assemblies and / or a surgical navigation system.SOLUTION: Surgical instrument assemblies 200, 300, 400 include a tracking device capable of being tracked by a surgical navigation system 100. A surgical system 10 may also be configured to enable a user to define one or more alert zones relative to anatomical structures of a patient and or a surgical pathway. The surgical system 10 may be further provided with alert devices 255, 355, 455 in communication with the surgical navigation system 100, so that the alert devices 255, 355, 455 may be configured to provide a user-perceptible alert for a surgeon or medical professional on the basis of positions of surgical instruments 220, 320, 420, as determined by the surgical navigation system 100, relative to the defined alert zones and / or surgical pathway.SELECTED DRAWING: Figure 1A

Description

[Background technology]

[0001] In modern surgery, one of the most important instruments available to medical professionals is the cord. Powered hand tools such as power drills, saws, wire drivers, high-speed drills, and ultrasonic handpieces These surgical instruments include a motor and / or a motor-driven device in a handpiece or housing. Many surgical instruments have built-in sensors or processors. Surgical instruments are instruments used to perform specific medical procedures. It may include an attachment mechanism to accept a cutting attachment designed for application at the surgical site. For example, a surgical drill is used to drill holes in tissue or selectively remove tissue such as bone. Cutting fixtures such as drill bits, burrs, and reamers may be used. If this technology could be used by surgeons, it would reduce the physical burden on surgeons when performing medical procedures on patients. Therefore, powered surgical instruments offer greater flexibility than their manual counterparts, which have been used for a long time. Most surgical procedures can be performed more quickly and accurately.

[0002] Surgical navigation systems guide surgeons during surgical procedures, such as sinus, spinal, or cranial surgery. This type of surgery can facilitate the guidance of surgical instruments. to the surgical site, traverse the surgical pathway from the surgical site to the surgical target area, and Depending on the surgical navigation system, the surgical instruments may be used to manipulate the surgical area. The position of the device is superimposed on one or more two-dimensional representations of the patient (e.g., CT or MRI images). Some systems are equipped with a display that shows the position of the surgical instruments. Although it is possible to identify the surgical path, it is difficult to determine whether the surgical instrument is properly positioned along the surgical path or whether the surgical instrument is properly positioned. It is not possible to determine whether the surgical area is being operated correctly. At the same time, there is a risk that the surgical instrument may deviate from the surgical path or area of ​​interest. The shape may be close to the surgical path or the surgical target area, making accurate navigation of the surgical instrument difficult. Navigation is important. Surgical instruments may be misaligned and / or may miss critical anatomical areas. It is important to recognize that we may be approaching the area. When surgical instruments are off course and / or approaching critical anatomical areas It is well within the skill of the art to identify when there are problems and to notify medical professionals about them. It is necessary. Summary of the Invention

[0003] The present disclosure relates generally to surgical systems. A surgical system generally includes one or more surgical instruments. The surgical instrument assembly may include a surgical navigation system. The surgical system may include a tracking device that can be tracked by the surgical navigation system. The stem provides one or more alert zones relative to the patient's anatomy and / or surgical pathway. The surgical system is configurable to allow users to define the surgical navigation system. The system may further include an alert device in communication with the system, the alert device comprising: Defined alert zones and / or surgical procedures as determined by the surgical navigation system and providing a user-perceptible alert to the surgeon or medical professional based on the position of the surgical instrument relative to the tract. It can be configured to provide

[0004] The exemplary configuration uses a known coordinate system to assist medical professionals in performing surgery on a patient. Configured to allow medical professionals to define alert zones for critical patient structures The surgical system also includes a navigation system. The system further includes a control console, which controls navigation. The system may include a control processor in communication with the system. A surgical instrument is also included, the high speed surgical instrument having a variable speed motor in communication with the control processor. and the variable speed motor may have a first cutting speed exceeding 70,000 revolutions per minute and a second cutting speed exceeding 70,000 revolutions per minute. Rotating the burr at a second cutting speed less than 70,000 rpm and greater than 60,000 rpm. The system is further configured to: A foot switch is also provided to control operation of the variable speed motor of the high speed surgical instrument. The system of the present invention is characterized in that the navigation system determines the location of the alert zone relative to the known coordinate system. The system may also be configured to actively determine the position of the bar. When the navigation system determines that the bar is entering an alert zone, The variable speed motor of the high speed surgical instrument is operated to rotate the burr at a speed from the first cutting speed. a navigation system for transmitting a signal to the control processor to transition from the first cutting speed to the second cutting speed. When a switching system is configured, and the switching from the first cutting speed to the second cutting speed The transition is perceptible as the bar transitions from the first cutting speed to the second cutting speed. A change in the bar alerts a medical professional that the bar has entered the alert zone. This also includes cases where notification is given.

[0005] In another exemplary configuration, a medical professional may be provided with a pre-existing surgical instrument to assist the medical professional in performing surgery on a patient. A surgical system that allows the definition of alert zones for critical structures in a coordinate system of knowledge. The system also includes a navigation system. The system includes a bar and a rotating bar. The system also includes a high speed surgical instrument that may include a variable speed motor configured to: a control console which may include a control processor, said control processor being adapted to control said high speed operation; a variable speed motor for a surgical instrument, the variable speed motor being adapted to receive data from a navigation system; The system also includes a control console configured to communicate with the control processor. a foot switch for controlling operation of the variable speed motor of the high speed surgical burr, A foot switch is also provided which may include a tactile alert device. an application system for determining the position of the bar relative to an alert zone and and transmitting data indicative of the position of the bar relative to the control processor. and the control processor calculates a forward position relative to the alert zone in a known coordinate system. Operate the tactile alert device of the foot switch based on the position of the bar. , including when configured to provide notification to a healthcare professional.

[0006] In yet another exemplary configuration, a surgical system for use by a medical professional in performing surgery on a patient is provided. The surgical system includes a surgical instrument assembly and a control console having a processor. a handpiece in communication with the processor of the control console; a handpiece coupled to an end effector and a variable speed motor that drives the end effector; and a medical professional controls the first and second positions to control the energization of the variable speed motor. a switch operable between a position and the switch; a switch for detecting a position of the switch; a switch sensor configured to communicate a first signal indicative of a position of the switch to the processor; The system also includes a navigation system in communication with the processor. a navigation system, the navigation system being configured to provide a first coordinate system defined in a known coordinate system; The system is configured to actively determine the position of the end effector relative to a boundary. The system may further include a navigation system that is configured to locate the first boundary relative to the first boundary in a known coordinate system. a second signal for de-energizing the variable speed motor based on the position of the end effector; The system may be configured to communicate a signal to the processor. When the end piece is de-energized, the processor controls the end effector to remain in the first position. and a subsequent first signal indicating that a medical professional has operated the switch to the position. configured to prevent re-energization of the variable speed motor until a signal is received from the switch sensor. This also includes cases where

[0007] In yet another exemplary configuration, to assist a medical professional in performing surgery on a patient. A surgical system that allows alert zones to be defined in a known coordinate system. It also includes a navigation system, which is a handheld device that connects to the end effector. a handheld surgical instrument, the handheld surgical instrument configured to rotate the end effector; The system may include a motor configured to rotate the handheld surgical instrument. a control processor disposed in said motor; The handheld device is configured to receive data from a mobile communication system. a trigger disposed on the surgical instrument, the trigger in communication with the control processor. The system includes a trigger that controls the operation of the motor of the surgical instrument. The system may also include an alert device. However, the data that the end effector has entered the alert zone is sent to the control processor. the control processor is configured to transmit the Upon entering the lock zone, the tactile alert device of the trigger is operated to alert a medical professional. This includes when configured to notify the home.

[0008] In yet another exemplary configuration, a surgical system for use by a medical professional in performing surgery on a patient is provided. The surgical system includes a handheld stem configured to drive the end effector. a surgical instrument, comprising: a variable speed motor for rotating the end effector; a trigger operable between a first position and a second position; and a trigger detecting the position of the trigger and a trigger sensor configured to output a first signal indicative of the position of the trigger. The system also includes a handheld surgical instrument. a rechargeable battery module adapted to transmit and receive signals; a transceiver and a battery in communication with the transceiver and in communication with the trigger sensor; a processor, based at least in part on the first signal indicative of the position of the trigger, and configured to selectively supply power to the variable speed motor of the handheld surgical instrument based on the power supply. The system also includes a rechargeable battery module that may include a battery processor. The system includes a navigation system that communicates with the battery processor via the transceiver. a navigation system for determining a first boundary defined with respect to a known coordinate system; The system is configured to actively determine the position of the end effector relative to a field. The system is configured such that the navigation system determines the position of the end effector and a known and limiting power to the handheld surgical instrument based on the first boundary in a coordinate system of the handheld surgical instrument. The system may be configured to communicate a second signal to the battery processor. If the battery processor limits power to the handheld surgical instrument, The battery processor receives a subsequent signal indicating that a medical professional has actuated the position of the trigger. preventing energization of the variable speed motor until the first signal is received from the trigger sensor; This also includes cases where the system is configured as follows.

[0009] In yet another exemplary configuration, a surgical system for use by a medical professional in performing surgery on a patient is provided. The surgical system includes a handheld stem configured to drive the end effector. a surgical instrument having a variable speed motor and a drive mechanism operable by a medical professional between a first position and a second position; and determining whether the variable speed motor is in operation based at least in part on the position of the trigger. and a handpiece processor configured to control energization of the handheld handpiece. The system also includes a handheld surgical instrument. The system includes a rechargeable battery that detachably couples to the handheld surgical instrument. a battery module, a transceiver configured to transmit and receive signals; a battery processor in communication with the transceiver for powering the handheld surgical instrument; and a battery processor configured to de-energize the rechargeable battery. The system also includes a battery processor module. a navigation system in communication with the navigation device, the navigation system being configured to configured to actively determine a position of the handheld surgical instrument relative to a boundary in a coordinate system. The system is configured such that the navigation system is able to determine the location of the object in the known coordinate system. and positioning the handheld surgical instrument based on the position of the end effector relative to the boundary. The battery processor may be configured to communicate a first temporarily de-energizing signal to the battery processor. The system includes: a handheld surgical instrument positioned at or adjacent to the boundary; and after the battery processor de-energizes the handheld surgical instrument. The navigation system determines whether the direction of movement of the end effector is in a proximal direction relative to the boundary. determining that the battery is in a forward or distal direction and communicating a second signal to the battery processor; The system also includes a case where the battery processor is configured to and detecting a movement of the handheld surgical instrument in a proximal direction relative to the boundary. This also includes cases where the power supply is configured to re-energize the power supply.

[0010] In yet another exemplary configuration, a surgical instrument may be used by a medical professional to perform surgery on a patient. A surgical system for use in a surgical procedure, the surgical system being configured to receive an end effector. a movable handheld surgical instrument configured to rotate the end effector; a variable speed motor; a trigger operable by a medical professional between a first position and a second position; The trigger is configured to detect the position of the trigger and to output a first signal indicative of the position of the trigger. a trigger sensor formed thereon, and the first signal from the trigger sensor indicating the position of the trigger. and configured to control energization of the variable speed motor based at least in part on the signal. The system also includes a handheld surgical instrument that may include a handpiece processor. A navigation system in communication with the processor is also included, defines a first boundary, actively determines a position of the surgical instrument relative to the first boundary, and The trigger sensor indicates that the trigger is in the second position, and the navigation a gating system for causing the handheld surgical instrument to abut the first boundary; and / or When it is determined that the variable speed motor is far from the first boundary, a second signal is sent to stop the variable speed motor. The system is configured to communicate a signal to the handpiece processor. The handheld surgical instrument is still adjacent to and / or away from the first boundary. While in the distal position, the handpiece processor controls the medical professional to operate the trigger to A trigger is moved from the second position to the first position and back to the second position. When the subsequent first signal is received from the trigger sensor, the variable speed motor is restarted. This also includes cases where the device is configured to:

[0011] In yet another exemplary configuration, a medical professional performing spinal or cranial surgery on a patient A surgical system for use, the surgical system being configured to receive an end effector. A handheld surgical instrument comprising: a handpiece; and a variable speed actuator disposed within the handpiece. a variable speed motor operable by a medical professional to start and stop said variable speed motor. a trigger and a first position and a second position by a medical professional to control the speed of the variable speed motor; a switch operable between two positions, and configured to control energization of the variable speed motor; The system also includes a handheld surgical instrument that may include a processor. a navigation system in communication with the sensor, the navigation system The switch is configured to determine whether the switch is in the first position or the second position. The system may be configured such that the navigation system determines that the switch is in the appropriate position. and the type of the end effector coupled to the handheld surgical instrument, The system may be configured to communicate a signal to the processor that controls energization of the variable speed motor. include.

[0012] In yet another exemplary configuration, a medical professional may A surgical system for use therein, comprising a handheld surgical instrument assembly comprising: a handpiece and one of a first end effector and a second end effector, The first end effector and the second end effector each connect to the handpiece. one of a first end effector or a second end effector, which is detachably connectable; a variable speed motor disposed in the handpiece; and a control unit for controlling the supply of current to the variable speed motor. and a processor configured to: The system also includes a navigation system in communication with the processor, The computer system determines identification information of the first end effector and the second end effector. The system is configured such that the navigation system determines the position of the first end effector. defining a first boundary in a known coordinate system based at least in part on the identification; configured to define a second boundary different from the first boundary in a reference frame, This may be based at least in part on the identity of the second end effector. Once the first end effector is identified, the navigation system the variable speed motor is controlled based on a position of the first end effector relative to the first boundary. The power supply may be configured to communicate a first signal to the processor to control energization of the power supply. The system, once the second end effector is identified, the variable speed motor based on a position of the second end effector relative to the second boundary. This also includes a case where the device is configured to communicate a signal that controls the energization of the motor to the processor.

[0013] In yet another exemplary configuration, the navigation system is This method also involves the selection of a known coordinate system. Determining the planned position for the selected implant and creating multiple boundaries in a known coordinate system based on the orientation of the object, and creating a drill-specific boundary and a driver-specific boundary. In addition, a navigation system is used to track the position of surgical instruments and Validating drill-specific boundaries based on identifying the tool as a drilling tool , based on identifying the end effector as a driver instrument, and validating the field. The method includes validating the drill specific boundary and the position of the handpiece. and controlling the energization of the handpiece motor when the drilling tool is identified based on the The method includes: determining a driver instrument based on a driver-specific boundary and a position of the handpiece; and controlling energization of the handpiece motor when the condition is identified.

[0014] In yet another exemplary configuration, a surgical system for use by a medical professional in performing surgery on a patient is provided. The surgical system includes a high speed surgical instrument assembly and a control system having a processor. a control console and a handpiece in communication with the processor of the control console. an end effector, and a variable speed motor that drives the end effector. The handpiece and the variable speed motor can be controlled by a medical professional. and a switch operable between a first position and a second position. The system also includes a navigation system in communication with the processor. The navigation system may be configured to position the handpiece relative to a boundary in a known coordinate system. The system is configured to actively determine the position of the navigation system. the navigation system determines that the position of the handpiece is at a boundary. or a first signal that temporarily de-energizes the handpiece when it is determined that the handpiece is adjacent to the boundary. The system may be configured to communicate a variable signal to the processor. When the speed motor is re-energized, the navigation system determines whether the movement of the handpiece is beyond the boundary. and detecting a position of the handpiece relative to the processor based on the position being distal to the field. and configured to communicate a second signal to the processor to cause the device to be energized or de-energized. Also includes.

[0015] In yet another exemplary configuration, a surgical system for use by a medical professional in performing surgery on a patient is provided. The surgical system includes a high speed surgical instrument assembly and a control system including a processor. a console; and a handpiece in communication with the processor of the control console, and a variable speed motor that drives the end effector. a handpiece for controlling the energization of the variable speed motor in a forward direction; a first switch operable between a first position and a second position, and a second switch operable in the reverse direction to operate the variable speed motor; can be operated by a medical professional between a first and a second position to control the energization of the device. and a second switch. A navigation system in communication with the processor, the navigation system comprising: The position of the handpiece relative to an alert zone defined around critical structures on the patient is determined. The system is configured to actively determine the location of the vehicle, the navigation system being configured to: The navigation system determines whether the position of the handpiece is within the alert zone. and the variable speed motor is determined to be in the forward direction, The device may be configured to communicate a first signal to the processor to de-energize the sensor. The system includes a processor for de-energizing the handpiece and a handpiece for While the piece remains in the alert zone, the navigation system the processor to prevent the variable speed motor from being re-energized in the forward direction, and communicating a second signal to the processor to allow re-energization of the variable speed motor in the reverse direction; This also includes cases where the device is configured to:

[0016] In yet another exemplary configuration, a medical professional is provided with a surgical instrument for assisting a medical professional in performing a procedure on a patient. To achieve this, a navigation system is configured to allow medical professionals to define alert zones on the patient. A surgical instrument assembly for use with a navigation system. A control console is also provided which may include a control processor in communication with the application system. The assembly may have a variable speed motor in communication with the control processor. a bar assembly, the variable speed motor configured to rotate the bar; A surgical burr assembly is also provided, the assembly being in front of the high speed surgical burr assembly. a foot switch movable between a first position and a second position to energize the variable speed motor; The assembly also includes a foot switch sensor in communication with the control processor. The foot switch detects the position of the foot switch and a foot switch configured to communicate a first signal indicative of the position of the foot switch to the control processor; A switch sensor is also included. The assembly is coupled to the foot switch and is configured to a tactile alert device in communication with a processor, wherein the medical professional presses the foot switch When depressed to operate the high-speed surgical burr assembly, the tactile alert device a tactile alert device disposed on said foot switch so as to be in contact with the foot of the professional; This assembly allows the navigation system to calculate the coordinates in a known coordinate system. This includes cases where the position of the bar relative to the rate zone is actively determined. This assembly allows the navigation system to detect when the bar enters an alert zone. activating the tactile alert device to emit a tactile alert perceptible to a medical professional. configured to transmit a second signal to the control processor, and while the foot switch is within an alert zone, the processor receives from the foot switch sensor Upon receiving a subsequent first signal indicating that a medical professional has actuated the foot switch, , including when configured to deactivate the tactile alert device.

[0017] In yet another exemplary configuration, a surgical system for use by a medical professional in performing surgery on a patient is provided. The surgical system includes a drill assembly and a control console including a processor. a handpiece in communication with the processor of the control console; an end effector; and a variable speed motor that drives the end effector. The handpiece and the variable speed motor are controlled by a medical professional. The drill assembly may also include a switch operable between a first position and a second position. The system also includes a navigation system in communication with the processor, The system is configured to measure the distance between the handpiece and a defined boundary relative to a critical structure on the patient. The system is configured to actively determine the position of the navigation system. The system may be configured such that the end effector is adjacent to or distal to the boundary. In response, the variable speed motor of the handpiece is energized by a torque map. The controller may be configured to communicate a first signal to the processor that causes the controller to adjust the first signal.

[0018] In yet another exemplary configuration, to assist a medical professional in performing surgery on a patient. A procedure configured to allow medical professionals to define alert zones for critical structures of a patient. The surgical system also includes a navigation system. A control console is also provided which may include a control processor in communication with the navigation system. The system also includes a high speed surgical instrument including a burr. a foot switch in communication with the variable speed motor of the high speed surgical instrument to control operation of the variable speed motor; The system is configured so that the navigation system can adjust the position of the bar relative to the alert zone. By actively determining the location and navigation system, the bar moves to the alert zone. It can trigger an alert response when it is determined that a zone has been entered, and can also respond to user input signals. Based on this, you can stop the alert response and the bar will remain outside the alert zone for a predetermined time. and then retrigger the alert response based on re-entering the alert zone This also includes cases where the device is configured to perform the following:

[0019] These and other features, characteristics, and advantages of the present disclosure will become apparent to those skilled in the art. It should be apparent that the present disclosure provides a number of alternatives to these configurations, embodiments, features, and / or advantages. It is not intended to be limiting.

[0020] Advantages of the present invention will become apparent from the following detailed description when considered in conjunction with the accompanying drawings, in which: It will be easier to understand as it will be more readily understood. [Brief explanation of the drawings]

[0021] [Figure 1A] FIG. 1 is a schematic diagram of a surgical system including multiple surgical tool assemblies and a surgical navigation system for tracking surgical tools associated with each of the various surgical tool assemblies. [Figure 1B]FIG. 1B is a schematic diagram illustrating an alternative configuration of the surgical system of FIG. 1A. [Figure 2] FIG. 1C is a perspective view of an exemplary layout of an operating room including at least one of the surgical instrument assemblies of FIGS. 1A and 1B and a surgical navigation system for performing a medical procedure on a patient. [Figure 3] FIG. 2 is a schematic diagram of a surgical site from the perspective of a surgeon while performing a medical procedure on a patient using at least one of the surgical tool assemblies of FIGS. 1A and 1B. [Figure 4A] FIG. 1C is a schematic diagram of a first exemplary surgical instrument in the surgical system of FIGS. 1A and 1B, the first surgical instrument oriented in a first position relative to a patient. [Figure 4B] 4B is a schematic illustration of the first surgical instrument of FIG. 4A oriented in a second position relative to the patient; [Figure 4C] 4B is a schematic illustration of the first surgical instrument of FIG. 4A oriented in a third position relative to the patient; [Figure 4D] 4B is a schematic illustration of the first surgical instrument of FIG. 4A oriented in a fourth position relative to the patient; [Figure 5A] A schematic diagram of a second exemplary surgical instrument in the surgical system of Figures 1A and 1B, the second surgical instrument being oriented in a first position relative to a patient and in a first set of predefined exemplary alert zones. [Figure 5B] FIG. 5B is a schematic illustration of the second surgical instrument of FIG. 5A, the second surgical instrument being oriented in a second position relative to the patient and within a first set of exemplary predefined alert zones. [Figure 5C] FIG. 5B is a schematic illustration of the second surgical instrument of FIG. 5A, the second surgical instrument being oriented in a third position relative to the patient and within a first set of exemplary predefined alert zones. [Figure 5D] FIG. 5B is a schematic illustration of the second surgical instrument of FIG. 5A, the second surgical instrument being oriented in a third position relative to the patient and with a second set of exemplary predefined alert zones. [Figure 5E]FIG. 5B is a schematic illustration of the second surgical instrument of FIG. 5A, the second surgical instrument being oriented in a third position relative to the patient and with a second set of exemplary predefined alert zones. [Figure 5F] 5B is a schematic diagram of the second surgical instrument of FIG. 5A, further including a battery module and a battery processor. [Figure 6] FIG. 1 is a schematic diagram of an exemplary surgical system including a navigation system and a handheld surgical instrument, the handheld surgical instrument including a battery module and multiple end effectors. [Figure 7] FIG. 1 is a schematic diagram of an exemplary surgical system including a navigation system and a high-speed burr, the high-speed burr including a control console and multiple cutting burrs. [Figure 8] 1 is a schematic diagram of an exemplary graphical user interface (GUI) of a navigation system that includes user-selectable objects related to planning and / or performing a surgical procedure. [Figure 9] FIG. 1 is a schematic diagram of an exemplary graphical user interface (GUI) of a navigation system that displays an image of the proposed placement of a surgical implant and user-selectable objects related to the depth of the implant. [Figure 10] FIG. 1 is a schematic diagram of an exemplary graphical user interface (GUI) of a navigation system that displays an image of the planned placement of surgical implants and user-selectable objects related to settings for various surgical instruments to be used in performing a surgical procedure. [Figure 11A] 1 is a schematic diagram of an exemplary graphical user interface (GUI) of a navigation system displaying user-selectable objects related to volumes defining alert zones. [Figure 11B]11B is a schematic diagram of the example graphical user interface (GUI) of FIG. 11A illustrating the volume defining the alert zone from different perspectives. [Figure 11C] 11B is a schematic diagram of the example graphical user interface (GUI) of FIG. 11A illustrating the volume defining the alert zone from different perspectives. [Figure 12A] FIG. 1 is a schematic diagram of an exemplary graphical user interface (GUI) of a navigation system displaying user-selectable objects related to boundaries defining an alert zone. [Figure 12B] 12B is a schematic diagram of the example graphical user interface (GUI) of FIG. 12A illustrating the boundaries that define the alert zone from different perspectives. [Figure 12C] 12B is a schematic diagram of the example graphical user interface (GUI) of FIG. 12A illustrating the boundaries that define the alert zone from different perspectives. [Figure 13A] 1 is a schematic diagram of an exemplary graphical user interface (GUI) of a navigation system illustrating a sagittal view of patient space during placement of a surgical implant. [Figure 13B] 13B is a schematic diagram of the exemplary graphical user interface (GUI) of FIG. 13A illustrating axial imaging of patient space during placement of a surgical implant. DETAILED DESCRIPTION OF THE INVENTION

[0022] Accurately tracking surgical instruments during surgery to follow a planned surgical path; and / or Avoiding critical anatomical structures is of utmost importance. If the femur becomes dislodged from the graft and / or there is a risk of it impinging on critical anatomical structures, providing the necessary information and / or informing the medical professional performing the procedure. It's important.

[0023] 1A and 1B illustrate an exemplary surgical system 10. The system includes: To assist medical professionals such as surgeons in performing medical procedures, surgical instruments 220, 320, and 420 are provided. a surgical navigation system for tracking one or more surgical instrument assemblies 200, 300, 400; The system 100 may be provided.

[0024] The surgical navigation system 100 may include a navigation interface. This navigation interface can be implemented using one or more graphical user interfaces. One or more display units 120, such as a GUI 150, and one or more The surgical navigation system 100 includes a display unit 130 and a user input unit 130. The interface 120 can be configured to display various prompts or data entry boxes. For example, the display unit 120 may allow the surgeon to manually input the type of surgical procedure to be performed. configurable to display a text box or prompt to allow selection Additionally, the display unit 120 can display patient data such as pre-operative images or scans. As mentioned above, preoperative images can be used to visualize the MPEG-4 image of the patient's anatomy. Based on radioisotope scans, x-ray scans, or computed tomography (CT) scans Preoperative images can be uploaded to the surgical navigation system 100 and then The display unit 120 can display the patient data. It can be further configured to display a surgical plan for a medical procedure, or overlay it on the image.

[0025] A surgical plan is a plan for the surgical path to perform a medical procedure or for the medical instruments used during a medical procedure. The surgical plan may include a planned trajectory or direction of the implant to be inserted during the medical procedure. The location and / or orientation of the implant or medical device may be overlaid onto the patient data or image. The surgical navigation system 100 may also include a Holographic images of surgical pathways or planned trajectories or directions of medical instruments during a medical procedure. a display unit 120 configured to display and / or project visual images; It is also contemplated that this may include the use of a surgical path on the patient or other surfaces within the operating room. This may also include projecting the image onto the head unit's lens, shield, or This could include projecting the surgical path onto a head unit worn by the surgeon, such as glasses. A display unit worn by the surgeon to display the target trajectory and / or target position is used. An exemplary configuration of a surgical navigation system 100 including the above is described in International Patent Application No. PCT / US2005 / 010999. IB2018 / 053130, the entire disclosure of which is incorporated herein by reference. It shall form part of the specification.

[0026] User Input 130 and / or Graphical User Interface (GUI) 150 can be configured to allow the surgeon to input or enter patient data or change the surgical plan The patient data may include patient images, such as pre-operative images of the patient's anatomy. The images taken may be MRI scans, X-ray scans, or computed tomography scans of the patient's anatomy. Patient data may be based on CT scans. Patient data may include the type of medical procedure performed, the patient's the anatomy of the patient, the specific pathology of the patient, and / or the operational settings of the surgical navigation settings. For example, when performing spinal surgery, the surgeon may include additional information related to the medical procedure being performed. Information relating to the particular vertebra being measured can be input by user input 130 and / or by a graphical user. The operator can input various information about the vertebrae through a GUI 150. Anatomical dimensions and / or the size of the medical device or implant to be inserted during the medical procedure Additionally, user input 130 and / or graphics may be used. A GUI 150 allows the surgeon to select, edit, or manipulate patient data. For example, the surgeon can identify and visualize anatomical features from patient data. This may include selecting the vertebrae and / or vertebrae on which the medical procedure will be performed. The surgical site selection may include selection of a specific site for the procedure.

[0027] Additionally, the surgeon may wish to target or avoid anatomical features during a medical procedure. For example, the surgeon may be able to specify important anatomical features, such as the shape of the anatomy. 130, and / or a graphical user interface (GUI) 150 to Select cortical walls, nerves, blood vessels, or similar important anatomical structures that the patient wants to avoid and analyze these. A zone surrounding the anatomical structure can be established. and / or a graphical user interface (GUI) 150 to allow the operator to Target position, trajectory, and depth of surgical path to help guide you in performing the procedure , or similar features may also be selected and / or entered.

[0028] The system utilizes segmentation to assist in identifying zones and / or boundaries of interest. This segmentation can be automatic, semi-automatic, or It can be done manually.

[0029] In one example of manual segmentation, the surgeon may further select the segmentation by user input 130 and / or grouping. A graphical user interface (GUI) 150 is used to create a geometrical image that defines the region of interest. It allows the definition of primitives aimed at the segmentation and visualization of cavities or openings in the human body. The method for defining the targeted geometric primitives is as follows: Manual pre-segmentation is performed by defining geometric primitives and generating initial envelopes. The pre-segmentation step involves the extraction of anatomical features within the geometric primitives after pre-segmentation. A step of analyzing the structure, and a step of adjusting the envelope using the analysis results, and visualizing the interlace curve. The adjustment of the visualized envelope curve may be performed by adjusting the calculated The analyzed anatomical structures can be visualized using the voxel associations. The adjustment of the cell envelope completely and / or partially corresponds to the voxels associated with the cell. This can be achieved by calculating the surface mesh of the closed geometric primitives. The visualized envelope can be optimized by optimizing the type, orientation, position, and / or size of the Line adjustments can be implemented. Examples for defining geometric primitives and guiding surgical instruments A method and system for achieving this is disclosed in U.S. Patent Application No. 15 / 300,414 and U.S. Patent Application No. No. 15 / 582,637, both of which are incorporated by reference. No. 6,027,499, all of which are incorporated herein in their entirety.

[0030] Additionally, user input 130 and / or a graphical user interface (GUI) 150 can be configured to input a surgical plan, which includes the surgical instruments to be used. This may include the selection of the tool, the device to be inserted, and / or the selection of the implant. The position and / or orientation (i.e., the location) at which the device or implant is placed within the patient may also be determined. It may also include specifying the user input 130 and / or the graph. A graphical user interface (GUI) 150 allows the surgeon to select the implant to be inserted. Allows selection of the parameters of the insert, e.g., the length and / or diameter of the screw to be inserted become.

[0031] Additionally, the surgical navigation system 100 also includes a navigation processor 140. The navigation processor 140 may be a personal computer or laptop. The navigation processor 140 may be located in a computer. 130, the display unit 120, the central processing unit (CPU), and / or other processors The navigation system can communicate with the navigation device, memory (not shown), and storage (not shown). The operation processor 140 is associated with the operation of the surgical navigation system 100 and is described herein. Software and / or operating systems for implementing the various routines and / or methods disclosed herein. The software and / or operating instructions may further include instructions for operating the device on the patient 20. a plan configured to define the exact position and / or angular alignment of the implant to be placed The navigation processor 140 may include a surgical instrument assembly. The communication device 100 can communicate with the servers 200, 300, and 400 directly or indirectly, by wire or wirelessly.

[0032] The navigation system is used to control the operation of the surgical instruments 220, 320, 420. , and may further include software used by navigation processor 140. The software may include a boundary generator and / or an alert zone generator. The generator includes a navigation processor 140, an instrument processor 215, 315, 415, and / or may be implemented in other components such as a separate processor or controller. Exemplary systems and methods for field generation can be found in U.S. Patent Publication No. 2004 / 0034283. The entire contents of which are incorporated herein by reference. may also be part of a separate system that is remotely controlled from the surgical instruments 220, 320, 420. The boundary generator may be configured to limit the movement and / or motion of the surgical instrument 220, 320, 420. A software program or module that generates one or more virtual boundaries for In some examples, the boundary generator may generate a virtual drill and / or driver guide (e.g., a virtual It provides a virtual boundary that defines the implant planning guide. The target zones correspond to critical anatomical features, target depths, and / or target locations that the surgeon wishes to avoid. The virtual boundary may be provided to control the operation of the surgical instrument 220, 320, 420. can be one-dimensional (1D), two-dimensional (2D), or three-dimensional (3D) and can be a point, line, axis, or trajectory. traces, planes (infinite planes or plane segments bounded by anatomical structures or other boundaries), The virtual boundary may have other shapes, including a volume or complex geometric shapes. Elements, point clouds, voxels, triangular meshes, other 2D or 3D models, or a combination of these. It is possible to express the same in U.S. Patent Publication No. 2018 / 0333207 and U.S. Patent No. 8,898 No. 5,043, which is incorporated herein by reference, and in which any of these features is incorporated herein by reference. can be used to assist in the planning or execution of a surgical procedure. You can define a pattern.

[0033] The virtual boundary can be used in a variety of ways, for example, by the navigation processor 1 40 is the relationship (e.g., spatial, velocity, etc.) of the surgical instrument 220, 320, 420 to the boundary. Based on the boundary, certain operations / functions of the surgical instruments 220, 320, 420 can be controlled. Other uses of the field are also contemplated.

[0034] The boundaries for ensuring that the instrument is placed at the desired depth include virtual plane boundaries, virtual volume boundaries, and the like. The virtual boundary can be defined by a field, a plane, or some other form of virtual boundary. The virtual boundary is called a virtual object. The virtual boundary can be defined with respect to an anatomical model, such as a 3D bone model. ,Tracking anatomical models (e.g., tracking aligned related anatomical structures) (via), points, lines, axes, trajectories, surfaces, and volumes related to the virtual boundary can also be tracked. etc., are defined in a coordinate system that is fixed relative to the coordinate system of the anatomical model.

[0035] The anatomical model is used to visualize the virtual boundary so that it can be related to the anatomical model and the associated coordinate system. The virtual boundary is implant specific. defined, for example, based on the size, shape, volume, etc. of the implant; and / or may be patient-specific, e.g., defined based on the patient's anatomy. The virtual boundary may be a boundary created preoperatively, intraoperatively, or a combination of both. The boundary may be determined before the start of surgery, during surgery (including during tissue removal), or a combination of these. The virtual boundary can be defined by the navigation processor 140 or by other It can be provided in many ways, such as received from a source / system. It can be stored in memory for searching and / or updating.

[0036] Additionally, in some cases, the virtual boundary may be multiple for different instruments to be used in a single procedure. It has multiple plane boundaries that can be used to define multiple target depths (e.g., three target depths). For example, as shown in FIG. 5D, a drill may be used to drill holes. a first virtual boundary representing a target depth for a tap (puncture); a second virtual boundary representing a target depth for a tap (puncture); A third imaginary boundary representing the target depth to which the driver will insert the screw is detailed below. These multiple virtual boundaries are used by the navigation process to constrain the cutting to one plane at a time. Each of the navigation processes can be enabled one at a time by the navigation processor 140. The sensor 140 tracks the state of the surgical tools 220, 320, 420 relative to the virtual boundary.

[0037] The surgical navigation system 100 includes a tracking unit 115 that includes one or more sensors 115. The sensor may also include a CCD camera, a CMOS camera, and / or an optical a camera such as an optical imaging camera, a magnetic sensor, a radio frequency sensor, or a surgical tool assembly 2 Detecting and / or detecting the location of the tracking device 230, 330, 430 of the 00, 300, 400 A suitable tracking unit may include any other sensor adapted to detect the A description of the various localizers that can be used with it is provided in U.S. Patent Publication No. 2017 / 002404. No. 333,137, the entire contents of which are incorporated herein by reference. Let's say.

[0038] 1A and 1B, various exemplary surgical instrument assemblies 200, 300, 400 is shown in communication with the surgical navigation system 100. Each of the exemplary surgical tool assemblies is described in detail below. 200, 300, and 400 are connected to the surgical navigation system 100 by wire and / or wireless communication. Additionally, the surgical instrument assemblies 200, 300, 400 can be configured to Each has many similar components capable of performing similar functions and / or operations. Similar components between each surgical instrument assembly 200, 300, 400 include associated To represent the 200, 300, and 400 surgical instrument assemblies, the same two-digit number is added with the leading 2 For example, surgical instrument assemblies 200, 300, and 400 are labeled , surgical instruments 220, 320, 420.

[0039] The surgical system 10 includes a first surgical instrument assembly in communication with the navigation system 100. For example, the first surgical tool assembly 200 may include a handpiece. The surgical instrument 220 may be configured as a first surgical instrument 220, such as a surgical drill or driver, including a drill 225. The handpiece 225 is configured to accommodate the components of the first surgical instrument 220. The handpiece 225 may have a housing 210. The handpiece 225 may be used to hold a surgical instrument during the performance of a medical procedure. The handpiece may be shaped to define a handle or grip for grasping by a user. No. 5,747,953, the entire contents of which are incorporated herein by reference. This shall be accomplished as follows.

[0040] The first surgical instrument 220 further includes a first instrument processor 215 and a motor 245. The first instrument processor 215 and the motor 245 each control the first surgical instrument 220. The first tool processor 215 and motor 245 can be disposed within the handpiece 225. The first tool processor 215 controls the operation of the motor 245 and thus The first surgical instrument 220 may be configured to control the operation of the first surgical instrument 220. For example, 0 end, like a drill bit for drilling holes or a screwdriver for inserting screws The end effector 240 may have a motor 245 that operates with the end effector 240. The end effector 240 is operably coupled to the handpiece of the first surgical instrument 220. For example, a motor 245 can be coupled to a drill bit 240 to rotate the drill bit 240 and drill a hole. The first instrument processor 21 may be configured to drill and / or remove tissue. 5 is in communication with the motor 245 and controls the motor 245 and, therefore, the drill bit 240. Additionally, the first instrument processor 215 may be configured to control navigation, the first surgical instrument 220. and data relating to the operation of the first surgical instrument 220. For example, the first instrument processor 215 and the navigation processor 140 may The position and / or position of the first surgical instrument 220 detected by the surgical navigation system 100 or direction, to communicate data related to the operation of the first surgical instrument 220 to each other. It can be configured as follows.

[0041] The first surgical tool assembly 200 may also include a power source 260. The power source 260 may include: The power supply 260 may be removably coupled to the handpiece 225 of the surgical drill 220. The first surgical instrument 220 may have a removable battery pack. It is also contemplated that the handpiece 225 may be formed as part of or disposed within the handpiece 225. The power supply 260 is in electrical communication with the first instrument processor 215 and / or the motor 245. , configured to selectively energize a motor 245 to rotate the end effector 240. The power supply can also be connected to a surgical console that provides power to the first surgical instrument via a cord. That's fine.

[0042] If the power source is in the form of a removable battery pack, the power source 260 also includes a processor 265. The processor 265 may transmit the power signal and / or the data signal to the first device. The first tool processor 215 can communicate with the first tool processor 215. 5 communicate with each other to control the operation of the motor 245 and, therefore, the first surgical instrument 220. For example, the processor 265 in the power supply 260 may be configured to The power supply 260 can continue to operate the motor 245 at a minimum threshold for cutting tissue. The power supply 260 may be configured to determine when it falls below a threshold charge level that may be exceeded. The processor 265 determines whether the minimum threshold for puncturing or cutting biological tissue has been exceeded. The engine continues to operate until the power supply 260 has a sufficient charge level to operate the motor 245 at the desired speed. To prevent operation of the end effector 240, the first instrument processor 215 and / or the The power supply 260 can be configured to completely cut off power to the processor 245. 65 can wirelessly communicate with navigation processor 140. Power supply 260 60 and the surgical navigation system 100 and / or the instrument processor 215. The signal may include a transceiver configured to transmit and receive signals.

[0043] The processor 265 and the navigation processor 140 are used to implement a surgical navigation system. Based on the position and / or orientation of the first surgical instrument 220 detected by the system 100, The surgical instruments 220 may be configured to communicate data related to the operation of the surgical instruments 220 with one another. For example, , the navigation system 100 detects Based on the position and / or orientation of the first surgical instrument 220, the processor 265 A data file containing instructions to stop the supply of energy to the processor 215 and / or the motor 245 The navigation system may be configured to communicate the data to the processor 265. The system 100 detects the first surgical instrument 220 detected by the surgical navigation system 100. Based on the position and / or orientation of the first instrument processor 215 and / or or print data containing instructions to continue and / or resume energizing the motor 245. The processor 265 may be configured to communicate with the processor 265.

[0044] The first surgical tool assembly 200 is operably coupled to a first tool processor 215; A switch 250, such as a trigger, button, or lever, may also be included. is configured to be operable by a medical professional to control energization of the variable speed motor 245. For example, the switch 250 may have a first position that is de-energized and a second position that is energized. Additionally, the first surgical instrument assembly 200 is operable between a switch 25 0 position and a user-initiated switch 220 for controlling the operation of the first surgical instrument 220. 50, generates a signal indicative of the position of switch 250, and / or It may also have a switch sensor configured to communicate a signal to the first instrument processor 215. For example, the switch 250 can have a first position, a second position, and a combination of the first and second positions. The first position may include a plurality of intermediate positions between the first and second positions. A signal is received that the switch sensor detects that the switch 250 is in the first position. When activated, the first instrument processor 215 controls the flow of energy from the power supply 260 to the motor 245. This is configured as an off position to prevent this and prevent operation of the first surgical instrument 220. Alternatively, the first instrument processor 215 may detect that the switch 250 is in the second position. When a signal is received that the switch sensor has detected this, the power supply 260 supplies power to the motor 245. By allowing the maximum flow of energy to flow to the first surgical instrument 220, the first surgical instrument 220 can achieve the maximum perforation. The first tool processor 215 can be configured to operate at a cutting speed or a cutting speed. The tool processor 215 detects that the switch 250 is in one of the intermediate positions. When a signal is received that a detector has detected a fault, the detector 250 switches between the first and second positions. Allows a level of energy corresponding to the position to flow from power supply 260 to motor 245 This allows the first surgical instrument 220 to operate at an intermediate drilling or cutting speed. The first instrument processor 215 can be configured, for example, to Switch 250 is positioned halfway (50%) between the first and second positions. When a signal is received from the sensor that the first surgical instrument 220 has been detected, the first surgical instrument 220 operates at a maximum drilling speed or A level of energy is supplied from power supply 260 to motor 2 to enable it to operate at 50% of the drive speed. The first instrument processor 215 can be configured to allow flow to switch 25. Whenever 0 is in any position other than the first position, the maximum flow rate is supplied from power supply 260 to motor 245. Allowing energy to flow when switch 250 is in either the second position or the intermediate position In this case, the first surgical instrument processor 220 is configured to operate at a maximum drilling or cutting speed. An exemplary switch sensor can be configured as described in U.S. Pat. No. 9,295,476. No. 6,239,999, the entire contents of which are incorporated herein by reference.

[0045] The first surgical instrument assembly 200 may also include a first alert device 255. The first alert device 255 may be an audible, tactile, and / or visually perceptible device. The first alert device 255 may include the first instrument processor 215, can be configured to communicate with the processor of the power supply 260. or other processors may issue alerts or notifications based on pre-programmed conditions or settings. 255。 255. The first alert device 255. ... be.

[0046] For example, as described above, the surgeon may use user input 130 to select cortical walls that the surgeon wishes to avoid. Select a nerve, blood vessel, or similar important anatomical structure and define the area surrounding these anatomical structures. and / or by providing predetermined conditions and / or settings, such as for establishing regions or zones, to the surgical navigation system. 100. Additionally, the surgeon can use user input 130 to Target location (location(s)) to help guide you in performing the procedure; A target trajectory in one or more degrees of freedom, or a no-cut zone, or a similarly shaped portion of the surgical path. The first instrument processor 215 can select and / or input the Based on the data provided by the processor 140, the end effector of the first surgical instrument 220 When the operator 240 enters one of the areas and / or zones defined by the operator, a first alarm is generated. The first instrument processor may be configured to transmit a signal to activate the first instrument processor. The processor 215 or other processor may also be provided by the navigation processor 140. Based on the data, when the end effector 240 of the first surgical instrument 220 deviates from the trajectory, and / or when the end effector 240 reaches the target position, the first alert device 2 55.

[0047] In an exemplary configuration, the first alert device 255 contacts the surgeon and vibrates to alert the surgeon. It may have a vibration device configured to signal a particular condition or provide a warning. In an exemplary configuration, as shown in FIGS. 1A and 1B, a first alert device 255 is a vibration device coupled to the switch 250 that controls the operation of the first surgical instrument 220. The first alert device 255 may be configured to vibrate upon the occurrence of a predetermined condition. When the first surgical instrument 220 is operated, the surgeon is in constant contact with the switch 250. Therefore, the operator feels the first alert device 255 vibrate and is informed of the predetermined state. The first alert device 255 is configured to notify the user of a particular event when a predetermined condition occurs. It can be configured to generate vibrations in a fixed pattern or at specific intervals; The first alert device 255 may be configured to generate a specific pattern or a specific alert signal upon the occurrence of a first condition. generating first oscillations at intervals and, upon occurrence of a second condition, in a different pattern or with different The second vibration may be generated at intervals of a predetermined time.

[0048] The first alert device 255 is further configured to provide an audible alert to the operator upon the occurrence of a predetermined condition. The first audio signal may be configured as an audible device, such as a speaker configured to The sound device 255 is a speaker configured to generate a particular sound upon the occurrence of a predetermined condition. Alternatively, the first alert device 255 may be configured to a speaker configured to generate sounds in a specific pattern or at specific intervals, The speaker may be included as part of the surgical navigation system. It is possible.

[0049] Alternatively, the first alert device 255 may provide a visual alert upon the occurrence of a predetermined condition. a visually perceptible device, such as a visual display configured to provide a visual indication to the surgeon; For example, the first alert device 255 may be configured as a The first light may be configured to flash upon the occurrence of a predetermined condition. The alert device 255 may illuminate and / or display a predetermined color or pattern upon the occurrence of a predetermined condition. The first alert device may have a plurality of multi-colored lights configured to flash. If the device is a display, the display generates a visual cue to indicate the alert condition. The navigation display 120 can be configured to provide visual feedback to alert the surgeon. The navigation display 120 is configured to provide a visual cue to the first It can be used as a display for the alert device 255. For example, the first alert device The device 255 is triggered to display a prompt or window to provide notification to the surgeon. Alternatively, the navigation display 120 can be configured to The application display 120 flashes and / or flashes when the first alert device is triggered. The display of the first alert device 255 may be configured to change color. One of the many benefits of using the navigation display 120 is that the surgeon already has a During surgery, the patient will be regularly checking the navigation display 120. The first alert device 255 may be configured to display a notification provided by the first alert device 255. If configured correctly, the surgeon may be more likely to receive a prompt visual notification. do.

[0050] The removable power supply 260 may also include a first alert device in certain configurations. For example, the removable power supply 260 may be configured to respond to signals generated by the navigation processor. A responsive vibration motor or speaker may be included.

[0051] Additionally, the first alert device 255 may be audibly, tactilely, and / or visually perceptible. It is also contemplated that the first alert may have a combination of devices. The device 255 can be configured as a combination audible and tactile device; In this case, the haptic device may be configured to vibrate to provide the first alert, and The hearing device can be configured to emit a noise to provide the second alert. The first and second alerts may indicate the occurrence of the same predetermined condition, or alternatively, the first alert may indicate the occurrence of the second predetermined condition. The first and second alerts may indicate the occurrence of different predetermined conditions. For example, the first alert may indicate The second alert is based on the first surgical instrument 220 deviating from the desired trajectory. This may be based on the effector 240 reaching a target position.

[0052] A first alert device 255 is coupled to the switch 250 of the first surgical instrument assembly 200. Although shown as being adjacent to or in close proximity to the first alert device 255, it is understood that the first alert device 255 may be positioned adjacent to or in close proximity to the other It is also contemplated that the first antigen may be attached to and / or positioned at a position other than the first antigen. If the alert device 255 includes a haptic device, the first alert device 255 The vibrating member can be configured as a vibrating member detachably attached to the The first alert device 255 is then attached to the first alert device 255 so that the first alert device 255 vibrates. The 255 is a wearable device such as a bracelet worn on the wrist or arm of the surgeon. Alternatively, if the first alert device 255 includes an audible device, The first alert device 255 is configured as a speaker that is detachably attached to the operator. It is possible for the operator to hear the noise emitted by the first alert device 255 when a predetermined condition occurs. The first alert device 255 may be worn on the operator's head so that it can be easily removed, or Configured as a Bluetooth-enabled speaker or earpiece to be placed in the surgeon's ear It is possible.

[0053] Although not required, the first alert device 255 may be positioned away from the first surgical instrument 220. There are many advantages to using the first alert device 255. For example, One advantage of placing the first surgical instrument 220 away from the target is that the size of the first surgical instrument 220 can be reduced. This allows the first surgical instrument 220 to be stored in a smaller space. The molded first surgical instrument 220 also reduces obstruction of the surgeon's view of the surgical site. Another advantage of placing the RAAT device 255 away from the first surgical instrument 220 is that In particular, in the case of a haptic device, the first alert device 255 alerts the operator. The first surgical instrument 220 may be configured to provide a visual or notification signal while not vibrating or affecting the movement of the first surgical instrument 220. During surgery requiring advanced techniques, the first surgical instrument 220 is vibrated. The alert may be startled by a first alert device 255 and / or alerted to a first operation by vibration. Unwanted movement of the instrument 220 may cause the surgeon to move the first surgical instrument 220 to an undesired position. Increased risk of causing movement.

[0054] The first surgical tool assembly 200 may also have a tracking device 230. The vise 230 can be coupled to the handpiece 225 of the first surgical instrument 220. The tracking unit 230 includes a plurality of tracking devices identifiable by the tracking unit 110 of the surgical navigation system 100. The marker 235 may include a marker 235 that transmits the optical signal to a sensor (or sensors). (e.g., reflecting light emitted from the tracking unit 110) In other configurations, the markers may have passive tracking elements (e.g., reflectors) for tracking. 235 can be configured as an active tracking marker. It is also contemplated that the surgical navigation system may have a combination of active and passive positioning. enables the surgical system 100 to determine the position and orientation (posture) of the surgical instrument 220 Thus, the markers 235 are positioned at a defined or known position and orientation relative to other markers 235. For example, the surgical navigation system 100 can be positioned in a defined space, such as a surgical field. The position and / or orientation of the end effector 240 or cutting portion of the first surgical instrument 220 within the The marker 235 can be aligned with the first surgical instrument 220 so that the position of the first surgical instrument 220 can be determined. In this configuration, the surgical navigation system 100 may include an end effector 240 or a second hand. The position and / or direction of the cutting portion of the surgical instrument 220, or the target trajectory and / or direction of the planned surgical path. Alternatively, the position and / or orientation can be determined relative to a target location. In some configurations, the surgical navigation system 100 may further include an end effector 240 or The location and / or direction of the cutting portion of the second surgical instrument 220 or the location of important anatomical features within the patient's body. Position and / or orientation relative to the structure, and user-defined boundaries, zones, and / or areas The sensor may be configured to determine the position and / or orientation relative to the sensor.

[0055] Alternatively, the surgical system 10 may include a second surgical instrument to be used with the navigation system 100. For example, a second surgical instrument assembly 300 may be provided. The handpiece 325 includes a high-speed surgical burr or an ultrasonic surgical handpiece. The handpiece 325 may include a second surgical instrument 320. The system may be coupled to a console 310 configured to control the operation of the components. The hand piece 325 may be shaped to define a handle or grip that the surgeon grasps while performing a medical procedure. An exemplary second surgical instrument that connects to the console is described in U.S. Pat. No. 10,016,209. and U.S. Patent Publication No. 20190117322, each of which is incorporated herein by reference. The entirety of which is incorporated herein by reference.

[0056] The second surgical instrument 320 further includes a second instrument processor 315 and a motor 345. The second instrument processor 315 can be connected to the console 3 of the second surgical instrument assembly 300. 10. The motor 345 can be disposed within the handpiece 325 of the second surgical instrument 320. The second tool processor 315 and the motor 345 can be in communication with each other. The second instrument processor 315 controls the operation of the motor 345 and, therefore, the operation of the second surgical instrument 320. For example, the second surgical instrument 320 may be configured to control a second instrument processor. 315 and the motor 345, and is connected to the console by a cord connecting the second instrument processor 315 and the motor 345 to enable communication to control the operation of the motor. Additionally, the second instrument processor 315 may be configured to use an end-effector such as a high-speed cutting burr or an ultrasonic tip. A motor 345 can be operatively coupled to the end effector 340. The end effector 340 is attached to the handpiece 32 of the second surgical instrument 320 so that it can be coupled to the 5. For example, motor 345 may drive high speed cutting burr 340 to configured to grind and / or remove biological tissue from the The second tool processor 315 is in communication with the motor 345. 45, and thus the operation of the high-speed cutting bar 340. The instrument processor 315 is in communication with the navigation processor 140 and is configured to perform a second surgical procedure. Data relating to the position and / or orientation of the instrument 320 and the operation of the second surgical instrument 320 For example, the second instrument processor 315 and the The navigation processor 140 detects the position of the object detected by the surgical navigation system 100. Based on the position and / or orientation of the second surgical instrument 320, The surgical instruments can be configured to communicate relevant data with each other. and / or a second instrument processor 31 disposed within the console 310. It is also contemplated that the device may communicate with the 5.

[0057] The second surgical tool assembly 300 may also include a power source (not shown). A console 310 of the second surgical instrument assembly 300 is coupled to a monitor 320 of the second surgical instrument assembly 300. The motor 345 may be configured to provide energy to drive the end effector 340. Additionally, the console 310 can provide energy to the second surgical instrument assembly 300. A power outlet configured to be plugged into an outlet connected to an electrical grid to supply It is also contemplated that the power source may be a second instrument processor 315 and / or a modem. The motor 345 is electrically connected to the end effector 340 to drive the end effector 340. It can be configured to be selectively powered.

[0058] The second surgical tool assembly 300 is operatively coupled to a second tool processor 315; A switch 350, such as a foot switch, trigger or button, may also be included. 350 generates a signal based on user input that controls the operation of the second surgical instrument 320. , and / or may be configured to communicate a signal to the second instrument processor 315. For example, the switch 350 may have a first position, a second position, and a plurality of positions between the first and second positions. The first position may include an intermediate position. The first position may be set by the first instrument processor 315 to When the first instrument processor 315 detects that the motor 34 is in the first position, the first instrument processor 315 disconnects the motor 34 from the power source. 5 to prevent the operation of the second surgical instrument 320. Alternatively, the first appliance processor 315 may configure the switch 35 When the power supply detects that the 0 is in the second position, the maximum flow of energy is sent from the power supply to the motor 345. By allowing the flow of the second surgical instrument 320, the second surgical instrument 320 can operate at a maximum cutting or grinding speed, or The second instrument process may be configured to operate at a maximum speed or displacement, such as vibration speed or vibration amplitude. The second appliance processor 315 can be configured to control the switch 350. When the switch 350 is detected to be in one of the positions, the switch 350 is moved between the first and second positions. By allowing a level of energy corresponding to the power supply to flow to the motor 345, 2 to allow the surgical instrument 320 to operate at an intermediate level of cutting or grinding speed. Two instrument processors 315 can be configured. For example, the second instrument processor 315 can Detect that the switch 350 is positioned halfway (50%) between the first position and the second position. and a level that allows the second surgical tool 320 to operate at 50% of the maximum cutting or grinding speed. A second instrument processor 315 is connected to the power supply to allow bell energy to flow from the power supply to the motor 345. Alternatively, the power supply may be configured to shut off whenever the switch 350 is in a position other than the first position. By allowing the maximum flow of energy from the motor 345 to flow, the switch 350 is in the second position, When in either the or intermediate position, the second surgical instrument 320 can operate at maximum cutting or grinding speed. The second instrument processor 315 can be configured to:

[0059] Although not shown, a plurality of surgical instruments 320 are coupled to the console 310 and include a footstool. It is contemplated that the switch 350, such as a foot switch, It can be configured to control each of multiple surgical instruments. A switch can contain multiple buttons, each assigned to one of several surgical instruments. An exemplary surgical system includes switches connected to a console that controls multiple surgical instruments. and U.S. Patent Application No. 15 / 450,477, the entire contents of which are incorporated by reference. The body is incorporated herein by reference.

[0060] The second surgical instrument assembly 300 may also include a second alert device 355. The second alert device 355 may be an audible, tactile, and / or visually perceptible device. The second alert device 355 may include a second instrument processor 315, can be configured to communicate directly with the navigation processor. 315 or the navigation processor based on pre-programmed conditions or settings. , sending a signal to activate a second alert device 355 to provide a warning or notification. It can be configured to:

[0061] For example, as described above, the surgeon may use user input 130 to select cortical boundaries that the surgeon wishes to avoid. Select a blood vessel, nerve, or similar important anatomical structure and surround these anatomical structures. Predetermined conditions and / or settings, such as for establishing boundaries or zones, can be applied to the surgical navigation system. Additionally, the surgeon can use user input 130 to A target position, target trajectory, or similar shape to help guide the performance of a medical procedure. The second instrument processor 315 can select and / or input the navigation part. Based on the data provided by the surgical processor 140, the endoscope of the second surgical instrument 320 The effector 340 surrounds the anatomical structure and defines a region and / or zone defined by the surgeon. , can be configured to transmit a signal that activates a second alert device 355 upon entering one of the For example, the surgeon may use the user input 130 of the surgical navigation system 100 to This allows the definition of boundaries or zones for the anatomical model. Identify important anatomical features such as walls, central foramina, nerves, or blood vessels and organize them into zones. As mentioned above, the navigation system 100 may assign A boundary generator for generating a virtual boundary within the patient associated with the anatomical feature may be included. As part of generating these boundaries, the navigation system 100 may configurable to recognize and / or define virtual boundaries based on a location algorithm Once the navigation system 100 has generated one or more virtual boundaries, the navigation system The application system 140 can be further configured to allow the surgeon to select the depth or distance. When the user selects a depth, the navigation system 100 adjusts the selected depth from the original virtual boundary. The second virtual boundary can be configured to project a second virtual boundary at a different length or distance. The area and / or volume defined between the boundary may define at least a portion of a zone. Exemplary systems and / or methods for segmentation are described in U.S. Patent Publication No. 2005 / 0129994. No. 17 / 0061242, the entire contents of which are incorporated herein by reference. This shall be done.

[0062] This includes the first anatomical feature surrounding the critical anatomical feature away from the boundary of the critical anatomical feature. Additional zones include regions or areas surrounding important anatomical features, such as defining zone 2. This may further include identifying a region surrounding the second zone and overlapping the second zone. The distance from the critical anatomical feature is greater than the distance from the critical anatomical feature. It may also be possible to define additional subsequent zones, such as a third zone, spaced apart from the boundary of the In this exemplary configuration, the end effector 340 can be positioned in the outermost alert zone. likely to first contact the second alert device 355, thereby triggering the second alert device 355. Then, the end effector 340 is moved to the critical anatomical structure. the next closest alert zone to trigger the alert device 355, The first and second alerts can be generated by the end effector. The data 340 is assigned to each of the alert zones for the first alert and the second alert. The surgical navigation system 1 is configured to notify the surgeon that the surgical site has entered the surgical site. 00 allows the surgeon to define the alert zone(s) or The alert zone is configurable to define an area or areas. It can be configured as a boundary or a region surrounding an important anatomical structure. For example, The alert zone(s) are areas or layers surrounding important anatomical structures. The surgeon may use the surgical navigation system 100 to determine the thickness of the alert zone. For example, a second alert zone adjacent to a critical anatomical structure can be defined to It is sometimes defined as a 2 mm thick area surrounding an anatomical structure. Vary thickness based on type of surgery and / or surgeon preference to ensure no contact. The surgeon can then perform a follow-up procedure adjacent to the second alert zone and on the opposite side of the critical anatomy. By defining an alert zone for this subsequent alert zone, This allows the device to be positioned away from critical anatomical structures rather than away from the surrounding area.

[0063] The surgeon places the subsequent alert zone in a 5 mm thick area surrounding the outermost perimeter of the second alert zone. The input device can be operated based on the type of surgery and / or the surgeon's preferences. and adjust the thickness.

[0064] These alert zones are based on segmentation data from patient scans. It will be appreciated that this may be automatically generated.

[0065] The second instrument processor 315 uses the data provided by the navigation processor 140 When the end effector 340 of the second surgical instrument 320 deviates from the trajectory based on the data, and / or a second alert when the end effector 340 reaches the target position / zone / boundary It can also be configured to send a signal to activate the device 355. For example, the vector 340 and / or the second surgical instrument 320 as part of a panned surgical path. The surgical navigation system was not properly aligned with the established target trajectory. 100 specifies that a minimum of an audible, tactile, or visually perceptible alert The second alert device 355 can be activated to generate at least one In this configuration, the second alert device 355 detects whether the end effector 340 is aligned with the desired trajectory. A switch 350 or a removable power switch may be used to notify the surgeon that the device is not properly aligned. A tactile alert can be generated, such as by vibrating the source. Once properly aligned with the trajectory, the second alert device 355 may be deactivated. The end effector 340 and / or the second surgical instrument 320 are positioned at a target position determined by the surgeon. Upon the surgical navigation system 100 determining that the target has been reached, to generate at least one of a visually perceptible alert, The second alert device 355 can be similarly configured. For example, the end effector 340 has reached a target location / zone, such as a suitable depth or location relative to a critical anatomical boundary. The second alert device 355 notifies the surgeon by a tactile signal such as a vibration of the switch 350. When the end effector 340 reaches the target position, The control console controls the motor to prevent the end effector 340 from exceeding the target position / zone. , and thus, it is contemplated that the end effector 340 may be configured to stop. .

[0066] In an exemplary configuration, the second alert device 355 contacts the surgeon and vibrates to alert the surgeon. It may have a vibration device configured to indicate a particular condition or provide a warning. In an exemplary configuration, as shown in FIGS. 1A and 1B, a second alert device The switch 355 is a switch 350 such as a foot switch that controls the operation of the second surgical instrument 320. The second alert device 355 may include a vibration device coupled to the For example, the second alert device may be configured to vibrate when the foot switch 50 and / or may include a vibration device in communication with the foot switch. In this configuration, vibrating the foot switch 350 activates the end of the second surgical instrument 320. Such as when the effector 340 approaches and / or enters one of the defined alert zones. The second alert device 355 can be configured to notify the operator of the occurrence of a predetermined condition. 2. When operating the surgical instrument 320, the surgeon is in constant contact with the switch 350. Therefore, the surgeon feels the second alert device 355 vibrate and adjusts his / her grip on the handheld surgical instrument. The second alert should not affect the performance of the system, but should notify you of the occurrence of the specified condition. The device 355 generates vibrations in a specific pattern or at intervals upon the occurrence of a predetermined condition. Alternatively, the second alert device 355 may be configured to provide a specific A first vibration is generated in a pattern or at specific intervals, and a different vibration is generated when a second condition occurs. The second vibrations can be configured to occur in a different pattern or at different intervals. For example, the second alert device 355 may be configured to detect when the end effector 340 of the second surgical instrument 320 configured to alternately vibrate and stop upon approaching and / or entering the first alert zone; The second alert device 355 can be configured to act as an end effector for the second surgical instrument 320. 340 to vibrate continuously when approaching and / or entering the second alert zone. It is configurable.

[0067] The second alert device 355 is further configured to provide an audible alert to the operator upon the occurrence of a predetermined condition. The second audio device may be configured as an audible device, such as a speaker configured to The sound device 355 is a speaker configured to generate a particular sound upon the occurrence of a predetermined condition. Alternatively, the second alert device 355 may comprise an end effector When a predetermined condition occurs, such as the position of Or it may have a speaker configured to produce sounds at specific intervals.

[0068] Alternatively, the second alert device 355 may provide a visual alert upon the occurrence of a predetermined condition. a visually perceptible device, such as a visual display configured to provide a visual indication to the surgeon; For example, the second alert device 355 may be configured as a Alternatively, the second alert device may have a light configured to flash automatically. 355 is configured to illuminate and / or flash in a predetermined color or pattern upon the occurrence of a predetermined condition. The display may include a plurality of multi-colored lights configured. The battery may be integrated into the battery, or may be part of the navigation system, or a combination of both. It can be integrated as a combination.

[0069] Additionally, the second alert device 355 may be audibly, tactilely, and / or visually perceptible. It is also contemplated that the second alert may have a combination of different devices. The device 355 can be configured as a combination audible and tactile device; In this case, the haptic device may be configured to vibrate to provide the first alert, and The hearing device can be configured to emit a noise to provide the second alert. The first and second alerts may indicate the occurrence of the same predetermined condition, or alternatively, the first alert may indicate the occurrence of the second predetermined condition. The first and second alerts may indicate the occurrence of different predetermined conditions. For example, the first alert may indicate The second alert is based on the second surgical instrument 320 entering the first region. The detection may be based on the vector 340 entering the second region.

[0070] A second alert device 355 is coupled to the switch 350 of the second surgical instrument assembly 300. Although shown mated with the second alert device 355, it is understood that the second alert device 355 may be mated with other locations. It is also contemplated that the second alert device may be located on and / or in a If the second alert device 355 includes a haptic device, the second alert device 355 may be attached to or detached from the operator. The second alarm can be configured as a vibrating member attached to the second alarm. The second alert device 355 may be configured to vibrate so that the alert device 355 can feel the vibration. It can be configured as a bracelet worn on the wrist or arm of the surgeon. If the alert device 355 includes an audible device, the second alert device 355 may The device can be configured as a detachable speaker. When a predetermined condition occurs, the surgeon The second alert device 355 is positioned so that the noise emitted by the second alert device 355 can be heard. 55 is a Bluetooth device that is to be worn on the operator's head or placed in the operator's ear. It can be configured as a Bluetooth speaker or earpiece.

[0071] Although not required, the second alert device 355 may be positioned away from the second surgical instrument 320. There are many advantages to using the second alert device 355 in conjunction with the second surgical instrument 32. One advantage of placing the second surgical instrument 320 away from the surgical instrument 320 is that the size of the second surgical instrument 320 can be reduced. This allows the second surgical instrument 320 to be stored in a smaller space. The second surgical instrument 320 of this type also reduces obstruction of the surgeon's view of the surgical site. Another advantage of locating the surgical device 355 away from the second surgical instrument 320 is that it In particular, in the case of a haptic device, the second alert device 355 alerts or While providing notification, it does not vibrate or affect the movement of the second surgical instrument 320. In some medical procedures, the surgeon must rely on the feel and feel of the instruments to perform the procedure. For example, the consistency of the biological material being cut and / or removed may be relied upon. The surgeon must use feel or touch of the instrument to recognize changes in torque, which may indicate changes in quality / density. When the operator touches and / or comes into contact with the instrument, it may cut / cut biological material. It can also show when the end effector is spinning freely compared to when it is removing. In the example situation, when the operator feels resistance and / or sensation against the instrument, Where feel can be helpful in performing a medical procedure accurately, a foot switch 35 0, etc., it is advantageous for the alert device 355 to be located away from the second surgical instrument 320. During highly skilled surgery, the second surgical instrument 320 may be attached to A nearby vibrating alert device is startled by the second alert device 355, and / or vibrations may impart undesired movement to the second surgical instrument 320, thereby causing discomfort to the surgeon. This increases the likelihood that the second surgical instrument 320 will be moved to an undesired position. Vibrating the instrument 320 allows it to contact critical anatomical features or to be removed during a medical procedure. causing unwanted results such as removing / damaging biological material that should not be This may result in the end effector 340 grasping or damaging the biological material.

[0072] The second surgical tool assembly 300 may also include a tracking device 330. The vise 330 can be coupled to the handpiece 325 of the second surgical instrument 320. The surgical instrument assembly 330 is similar to that described above for the first surgical instrument assembly.

[0073] The surgical system 10 includes a third surgical instrument assembly in communication with the navigation system 100. For example, the third surgical instrument assembly 400 may include a handpiece. The surgical instrument may have a third surgical instrument 420, such as an ultrasonic instrument including a handpiece 425. The third surgical instrument 420 includes a first surgical instrument 425 configured to control the operation of various components of the third surgical instrument 420. The handpiece 425 is connectable to the console 410. The handpiece 425 allows the surgeon to The shape may include a handle or grip portion for grasping.

[0074] The third surgical instrument 420 also includes a third instrument processor 415 and a motor 445. The third instrument processor 415 can be connected to the console 4 of the third surgical instrument assembly 400. 10. The motor 445 can be disposed within the handpiece 425 of the third surgical instrument 420. The third tool processor 415 and the motor 445 are in communication with each other. The motor 445 is a piezoelectric actuator configured to expand and contract upon application of a current to the piezoelectric element. The piezoelectric element may comprise a plurality of disks arranged end-to-end in a stack. The third instrument processor 415 may include a piezoelectric element. The third surgical instrument 420 can be configured to control the operation of the surgical instrument 420. For example, the third surgical instrument 420 can be configured to The end effector 440 may include an end effector such as an ultrasonic tip assembly. The piezoelectric element(s) expand and contract as the vector 440 moves the ultrasonic tip portion. The ultrasonic tip assembly may include a horn that vibrates at ultrasonic velocities. Furthermore, the ultrasonic tip assembly is at least partially disposed on the horn excluding the ultrasonic tip portion. A motor 445 is operatively coupled to the end effector 440. The end effector 440 is attached to the handpiece 425 of the third surgical instrument 420 so as to be able to fit into the handpiece 425. For example, the motor 445 may drive the ultrasonic tip assembly 440 to The third instrument processor may be configured to abrade and / or remove biological tissue from the surgical site. The sensor 415 is capable of communicating with the motor 445 and controls the motor 445 and, in turn, the ultrasonic tip actuator. The flow of current to the piezoelectric element(s) to control the operation of the assembly 440 Additionally, the third instrument processor 415 may be configured to control the navigation. and a third surgical instrument 420. The third surgical instrument 420 is in communication with the computer processor 140 and is associated with the position and / or orientation of the third surgical instrument 420. and data relating to the operation of the third surgical instrument 420. For example, the third instrument processor 415 and the navigation processor 140 may The position and / or and the third surgical instrument 420 communicate data related to the operation of the third surgical instrument 420 based on the direction. It is configurable.

[0075] The third surgical tool assembly 400 may also include a power source (not shown). A console 410 of the third surgical instrument assembly 400 is coupled to a monitor 420 of the third surgical instrument assembly 400. The actuator 445 may be configured to provide energy to drive the end effector 440. For example, the power source can include a removable battery pack. The sole 410 is connected to an electric grid to provide energy to the third surgical instrument assembly 400. The device may also be provided with a cord configured to be plugged into a power outlet connected to the head. It is contemplated that the power source may be in electrical communication with the third instrument processor 415 and / or the motor 445. and selectively energizing the motor 445 to drive the end effector 440. It is configurable.

[0076] The third surgical instrument assembly 400 is operatively coupled to a third instrument processor 415; A switch 450, such as a foot switch, pedal or button, may also be included. 450 generates a signal based on user input that controls the operation of the third surgical instrument 420. , and / or may be configured to communicate a signal to a third instrument processor 415. For example, the switch 450 may have a first position, a second position, and a plurality of positions between the first and second positions. The first position may include an intermediate position. The third instrument processor 415 may activate the switch 450 When the third instrument processor 415 detects that the motor 44 is in the first position, the third instrument processor 415 disconnects the motor 44 from the power source. 5 to prevent the operation of the third surgical instrument 420. Alternatively, the first appliance processor 415 may configure the switch 45 When it detects that the 0 is in the second position, it sends the maximum flow of energy from the power supply to the motor 445. By allowing the flow of the third surgical instrument 420, it is possible to operate at maximum displacement. The third instrument processor 415 can be configured to When the switch 450 detects that it is in one of the intermediate positions, the switch 450 switches between the first and second positions. The power supply can supply a level of energy corresponding to the position of the switch 450 to the motor 445. This allows the third surgical instrument 420 to operate at an intermediate level of displacement. For example, the third instrument processor 415 may be configured to: Detect that the switch 450 is positioned halfway (50%) between the first and second positions. When the third surgical instrument 420 is energized, it generates a level of energy that allows the third surgical instrument 420 to operate at a speed that is 50% of its maximum displacement. The third instrument processor 415 can be configured to allow energy to flow from the power supply to the motor 445. Alternatively, whenever switch 450 is in a position other than the first position, power is removed from motor 4. By allowing a maximum flow of energy to flow to 45, switch 450 is in the second or intermediate position. The third surgical instrument plate 420 is positioned so that the third surgical instrument 420 can operate at maximum displacement when in either of the positions. The processor 415 can be configured.

[0077] The third surgical instrument assembly 400 may also include a third alert device 455. The third alert device 455 may be an audible, tactile, and / or visually perceptible device. The third alert device 455 may have a third instrument processor 415. The third instrument processor 415 can be configured to receive pre-programmed conditions. or, based on configuration, activate a third alert device 455 to provide a warning or notification. For example, as described above, the surgeon may be configured to transmit a signal that activates the user input. 130 to avoid cortical boundaries, nerves, blood vessels, or similar important anatomical structures that the surgeon wishes to avoid. Selecting anatomical structures and establishing regions or zones surrounding these anatomical structures, etc. Alternatively, the settings can be input into the surgical navigation system 100. For example, the surgeon User input 130 of the surgical navigation system 100 can be used to identify regions or The MRI software can define zones, including important anatomical features such as nerves or blood vessels. This may include identifying the boundaries of important anatomical features and assigning them to zones. Define a secondary zone surrounding a separate critical anatomical feature. This may also include identifying additional zones that include regions or areas surrounding , surrounding the second zone and spaced from the critical anatomical feature by a distance greater than the distance the second zone is spaced from the critical anatomical feature. a third zone that is spaced from the boundary of a critical anatomical feature by a distance greater than the In this example configuration, the end The effector 440 is likely to contact the outermost zone first, which will Triggering the device 455 to generate the first alert. Then, the end effector 44 0 indicates that the alert device is in contact with the alert zone next closest to the critical anatomy. 455 to generate a second alert. The alert indicates that the end effector 440 is assigned to the first alert and the second alert. The zones are configured to notify the operator when the operator enters each of the zones.

[0078] Additionally, the surgeon may use user input 130 to provide guidance to the surgeon as he or she performs the medical procedure. Selecting a target location, target trajectory, or similarly shaped portion of a surgical path to assist in The third instrument processor 415 can input the navigation processor 140 Based on the data provided by, the end effector 440 of the third surgical instrument 420 Upon entering one of the surgeon-defined regions and / or zones that surround the anatomical structure, The third instrument processor 452 may be configured to transmit a signal that activates the third alert device 455. The processor 415 performs the following steps based on the data provided by the navigation processor 140: , when the end effector 440 of the third surgical instrument 420 deviates from the trajectory and / or When the end effector 440 reaches the target position, a signal is generated to activate the third alert device 455. For example, the end effector 440 and / or the third The surgical instrument 420 is aligned appropriately with the target trajectory established as part of the panned surgical path. Based on the surgical navigation system's 100 identification of misalignment, to generate at least one audible, tactile, or visually perceptible alert, A third alert device 455 can be activated. In this exemplary configuration, the third alert The device 455 detects that the end effector 440 is not properly aligned with the target trajectory. A tactile alert, such as vibrating the switch 450, may be provided to notify the surgeon that Once the end effector 440 is properly aligned with the target trajectory, the third alignment The end effector 440 and / or the third surgical instrument may be stopped. The tool 420 is notified that it has reached the target position determined by the surgeon in the panned surgical path. Based on the surgical navigation system 100's identification, The third alert device must be activated to generate at least one perceptible alert. The vise 455 can be similarly configured. For example, the end effector 440 can be configured to a suitable depth. The third alert device 455 may be configured to notify the surgeon that a target position such as a A tactile alert may be generated, such as by vibrating the switch 450. When the target position is reached, the control is applied to prevent the end effector 340 from exceeding the target position. The control console can be configured to stop the motor and, therefore, the end effector 340. It is also contemplated that

[0079] In one exemplary configuration, the third alert device 455 is The two-alert device may be configured as described above.

[0080] The third surgical tool assembly 400 may also include a tracking device 430. The vise 430 can be coupled to the handpiece 425 of the third surgical instrument 420. The surgical tool assembly 430 is similar to that described above for the other surgical tool assemblies.

[0081] The surgical instrument assemblies 200, 300, 400 described above are exemplary components within the surgical system 10. It is intended to be, but not limited to, an apparatus and / or configuration. Various types and configurations of surgical tool assemblies are also contemplated. 00, 300, 400 are part of the surgical system 10 and are surgical navigation systems Although described as being in communication with a single surgical instrument, the surgical system 10 may be only the tool assemblies 200, 300, 400 and the navigation system 100. It is further contemplated that the surgical system illustrated in FIGS. 1A and 1B may The system 10 includes three surgical instrument assemblies 200, 300, 400 and a single surgical navigation system. The surgical system 10 includes a surgical instrument assembly 200, 30 0, 400, and / or any combination of surgical navigation systems 100. For example, the surgical system 10 may be configured with a single surgical instrument assembly. assemblies 200, 300, 400, and a plurality of surgical navigation systems 100. It is possible.

[0082] Referring to FIG. 2, the surgical system 10 described above is used to perform a medical procedure on a patient 20. An exemplary configuration of an operating room or surgical equipment for a surgical navigation system is shown. and at least one of the surgical instrument assemblies 200, 300, 400 described above. The surgical system 10 includes a patient 20 and / or a surgical site 30 surrounding the surgical site 30 where the medical procedure is to be performed. It can be placed in the operating room.

[0083] Although only the second surgical instrument assembly 300 is shown in FIG. 2, it should be understood that It should be understood that this is merely an exemplary configuration of the surgical system 10 and that any number of surgical instrument assemblies 20 may be used. It is contemplated that the number of operating rooms may be 0, 300, 400. The surgical tool assembly 300 includes an end effector 340 and a tracking device 330. 2 surgical instruments 320. The tracking device 330 is included in the surgical navigation system 100. The second surgical instrument 320 includes a plurality of markers 335 that can be identified and / or tracked by the 2. The surgical instrument 320 is coupled to the console 310 at a location remote from the console 310. The surgical instrument assembly 300 is positioned remotely from the patient 20 and is connected to a console 310 The switch 350 is housed within the console 310. It communicates with a second surgical instrument 320 via a second instrument processor 315 (not shown).

[0084] Although not shown in FIG. 2, the second surgical instrument assembly 300 includes the second alarm assembly described above. The second alert device 355 also includes a second alert device 355 Based on the configuration of the switch 350, somewhere on the surgeon's body, and / or the surgeon in the operating room, For example, as described above, a second alert device including a tactile member may be positioned in a location that is visible from the outside. The device 355 may be placed on the wrist or ankle of the surgeon, or the like. A second alert device 355 may be placed at the ear of the surgeon. The second alert device 355 includes a visual device, and the second alert device 355 is on the display unit 120 of the navigation system 100 or on the surgeon's surgical site 30 Other structures may be placed in a similar location that is recognizable by the surgeon without blocking or obstructing the view of the other structures. In this configuration, the second alert device is a foot switch located under the operating room table. So it's not easy to see during surgery.

[0085] Although not mentioned above, the surgical system 10 may be an imaging system such as a CT or MRI imaging device. It is also contemplated that the imaging system 500 may further comprise a scanning system. The image forming apparatus may include a scanner 510 and a display unit 520. 5, an image of the surgical site 30 of the patient 20 is taken and displayed on the display unit 520. For example, the scanner may scan the patient 20 to generate multiple images of the surgical site 30. The imaging system may have a C-arm configured to rotate about the imaging axis. The system 500 includes a scanner 510, as known by those skilled in the art. Multiple images can be taken to generate two-dimensional images and / or three-dimensional models of the surgical site 30. There may also be a processor (not shown) with software that runs the display unit. The unit 520 can be configured to display the final 2D image and / or 3D model. is.

[0086] Additionally, the imaging system 500 may be used as a navigation system for the surgical navigation system 100. The imaging system 500 is capable of communicating with the application processor 140. , to communicate with navigation processor 140 via wired and / or wireless connections. For example, the imaging system 500 may be configured to generate a final two-dimensional image of the surgical site 30. Pre- and / or intra-operative image data, such as images and / or 3D models, are transferred to the navigation process. The navigation processor 140 can then be configured to provide the The final 2D image and / or 3D model is displayed on the navigation display unit 12 0, in which case the surgeon can use the user input 130 or or using algorithms to identify corresponding regions and / or zones around important anatomical structures. For example, the surgeon can specify and / or define the surgical navigation system. The user input 130 of the system 100 can be used to identify vertebrae that the surgeon wants to avoid when performing a medical procedure. Alert zones can be defined around nerves or blood vessels. User input 130 of the application system 100 can be used to determine the vehicle to be used during the performance of a medical procedure. Ability to enter and / or modify planned surgical path, boundaries, or alert zones is.

[0087] Referring to FIG. 3, an example of a surgical site 30 on a patient 20 during a medical procedure, as seen from the perspective of the surgeon. In the exemplary schematic diagram of FIG. 3, a second surgical instrument assembly 30 1 depicts exemplary placement of the above-described surgical system 10 during a medical procedure, including The surgical instrument assembly 300 is positioned adjacent to the surgical site 30 and within the field of view of the surgeon. A second surgical instrument 320 includes a handpiece 325 and an end effector 340 . Additional components of the second surgical instrument assembly 300 are associated with the second surgical instrument 320. , is located away from the second surgical instrument 320 and out of the field of view of the surgeon. The communication system 100, the console 310, the switch 350, and the alert device 3 55 are all positioned away from the second surgical instrument 320 and out of the surgeon's sight while the surgeon is concentrating on the surgical site. It can be placed outside the field, reducing the number of obstacles blocking the surgeon's view of the surgical site. Improving the surgeon's ability to focus on the surgical site 30 and / or perform the medical procedure can be done.

[0088] 4A-5C, various schematic diagrams of the above-described surgical system 10 during a medical procedure are shown. Various schematic diagrams of the surgical system 10 are provided to illustrate the operation of the surgical system 10. For purposes of further illustration, the surgical instruments 220, 320 described above in various orientations relative to the patient 20 are shown. , 420. The surgical instruments 220, 320, 420, such as the second surgical instrument 320, , is shown in a first position relative to a surgical site 30 on a patient 20. 0, 320, 420 are consoles or As noted above, the instrument processor may include a housing 210, 310, 410. The navigation processors 215, 315, and 415 of the navigation system are 0. The surgical instruments 220, 320, 420 are mounted in a console or housing 2 10, 310, 410 and in communication with the instrument processor 215, 315, 415. Also included are switches 250, 350, 450, such as a gas, hand switch, or foot switch. The alert devices 255, 355, 455 may be connected to the switches 250, 350, 450 and is in communication with the instrument processors 215, 315, 415. However, as mentioned above, the alert devices 255, 355, and 455 are connected to the switch 250. , 350, 450. On the other hand, the alert devices 255, 355, 4 It is also contemplated that 55 may be separate from switches 250, 350, and 450. For example, the alert device 255, 355, 455 may be mounted in the console or housing 210, 3 10, 410 and either wired or wirelessly coupled to the instrument processors 215, 315, 4 15. Furthermore, the alert devices 255, 355, and 455 are capable of communicating with the A standalone device such as a bracelet or armband used with an instrument processor It is also contemplated that the sensors 215, 315, and 415 may communicate wirelessly with each other.

[0089] Furthermore, as described above, the surgeon can use the surgical navigation system 100 to or in pre- and / or intra-operative patient data such as MRI scans, various boundaries, regions, A target trajectory, a target position, etc. can be specified and / or determined. For example, in FIGS. 4A to 4C As shown, the surgeon uses the surgical navigation system 100 to navigate within the surgical site 30. Virtual boundaries (boundaries) for important anatomical structures or boundaries such as the central foramen, vertebral walls, nerves, or blood vessels Select and / or define the alarm zones (Zones 1, 2, 3) and / or alert zones (Zones 1, 2, 3) This allows for the creation of multiple virtual boundaries (boundaries) at various distances from important anatomical structures. 1, 2, 3), and / or defining alert zones (Zones 1, 2, 3). For example, as shown in FIGS. 4A-5C, the surgical site 30 may be a vertebra where a medical procedure is to be performed. The first virtual boundary, Boundary 1, is defined relative to important anatomical structures, such as the periphery of the spinal cord. The boundary 1 can be manually defined by the surgeon using the navigation system 100. However, the boundary 1 can be generated by the boundary generation software of the navigation system 100. The operator can also select from a pre-populated list of virtual boundaries provided by the software. As noted above, the navigation system 100 includes software that includes a boundary generator. The navigation processor 140 can process various data selected or entered by the surgeon. Based on the data points, the system can be configured to provide a list of one or more virtual boundaries. For example, the surgeon may determine the location of the surgery, the type of surgery, and the surgical instruments 200, 300, 400 to be used. The type of device or implant to be inserted can be selected, and boundary generation The device may be configured to define one or more virtual boundaries selected by the user. The boundary generator can be configured to define alert zones (zones 1, 2, 3, and 4) The first alert zone, Zone 1, is located 100 feet from important anatomical structures, such as the lateral border of the spinal cord. Zone 1 can be defined by a distance of 1. Zone 1 is the first virtual boundary, Boundary 1, and the second virtual boundary, Boundary 2. Boundary 2 can be defined as the volume between the desired depth of Zone 1 and Boundary 2. The navigation system is user-definable, including by entering and / or selecting the length. The system is configured to define boundary 2 based on this depth. The application system 100 is configured to prompt the surgeon to input and / or select a depth. The navigation system can then define a boundary 2 based on this depth. Alternatively, the boundary 2 may be provided by boundary generation software in the navigation system 100. The surgeon may also select from a pre-populated list of virtual boundaries provided. The operation system 100 includes an actuator for each of the end effectors 240, 340, and 440. Inputs for end effectors 240, 340, and 440, including default depths for the RT zones The navigation system can be configured to provide a list of completed procedures, allowing the surgeon to select The end effectors 240, 340, and 440 are configured to define a zone 1. can.

[0090] In one exemplary configuration, the boundary generator is based at least in part on the surgical procedure being performed. and generate a second virtual boundary, Boundary 2, at a default distance from the first virtual boundary, Boundary 1. For example, the boundary generator can be configured to create a boundary between 1 and 2 millimeters. The operator can generate the boundary 2 as follows. Using GUI) 150 and / or user input 130, the distance between boundary 1 and boundary 2 You can edit or modify the depth of the volume defined between Boundary 1 and Boundary 2. The system can define a first alert zone, Zone 1.

[0091] The second alert zone, Zone 2, is important as the second distance is longer than the first distance. Zone 2 can be defined by a second distance from the relevant anatomical structure. Zone 2 is the boundary between boundary 2 and the third virtual boundary. The boundary 3 can be defined by the surgeon. Alternatively, the boundary 3 may be provided by boundary generation software in the navigation system 100. The operator can also select from a pre-populated list of virtual boundaries. The instrument may be positioned at a default distance from boundary 2 based at least in part on the surgical procedure being performed. The operator can configure the graphical user interface ( Using GUI) 150 and / or user input 130, the distance between boundary 2 and boundary 3 You can edit or modify the depth. The third alert zone, Zone 3, is It can be defined at and / or including the boundaries of important anatomical structures. The boundary 4, which is an imaginary boundary, can be defined by the periphery and / or boundary of biological tissue such as vertebrae. based on information selected or entered by the medical professional, Virtual boundaries (Boundaries 1, 2, 3, 4) and / or alert zone(s) (Zones It is also contemplated that the surgical navigation system may be configured to define the following patterns: The gating system 100 then determines the procedure to be performed as the next item entered by the medical professional. type of surgery, surgical position of the patient, type of implant to be used, type of implant to be used the type of surgical instrument 220, 320, 420 and / or end effector 240, 340; Define alert zones (Zone 1, 2, 3, 4) based on one or more of the 440 types The medical professional can then use the user input device 130 and / or The surgical navigation system uses a graphical user interface (GUI) 150. Virtual boundaries (boundaries 1, 2, 3, 4) and / or alert zones defined in the system 100 You will have the opportunity to modify or change the (or multiple) (Zones 1, 2, 3, 4). Again, algorithms that recognize certain important anatomical structures in image data. It is also contemplated that various zones may be automatically generated based on the

[0092] During a medical procedure to remove biological tissue from the surface of a vertebra at a surgical site, surgical instruments 220, 320; The end effectors 240, 340, 440 of 420 are connected to various virtual boundaries (boundaries 1, 2, 3 , 4), and / or approach one of the alert zones (Zones 1, 2, 3, 4). As described above, the surgical navigation system 100 can generate various virtual boundaries (boundaries 1, 2, 3, 4), and / or surgical instruments for the alert zones (Zones 1, 2, 3, 4) The position and / or orientation of the end effector 220, 320, 420 may be tracked. 40, 340, 440 are various virtual boundaries (boundaries 1, 2, 3, 4) and / or alert zones. To notify the surgeon when approaching and / or entering one of the zones (Zones 1, 2, 3, 4) a signal or command to activate the alert device 255, 355, 455 to the instrument processor; 215, 315, 415. For example, the virtual boundary (Boundary 1, 2 , 3, 4), the surgical navigation system 100 uses various virtual boundaries (boundaries 1, 2 , 3, 4) to track the position and / or location of the surgical instruments 220, 320, 420 relative to the The end effectors 240, 340, and 440 are adjacent to the virtual boundaries (boundaries 1, 2, 3, and 4). and / or an alert device 255 to notify the surgeon if it is distal thereto; 355, 455 to communicate a signal or command to the instrument processor 215, 315, 415 For example, the tip of the end effector can be configured to intersect with the virtual boundaries (boundaries 1, 2, and 3). , 4) based on the fact that the instrument processors 215, 315, 415 are located adjacent to , activates the alert device 255, 355, 455. The instrument profile was based on its placement at a predetermined distance distal to the imaginary boundaries (boundaries 1, 2, 3, and 4). The processor 215, 315, 415 activates the alert device 255, 355, 455. The tool processor 215, 315, 415 determines whether the tip of the tool is within the virtual boundary (boundary 1, 2, 3). 4) to determine the distance such that the needle is placed 0.5 mm, 1 mm, 2 mm, 3 mm, etc. distal to the needle. The surgeon may select various virtual boundaries (boundaries 1, 2, 3, 4) and / or axes. You can assign a specific type of alert to each of the alert zones (Zone 1, 2, 3, 4). The surgical navigation system 100 can be configured to allow the surgeon to May include audible, tactile, and / or visual alerts to notify. Visual alerts are provided by foot switches or triggers that the surgeon touches when operating surgical instruments. As described above, the switches 250, 350, and 450 may be coupled to the 350, 450 and placing alert devices 255, 355, 455 including tactile alerts. There are various advantages to using the exemplary second and third surgical instrument assemblies 300 and 301 described above. As is the case with surgical instrument assembly 400, this may involve the use of alerts, including tactile alerts. The switch device 355, 455 is located away from the surgical instrument 320, 420. This may be especially true if the temperature is within 50, 450.

[0093] When the alert device 255, 355, 455 is activated, the system 10 The vises 255, 355, and 455 can be configured to be stopped by the operator. , a button or switch configured to deactivate the alert device 255, 355, 455 This can be achieved by touching the alert device or pressing the icon. (There are also buttons, switches, and / or icons to stop 255, 355, 455, It may be located on the navigation system 140. For example, the navigation display 120, and the user selects alert device(s) 255, 355, 455. The device may be configured as a touch screen that allows the operator to select an icon to stop the device. The user operates a button or switch on the user input 130 of the gaming system 100 to activate the alarm. It is possible to disable port device(s) 255, 355, 455. It is further contemplated that the alert device(s) 255, 35 5, 455, a button or switch that stops the surgical instrument assembly 200, 300, 4 00 housing 210 or console 310, 410, and the surgeon presses a button or Operate the switch to set alert device(s) 255, 355, 455 Alternatively, this may be achieved by deactivating the alert device 255, 35. Triggers and / or foot switches 250, 350, 45 It is also contemplated that this can be achieved by manipulating the 0's in a predetermined pattern or order. For example: After the alert device 255, 355, 455 is activated, the switches 250, 350, 45 Double tapping 0 stops alert devices 255, 355, and 455, and the surgeon The system can be configured to allow the procedure to continue without interruption. Alert Device 25 To stop 5, 355, 455, double tap switches 250, 350, 450, etc. The system 10 may be configured to require an operation by the surgeon. , acknowledge and / or confirm receipt of the alert, and the alert device 255, 355 This ensures that positive and clear steps have been taken to stop the 455. The surgeon does not receive notification that the remote device 255, 355, 455 has been activated, and / or This prevents accidental shutdown of alert devices 255, 355, and 455 due to unawareness of the It can be stopped.

[0094] Additionally, virtual boundaries (Boundaries 1, 2, 3, 4) and / or alert zones (Zones 1, 2 , 3, 4) relative to one or more of the position and / or orientation of the surgical instrument 220, 320, 420. Based on this, the speed of the motors 245, 345, 445 and therefore the end effector 240, By manipulating the speed at which the 340 and 440 operate, you can adjust the surgical navigation system to provide alerts. For example, the communication system 100 may be configured with one or more virtual boundaries (Boundaries 1, 2, 3, 4), and / or the surgical instruments 220 for the alert zones (zones 1, 2, 3, 4) , 320, 420 position, motor 245, 345, 445 from maximum cutting speed The surgical navigation system 100 may be configured to slow down to a minimum cutting speed. .

[0095] This involves the end effector 340 being adjacent to a second virtual boundary, Boundary 2, and / or or distal to the first alert zone, and / or enters Zone 1, the first alert zone. The output of the motor 345 of the second surgical instrument 320, such as a cutting burr, is reduced, and the end effector 34 0 RPM, from current operating speeds such as 75,000 RPM, still effective for cutting tissue The signal can be reduced to a low speed such as 60,000 RPM, and the surgical navigation system 0 can be transmitted to the second instrument processor 315. The speed of the motors 245, 345, 445 of the 320, 420 and therefore the end effector 2 The rotation of the instrument processor 215, 315, 415 is controlled by the configured to adjust the current and / or voltage supplied to the For example, the motors 245, 34 of the surgical instruments 220, 320, 420 may The instrument processor 215, 315, 415 is configured to slow down the motor 24 5, 345, 445 can be configured to reduce the voltage and / or current supplied to The instrument processor 215, 315, 415 is supplied to the motor 245, 345, 445. The current and / or voltage can be configured to be gradually decreased, thereby The rotation of the vectors 240, 340, and 440 can be gradually reduced. The voltage ramp causes the motors 245, 345, 445 to ramp from the first cutting speed to the second cutting speed. Similarly, motors 245, 3 By increasing the voltage and / or current supplied to 45, 445, the instrument process The motors 245, 345 of the surgical instruments 220, 320, 420 are connected to the motors 245, 345 of the surgical instruments 220, 320, 420. 5, 445 can be configured to accelerate.

[0096] By slowing down the motors 245, 345, 445 of the surgical instruments 220, 320, 420 , in the form of a tactile alert felt by the operator at the handpiece 225, 325, 425; An alert or notification can be provided to the surgeon. The deceleration of motors 245, 345, and 445 of 20 is When slowing down from cutting speed to minimum cutting speed, the surgeon adjusts the pitch of the motor to 245, 345, and 445. An alert may be given in the form of an audible alert to hear the change or to perceive a change in cutting effect. It is also contemplated that the motors 245, 345, 445 may be driven up to Although it is not necessary to reduce the speed from cutting speed to the minimum cutting speed, motors 245, 345, and 445 , the end effector 240, 340, 440 bites or grabs, out of line and / or out of trajectory. To avoid running off the road, it is advisable not to slow down below a predetermined minimum cutting speed. This prevents the end effector 240, 340, 440 from contacting critical anatomical structures. Furthermore, the end effector 240, 340, 440 may be heavily damaged. Disable or stop motors 245, 345, 445 when approaching critical anatomical structures. It is also contemplated that the surgical navigation system 100 can be configured to , the end effector 240, 340, 440 comes into contact with a critical anatomical structure and / or The surgical instruments 220, 320, 420, and thus the endof In the process of tracking the vector 240, 340, 440, the surgical instrument 220, 320, 42 It is also contemplated that the tracking device may be blocked from view of the navigation system. Furthermore, if the position of the surgical instrument 220, 320, 420 is unknown within the patient space, its operation may be affected. To prevent this, the tracking devices of the surgical instruments 220, 320, 420 are attached to the navigation system. Once out of sight of the stem 100 for a predetermined period of time, the end effectors 240, 340, 440 To prevent operation, the motors 245, 345, 445 are disabled or stopped. It is also contemplated that the navigation system 100 may be configured as Exemplary navigation configured to prevent movement of surgical instruments when out of view The system and / or method is described in U.S. Patent Publication No. 2016 / 0242858. and is incorporated herein by reference in its entirety.

[0097] Referring to FIG. 4A, surgical instruments 220, 320, 420, such as second surgical instrument 320, The surgical instrument is shown in a first position and / or orientation relative to a subject's surgical site 30. The tools 220, 320, 420 may be configured to remove biological tissue from the surgical site 30. In the first position, the end effector 240, 340, 440 is Distant from the boundaries (Boundaries 1, 2, 3) and / or Alert Zones (Zones 1, 2, 3 In this example scenario, the surgical navigation system The motion system 100 is configured such that the end effectors 240, 340, 440 are positioned within a defined virtual boundary. Alert zones (Zone 1, 2, 3) separated from and / or defined by boundaries 2) Identify that it is outside the end When the effectors 240, 340, and 440 are driven, the surgical instruments 220, 320, and 420 pass through the effectors 240, 340, and 440. The alert devices 255, 355, and 455 are designed to operate under normal operating conditions. Boundaries 1, 2, and 3, and The nested nature of zones 1, 2, and 3 (one more distal than the other) This allows the surgical instruments 220, 320, 420 to approach critical anatomical structures and / or target depths. Alerts can be provided in increasing increments to ensure the surgeon is aware of the .

[0098] Referring to FIG. 4B, surgical instruments 220, 320, 420 are inserted into a surgical site 30 on a patient. In the second position, the end effectors 240, 34 0, 440, while removing the biological tissue, at least a portion of the zone is the second alert zone. In this example, Zone 2 is defined between Boundary 3 and Boundary 2. In this example scenario, the surgical navigation system 100 The sensors 240, 340, 440 are located adjacent to and / or distal to the boundary 3. and / or entering the volume corresponding to Zone 2, the second alert zone. This can identify when an end-effect occurs and trigger one of the various alerts mentioned above. Vectors 240, 340, 440 are positioned adjacent to and / or distal to boundary 3. and / or entered the second alert zone, Zone 2, and the alert device The instrument processor 215, 315, 415 and and / or a navigation processor. Alert devices 255, 355, and 455 are configured as zones that are the second alert zone. Vibrate switch 250, 350, 450 depending on the type of alert assigned to button 2 Alternatively, the navigation system may be configured to provide a haptic alert A, such as Provide a visual alert B, such as a flashing light on the system's display screen. In yet another configuration, the alert devices 255, 355, 455 can be configured as The port devices 255, 355, and 455 are configured to provide an audible alert C, such as a beep. Furthermore, the motors 245, 34 of the surgical instruments 220, 320, 420 may be configured as follows. 5, 445 to reduce the power of the end effector 240, e.g., the surgical burr 340, 44 0 revolutions per minute (RPM) to a first cutting speed of over 70,000 revolutions per minute (RPM). Secondary cutting speeds of less than 70,000 revolutions per minute (RPM) and greater than 60,000 revolutions per minute (RPM) to transmit a signal to the instrument processor 215, 315, 415 to reduce the Furthermore, as shown in FIG. 4B, the navigation system 100 can be configured. Devices 255, 355, and 455 combine tactile alert A and visual alert B. It is also contemplated that various combinations of alerts may be used, such as generating a

[0099] Referring to FIG. 4C, a second surgical instrument 220, 320, 420 is inserted into the surgical site 30 of the patient. In the third position, the end effector 240, 340, 440 are distal to boundary 2 and / or adjacent to boundary 2 during tissue removal. The aircraft is entering Zone 1, the first alert zone defined between Boundary 1 and Boundary 2. In this exemplary scenario, the surgical navigation system 100 may , 340, 440 identify that they are entering the first alert zone, Zone 1, and For example, the surgical navigation system 10 may trigger one of a variety of alerts. 0 is the position of the end effector 240, 340, 440 relative to boundary 2 and / or zone 1 The device may be configured to transmit a signal indicative of the position to the device processor 215, 315, 415. The signals from the surgical navigation system 100 are transmitted to the end effectors 240, 340. , 440 is located adjacent to and / or distal to boundary 2, and / or When the vehicle enters the first alert zone, Zone 1, the alert devices 255 and 355 , 455 to the instrument processor 215, 315, 415. Alternatively, the signal from the surgical navigation system 100 may be The position of the end effector 240, 340, 440 relative to the hand The surgical navigation system 100 detects the boundaries of the end effectors 240, 340, and 440. adjacent to and / or distal to the first area 2 and / or alert device 255 when it indicates that the vehicle has entered Zone 1, which is an alert zone; The instrument processors 215, 315, 415 can be configured to activate the instrument processors 355, 455. The alert devices 255, 355, 455 are the first alert zone. Depending on the type of alert assigned to Zone 1, the switch will be set to 250, 350, or 450. Alternatively, the device may be configured to provide a tactile alert A, such as a flashing light. Configure alert devices 255, 355, and 455 to provide visual alert B. In yet another configuration, the alert device 255, 355, 455 may be configured as a beeper. The surgical instrument 220 may be configured to provide an audible alert C, such as a sound. , 320, 420 motors 245, 345, 445 to reduce the output of the end effector 2 Signals that reduce the rotation of 40, 340, and 440 from 75,000 RPM to 60,000 RPM The surgical navigation system is configured to transmit the signal to the instrument processor 215, 315, 415. Alternatively, the end effector 240, 340, 440 may be configured as a first When the vehicle enters Zone 1, the alert zone, the rotation is disabled or stopped and the end Preventing effectors 240, 340, 440 from becoming operational on critical anatomical structures The surgical navigation system 100 can be configured to allow the end effector This prevents the devices 240, 340, and 440 from damaging important anatomical structures. , as shown in FIG. 4C, the alert devices 255, 355, 455 provide tactile alert A A variety of alerts can be generated, such as generating a combination of alert B, visual alert B, and audible alert C. It is also contemplated that a combination of rates may be used.

[0100] Referring to FIG. 4D, a second surgical instrument 220, 320, 420 is inserted into the surgical site 30 of the patient. As shown in Figure 4D, the surgical navigation system The application system and / or medical professional will define the first alert zone, Zone 1, and the second alert zone. You have only selected and / or defined two alert zones, including Zone 2, which is an alert zone. Zone 2 represents important anatomical structures such as the central foramen. Zone 1 is the boundary between Boundary 1 and Boundary 2. Boundary 1 is defined as the recognized perimeter of a significant anatomical structure, i.e., the center. As mentioned above, this boundary is the boundary that the segmentation algorithm recognizes. In the fourth position, the end effector 240, 340, 440 can and / or positioned adjacent to and / or distal to boundary 2 while removing , entering the first alert zone, Zone 1. In this example scenario, The navigation system 100 determines whether the end effectors 240, 340, and 440 are located at the boundary 2 and / or the first alert Identifies the entry of a zone, Zone 1, and can trigger one of the various alerts mentioned above. For example, the surgical navigation system 100 may be configured to The instrument processor 21 sends a signal indicative of the position of the end effector 240, 340, 440 relative to the instrument. 5, 315, 415. The surgical navigation system 100 The signal from the end effector 240, 340, 440 is adjacent to the boundary 2 and / or is located distal to it and / or enters the first alert zone, Zone 1. In this case, the alert device 255, 355, 455 is connected to the instrument processor 215, 315, 415 Alternatively, the surgical navigation system 10 may have a command to activate the 0, the signal from the end effector 240, 340 for boundary 2 and / or zone 1 , 440 positions, and further, the surgical navigation system 100 , the end effector 240, 340, 440 is adjacent to and / or from the boundary 2 Distal placement and / or entry into the first alert zone, Zone 1 When this is indicated, the instrument processor will activate alert devices 255, 355, and 455. It is also contemplated that the processors 215, 315, 415 may be configured as alert devices 25. 5, 355, and 455 are assigned to Boundary 2 and Zone 1, the first alert zone, respectively. Depending on the type of alert that is applied, the switch vibrates at 250, 350, 450, etc. It can be configured to provide a tactile alert A, or a visual alert such as a flashing light. The alert devices 255, 355, 455 can be configured to provide alert B. In this configuration, alert devices 255, 355, and 455 are configured to emit audible alerts such as beeps. Additionally, the surgical instruments 220, 320, 420 may be configured to provide a graft C. The output of the motors 245, 345, and 445 is reduced to 40 revolutions per minute (RPM) from the first cutting speed of over 70,000 RPM Secondary cutting speed of less than 70,000 revolutions per minute and more than 60,000 revolutions per minute (60,000 RPM) to transmit a signal to the instrument processor 215, 315, 415 to reduce the The navigation system 100 can be configured to include an end effector 240, 3 40, 440 are located adjacent to and / or distal to the boundary 2, and / or When the vehicle enters Zone 1, the alert zone, the rotation is disabled or stopped, and the engine The end effectors 240, 340, 440 are defined around the critical anatomical structures. The surgical navigation system is designed to prevent contact with and / or entry into Zone 2, which is the critical zone. In this way, the gation system 100 can be configured. , 440 can be prevented from contacting and / or damaging critical anatomical structures. Then, alert devices 255, 355, and 455 provide tactile alert A, visual alert B, and Use various alert combinations, such as generating a combination of audible alert C and audible alert D. It is also contemplated that the present invention may be used.

[0101] 5A-5F, various orientations of the surgical instruments 220, 320 relative to the patient 20 are shown. , 420, and the like. 5A, a schematic diagram of a surgical instrument 22, such as a first surgical instrument 220, is shown. 0, 320, 420 are shown to be in a first position relative to the surgical site 30 on the patient. The surgical instruments 220, 320, 420 are used to pierce and remove living tissue from the surgical site 30. Alternatively, the device can be configured to drive screws, such as pedicle screws, into the surgical site. In the scenario, the surgeon must create one or more plans, including a target trajectory, axis-T, and a target depth, T. Ability to select and / or define planned implant positions, e.g. defined screw positions Alternatively, the navigation processor 140 may perform segmentation of the patient image data. Based on the orientation and the planned position of the medical device or implant 275 to be inserted during surgery The patient can receive a planned surgical path that is automatically generated based on the surgical plan.

[0102] The target trajectory, axis -T, represents the desired orientation of the implant 275 to be inserted during surgery. Included in the surgical instruments 220, 320, 420 are surgical instruments used to prepare the tissue for receiving the screws. , and thus to align with one or more end effectors 240, 340, 440. The target depth T is a desired depth or position in a known coordinate system. The target depth, also called the boundary, is constructed as a partial plane perpendicular to the target trajectory. In addition, the goal may be to The surgical navigation system 100 is configured to define a trajectory axis-T and a target depth T. For example, the following items entered by a medical professional may be configured as the type of surgery to be performed, the type or size of implant to be used, The type of surgical instrument 220, 320, 420 to be used and / or the end effector 240, 3 40, 440, a target trajectory axis-T and a target depth T are determined based on one or more of the types The surgical navigation system 100 can be configured to:

[0103] In the first position, all parts of the end effector 240, 340, 440 are Defined virtual boundaries (Boundaries 1, 2, 3, 4) and / or alert zones (Zone 1, 2, 3, 4) outside the periphery of the septum, and therefore may come into contact with important anatomical structures. However, an alert to notify the surgeon is not necessary. As determined, the surgical instruments 220, 320, 420 are aligned with the axis T, which is the target trajectory. In this example scenario, the surgical navigation system 100: It can be configured to trigger one of the various alerts listed above. The direction of the actuators 240, 340, and 440 is not aligned with the target trajectory, axis -T. Therefore, the instrument processor 21 sends a signal to activate the alert device 255, 355, 455. The surgical navigation system 100 can be configured to transmit to the 5, 315, and 415 The alert devices 255, 355, and 455 are assigned to the axis -T, which is the target trajectory. Depending on the type of alert, the switch 250, 350, or 450 may vibrate. It can be configured to provide a visual alert A, or a flashing light B. The alert device 255, 355, 455 can be configured to provide: In the example, the alert devices 255, 355, and 455 generate an audible alert, such as a beep. C. The motor 245 of the surgical instrument 220, 320, 420 , 345, 445 to reduce the rotation of the end effectors 240, 340, 440. from the maximum cutting speed to the minimum cutting speed. The surgical navigation system 100 can also be configured to transmit to 415. is the end effector 240, 340, 440 aligned with the axis -T, which is the target trajectory. until the rotation of the end effector 240, 340 is disabled or stopped. 440 from drilling a misaligned hole. Additionally, the alert devices 255, 355, and 455 can be configured to provide tactile alerts, visual alerts, and Various alerts can be generated, such as generating a combination of visual alert B and audible alert C. It is also contemplated that a combination of the following may be used. If the effector 240, 340, 440 is not aligned with the target trajectory, axis -T, In this case, a tactile alert A is received, such as by vibrating the switches 250, 350, and 450. In this scenario, the end effectors 240, 340, and 440 are positioned at the virtual boundaries (boundary 1, 2, 3, 4) adjacent to and / or distal to one of the When approaching and / or entering one of the zones (zones 1, 2, 3, and 4), the It is also contemplated that one or more of the various alerts described above may be assigned to notify a user. can be.

[0104] and the end effector 240, 340, 440 and / or the surgical instrument 220, 32 0, 420 is positioned within a threshold distance of the patient and / or surgical site, alert devices 255, 355, 455 to generate one of the various alerts described above, and / or a variable speed motor The surgical navigation system is only used to send signals to stop and disable 245, 345, and 445. It is also contemplated that the application system 100 can be configured to measure the position of a bone at known coordinates, such as a location on a bone. The measurement may be relative to a reference position RL defined in the reference frame and / or to a reference coordinate system. By calculating the distance between the quasi-position and the end effector, the navigation system: It can be determined whether the surgical instruments are relatively close to the surgical site.

[0105] Alternatively, the end effector 240, 340, 440 and / or the surgical instrument 220, 3 20, 420 are outside the threshold distance, i.e., the safe distance, from the patient and / or surgical site. At this time, the variable speed motors 245, 345, 445 drive the end effectors 240, 340, 440. and / or the position of the surgical instrument 220, 320, 420 relative to the axis -T, which is the target trajectory. Regardless of the speed, the end effectors 240, 340, and 440 can be driven without interruption. The surgical navigation system 100 can be configured to allow The effector 240, 340, 440 and / or the surgical instrument 220, 320, 420 When the patient is outside a threshold distance from the patient and / or surgical site, the alert device 255, 355 , 455, all of which may be stopped, allowing the medical professional to Before approaching and starting surgery, check the middle to ensure everything is in proper operating order. The surgical instruments 220, 320, 420 can be inspected without interrupting the endoscope. The effector 240, 340, 440 and / or the surgical instrument 220, 320, 420 are in the reference position. When the object enters within the threshold distance of the reference coordinate system, it activates alert devices 255, 355, and 455. The surgical navigation system 100 then again uses the alert device 25 in the manner described above. 5, 355, 455 and / or stop the variable speed motors 245, 345, 445. Any appropriate signal to stop the operation can be communicated to the processor 215, 315, 415.

[0106] Referring to FIG. 5B, surgical instruments 220, 320, 420, such as first surgical instrument 220, 1 is shown in a second position relative to the subject's surgical site 30. In the second position, The end effectors 240, 340, 440 are spaced apart from the virtual boundaries (boundaries 1, 2, 3, 4). and / or is outside the defined alert zones (Zones 1, 2, 3, 4). Furthermore, the end effectors 240, 340, and 440 are appropriately positioned with respect to the axis -T, which is the target trajectory. In this example scenario, the surgical navigation system 100 Effectors 240, 340, and 440 are moved from one or more virtual boundaries (boundaries 1, 2, 3, and 4) spaced apart and / or with one or more defined alert zones (Zone 1, 2, 3, 4) and aligned with the target trajectory, axis T. and then operate the switches 250, 350, and 450 to control the end effector 24. When operating the surgical instruments 220, 320, 420, the surgical instruments 220, 320, 420 are in normal operating conditions. The alert devices 255, 355, 455 may be able to operate in this scenario. You can also stop at Rio.

[0107] Referring to FIG. 5C, surgical instruments 220, 320, 420, such as the third surgical instrument 220, 3 is shown in a third position relative to the subject's surgical site 30. The end effectors 240, 340, and 440 are connected to one or more of the virtual boundaries (Boundaries 1, 2, 3, and 4). and / or one of the defined alert zones (Zones 1, 2, 3, 4) Furthermore, the end effectors 240, 340, and 440 are located outside the target trajectory. However, the end effectors 240, 340, 440 are properly aligned with the axis -T. The tip of the target depth T is reached at or adjacent to the boundary 5. In an exemplary scenario, the surgical navigation system 100 may include an end effector 24 0, 340, 440, or identify that the implant 275 has reached the target depth T; Then, the end effectors 240, 340, and 440 reach the target depth T. To prevent the actuators 240, 340, and 440 from drilling beyond the target depth T, The rotation can be disabled or stopped. The application system can be configured to trigger one of the various alerts listed above. For example, when the end effector 240, 340, or 440 reaches the target depth T, an alert The instrument processor 215, 315, 455 receives signals to drive the device 255, 355, 455. The surgical navigation system 100 can be configured to transmit the alert data to the Devices 255, 355, and 455 are assigned to target position T according to the type of alert. , the surgical navigation system 100 controls the end effectors 240, 340, 440 When it is determined that the target position T has been reached, the switches 250, 350, and 450 are turned on. It can be configured to provide a tactile alert A, such as a vibration, or a flashing light. Configure alert devices 255, 355, and 455 to provide visual alert B. In yet another configuration, the alert device 255, 355, 455 may be a beeper. The surgical instrument 220, 320 may be configured to provide an audible alert C, such as The output of the motors 245, 345, 445 of the end effector 240, A signal is sent to the instrument processor to reduce the 340 and 440 rotations from the maximum cutting speed to the minimum cutting speed. The surgical navigation system 100 may also be configured to transmit the image to the sensors 215, 315, and 415. Further, the alert device 255, 355, 455 may be configured to provide a tactile alert A, Various alerts can be generated, such as generating a combination of visual alert B and audible alert C. It is also contemplated that a combination of instruments may be used. As shown in FIG. 5A, the surgeon When the end effector 240, 340, 440 reaches the target depth T, the switch 250 , 350, 450 and receive a visual alert B such as a flashing light.

[0108] 5D-5F, surgical instruments 220, 320, 42, such as first surgical instrument 220, 0 is shown relative to the surgical site 30 on the patient. Thus, the first surgical instrument 220 is configured to operate in a similar manner relative to the defined boundary. However, in Figures 5D-5F, some additional exemplary virtual boundaries (boundaries 4, 5, 6, 7), and / or alert zones are illustrated. For example, FIG. 5D shows various Various additional exemplary virtual boundaries (boundaries 4, 5, 6, and 7) are shown. , 7) is for inserting a different end effector 240 coupled to the first surgical instrument 220. A number of different end effectors 240, described in more detail below, can be used to It is contemplated that the first surgical instrument 220 may be coupled to the handpiece 225 of the first surgical instrument 220. Each end effector 240 performs various functions and functions as part of a surgical procedure on a patient. The surgical navigation system 100 may be configured to perform a handpiece, a surgical instrument, or a surgical instrumentation. The end effectors 240 coupled to the base 225 are identified, and each end effector 240 The corresponding virtual boundaries (boundaries 4, 5, 6, and 7) for A, 240B, and 240C, respectively. and / or an alert zone. 4 may correspond to the target depth of the selected implant 275. , the fifth virtual boundary, and the sixth virtual boundary (boundaries 5, 6, and 7) are the boundary of each end effector. Each of the target depths 240A, 240B, and 240C can be configured to correspond to a target depth. The virtual boundaries (boundaries 5) corresponding to the end effectors 240A, 240B, and 240C are , 6, 7) are the desired positions of the corresponding end effectors 240A, 240B, 240C, respectively. and determining the fourth virtual boundary as a predetermined distance from boundary 4 based on the depth and / or position of the fourth virtual boundary. The fourth virtual boundary, boundary 4, and the fifth virtual boundary, boundary 5, may be located at the same position. In this scenario, the first end effector 240 A fifth virtual boundary, boundary 5, corresponding to A, defines an initial target depth for implant 275; The next virtual boundaries (boundaries 6 and 7) are each determined based on their distance from boundary 5, the fifth virtual boundary. For example, the first end effector 240A can include a drill, The second end effector 240B can include a tap, and the third end effector The 240C is a driver used in surgical procedures to prepare and insert pedicle screws into vertebrae. As shown in FIG. 5D, a fifth imaginary boundary (boundary 5) may include the first end face. The depth of the vector 240A is determined by the surgical navigation system 100. The sixth imaginary boundary (boundary 6) is defined to correspond to the depth of the second end effector 240B. As shown, the seventh virtual boundary (boundary) is defined by the surgical navigation system 100. The field 7) corresponds to the depth of the third end effector 240C. The virtual boundaries (boundaries 4, 5, 6, and 7) may be defined by the system 100. , corresponding to the target depth of the attached end effectors 240A, 240B, 240C The target axis can have a plane perpendicular to the axial position along axis -T. The surgical system 100 controls the position of the surgical instrument and the position of each end-effector coupled to the handpiece 225. Based on the known positions of the tips of the vectors 240A, 240B, and 240C, a virtual boundary (boundary 4, 5, 6, 7).

[0109] One of the various alerts and / or alert devices 255, 355, 455 described above These can be assigned to each of the various virtual boundaries (boundaries 4, 5, 6, and 7). The boundaries (boundaries 4, 5, 6, and 7) are defined by the surgical navigation system 100. Although described as such, it is contemplated that they may be defined and / or selected by a medical professional. For example, a medical professional may input a medical condition using a user input device 130 or a graphical user interface. A GUI 150 is used to define virtual boundaries within the patient data (boundaries 4, 5, 6, and 7). In addition, virtual boundaries (boundaries 4, 5, 6, and 7) can be defined or selected. The information may be defined and / or recommended by the application system 100 and may further be provided by a medical professional. user input device 130 and / or graphical user interface (GUI) 150 is used to determine the virtual boundary defined by the surgical navigation system 100 (boundary 4, It is also contemplated that 5, 6, 7) may be modified or varied.

[0110] Referring to FIG. 5E, surgical instruments 220, 320, 420, such as first surgical instrument 220, As described above with respect to FIGS. 5A-5C, 1. The surgical instrument 220 is configured to operate in a similar manner relative to the defined alert zone. Figure 5E shows an alternative exemplary configuration of the alert zones (Zones 5 and 6). As mentioned above, the alert zone is designed to alert medical professionals when approaching critical anatomical structures. To alert the patient, important anatomy such as zones 1, 2, and 3 shown in Figures 4A-5C should be identified. The alert zone can be defined by surrounding or abutting a geological structure. To alert medical professionals when approaching the border and avoid breaching the cortical wall, see Figures 5A-5D. Zone 4 can be defined to identify the boundaries of anatomical structures, such as zone 4 shown in Figure 5E. To alert the medical professional to any deviation from the target trajectory, axis -T, as shown in Define alert zones (zones 5 and 6) along the opposite boundary of the target trajectory, axis-T. The alert zones (zones 5 and 6) are also important anatomical structures and For example, the first surgical instrument 2 may be shaped or contoured to match the shape of the boundary. As the end effector 240 approaches the periphery of the vertebra, the vertebral arch is To warn medical professionals to prevent penetration of the root periphery, The surgical navigation system is designed to curve around the periphery to define an alert zone (Zone 6). The surgical system 100 can be configured. Furthermore, the end effector 240 of the first surgical instrument 220 When the patient is in close proximity to a critical anatomical structure, the patient must be able to access this critical anatomical structure by a medical professional. Important anatomy within the vertebrae is identified to warn medical professionals to prevent contact with the Define an alert zone (Zone 5) by drawing an outline around the biological structure (central hole). , the surgical navigation system 100 can be configured.

[0111] Referring to FIG. 5F, surgical instruments 220, 320, 420, such as first surgical instrument 220, The virtual boundaries (boundaries 4, 5, 6, and 7) are shown relative to the subject's surgical site 30. The system of FIG. 5F is the same as that described with respect to FIG. 5D. However, the system of FIG. 2 shows an alternative arrangement of the surgical instrument, which also includes a battery module 260. The battery module includes a battery processor 265. The system can be configured so that the battery processor 265 communicates with the battery processor 265. The sensor 265 calculates the boundary based on the position of the surgical instrument relative to the virtual boundary (boundaries 4, 5, 6, and 7). Power is supplied from the battery module 260 to the handpiece 225 and, in turn, to the variable speed motor 245. Signals to manipulate the force flow can be received from the navigation processor 140. The position of the effector 240 is adjacent to and / or at the virtual boundaries (boundaries 4, 5, 6, 7). indicates to the battery processor 265 that the battery is distal from the , from the battery module 260 to the handpiece 225 and, in turn, to the variable speed motor 245 A signal from the navigation processor 140 can be configured to interrupt the flow of power to the Alternatively, the navigation system 100 may temporarily determine the position of the end effector 240. It is determined that the area is adjacent to and / or distal to the imaginary boundaries (boundaries 4, 5, 6, and 7). Based on the determination, the battery processor 265 0 to interrupt the flow of power to the handpiece 225 and, in turn, to the variable speed motor 245. A command to the battery processor 265 instructing the navigation processor 1 It is also contemplated that the battery processor 265 may include a signal from the battery The battery processor 215 is in communication with the instrument processor 215. The controller may be configured to stop the motor based on data received from the controller.

[0112] Referring to FIG. 6, the surgical navigation system 100 described above and the first surgical instrument 22 6 illustrates an exemplary configuration of a surgical system including only the first surgical instrument. As shown, any of the surgical instruments 220, 320, 420 described above may be included in the system. It is contemplated that the surgical system may also include a handpiece for the first surgical instrument 220. A plurality of end effectors 240A, 240B, 240C are also removably coupled to 225. The end effectors 240A, 240B, and 240C may include These may also be referred to as a surgical fixture, a surgical attachment, and / or an instrument attachment. a first end including a drill for cutting and / or drilling holes in the biological material; The surgical system may include an effector 240A. The surgical system may also include a second end effector 240B that includes a tap that forms a ridge. a third end effector 2 including a driver for driving or inserting a screw into a hole or opening; Each of the end effectors 240A, 240B, and 240C may also include a marker. An instrument tracking device with a unique configuration and / or arrangement of 235A, 235B, 235C. 230A, 230B, and 230C. For example, the instrument tracking device 230 The markers 235A, 235B, 235C on the A, B, and C axes are used to track other instruments. Markers 235A, 235B, and 235C of the sensors 230A, 230B, and 230C are specific to the sensors. The size, shape, and / or arrangement of the end effector 24 may be different from those of the end effector 24 shown in FIG. 240A, 240B, and 240C can each be coupled to a separate handpiece 225. Each end piece 225 has a unique configuration and / or or an array of tracking devices 230A, 230B, 230C. For example, the markers 235 of the instrument tracking devices 230A, 230B, 230C A, 235B, 235C are marks of other instrument tracking devices 230A, 230B, 230C. The shapes, sizes, and / or configurations of the lenses 235A, 235B, and 235C may be unique. Known association with a particular handpiece 225 and Markers 235A on the attached instrument tracking devices 230A, 230B, 230C; 235B, 235C based on their specific size, shape, and / or placement. The navigation system 100 is configured to identify the effectors 240A, 240B, and 240C. The navigation system then selects the appropriate endpoint that is currently being navigated to. Virtual boundaries (boundaries 4, 5, 6, 7) of the effectors 240A, 240B, 240C, and / or Or it may be configured to provide alert zones (zones 4, 5, 6, 7).

[0113] The markers 235A, 235B, 235C of the instrument tracking devices 230A, 230B, 230C Based on the arrangement and / or configuration of the end effectors 240A, 240B, 240C, C is coupled to the handpiece 225 of the first surgical instrument. The surgical navigation system 100 can be configured to For example, a surgical navigation system may be configured to define various alert zones. The stem 100 has a plurality of end effectors 240A, 240B, and 240C. may be configured to define an alert zone and / or boundary corresponding to a target depth Virtual boundaries (boundaries 4, 5, 6, 7) and / or alert zones 5, 6 and An exemplary configuration of 7 is shown in FIG. 5D, where boundary 5 is the boundary of the first end effector 240A. The boundary 6 corresponds to the target depth of the second end effector 240B. The boundary 7 may correspond to the target depth of the third end effector 240C. The navigation system 100 allows the surgical instruments 220, 320, and 420 to communicate with the virtual boundary (boundary 4, 5, 6, 7) or adjacent to the boundary of a given area When it is determined that one of the alarm zones has been entered, the mode of the surgical instruments 220, 320, and 420 is activated. and / or an alert device 255. , 355, 455 to program the surgical navigation system 100. For example, the surgical navigation system 100 may be configured to: First end effector 240A is detected as being coupled to handpiece 225 The surgical navigation system 100 then detects that the first end effector 240A is adjacent to the boundary 5. When the variable speed motor 245, 345, 445 is in contact with and / or distal thereto, the variable speed motor 245, 345, 445 is stopped. configured to transmit a signal to the processor 215, 315, 415 of the surgical instrument 220 The surgical navigation system 100 may be configured to control the second end effector 240. When B is detected as being coupled to the handpiece 225, the surgical navigation system The system 100 is configured such that the second end effector 240B is adjacent to and / or away from the boundary 6. When the surgical instrument 22 is in the distal position, a signal is sent to stop the variable speed motor 245, 345, 445. 0 to the processor 215, 315, 415. The third end effector 240C is attached to the handpiece 225 by the rotation system 100. If a coupling is detected, the surgical navigation system 100 When effector 240C is adjacent and / or distal to boundary 7, variable speed motor The processors 215, 31 of the surgical instrument 220 may send signals to stop the surgical instrument 220. 5, 415. That is, the signal may be transmitted to a specific end effector. Only certain alert zones and / or virtual boundaries are enabled for the appropriate end When the effector enters the surgical field, the surgical navigation system automatically detects the identified end-effector. Enable only the appropriate virtual boundaries and / or alert zones appropriate for the device.

[0114] The end effector 240, 340, 440 is adjacent to and / or within one of the virtual boundaries. Distal to this and / or entering one of the various alert zones, the surgical navigation system The operation system 100 issues a signal to stop the variable speed motors 245, 345, 445. When transmitted to the processor 215, 315, 415 of the surgical instrument 220, 320, 420, the processor The processors 215, 315, and 415 rotate the variable speed motor 24 at 0 rpm, for example. 5, 345, 445. The end effectors 240, 340, 440 move in the virtual boundary. adjacent to and / or distal to one of the worlds and / or various alert zones While the variable speed motor 245, 345, 445 is in one of the After that, the processor 215, 345, 445 is restarted. 15, 415. Variable speed motors 245, 345, 445 can be configured for 1 second, 2 seconds, 3 seconds After a predetermined period of time, such as more than four seconds, the processor 215, 315, 415 It can be restarted.

[0115] Alternatively, the processor 215, 315, 415 may control the switches 250, 350, 45 After receiving a signal indicating that the variable speed motor 245, 3 45, 445 may be restarted by the processor 215, 315, 415. For example, a processor analyzes the sequence of switch operations over a given period of time. 50, 350, 450 are operated between the second and first positions within half a second, and After receiving a signal from the switch sensor indicating that the switch has returned, the processor 215, 15, 415 may be configured to restart the variable speed motor 245, 345, 445 The time and number of times that the switches 250, 350, and 450 are operated are determined by the speed of the variable speed motor 245. , 345, 445 enter the alert zone and then stop. An example case where switches 250, 350, and 450 are operated to restart 45 and 445. In one example, a trigger or When the footswitch 250, 350, 450 is fully released, the processor 215, 31 5, 415 may restart the motor 245, 345, 445.

[0116] When the motors 245, 345, and 445 are restarted, the end effectors 240, 340, and 4 The speed of the 40 is controlled by a switch or trigger 250, 350, as in normal operation. This can be done by the operation of 450.

[0117] The end effector 240, 340, 440 is adjacent to and / or at one of the virtual boundaries. while distal to and / or while still within one of the various alert zones, Restarting the variable speed motors 245, 345, and 445 will cause the surgical navigation system 10 0 continues to operate the end effector 240, 340, 440 and / or surgical instrument 220 , 320, 420's location is tracked.

[0118] However, after rebooting, the surgical navigation system 100 0, 340, 440, and / or the surgical instrument 220, 320, 420 is distal to the boundary Moving further in the direction and / or further into the alert zone or moving a threshold distance distal to the field and / or passing through a portion of the alert zone If it is detected that the speed of the variable speed motors 245, 345, and 445 is exceeded, the speed of the variable speed motors 245, 345, and 445 is increased to another to send subsequent signals to the processor 215, 315, 415 to operate and / or deactivate the For example, the surgical navigation system 100 can be configured as follows. The system 100 allows the end effectors 240, 340, 440 to be positioned within 2 mm of the virtual boundary. If the patient is detected to have moved distally and / or further into the alert zone, When this occurs, the processor 245, 345, 445 sends a subsequent signal to restart the variable speed motor 245, 345, 445. The surgical navigation system 100 can be configured to send the Then, the surgeon performs the above-mentioned program to restart the variable speed motors 245, 345, and 445. It is necessary to re-follow one of the processes, and / or is the end effector 240, 340, 440 is within a threshold distance of the boundary and / or zone The navigation processor 140 and / or the instrument processor may be configured to allow restarts only at certain times. The processors 215, 315, and 415 can be configured.

[0119] Alternatively, the end effector 240, 340, 440 is adjacent to one of the virtual boundaries, and and / or while distal thereto and / or still within one of the various alert zones. While the motor is stopped, the variable speed motors 245, 345, and 445 are restarted. the actuator 240, 340, 440 is moving proximally relative to the virtual boundary, and / or The surgical navigation system 100 determines that the device is being pulled out of the alert zone. When this occurs, the surgical navigation system must be set up so that the variable speed motors 245, 345, and 445 can operate without interruption. In other words, the navigation system 100 can be configured as Therefore, it is determined that the end effector 240, 3240, 440 is inverted. , the navigation process to allow normal operation of the surgical instruments 220, 320, 420. The device 140 and / or the instrument processor 215, 315, 415 may be configured.

[0120] The first surgical instrument 220 includes a motor configured to change the operating characteristics of the variable speed motor 245. The switch may also have a key switch 270 that can slide between two or more positions. and / or may be configured to be rotatable. For example, when a first position and a second position are possible, The mode switch controls the variable speed motor between high and low speeds based on the position of the mode switch. Alternatively, the mode switch may be configured to switch between Switches the variable speed motor between high and low torque operating modes based on position. In yet another configuration, the mode switch may be configured to change the Based on the position of the switch, the variable speed motor can be operated in either a high speed, low torque or a low speed, high torque operating mode. The operating mode may be configured to switch between the different modes depending on the type of therapy to be administered. For example, if drilling is to be performed, the medical professional may A homeowner may wish to place the surgical instrument 220 in a high speed, low torque operating mode. When performing a driving operation, the medical professional places the surgical instrument 220 in a low speed, high torque operating mode. You might think so.

[0121] The surgical navigation system 100 is configured to determine the position of the mode switch 270. The surgical instrument 220 may also be configured to detect the position of the mode switch 270. The processor 215 may have a switch sensor. The position may be configured to be communicated to the surgical navigation system 100. The mode switch is configured so that the surgical navigation system 100 can change the position of the mode switch 270. Alternatively, the surgical navigation system may have a tracking device that allows the surgical navigation system to determine the position of the target. The system 100 is configured to use machine vision to determine the position of the mode switch 270. As described above, the plurality of end effectors 240A, 240B, 24 0C to be coupled to the handpiece 225 of the surgical instrument 220. The navigation system may also be configured to operate in a particular mode, as described above. Other procedures may be advantageous. Therefore, the specified position of the mode switch 270 Based on this, the end effectors 240A, 240B, and 240C are compared to the operating mode. Then, the surgical navigation system 100 can be configured. The preferred position of the end effectors 240A, 240B, 240C coupled to the handpiece 225 is If the desired operating mode is not met, the surgical instrument sends a signal to prevent operation of the handpiece 225. the surgical navigation system 10 to transmit the For example, a drill-type end effector 240A can be connected to the handpiece 225. If the recommended operating mode is high speed, low torque, and the mode switch 270 is in the low speed, high torque position, If so, the surgical navigation system 100 sends the signal to the processors 215, 265 to the processor 2 until the mode switch 270 is moved to the high speed, low torque position. 15, 265 may be configured to prevent the variable speed motor 245 from being energized.

[0122] Referring to FIG. 7, the surgical navigation system 100 and second surgical instrument 320 described above 6, an exemplary configuration of a surgical system including a first surgical instrument is shown. Although shown, any of the surgical instruments 220, 320, 420 described above may be included in the system. It is also contemplated that the surgical system may include a handpiece 320 for the second surgical instrument 320. 5 also includes a plurality of end effectors 340A, 340B, 340C that are removably coupled to the The end effectors 340A, 340B, and 340C are , surgical fixture, and / or instrument fixture. For example, a surgical system may include: a first end effector 360A having a first diameter head D1; The surgical system may further include a second barrel having a second diameter head D2. The second end effector 340B may include a second end effector 340B having a blade head 360B. The surgical system includes a third burr head 360C having a first diameter head D3. There may also be three end effectors 340A. The heads A, 340B, and 340C vary in shape, material, and / or cutting type. It is further contemplated that the length of the shaft may be adjusted to accommodate certain end effectors 340A, 340B, 340C, 340D, 340E, 340F, 340G, 340H, 340I ... It is also contemplated that the number of end effectors may vary from 340B, 340C to the next.

[0123] Of the end effectors 340A, 340B, and 340C, the one that is coupled to the handpiece 325 The surgical navigation system 100 can also be configured to identify the The end effectors 340A, 340B, and 340C are coupled to the end piece 325. One exemplary method for determining this is to use machine vision. Based on the characteristics of each of the various end effectors 340A, 340B, and 340C, 3, end effectors 340A, 340B, and 340C are coupled to handpiece 325. The surgical navigation system 100 can be configured to determine the The application system 100 has diameters D1, D2, and D3 of the heads 360A, 360B, and 360C. and configured to identify the end effectors 340A, 340B, and 340C based on the Next, based on the identified end effectors 340A, 340B, and 340C, The surgical navigation system 100 can be configured to define various alert zones. For example, the surgical navigation system 100 may include a surgical navigation system that includes one or more critical anatomical structures. Virtual boundaries (boundaries 1, 2, 3) may be configured to define alert zones. Exemplary configurations of the and / or alert zones (Zones 1, 2, 3) are shown in Figures 4A-4D. Various virtual boundaries and / or alert zones can be created around a single critical anatomical structure. Based on various distances or by combining multiple important anatomical structures into one or more virtual boundaries, and / or The surgical navigation system 100 can identify the location of the surgical site using the alert zone. When the surgical instrument 220, 320, 420 is determined to have entered one of the predetermined alert zones, When the surgical instrument 220, 320, 420 is stopped, or the alert device 255 , 355, 455, etc. to perform one of a variety of alert types. , the surgical navigation system 100 can be programmed and / or configured. For example, different diameter end effectors may have different alert zone thicknesses. Based on the identification of the end effector 240, 340, 440, critical structures and / or boundaries The depth of the alert zone relative to the field is automatically adjusted by the navigation system 100. It may be arranged and / or configured.

[0124] Referring to FIG. 8, the graphical user interface of the navigation system 100 An exemplary configuration of a graphical user interface (GUI) 150 is shown. The GUI 150 is a touch screen interface on the display 120 of the navigation system 100. As shown in Figure 8, the graphical user interface The GUI 150 includes a number of buttons and controls that are selectable and / or operable by the surgeon. and / or prompts, e.g., a graphical user interface The GUI 150 allows the user to modify or adjust various settings for alerts to be provided during a medical procedure. An exemplary alert includes multiple user selectable or operable buttons to adjust The interface 151 may have a window. The switch 151 may have instrument selection buttons 152A and 152B. 152A, 152B allow the surgeon to select a surgical instrument assembly 20 from a pre-populated list of surgical instruments. Allows the surgeon to select 0, 300, 400 or to use the The specific surgical tool assembly 200, 300, 400 to be used may be inputtable. For example, The instrument selection buttons 152A, 152B allow the surgeon to select a second surgical instrument 320, which may include a high-speed cutting burr. This allows a particular surgical instrument 320 to be selected in the navigation system. Since the instrument is identified from the stem 140, the navigation system Various virtual boundaries and / or alert zones to be used can be entered. The instrument selection buttons 152A, 152B allow the surgeon to select the surgical instrument assemblies 200, 300, 400, 00, and one or more end effectors that may be coupled to the surgical instruments 220, 320, 420. For example, the surgeon can select the first surgical The instrument 220 is selected, and the navigation system then selects various end effectors 24 Ability to input various virtual boundaries and / or alert zones for 0A, 240B, and 240C To ensure that one or more of the end effectors 240A, 240B, and 240C are available during surgery, You can choose the above.

[0125] The alert setting interface 151 further includes one or more alert buttons 156A, 156B, 156C, 156D, 156E, 156F, 156G, 156H, 156I, 156J, 156K, 156KM, 156KN ... 56B, 156C, and 156D. , 156C, and 156D can be used to manipulate the various alerts listed above. For example, the first alert The rate button 156A controls the rotational speed of the end effector 240, 340, 440. The system may be configured to allow the user to activate or deactivate the alerts. and one or more virtual boundaries and / or alarms of the end effector 240, 340, 440. The rotational speed of the end effector 240, 340, 440 is controlled based on its position relative to the target zone. (RPM) to operate the navigation processor 140 and / or the instrument processor Can be configured as 215, 315, or 415.

[0126] The second alert button 156B is configured to allow the user to activate or deactivate the tactile alert. For example, the user can operate second alert button 156B to activate the tactile alert described above. This can include virtual boundaries and / or alert zones. based on the position of the end effector 240, 340, 440 relative to one or more of the Activating an alert device 255, 355, 455 configured to provide a tactile alert The navigation system may be configured to transmit signals to the surgical instrument assemblies 200, 300, 400 to operate the surgical instrument assemblies. This may include configuring the application processor 140.

[0127] A third alert button 156C allows the user to activate or deactivate the visual alert. For example, the user can activate the third alert button 156C to activate a visual alert. This can include the creation of a virtual boundary and / or alert zone. The surgeon is provided with a visual indication based on the position of the end effector 240, 340, 440 relative to one or more of the Activate alert devices 255, 355, and 455 configured to provide visual alerts. The navigation system may be configured to transmit signals to the surgical instrument assemblies 200, 300, 400 to operate the surgical instrument assemblies. This may include configuring the application processor 140.

[0128] A fourth alert button 156D allows the user to activate or deactivate one of the audible alarms described above. For example, the user can operate the fourth alert button 156D to By activating an audible alert, navigation processor 140 may detect the virtual boundary and / or based on the position of the end effector 240, 340, 440 relative to one or more of the base zones. an alert device 255, 355 configured to provide an audible alert to the surgeon; 455 can be sent to the surgical tool assemblies 200, 300, 400. Cut.

[0129] Graphical User Interface (GUI) 150A Alert Configuration Interface 151 may also have one or more alert graphics 158A, 158B. The radiographic(s) 154A, 154B are used to identify specific surgical instruments and / or or end-effector specific and the location of various virtual boundaries and / or alert zones. The first alert graphic may be configured to provide a summary and / or visual representation. The Q158A allows the surgeon to identify the location of the surgery and set various alerts. the surgical area, and any implants or devices to be inserted during the medical procedure to assist in may have a visual representation of the device. For example, as shown in FIG. 8, the first alert The graphic includes a visual representation of the vertebral body with a dotted line outlining the area where the surgery will be performed. 1 Alert Graphics further provides a visual representation of the pedicle screws to be inserted during surgery. It may include.

[0130] Alerts assigned by the operator to each of the various virtual boundaries and / or alert zones The implant or device may be used to facilitate adjustment or modification of the location where the trigger should occur. The intraoperatively inserted markers indicate various virtual boundaries (boundaries 5, 6, and 7) relative to the chair. A second alert graphic may be displayed to provide a visual representation of the implant or device that should be For example, as shown in FIG. 8, a second alert graphic 158B can be configured. 8B shows a visual representation of the pedicle screws to be inserted and various alerts during surgery. Indicates the location of various virtual boundaries (Boundary 1, 2, 3) for the pedicle screws that trigger the Includes markers along the pedicle screws.

[0131] Additionally, the alert setting interface of the Graphical User Interface (GUI) 150A The interface 151 may have virtual boundary setting interfaces 160A, 160B. The virtual boundary setting interfaces 160A and 160B are used to set the virtual boundary according to the various alarms mentioned above. one or more prompts for setting and / or manipulating the timing of the triggering of one or more of the The first virtual keyboard may include buttons 162A, 162B, 162C, 162D, and 162E. The virtual boundary setting interface 160A may include a first button 162A, which may be The implant(s) and / or device(s) to be inserted during surgery This allows the navigation system 1 to identify the 00 determines which and how many virtual boundaries and / or alert zones to provide For example, the surgeon can operate the first button 162A to perform laminotomy. , the navigation system 100 understands that this is an ablation process. The navigation system 100 then displays the weight of the vertebrae to assist the surgeon in the procedure. It would recognize, identify, and provide various alert zones around key structures; or When the surgeon operates the first button 162A to indicate that he or she will perform pedicle screw surgery, In this case, the navigation system 100 is used for drilling, tapping, and pedicle screw placement. It is capable of recognizing, identifying, and providing various virtual boundaries necessary to assist the surgeon in the placement of the device. There will be.

[0132] The second button 162B of the virtual boundary setting interface 160A is the depth button 162B. The depth button 162B can be configured to include an alarm for a resection procedure such as a laminotomy. For example, the first boundary shown in FIG. The fixed interface 160A allows the surgeon to operate the laminotomy based on the operation of the first button 162A. This indicates that the operator has set an alert for the second button 1. 62B allows the surgeon to configure the navigation system to trigger one or more of a variety of alerts. An operable button configured to allow the user to select the depth of the alert zone that the system 100 should use. Serve the tongue.

[0133] The boundary setting is performed based on the operation of the buttons 12A and 162B of the boundary setting interface 160A. The alert graphic 158A adjacent to the configuration interface 160A can be manipulated or changed. The alert settings interface 151 can be configured to allow

[0134] The second boundary setting interface 160B of the alert setting interface 151 is Configuration of various virtual boundaries and / or alert zones to trigger alerts during installation For example, the buttons 162C, 162D, and 162E may be associated with the As shown, the second demarcation interface 160B is used for inserting pedicle screws. buttons 162C, 162D, and 162E to operate the alert settings for the device. The third button 162C of the second boundary setting interface 160B can be configured as follows: Set the distance or depth of the reference position for placing a virtual boundary such as boundary 5 along the target trajectory. For example, as shown in FIG. 8, the third button 162C may be configured to Before the trigger is triggered, the surgeon must select the depth for inserting the first end effector, i.e., the drill. For example, the user may press the third button 162C to toggle the setting of the length of the is set to 30 mm, the navigation system 100 will The alert will be triggered when the distance traveled is 0mm or when a depth of 30mm is reached. The second boundary setting interface 160B indicates that the second end effector , i.e., a tap, and / or a third end effector, i.e., a screw driver. additional buttons to manipulate and / or adjust when an alert should be triggered 162D, 162E. As described above, the second end effector and A fourth button 162D and a fifth button 163D for operating the alerts of the end effector 2E determines the alert based on the virtual boundary for triggering the alert of the first end effector. The navigation system 100 is configured to manipulate the location of the virtual boundary that triggers the event. For example, as shown by the fourth button 162D, the second end effector, i.e. That is, the virtual boundary for triggering the alert for the tap is the same as the alert for the first end effector. The sensor must be offset 0 millimeters (0 mm) from the virtual boundary to trigger the alert. However, the fourth button 162D can be used to activate an alert for the second end effector, if desired. Similarly, the fifth button 162E is operable to shift the boundary for triggering. Modify or adjust the virtual boundary to trigger an alert for the third end effector It can be operated as follows.

[0135] Graphical User Interface (GUI) 150A Alert Configuration Interface 151 may also have alert test buttons 164A, 164B. The button 164A, 164B indicates that the selected alert is active and working properly. For example, the device may be configured to test and / or verify that the device is functioning properly during operation. This allows the surgeon to select all the different information related to the medical procedure and / or set up alerts. After entering the information into the interface 151, the surgeon selects the alert test buttons 164A and 164B. You can select an alert to confirm that the selected alert is active. For example, if the surgeon When the first alert button 156A is selected, which is instructed to activate the speed alert. , the surgeon activates the surgical instrument 220, 320, 420 and presses the alert test button 164A. , 164B. Pressing the alert test buttons 164A, 164B , the navigation system reduces the speed of the motor and thus the end effector 240 , 340, 440, etc., to reduce the rotation speed of the first alert button 156A. Instruct the instrument processor 215, 315, 415 to send a test signal to activate the instrument. When the user selects the alert test button 164A or 164B, the alert button Various alarms that were activated based on the operations of 156A, 156B, 156C, 156D, and 156E The alert test buttons 164A and 164B should trigger. Activated alerts that are not triggered at the time of selection must be cleared before medical treatment begins. This shall be further evaluated by the operator to ensure that it is in fact working properly.

[0136] Referring to FIG. 9, an example shown on the display 120 of the navigation system 100 An exemplary graphical user interface (GUI) 150B is shown. A view of the surgical plan, including the planned orientation of implants 275A, 275B within the coordinate system. The graphical user interface (GUI) 150B can be configured to include a visual representation of the The implants 275A, 275B may define target axes T1, T2. As described above, the navigation system 100 is capable of detecting various end-effects used in surgery. Axis T is a target axis representing the target depth for each of the actuators 240A, 240B, and 240C. 1, along axis T2, one or more virtual boundaries (boundaries 5, 6, 7) may be provided. For example, FIG. As shown in 9, for each of the implants 275A and 275B, the target axis is The first boundaries (boundaries 5A and 5B) are shown along the axes T1 and T2. 275B is placed at the tip of the first end effector 240A, such as a drill for drilling a hole. The navigation system is configured to define the first boundary (boundaries 5A and 5B) based on the target depth for the In addition, a second end effector, such as a tap for threading the hole, can be configured. to define a second boundary (boundaries 6A, 6B) based on the target depth of effector 240C, The navigation system 100 can be configured to Based at least in part on the selected implants 275A, 275B and their orientations, It is also possible to define a second boundary (boundaries 6A and 6B) relative to the first boundary (boundaries 5A and 5B). For example, the navigation system 100 may be configured to move along the target axes T1 and T2. In the known coordinate system of the selected patient, a first boundary (boundaries 5A, 5B) can be defined. Based on the selected implants 275A, 275B, the navigation system 100 , based on the selected implants 275A, 275B, the first boundary (boundaries 5A, 5B) The holes may be configured to define second boundaries (boundaries 6A, 6B) spaced apart from each other. The target of the third end effector 240C, such as a driver, for inserting the screws 275A and 275B. The navigation system is configured to define the third boundary (boundaries 7A and 7B) based on depth. 140. The navigation system 100 can be configured to 75A, 275B, and based at least in part on the orientation thereof, a first boundary (boundary 5A, It is also contemplated that a third boundary (boundaries 7A, 7B) can be defined for the na The navigation system 100 calculates the known coordinates of the patient along the target axes T1 and T2. Within the system, a first boundary (boundaries 5A, 5B) can be defined. Then, the selected implant Based on 275A and 275B, the navigation system Based on 75A and 275B, a third boundary (boundary 5A, 5B) is formed at a distance from the first boundary (boundary 5A, 5B). 7A, 7B). For example, the navigation system may be configured to define the first The depth of the boundary (boundary 1A, 1B) and the known depth of the selected implants 275A, 275B Based on the length of the 30 mm from the first boundary (boundaries 5A and 5B) along the target axes T1 and T2 In FIG. 9, the first boundary can be determined to be 1 mm (in mm) apart. boundary (boundary 5A, 5B), second boundary (boundary 6A, 6B), and third boundary (boundary 7A, 7B) Although only one virtual boundary is shown, additional virtual boundaries are contemplated. , a virtual boundary is defined for each of the end effectors 240A, 240B, and 240C, and the allocation The location of these virtual boundaries and / or their positioning can be configured to reflect the various The timing that you configure to trigger one of the available alerts is specified in the alert configuration interface. The sensor 151 can be operated and / or adjusted in the manner described with respect to FIG.

[0137] The exemplary graphical user interface (GUI) 150B of FIG. A plurality of planning buttons operable by the surgeon to modify or adapt the placement of the buttons 275A, 275B. A planning interface 166A may also be included, which includes buttons 168A, 168B. For example, The planning interface 166A can be manipulated by the surgeon to change the diameter of the planned screws. Additionally, the planning interface 166A may include a diameter button that allows the user to select the planned screw 27. 5A, 275B may include a length button operable by the surgeon to change the length of the Using interface 166A, the user can adjust the position and / or By changing the direction, the planned screws 275A, 275B can be repositioned. .

[0138] Planning Interface 1 of Graphical User Interface (GUI) 150B of FIG. 66A may further include an alert button 170. As described above, the alert button The button 170 may activate, modify, and / or disable one or more of the various alerts described above. When the surgeon selects the alert button 170, the The graphics can be used to open a boundary setting interface 160C similar to that described above. The local user interface (GUI) 150B can be configured. 60C includes a virtual boundary and / or an alarm configured to trigger one or more alerts. Additional buttons and / or prompts that the surgeon can operate to change or adjust the hot zone. It may include

[0139] Referring to FIG. 10, an exemplary image that the surgeon can see upon selection of the alert button 170 is shown. 9. For example, if a user selects the graph from FIG. Access to the planning interface 166A from the GUI 150B Selecting the Start button 170 opens the Graphical User Interface (GUI) 150 B. A boundary setting interface 160C for display on the navigation display 120. The boundary setting interface 160C allows the surgeon to set various alerts. An alert button 156D configured to be able to be activated or deactivated. Furthermore, the boundary setting interface 160C can be configured to perform the boundary setting interface of FIG. One or more buttons 160A, 160B, similar to those described for the interfaces 160A, 160B. 2C, 162D, and 162E. For example, the boundary setting interface 16 0C has three boundaries, one for each of the various end effectors 240A, 240B, and 240C. The operation buttons 162C, 162D, and 162E may be provided. By operating 162C, 162D, and 162E, various end effectors 240A, 240 Change or manipulate the timing at which alerts are triggered for each of B and 240C This allows the surgeon to change the navigation system 100. This allows you to create a custom surgical plan. Based on surgeon-entered values ​​using the various virtual boundary positions, one or more virtual The alignment is performed based on the positions of the various end effectors 240A, 240B, 240C relative to the imaginary boundary. Used to navigate the system to trigger a call(s). This should be updated within the surgical plan.

[0140] The graphical user interface (GUI) 150B is used to control the navigation system 1 00 may even have a level label 174 displayed on the display 120 The level labels 174 can be configured to identify anatomical features or important structures. For example, as shown in FIGS. 9 and 10, the level label 174 indicates the third lumbar vertebra (L 3). The level label 174 can be used to identify any number of solutions for the patient. Anatomical structures and / or regions can be identified. Alternatively, level labels 174 can be used. to identify a particular posture, orientation, or view of the anatomy being displayed. The level label 174 is determined by the navigation system based on the patient data. Alternatively, the level label 174 can be assigned automatically by the surgeon from a pre-entered list. For example, the patient data may include an image or representation of the patient's spine, and the surgeon may The level labels 174 assigned to each of the vertebrae can be selected. In this configuration, the navigation system 100 may be configured to allow the operator to input the user input device 130 or Use the Graphical User Interface (GUI) 150 to enter the level label 174. It may be configured to be able to input.

[0141] 11A to 11C, the display 12 of the navigation system 100 An alternative exemplary graphical user interface (GUI) 150C, designated by reference numeral 0, is shown in FIG. A graphical user interface (GUI) 150C is shown. Various virtual boundaries (boundaries 1, 2, 8, 9) shown in known coordinate systems relative to the anatomical features and / or display multiple views of the anatomy including the alert zone (Zone 1). Referring to FIG. 11A, a top view of a vertebra is shown with important anatomical structures. Various virtual boundaries (Boundaries 1, 2, 8, 9) and / or alert zones (Zone 1) for The graphical user interface (GUI) 150C displays the Similar to the graphical user interface (GUI) 150 described above, the The graphical user interface (GUI) 150C shown is a graphical user interface for displaying one of the various alerts. an alert button configured to activate and / or deactivate one or more 56D. The interface 166B is configured to allow the surgeon to trigger one or more various alerts. various alerts and / or various virtual boundaries (Boundaries 1, 2, 8, 9) A configured planning button 168C may also be included. For example, the planning interface 16 The Plan button 168C in FIG. 6B allows the user to plan at least a portion of the alert zone (Zone 1). By manipulating the distance between one or more virtual boundaries (Boundary 1, Boundary 2) you define, you can create various The depth of one or more of the rat zones can be configured to be increased or decreased.

[0142] Additionally, the graphical user interface (GUI) 150C may include various virtual boundaries. Table of anatomical features for zones 1, 2, 8, 9) and / or alert zone (zone 1) The display may also include an alert indicator 172 located within the display. 2 is a specific virtual boundary (Boundary 1, 2, 8, 9) and / or alert zone (Zone 1) and can be placed close to the boundaries (boundaries 1, 2, 8, 9) and / or alert buttons. Alerts assigned to the adjacent alert zone (Zone 1) are activated and deactivated. The device may be configured to allow the operator to specify whether the device is activated and / or snoozed. For example, the alert indicator 172 adjacent to the fourth boundary, boundary 4, has a line through it. The navigation system 140 determines that this symbol is related to the fourth boundary, boundary 4. Alternatively, the notification may be configured to indicate that the associated alert has been deactivated. The alert indicators 172 adjacent to the first and second boundaries (boundaries 1 and 2) are The navigation system 140 indicates that the alert indicator 172 is not Indicates that alerts for the boundary and the secondary boundary, boundary 1 and 2, are activated. The alert indicator 172 may also be configured to indicate a particular virtual boundary (boundary 1, 2, 8, 9), and / or alerts assigned to the alert zone (Zone 1) Selectable and / or operable by the surgeon to activate or deactivate For example, an alert indicator 172 adjacent to boundary 4, which is the fourth boundary, may be The alert indicator 172 is operated by the user to display an alert for the fourth boundary, boundary 4. The alert can be configured to be activated or deactivated.

[0143] Referring to FIG. 11B, a lateral view of the vertebrae shows the location of various virtual boundaries (boundaries 1, 2, 8, and 9). The information, including the location, is displayed in a graphical user interface (GUI) 150C. Although not shown in FIG. 11B, the graphical user interface (GUI) of FIG. ) 150 further allows the operator to set various alerts and / or various virtual boundaries (boundaries 1, 2, 8 9) locations and / or definable alert zones to trigger various alerts having one or more buttons 168 configured to enable operation of a position (Zone 1) It is also contemplated that a planning interface 166 may also be included. The user interface (GUI) 150C displays various virtual boundaries (boundaries 1, 2, 8, 9) and and / or an anatomical feature for the alert zone (Zone 1), The alert indicator 172 may also include an alert indicator 172. The alert indicator 172 may be (Boundaries 1, 2, 8, 9) and / or adjacent to the Alert Zone (Zone 1). Furthermore, specific virtual boundaries (Boundaries 1, 2, 8, 9) and / or alert zones (Zone 1 Activate, deactivate, and / or snooze the alerts assigned to For example, the alert button located near boundary 4, which is the fourth boundary, can be operated by the surgeon. The operator operates the alert indicator 172 to move to the fourth boundary, boundary 4. It can be configured to activate or deactivate alerts about As described above, the alert indicator 172 indicates the boundaries (boundaries 1, 2, 8, 9) and / or or assigned to the alert zone (Zone 1) adjacent to the alert indicator 172 It can be further configured to allow the surgeon to specify whether the alert has been activated or deactivated. It is Noh.

[0144] Additionally, a graphical user interface (GUI) 150C is provided. One or more labels identifying the anatomical structures displayed in the GUI 150C. As shown in FIG. 11C, two labels 174A and 174B may also be provided. 174A, 174B are shown on a graphical user interface (GUI) 150C. The first label 174A identifies the main anatomical structure, and the second label 160B identifies the adjacent solution. Identify anatomical structures. The user interacts with the graphical user interface (GUI) 150C. The graph allows you to navigate between primary and adjacent anatomical structures by manipulating the A graphical user interface (GUI) 150C can be configured. For example, the operator can a first label identifying an anatomical structure adjacent to label 174A as a primary anatomical structure; 174A can be selected. C can be configured to display the primary anatomical structure in the center of the display 120. Alternatively, the operator may select the second label 174B and place the second label 174B adjacent to the second label 174B. The anatomical structure adjacent to the second label 174B is identified as the primary anatomical structure. The graphical user interface is configured to center the biological structure on the display 120. In FIG. 11B, only two labels are shown. However, the graphical user interface (GUI) 150C may include any number of labels. 174 may be included.

[0145] Referring to FIG. 11C, a perspective view of the vertebrae is shown with various virtual boundaries (boundaries 1, 2, 8, 9) and and / or the location of the alert zone (Zone 1) in the graphical user interface. (GUI) 150C. Although not shown in FIG. 11C, the graph in FIG. The visual user interface (GUI) 150 further allows the surgeon to view various alerts and and / or the location of various virtual boundaries (Boundaries 1, 2, 8, 9) and / or triggering various alerts. Configured to operate the position of a definable alert zone (Zone 1) for A planning interface 166 may also be provided with one or more buttons 168. Furthermore, the graphical user interface (GUI) 150C may be configured to Solutions for various virtual boundaries (Boundaries 1, 2, 8, 9) and / or alert zones (Zone 1) Alert indicators 172, 166 (not shown) located within the anatomical feature display As described above, the graphical user interface (GUI) 150C may also include: It may be configured to include any number of labels 174. FIG. 11C illustrates a configuration in which multiple labels 174 are included. Graphical User Interface (GUI) 150 including 74A, 174B, and 174C 15 shows an example configuration of a graphical user interface (GUI) 150C. selects the labels 174A, 174B, 174C of the anatomical structures that the user selects for display. , which are associated with each of the various labels 174A, 174B, 174C. It may be configured to move between various anatomical structures.

[0146] 12A to 12C, the display 12 of the navigation system 100 An alternative exemplary graphical user interface (GUI) 150D, designated 0, is shown in FIG. The graphical user interface (GUI) 150D is shown in FIG. A to 11C are functions, buttons, and Furthermore, the graphical user interface may include any and / or all of the following elements: The GUI 150D is the same as the graphical user interface shown in FIGS. 11A to 11C. User Interface (GUI) 150C. The graphical user interface (GUI) 150D shown in FIGS. 12A to 12C The view button 176 may also include a view button 176. The view button 176 may be used to select various virtual Anatomical shape including boundaries (boundaries 1, 2, 8, 9) and / or alert zones (zone 1) The viewfinder can be manipulated by the surgeon to switch and / or toggle between different views. For example, Figure 1 2A, the view button 176 is a graphical user interface (GUI) 150 D indicates that the axial view of the anatomical feature is displayed. Alternatively, the surgeon may - Use button 176 to select anatomical features and associated virtual boundaries (boundaries 1, 2, 8, 9) and / or various views of the alert zone (Zone 1) through a graphical user interface. For example, referring to FIG. 12B, The menu button 176 is used to select the graphical user interface (GUI) 150D. Referring to FIG. 12C, the sagittal view of the shape is displayed. The program 176 is a graphical user interface (GUI) 150D for displaying the anatomical features of the Indicates that you are viewing a planar map view.

[0147] A graphical user interface (GUI) 150D allows zooming in and / or zooming out By operating the zoom out, the surgeon can 20 may also have zoom buttons 178 configured to allow manipulation of the image. Zoom buttons of the graphical user interface (GUI) 150D An exemplary configuration of the zoom button 178 is shown in Figures 12A and 12B. It may be included in any of the described graphical user interfaces (GUIs).

[0148] 13A and 13B, the surgical instrument 220 during placement of the implant 275; 320, 420 navigation during navigation of the navigation system 100 display 12 An exemplary graphical user interface (GUI) 150E as shown above is shown in FIG. Similar to the graphical user interface (GUI) 150 described above, The graphical user interface (GUI) 150E includes The GUI 150E includes labels 174 that identify the anatomical structures displayed. Additionally, a graphical user interface (GUI) 150E allows the surgeon to toggle between views. For example, the surgeon may press the view button 176 13A. Alternatively, the surgeon can press the View button 176 to the graphical user interface (GUI) 150E, as shown in FIG. 13B It is possible to display an axial image of the anatomical structure shown in the figure. Use the menu button 176 to access the graphical user interface (GUI) 150E. It is contemplated that additional views of the anatomy may be displayed.

[0149] Furthermore, a graphical user interface (GUI) 150E is provided for the navigation system. Virtual boundaries (boundaries 5, 6, 7, 8) and / or alerts defined using the system 100 As described above, the navigation system 100 can be configured to display the zones. During the navigation of the surgical instruments 220, 320, and 420, the virtual boundaries (boundaries 5, 6, 7, 8), and / or the end effector 240, 340, 44 for one of the alert zones Based on the position of the 0, one of the various alerts described above is sent to the instrument processor 215, 315, 4 13A and 15. As shown in FIG. 3B, the operator can select and and / or based on the information you enter, multiple virtual boundaries (boundaries 5, 6, 7, 8) and / or The lat zone (Zone 4) is illustrated in a known coordinate system. The imaginary boundaries (Boundaries 5, 6, 7, 8), and / or the alert zone (zone 4) configured to trigger an alert As shown in Figures 13A and 13B, the virtual boundaries (boundaries 5, 6, and 7) are The desired position for inserting the end effector corresponding to each virtual boundary (boundaries 5, 6, and 7) is The navigation system 100 may correspond to the depth of the implant 275 or device. assisting the surgeon in navigating the surgical instruments 220, 320, 420 to place the As part of this, the end effectors 240, 3 for the corresponding virtual boundaries (boundaries 5, 6, 7) 40, 440, based on the position of the instrument processor 215, 315, 415. The device can be configured to send a signal or command to trigger the device.

[0150] Additionally, a graphical user interface (GUI) 150E is installed on the display. It can be configured to display the planned pose 280 of the plant 275 or device. For example, as shown in FIGS. 13A and 13B, a graphical user interface (GUI) I) 150E is a device for allowing a surgeon to navigate surgical instruments 220, 320, and 420 to implant the implant. 275 or to aid in device placement, the implant is calculated within a known coordinate system. A contour showing the defined pose 280 can be displayed. The graphical user interface (GUI) 150E is used to control the operation of the end effector 240C. The plant 270 is then positioned at a predetermined orientation relative to the planned orientation 280 and the virtual boundaries (boundaries 5, 6, and 7). It can be displayed by pushing it into position.

[0151] Additionally, a graphical user interface (GUI) 150E provides additional user interfaces. There may also be face buttons 180, 182. User Interface Buttons 18 The 0 may be configured to lock or unlock the screen. For example, the surgeon may The user interface button 180 is operated to display the graphical user interface (GUI). ) Lock the screen to prevent extra and / or inadvertent changes to the 150E. Alternatively, user interface button 182 can be used to Imaging and / or currently displayed in the graphical user interface (GUI) 150E For example, the surgeon may be configured to capture images of the The face button 182 is operated to navigate the surgical instruments 220, 320, and 420 during surgery. During the game, the screen displayed on the graphical user interface (GUI) 150E The user interface button 182 allows the user to Activate video recording of the image displayed on the user interface (GUI) 150E For example, the operator may be configured to activate and / or deactivate the user interface. The interface button 182 is operated to control the position of the surgical instruments 220, 320, and 420 during surgery. During navigation, the graphical user interface (GUI) 150E displays It is possible to start and stop video recording of the image being displayed.

[0152] Although not shown, various actions may be performed during navigation of the surgical instruments 220, 320, 420. One of the alerts is an end effector for one or more of the virtual boundaries and / or alert zones. When triggered based on the 240, 340, and 440 positions, the graphical user interface The GUI 150 allows the user to snooze and / or update triggered alerts. or provide or display a snooze button that allows you to temporarily deactivate the The graphical user interface (GUI) 150 may be configured to include a snooze button. The action is configured to temporarily disable one or more of the above alerts. For example, when the snooze button is operated, the triggered alert may be delayed for a predetermined time, such as 2 seconds. After the predetermined time has elapsed, the virtual boundary and / or alarm based on the position of the end effector 240, 340, 440 relative to one or more of the target zones. If warranted, the alert can be reactivated and triggered. The end effector 240, 340, 440 is positioned within one of the virtual boundaries and / or alert zones. You can activate the snooze button to disable the triggered action until you move a certain distance further. It is also contemplated that the end effectors 240, 34 may be temporarily deactivated. 0, 440 moves a predetermined distance relative to one or more of the virtual boundaries and / or alert zones. The alert may be reactivated when the navigation system 140 determines The direction of movement of the handpiece 225, 325, 425 and the virtual boundary and / or Depending on the position of the end effector 240, 340, 440 relative to one or more of the base zones , an alert may be triggered. Various alerts can be triggered, snoozed, and / or Various scenarios for reactivation are described in more detail above.

[0153] An example of the operation of the snooze function is as follows. [Table 1]

[0154] <Surgical instrument navigation method> The method of navigating a surgical instrument using a navigation system is as follows: 3. The surgical site 30 of the patient 20 may be imaged by imaging system 500 or other similar means. Within the preoperative and / or intraoperative data of the patient 20 provided by 6, 7), and / or the steps defining the alert zones, e.g., zones 1, 2, 3, and 4. The method may further include steps of: Identify and / or align alert zones (Zones 1, 2, 3, 4) to the patient. For example, this may include a step of performing a surgical navigation system 1 The user input 130 of the 00 can be used to input virtual boundaries (boundaries) within the pre-operative and / or intra-operative data. Identify and / or identify alert zones (zones 1, 2, 3, 4) and / or alert zones (zones 5, 6, 7) This can be achieved by marking virtual boundaries (boundaries 5, 6, 7) and / or alarms. Defining the zones (zones 1, 2, 3, and 4) helps the surgeon identify nerves that he or she wants to avoid during the procedure. This can include marking the boundaries surrounding important anatomical structures such as the rectum, the rectum, and the posterior thoracic wall. Virtual boundaries (boundaries 5, 6, 7) are generated using a segmentation algorithm and / or boundary generator. It is also contemplated that the virtual boundary (boundary) can be identified by the surgical navigation system. Boundaries 5, 6, 7) are user selectable and / or modifiable. To notify the surgeon of approaching targets, multiple zones, such as Zone 1, the first alert zone, are used. The first alert zone, Zone 1, is located between the first virtual boundary, Boundary 2, and the second virtual boundary, Boundary 3. and a second virtual boundary, boundary 2, at least in part definable by the first boundary. The boundary and the second boundary are spaced apart by a user-selectable distance and / or depth, and the first boundary and The volume defined between the first and second boundaries represents Zone 1, the alert zone. A secondary alert zone, Zone 2, can be defined within the primary alert zone, Zone 1. The second alert zone, Zone 2, is closer to critical anatomical structures. The third alert zone, Zone 3, is intended to notify the surgeon of the first alert. Defined within both Zone 1, the alert zone, and Zone 2, the second alert zone. The third alert zone, Zone 3, is a critical anatomical structure and to inform the surgeon that they are about to penetrate a critical anatomical structure. The fourth alert zone, Zone 4, is intended to be the zone where the end effectors 240, 340 , 440 can be defined on the periphery of the vertebra opposite the surface of the vertebra where it first enters the vertebra. Each alert zone is defined, at least in part, between two or more virtual boundaries. The end effector 240, 340, 440 can be defined as a region or volume. If the vertebrae approach the outer periphery and there is a risk of breaking through the outer periphery, the fourth alert zone is called the "Zone Furthermore, this step is performed by the operator to determine the target trajectory. Defining a planned surgical path, such as defining an axis T and / or a target position T. The target trajectory, axis T, is the axis along which the surgical instruments 220, 3 The target trajectory may include a preferred trajectory and / or attitude for aligning the target trajectory. Certain axes T may be selected to accommodate, but are not limited to, avoiding critical anatomical structures, the medical procedure being performed, and the like. the type of implant to be inserted, and the desired location and / or The support can be established based on a combination of factors, which may include the direction of the support member. Based on the preferred angle and / or location for inserting the pedicle screws for attachment In this way, a target axis, axis T, can be established.

[0155] The method further includes the step of: , 330, 430 are used to track the surgical instruments 220, 320, 420. This can be accomplished using the surgical navigation system 100. The instrument tracking devices 230, 330, 420 of the surgical instruments 220, 320, 420 can be 30 can be aligned with the surgical navigation system 100. The tracking system 100 uses the tracking unit 110 to track the surgical instrument 22 during a medical procedure. 0, 320, 420 position, orientation, and / or attitude can be tracked.

[0156] Furthermore, the method may include defining virtual boundaries (boundaries 4, 5, 6, 7) and / or alerts. Based on the position of the surgical instruments 220, 320, 420 relative to the zones 1, 2, and 3, The speed of the variable speed motor 245, 345, 445 of the surgical instrument 220, 320, 420 is adjusted to the maximum. It may also have the ability to operate between a large cutting speed and a small cutting speed. When the components 220, 320, and 420 are adjacent to the virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, and 7), and / or distal thereto, and / or progressing into Zone 1, the first alert zone. The surgical instruments 220, 320, 420 are inserted into the instrument processors 215, 315, 415. and further communicating with the surgical instrument 220, 320, 420 in a zone that is a first alert zone. to the instrument processor 215, 315, 415 to notify the operator that the instrument has entered the instrumentation mode. Manually reduce the speed of motors 245, 345, and 445 from maximum cutting speed to minimum cutting speed. The surgical navigation system 100 can be configured. The 20 end effectors 240, 340, and 440 define the third alert zone, Zone 3. The instrument processor 215 of the surgical instrument 220, 320, 420 that is attempting to break through; 315, 415, and further reduce the speed of the motors 245, 345, 445 and / or Or the motor is disabled and the surgical instrument 220, 320, 420 is in the third alert zone. Notify the surgeon that Zone 3 is about to be breached and use surgical instruments 220, 320, 42 To prevent the instrument from contacting and / or damaging critical anatomical structures, The surgical navigation system 100 is configured to instruct the sensors 215, 315, 415. The surgical instruments 220, 320, and 420 are positioned within an alert zone (zone) defined by the surgeon. When entering one of the channels (1, 2, 3), use variable speed motors 245, 345, and 445 for maximum cutting speed. to a minimum cutting speed, the surgical instruments 220, 320, 420 are capable of cutting biological tissue. The surgical instruments 220, 320, 420 may be moved beyond the virtual boundaries (boundaries 1, 2) without compromising the ability to proceed. , 3, 4, 5, 6, 7) adjacent to and / or distal to, and / or To notify the surgeon that they are entering one of the alert zones (zones 1, 2, and 3) , the audibly perceptible pitch generated by the variable speed motors 245, 345, 445 By maintaining a minimum cutting speed, the surgical instruments 220, 320, The end effectors 240, 340, 440 of 420 may grab or entangle the Preventing movement in a desired direction and potentially damaging critical anatomical structures within the patient 20 This can be done.

[0157] Furthermore, based on the position of the surgical instruments 220, 320, 420, 420 variable speed motor 245, 345, 445 speeds between maximum and minimum cutting speed The step of manipulating between the target position T and the target axis T is a defined target trajectory. Based on the position of the surgical instruments 220, 320, 420, Variable speed motors 245, 345, and 445 can be operated between maximum and minimum cutting speeds. For example, the surgical instruments 220, 320, 420 may be moved along a target trajectory. The instrument processor 21 of the surgical instruments 220, 320, 420 is 5, 315, 415, and further, the surgical instruments 220, 320, 420 are not in position. The instrument processor 215, 315, 415 is configured to notify the operator of the motor 245, The surgical navigation system was adjusted to reduce the cutting speed of the 345 and 445 from the maximum to the minimum. Furthermore, the endoscope system 100 can be configured to include the endoscopes 220, 320, and 420. The surgical instruments 220, 320, and 440 detect that the effector 240, 340, and 440 has reached the target position T. 420 to the instrument processor 215, 315, 415, and further to the surgical instrument 220, 32 To notify the surgeon that the motors 245, 345, 420 have reached the target position T, 445, reducing the speed and / or disabling the motor; The surgical navigation system 100 can be configured to command 315, 415.

[0158] Furthermore, the method uses defined virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, 7) and / or Or the position of the surgical instruments 220, 320, 420 relative to the alert zones (zones 1, 2, 3). and generating at least one audible, tactile, or visual notification based on the location of the alarm. For example, the handheld device 255, 355, 455 may be activated. The surgical instruments 220, 320, 420 are adjacent to and / or positioned at a first virtual boundary (Boundary 1). and / or has entered the first alert zone, Zone 1. communicates with the instrument processor 215, 315, 415 of the surgical instrument 220, 320, 420; Furthermore, the surgical instrument 220, 320, 420 is adjacent to a first imaginary boundary (Boundary 1) and / or Distal from it and / or has entered the first alert zone, Zone 1. and generating at least one audible, tactile, or visual notification to the surgeon. The instrument processor 215, 31 activates the alarm device 255, 355, 455. The surgical navigation system 100 can be configured to instruct the 5, 415. , combinations of alert devices 255, 355, 455 and notification types may also be used. For example, it is assumed that the surgical instruments 220, 320, and 420 are positioned at a first virtual boundary (Boundary 1). adjacent to and / or distal to, and / or the first alert zone The instrument processor 215, 320 of the surgical instrument 220, 320, 420 detects that the surgical instrument 220, 320, 420 has entered zone 1. 15, 415, and further, the surgical instrument 220, 320, 420 communicates with the first virtual boundary (boundary 1) adjacent to and / or distal to, and / or in the first alert zone An alert device is installed to generate an audible notification to notify the surgeon that a certain zone 1 has been entered. The instrument processor 215, 315, 415 activates the device 255, 355, 455. The surgical navigation system 100 can be configured to instruct the surgical instrument 220, 320, 420 are adjacent to and / or distal to a second imaginary boundary (Boundary 2) and / or the surgical instrument 2 has entered the second alert zone, Zone 2. 20, 320, 420 to the instrument processor 215, 315, 415, and The instruments 220, 320, 420 are adjacent to and / or far from the second virtual boundary (Boundary 2). and / or that the operator has entered the second alert zone, Zone 2. Activate the alert device 255, 355, 455 to generate a haptic notification to notify The surgical navigation system may be configured to instruct the instrument processor 215, 315, 415 to The system 100 can be configured to further include an endof-surgery device (220, 320, 420). The vectors 240, 340, 440 are adjacent to and / or from the third virtual boundary (Boundary 3). and / or attempting to breach the third alert zone, Zone 3. The instrument processor 215, 315, 415 of the surgical instrument 220, 320, 420 and further reduce the speed of the motor 245, 345, 445 and / or disable the motor. and / or the surgical instruments 220, 320, 420 are adjacent to a third virtual boundary (Boundary 3). or distal thereto, and / or breaching the third alert zone, Zone 3. and informs the surgeon that the surgical instruments 220, 320, 420 are positioned in important anatomical areas. To prevent contact with and / or damage to the structure, the instrument processor 215, 315 The surgical navigation system 100 can be configured to instruct the surgeon, 415. 10A-10C are examples of various combinations of alerts that may be generated by the surgical system 10 during a medical procedure. It is merely a virtual configuration. Various virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, 9), and and / or alert zone, target trajectory, and / or target location(s), A type and / or combination of alert(s) may be assigned. It is contemplated that the alerts may be provided pre-operatively and / or Various alert zones, target trajectories, and / or target locations within the intraoperative data Can be assigned by the caster at the time of defining the spell.

[0159] The surgical navigation system 100 is used to display the surgical instrument 22 during a medical procedure on a patient. An alternative method of navigating the 0, 320, 420 is to use the handpiece 225, 325, 42 5 and end effectors 240, 34 coupled to handpieces 225, 325, 425. 0, 440. 220, 320, 420 selectively drive the end effectors 240, 340, 440. and variable speed motors 245, 345, 445 for rotating the rotors. 45. The method can include selecting a medical implant 275, such as a pedicle screw. This method also allows for the use of patient data stored in the surgical navigation system 100. , and may identify a location for placing the medical implant 275 in the patient 20. For example, a medical professional may use a keyboard, touch screen, or similar device. The user input device 130 is used to measure the size of the patient 20, such as a vertebra, in which the implant 275 is to be placed. The location or portion of the selected medical implant 275 can then be selected. Based on the identified location where the plant 275 will be located, various virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, 9) to define the surgical navigation system 100. Alternatively, the handpieces 225, 325, 420 of the surgical instruments 220, 320, 420 may be Identify the type of end effector 240, 240, 440 coupled to 25, and one or more virtual The surgical navigation system is used to define the boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, and 9). It is also contemplated that the system 100 may be configured to accommodate a drill during a drilling procedure. a first boundary corresponding to the tap, a second boundary corresponding to the driver for placing the implant 275; The surgical navigation system can be configured to define a third boundary corresponding to the Each imaginary boundary is defined by a target trajectory, which is an axis, based on the planned pose of the implant 275. It is defined along T.

[0160] The method uses the surgical navigation system 100 to The method may further include tracking the position of the object. an instrument tracking device 230 used and / or coupled to the surgical instrument 220, 320, 420; The surgical navigation system 100 includes the use of surgical instruments 330 and 430. The tools 220, 320, and 420 are placed within the defined virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, 9), and / or it is determined that the vehicle has entered one of the alert zones, Zones 1 to 8B. When this happens, the processor 215, 216 sends a signal to stop the variable speed motor 245, 345, 445. The surgical navigation system 100 can be configured to send the For example, the surgical navigation system 100 may include a battery processor for the first surgical instrument 220. The battery processor 265 may be configured to send a signal to the first In communication with the instrument processor 215. The battery processor 265 and / or the instrument processor The switch 215 prevents current from flowing from a power source such as a battery 260 to the variable speed motor 245. This may be configured to allow the surgical navigation system 100 and the surgical instrument 220 , 320, 420 can be realized using wired or wireless forms of communication between the

[0161] The method uses virtual surgical navigation based on the preferences of medical professionals. A step of operating zones 1 to 8B, which are boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, 9) and / or alert zones, can also be further included. For example, a medical expert can increase the size and / or thickness of an alert zone to early warn that surgical instruments 220, 320, 420 are approaching a boundary or an important anatomical structure. Furthermore, a medical expert can also relocate the alert zone within patient data. This can include changing the size, shape, and / or number of the alert zones defined within patient data. A medical expert can similarly operate the axial position and / or depth of virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, 9) along axis T, which is the target trajectory, to supply alerts specific to the end effector. The axial position and / or depth of virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, 9) along the target trajectory axis T can also be operated to early warn that surgical instruments 220, 320, 420 are approaching a boundary or a target depth based on the planned posture of implant 275. Furthermore, a medical expert can also relocate the virtual boundaries (boundaries 1, 2, 3, 4, 5, ⑥, 7, 8, 9) within patient data. This can include changing the position, depth, shape, and / or number of the virtual boundaries (boundaries 1, 2, 3, 4, 5, 6, 7, 8, 9) defined within patient data. When the surgical instrument assemblies 200, 300, 400 are provided with a plurality of end effectors 240, 340, 440 that can be detachably coupled to the handpieces 225, 325, 425, this method includes a first end effector 240A, 340A to the handpieces 225, 325

[0162] The method may further include coupling the first end effector 240A, 340A to the determining a first boundary and / or a first angle based at least in part on the first end effector; The surgical navigation system 100 can be configured to define the risk zones. One boundary can have a target depth for the first end effector 240A, 340A. This method involves connecting the second end effector 240B, 340B to the handpiece 225, 325. The step of coupling the second end effector 240B, 340 B, and based at least in part on the second end effector 240B, 340B, The surgical navigation system 1 may be configured to define a second boundary and / or a second alert zone. The second boundary is the target depth of the second end effector 240B, 340B. The depth may include a depth defined based on the first end effector 240A, 340A. The first boundary may be different from the first boundary defined above.

[0163] The method further includes the step of: When the 0,420 is determined to have entered one of the defined alert zones, the alert device This may include activating the audible or activating a tactile alert device. It is also possible to stop the variable speed motors 245, 345, 445 of the respective motors 240, 320, 420. This method also allows the speed of the variable speed motors 245, 345, 445 to be adjusted to the maximum cutting speed. This may include reducing the cutting speed from a minimum cutting speed to a minimum cutting speed. It can produce perceptible tactile and / or auditory alerts.

[0164] Additionally, the method may include providing an alert for each defined virtual boundary and / or alert zone. The step of assigning a previously stored type to the medical professional may also be included. Defined virtual boundaries and / or alerts based on configured profiles or system configurations Each zone can be automatically assigned one or more of the different types of alerts. The navigation system 100 can be configured. Alternatively, a medical professional can use user input data. Using the device 130, various You can assign one or more of the following alert types:

[0165] The method further comprises: 0A, 340A, and the surgical navigation system 100 a first boundary and a second boundary based at least in part on the first end effector 240A, 340A; and / or a first alert zone. Disconnect the effectors 240A and 340A from the handpieces 225 and 325, and coupling the effector 240B, 340B to the handpiece 225, 325; Identify the second end effector 240B, 340B, and 40B, at least in part, to define a second boundary and / or a second alert zone. The surgical navigation system 100 can be configured to:

[0166] The method further includes: 40A, 340A, and the surgical navigation system 100 , based at least in part on the first end effector 240A, 340A, The method can then be configured to define a first alert zone and / or a second alert zone. At the location where the implant is to be placed, the first end effector 240A, 340A The surgical navigation system 100 may include applying a surgical instrument to the living tissue. The surgical instrument 220, 320, 420 is adjacent to and / or distal to the first imaginary boundary. and / or when it is determined that the vehicle has entered the first alert zone, the variable speed motors 245, 3 45, 445 to the processors 215, 265, 315, 415. , the surgical navigation system 100 can be configured. to send a signal that activates one of the above-mentioned alert devices to generate one of the It is also contemplated that the surgical navigation system 100 can be configured to: The method includes disconnecting the first end effector 240A, 340A from the handpiece 225, 325. and then attach the second end effectors 240B and 340B to the handpieces 225, 325, and 42. 5. Identifying the second end effector 240B, 340B and Based at least in part on the end effector 240B, 340B, the second boundary and / or The surgical navigation system 100 can be configured to define a second alert zone. The method includes: placing a second end-effector at a location where the medical implant is to be placed; This may include applying the actuators 240B, 340B to the living tissue. The system 100 causes the surgical instrument 220, 320, 420 to be adjacent to the second imaginary boundary and / or distal thereto and / or if it is determined that the second alert zone has been entered, The surgical navigation system 1 is configured to send a signal to the processor to stop the variable speed motor. 00 can be configured to generate one of the various types of alerts described above. The surgical navigation system is configured to send a signal to activate one of the alert devices. It is also contemplated that 100 may be configured.

[0167] In another configuration, a first signal based on the position of the end effector relative to the alert zone. The navigation system is configured to communicate the above to a processor in the control console. This signal controls the sensed and desired speed of the handpiece based on a torque map. Using the torque map, the console can compare the torque of the cutting tool. Based on the sensed speed of the cutting accessory, a calculated torque can be determined. Based on the applied cutting accessory torque and the sensed cutting accessory speed, the console The calculated power consumed by the cutting tool can then be determined from the torque map. The desired power to be consumed, and the desired torque and the desired torque of the cutting accessory at the desired power to be consumed. The navigation system detects when the end effector enters the alert zone. The controller may be configured to cause the console to adjust the torque map based on the detected torque. Specifically, the end effector is adjacent to and / or distal to the virtual boundary, and and / or the end effector is less effective when within the alert zone; and / or The end effector is positioned adjacent to and / or at the virtual boundary to cut with reduced activity. If the torque is distal to the You can reduce it to power the bar.

[0168] Items covering additional configurations of the above system(s): Item I to assist a medical professional in performing spinal or cranial surgery on a patient, a navigation system configured to allow a medical professional to define alert zones on the patient; A surgical instrument assembly for use with the stem, the surgical instrument assembly comprising: a control console including a control processor in communication with the navigation system; a high-speed surgical burr including a variable speed motor in communication with the control processor; The variable speed motor has a first cutting speed of over 70,000 rpm and a second cutting speed of less than 70,000 rpm. and configured to rotate the burr at a second cutting speed exceeding 60,000 revolutions per minute. , high-speed surgical burrs, a variable speed motor for controlling operation of the high speed surgical burr in communication with the control processor; Footswitch and Including, The navigation system actively positions the high-speed surgical burr relative to the patient. configured to determine The navigation system detects when the high-speed surgical burr enters the alert zone. When it is determined that the variable speed motor of the high speed surgical burr is to be operated, the variable speed motor is operated to move the front of the burr. A signal to transition the rotation from the first cutting speed to the second cutting speed is sent to the control processor. the navigation system is configured to send the The transition of the bar from the first cutting speed to the second cutting speed causes the bar to a cutting speed generated by the high speed surgical burr when transitioning from the first cutting speed to the second cutting speed; producing an audible perceptual change in the pitch of the burr to impair the ability of the burr to continue cutting the living tissue. The medical professional may be informed that the high-speed surgical burr has entered the alert zone without Inform the surgical instrument assembly. Item II The transition of the bar from the first cutting speed to the second cutting speed causes the bar to a tactile sensation on the high-speed surgical burr when transitioning from the first cutting speed to the second cutting speed; producing a sensory change to enhance the high level of tissue cutting without impairing the ability of the burr to continue cutting the tissue; Item I notifies the medical professional that a rapid surgical bar has entered the alert zone. A surgical instrument assembly as described in Item III the foot switch is movable between a first position and a second position; The variable speed motor is adapted to stop when the foot switch is in the first position. and the variable speed motor is configured to rotate at least 6000 rpm when in the second position. Item 1. The surgical instrument assembly of item I, configured to rotate the burr at 0 rotations. Item IV When the high-speed surgical bar enters the alert zone, an alert sound is emitted. 2. The surgical instrument assembly of claim 1, further comprising an audible alert device configured to: Item V and a tactile alert device in contact with the medical professional, the tactile alert device The system detects an alert zone that is perceptible to the medical professional when the high-speed surgical burr enters the alert zone. 2. The surgical instrument assembly of claim 1, configured to emit a releasable physical alert. Item VI The tactile alert device may be coupled to the foot switch to activate the physical alert. The power supply is connected to the foot switch that controls operation of the variable speed motor of the high speed surgical burr. The surgical instrument assembly of claim V, which is felt within the appendages of the medical professional touching it. Li. Item VII the alert zone includes a first zone and a second zone; The haptic device provides a first notification when the high-speed surgical burr enters the first zone. and generating a second notification when the high-speed surgical burr enters the second zone. Item V. The surgical instrument assembly according to item V, Item VIII Also included is an audible alert device and a tactile alert device that contacts the medical professional. the audible alert device and the tactile alert device each When the use bar enters the alert zone, an alert perceptible by the medical professional can be generated. Item I. A surgical instrument assembly. Item IX an audible alert device capable of generating a first notification and a tactile alert device capable of generating a second notification; and further including at least one of an alert device; The alert zones include a user-definable first zone and a user-definable second zone. fruit, The navigation system is configured to notify the user that the user has selected one of the first notification and the second notification. configured to be assigned to either the first zone or the second zone, It is possible, The navigation system determines the position of the high-speed surgical burr and the first zone. the first notification or the second notification assigned to either the zone or the second zone and operating one of the audible alert device and the tactile alert device based on the Item I. The surgical instrument assembly of claim I, Item X A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: a control console including a control processor; a high-speed surgical burr including a variable speed motor in communication with the control processor; The variable speed motor has a first cutting speed of over 70,000 rpm and a second cutting speed of 60,000 rpm to Designed to rotate the burr at a second cutting speed of 65,000 revolutions per minute, for high-speed surgery Bar and a variable speed motor for controlling operation of the high speed surgical burr in communication with the control processor; Footswitch and a navigation system in communication with the control console, defining an alert zone on the patient and actively tracking the position of the high-speed surgical burr relative to the patient; and further configured to enable said position to be communicated to said control processor. a navigation system, Including, The navigation system detects whether the burr of the high-speed surgical burr is positioned in the alert zone. When it is determined to enter the tunnel, the variable speed motor of the high speed surgical burr is operated to The control signal causes the rotation of the bar to transition from the first cutting speed to the second cutting speed. the navigation system is configured to communicate with a processor; The transition of the burr from the first cutting speed to the second cutting speed causes the high speed surgical generating an audible perceptible change in the pitch of the variable speed motor of the burr, thereby inducing a tissue The high-speed surgical burr enters the alert zone without impairing the ability of the device to continue cutting. and notifying the medical professional that the surgical system Item XI The transition of the bar from the first cutting speed to the second cutting speed causes the bar to a tactile sensation on the high-speed surgical burr when transitioning from the first cutting speed to the second cutting speed; producing a sensory change to enhance the high level of tissue cutting without impairing the ability of the burr to continue cutting the tissue; Item X, notifying the medical professional that a rapid surgical bar has entered the alert zone. The surgical system described in Item XII the foot switch is movable between a first position and a second position; The variable speed motor is adapted to stop when the foot switch is in the first position. and the variable speed motor is configured to rotate at least 6000 rpm when in the second position. The surgical system of item XI, configured to rotate the burr at 0 rotations. Item XIII When the high-speed surgical bar enters the alert zone, an alert sound is emitted. The surgical system of claim X, further comprising an audible alert device configured to: Item XIV a tactile alert device in contact with the medical professional, the high-speed surgical burr being Entering an alert zone will cause the medical professional to emit a perceptible physical alert. The surgical system of claim X, further comprising a tactile alert device configured as follows: Item XV The tactile alert device may be coupled to the foot switch to activate the physical alert. The power supply is connected to the foot switch that controls operation of the variable speed motor of the high speed surgical burr. The surgical system according to item XIV, wherein the surgical system is felt in the appendages of the medical professional touching the surgical system. . Item XVI the alert zone includes a first zone and a second zone; The tactile alert device activates a first alert when the high-speed surgical burr enters the first zone. generating a first notification when the high-speed surgical burr enters the second zone; and generating a second notification when the high-speed surgical burr enters the second zone. The surgical system according to item XIV, configured to: Item XVII Also included is an audible alert device and a tactile alert device that contacts the medical professional. the audible alert device and the tactile alert device each When the use bar enters the alert zone, an alert perceptible by the medical professional can be generated. The surgical system according to item X, Item XVIII to assist a medical professional in performing spinal or cranial surgery on a patient, A surgical system that is used in conjunction with a surgical navigation system that allows the patient to define alert zones on the screen. stem, the surgical system comprising: a high-speed surgical burr having a variable speed motor configured to rotate the burr; a control console including a control processor, the control processor controlling the high speed surgical and communicating with the variable speed motor of the service bar data regarding the defined alert zone, and and data regarding the position of the high-speed surgical burr relative to the defined alert zone. a control console configured to receive from the surgical navigation system; a foot switch in communication with the control processor for controlling the movement of the high-speed surgical burr; a hook movable between a first position and a second position to control operation of the variable speed motor; To switch and Including, When the foot switch is in the first position, the variable speed motor is stopped and the bar It rotates at 0 revolutions per minute, When the foot switch is in the second position, the variable speed motor rotates the bar to maximum speed. configured to rotate at a constant speed, When the foot switch is in an intermediate position between the first position and the second position, the movable A variable speed motor rotates the burr at an intermediate speed between a minimum cutting speed and the maximum cutting speed. It is configured to The navigation system receives data that the bar has entered the alert zone. and transmitting data to the control processor, and further determining whether the foot switch is in the intermediate position or the When disposed in a second position, the variable speed motor of the high speed surgical burr is operated to The surgical system is configured to reduce the rotation of the burr to said minimum cutting speed. Item XIX A tactile alert device coupled to the foot switch and in communication with the control console Further including, The control console activates the tactile alarm when the bar enters the alert zone. and configured to operate a visual device to generate a physical notification perceptible to the medical professional. The surgical system according to item XVIII, Item XX to assist a medical professional in performing spinal or cranial surgery on a patient, A surgical instrument alert zone is used in conjunction with a navigation system that allows the patient to define alert zones on the instrument. a surgical instrument assembly, the surgical instrument assembly comprising: a high-speed surgical burr having a variable speed motor configured to rotate the burr; a control console including a control processor, the control processor controlling the high speed surgical and communicating with the variable speed motor of the surgical burr and receiving data from the surgical navigation system. a control console configured to: In communication with the control processor, the variable speed motor of the high speed surgical burr is controlled. a foot switch having a tactile alert device; Including, The navigation system detects when the bar enters the defined alert zone. and further configured to transmit data to the control processor, When the user enters the alert zone, the user operates the tactile alert device on the foot switch. , a surgical instrument assembly configured to notify the medical professional. Item XXI A navigation system including an instrument tracking device coupled to a medical instrument and a patient tracking device coupled to a patient. Navigating said medical instrument having a variable speed motor using a navigation system 1. A method comprising: defining an alert zone within the patient's preoperative data; aligning the alert zone with the patient tracking device; The position and orientation of the instrument tracking device relative to the patient tracking device is used to Tracking the location; Based on the position of the medical instrument relative to the defined alert zone, operating the speed of the variable speed motor of the tool between a maximum cutting speed and a minimum cutting speed; A method comprising: Item XXII Manipulating the speed of the variable speed motor causes the medical device to When the cut zone is entered, the variable speed motor is reduced from the maximum cut speed to the minimum cut speed. The method according to item XXI, further comprising accelerating the Item XIII When the medical instrument enters the defined alert zone, the variable speed motor is When the cutting speed is reduced from the maximum cutting speed to the minimum cutting speed, the medical instrument cuts the biological tissue. The medical device enters the defined alert zone without compromising its ability to continue. and an audible perceptual change in pitch produced by said variable speed motor to notify a medical professional of the The method according to item XXII, wherein Item XXIV Based on the location of the medical device relative to the defined alert zone, an audible notification, a tactile notification, or Activate the alert device to generate at least one of audible or visual notification. The method according to item XXI, further comprising: Item XXV the defined alert zones include a first zone and a second zone; The step of activating the alert device may be performed by detecting when the medical instrument enters the first zone. generating the tactile notification when the medical instrument enters the second zone; The method of claim XXIV, further comprising generating an audible notification. Item XXVI A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: 1. A handheld surgical instrument configured to actuate an end effector, comprising: A variable speed motor; a trigger operable by the medical professional between a first position and a second position; detecting the position of the trigger and outputting a first signal indicative of the position of the trigger; a trigger sensor configured as follows: a handpiece processor in communication with the trigger sensor; and controlling energization of the variable speed motor based at least in part on the first signal indicative of the position of the variable speed motor. a handpiece processor configured to: a handheld surgical instrument, a rechargeable battery module detachably coupled to the handheld surgical instrument, a transceiver configured to transmit and receive signals; a battery processor in communication with the transceiver for controlling the handheld surgical instrument; a battery processor configured to power the a rechargeable battery module including: a navigation system communicating with the battery processor via the transceiver; and actively determining the position of the surgical instrument relative to an alert zone defined on the patient. a navigation system configured to determine Including, The navigation system is configured to locate the surgical instrument. When the position is determined to have entered the alert zone, power is turned off to the handheld surgical instrument. configured to communicate a second signal to the battery processor to disconnect power; The battery processor cuts power to the handheld surgical instrument and the surgical instrument is If the handpiece processor remains within the alert zone, the medical professional a subsequent first signal indicating that the trigger sensor has operated the position of the trigger; and configured to prevent energization of the variable speed motor until a signal is received from the surgical system. Item XXVII The rechargeable battery module further comprises: a cell for storing electrical energy to power the variable speed motor of the handheld surgical instrument; , a battery processor configured to communicate with the battery processor and control the flow of electrical energy from the cells; a switch configured to allow the flow of electrical energy from said cell; and configured to prevent the flow of electrical energy from the cell. a switch having a de-energized state; Item XXVI. The surgical system according to item XXVI, comprising: Item XXVIII A surgical system for use by a medical professional in performing surgery on a patient, the surgical system M is, 1. A handheld surgical instrument configured to actuate an end effector, comprising: A variable speed motor; a switch operable by the medical professional between a first position and a second position; detecting the position of the switch and outputting a first signal indicative of the position of the switch; a switch sensor configured to a handpiece processor in communication with the switch sensor, controlling energization of the variable speed motor based at least in part on the first signal indicative of the position. a handpiece processor configured to control the a handheld surgical instrument, a power supply for powering the handheld surgical instrument; The power supply is a navigation system in communication with the handpiece processor; and actively determining the position of the surgical instrument relative to an alert zone defined by A navigation system, Including, The navigation system is configured to locate the surgical instrument. When it is determined that the position has entered the alert zone, the variable speed motor is de-energized. and configured to communicate a second signal to the handpiece processor, The handheld surgical instrument is de-energized and the surgical instrument remains in the alert zone. While the handpiece processor is in operation, the medical professional operates the switch to the position. the variable speed drive is stopped until a subsequent first signal is received from the switch sensor indicating that the variable speed drive has been stopped. A surgical system configured to prevent re-energization of the motor. Item XXIX a rechargeable battery module removably coupled to the handheld surgical instrument; The battery module is a transceiver configured to transmit and receive signals; a cell for storing electrical energy to power the variable speed motor of the handheld surgical instrument; , a switch configured to control the flow of electrical energy from the cell, a conducting state configured to permit the flow of electrical energy from the cell; a switch having a non-conductive state configured to prevent the flow of electrical energy from the Chi and, a battery processor in communication with the transceiver and the switch; and detecting the handheld surgical instrument based at least in part on the signal received by the transceiver. operating the switch between the energized state and the de-energized state to selectively energize the a battery processor configured to: The surgical system according to item XXVIII, comprising: Item XXX A surgical system for use by a medical professional in performing surgery on a patient, the surgical system M is, 1. A high speed bar assembly comprising: a control console having a processor; a handpiece in communication with the processor of the control console, a handpiece including a needle, a needle-like element ... A first position and a second position are selected by the medical professional to control energization of the variable speed motor. a foot switch operable between a a first detector for detecting the position of the foot switch and indicating the position of the foot switch; a switch sensor configured to communicate a signal to the processor; a high speed bar assembly including: a navigation system in communication with the processor, the navigation system including: configured to actively determine the position of the handpiece relative to an alert zone; A navigation system, Including, The navigation system is configured to When it is determined that the position of the motor has entered the alert zone, the variable speed motor is deactivated. configured to communicate a second signal to the processor to energize the De-energize the handpiece and wait until the handpiece remains in the alert zone. During this time, the processor detects that the medical professional has operated the position of the foot switch. the variable speed motor is operated until a subsequent first signal is received from the switch sensor indicating 12. A surgical system configured to prevent reenergization of a surgical device. Item XXXI a tactile alert device in contact with the medical professional, the high-speed surgical burr being Entering an alert zone will cause the medical professional to emit a perceptible physical alert. 3. The surgical system of claim 1, further comprising a tactile alert device configured to: Item XXXII Also included is an audible alert device and a tactile alert device that contacts the medical professional. the audible alert device and the tactile alert device each When the use bar enters the alert zone, an alert perceptible by the medical professional can be generated. 3. The surgical system of claim XXX, Item XXXIII A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: 1. A handheld surgical instrument configured to actuate an end effector, comprising: A variable speed motor; a trigger operable by the medical professional between a first position and a second position; controlling energization of the variable speed motor based at least in part on the position of the trigger. a handpiece processor configured to control the a handheld surgical instrument, a rechargeable battery module detachably coupled to the handheld surgical instrument, a transceiver configured to transmit and receive signals; a battery processor in communication with the transceiver for controlling the handheld surgical instrument; a battery processor configured to energize and de-energize the battery; a rechargeable battery module including: a navigation system communicating with the battery processor via the transceiver; a position of the handheld surgical instrument relative to an alert zone defined on the patient; a navigation system configured to actively determine a Including, The navigation system is configured to When the position of the surgical instrument is determined to have entered the alert zone, configured to communicate a first signal to the battery processor to temporarily de-energize the tool. , While the handheld surgical instrument remains in the alert zone, and the battery pack after the processor de-energizes the handheld surgical instrument, The battery processor re-energizes the variable speed motor and The system is configured to detect whether the movement of the handheld surgical instrument is in a proximal or distal direction relative to the surgical site on the patient. and causing the battery processor to power or a surgical system configured to communicate a second de-energizing signal to the battery processor; Tem. Item XXXIV A surgical system used by medical professionals to perform surgical procedures on patients. The surgical system comprises: 1. A handheld surgical instrument configured to receive an end effector, comprising: a variable speed motor configured to rotate the end effector; a trigger operable by the medical professional between a first position and a second position; detecting the position of the trigger and outputting a first signal indicative of the position of the trigger; a trigger sensor configured as follows: at least in part to the first signal from the trigger sensor indicative of the position of the trigger; A handpiece process is configured to control energization of the variable speed motor based on the And, a handheld surgical instrument, a navigation system in communication with the processor, the navigation system including an alert zone on the patient; defining an alert zone, actively determining the position of the surgical instrument relative to the alert zone, A trigger sensor indicates that the trigger is in the second position, and and a navigation system that determines that the handheld surgical instrument has entered the alert zone. and communicating a second signal to the handpiece processor to stop the variable speed motor. a navigation system configured to Including, While the handheld surgical instrument remains in the alert zone, The medical professional operates the trigger to cause the trigger to move to the second a subsequent first signal indicating that the device has been moved from the first position to the first position and back to the second position; and configured to restart the variable speed motor upon receiving a signal from the trigger sensor. Surgical system. Item XXXV While the handheld surgical instrument remains in the alert zone, the variable speed motor is re-driven. Upon activation, the navigation system A handheld surgical instrument is moved proximally toward the surgical site (the alert zone) of the patient at a predetermined distance. When it is determined that the variable speed motor has moved, a third signal is sent to the handpiece to stop the variable speed motor. Item XXXIV. The surgical system of item XXXIV, configured to communicate with a processor. Item XXXVI While the handheld surgical instrument remains in the alert zone, the variable speed motor is re-driven. Upon activation, the navigation system A handheld surgical instrument has moved distally from the patient's surgical site (the alert zone). If it is determined that the variable speed motor is in a stopped state, a fourth signal for continuing to operate the variable speed motor is sent to the handpiece processor. 3. The surgical system of claim 1, wherein the surgical system is configured to communicate with a processor. Item XXXVII A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: 1. A handheld surgical instrument configured to receive an end effector, comprising: A variable speed motor; a variable speed motor operable by the medical professional between a first position and a second position; triggers to start and stop the a processor configured to control energization of the variable speed motor; a handheld surgical instrument, a navigation system in communication with the processor for enabling the medical professional to a navigation system configured to define a target axis on the user and a threshold for the instrument inspection distance; The system and Including, The navigation system detects an actual axis of the handheld surgical instrument relative to the target axis. determining the position of the handheld surgical instrument relative to the target depth, and referencing the result to an instrument inspection. configured to compare with a distance threshold; The navigation system determines the position of the handheld surgical instrument based on the instrument inspection data. is closer to the target depth than a distance threshold, and further, the actual axis of the handheld surgical instrument is If it is determined that the target axis is misaligned, the navigation system configured to communicate a first signal to the processor to prevent the power supply from being energized; The navigation system determines the position of the handheld surgical instrument based on the instrument inspection data. If it is determined that the target depth is farther than the distance threshold, the navigation system The system may be configured to automatically adjust the axis of the handheld surgical instrument regardless of whether the actual axis of the handheld surgical instrument is misaligned with the target axis. and does not cause the processor to prevent energization of the variable speed motor. Item XXXVIII The navigation device is configured to activate the variable speed motor while the trigger is in the second position. The navigation system controls the handheld surgical instrument. When it is determined that the target depth is reached, the variable speed motor is stopped. and a fifth signal to the processor to cause the processor to stop the The surgical system. Item XXXIX A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: 1. A handheld surgical instrument configured to receive an end effector, comprising: A handpiece and a variable speed motor disposed within the handpiece; a trigger operable by the medical professional to start and stop the variable speed motor; Moth and a first position and a second position by the medical professional to control the speed of the variable speed motor; a switch operable between a a processor configured to control energization of the variable speed motor; a handheld surgical instrument, a navigation system in communication with the processor, the switch being connected to the first a navigation system configured to determine whether the navigation system is at the first location or the second location. And, Including, The navigation system confirms that the switch is in the proper position and that the hand and the type of end effector coupled to the handheld surgical instrument. a surgical system configured to communicate a signal to the processor that controls energization of the sensor; Item XL The navigation system is configured to The type of end effector coupled to the surgical instrument is When the variable speed motor is determined to be in the above position, the signal to stop the variable speed motor is sent to the processor. configured to communicate with the The navigation system is configured to detect the surgical instrument. the switch is in the correct position for the type of end effector to be coupled to Upon determining that a variable speed motor is present, the signal is communicated to the processor to activate the variable speed motor. Item XXXIX: The surgical system of item XXXIX, configured to: Item XLI the handheld surgical instrument further includes a tracking device coupled to the switch; The navigation system is configured to switch the switch based on the location of the tracking device. Item XXXIX or Item XXXIX configured to determine whether the sensor is in the first position or the second position. is a surgical system described in XL. Item XLII the handheld surgical instrument further includes a battery module; The processor is disposed within the battery module. 10. A surgical system according to any one of claims 1 to 9. Item XLIII A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: 1. A handheld surgical instrument assembly comprising: A handpiece and One of the first end effector and the second end effector, The first end effector and the second end effector are each detachably connected to the handpiece. one of a first end effector and a second end effector, which are engageable with each other; a variable speed motor disposed within the handpiece; any vibrating feedback device; Controlling the energization of the variable speed motor and / or the vibration of the feedback device a processor configured to: a handheld surgical instrument assembly including: a navigation system in communication with the processor, the first end effector defining a first alert zone on the patient based at least in part on the data; defining a second alert zone on the patient based at least in part on the end effector; a navigation system configured to define Including, When the first end effector is coupled to the handpiece, the navigation system the system at least determines the position of the first end effector relative to the first alert zone. controlling energization of the variable speed motor based in part on the feedback data; configured to communicate a first signal to the processor to vibrate the device; When the second end effector is coupled to the handpiece, the navigation system the system at least determines the position of the second end effector relative to the second alert zone. controlling energization of the variable speed motor based in part on the feedback data; The surgical system is configured to communicate a signal to the processor to vibrate the vice. Item XLIV The navigation system is configured to locate the handheld surgical instrument relative to the alert zone. Item X is configured to actively determine a location and communicate the location to the processor. The surgical system described in LIII. Item XLV The navigation system is configured to The effector has entered the first alert zone, or the second end effector When it is determined that the variable speed motor has entered the second alert zone, the variable speed motor is stopped. The surgical system according to item XLIII, wherein the surgical system is configured to communicate a signal to the processor. Tem. Item XLVI The handheld surgical instrument further comprises: a footswitch in electrical communication with the processor; a feedback device coupled to the foot switch; The surgical system according to item XLIII, comprising: Item XLVII The navigation system may be coupled to the handheld surgical instrument by the medical professional. The type of the first end effector or the second end effector can be input. The surgical system according to item XLIII, configured to: Item XLVIII The handheld surgical instrument assembly includes a battery module; the optional feedback device is disposed within the battery module. A surgical system according to any one of claims XLIII to XLVII. Item XLIX A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: 1. A high speed bar assembly comprising: a control console having a processor; a handpiece in communication with the processor of the control console; One of the first end effector and the second end effector, The first end effector and the second end effector are each detachably connected to the handpiece. one of a first end effector and a second end effector, which are engageable with each other; a variable speed motor disposed within the handpiece; any feedback device; Including, The processor controls the energization of the variable speed motor and / or the feedback device. a high speed bar assembly configured to control vibration of the chair; a navigation system in communication with the processor, the first end effector defining a first alert zone on the patient based at least in part on the data; defining a second alert zone on the patient based at least in part on the end effector; a navigation system configured to define Including, When the first end effector is coupled to the handpiece, the navigation system the system at least determines the position of the first end effector relative to the first alert zone. controlling energization of the variable speed motor based in part on the feedback data; configured to communicate a first signal to the processor to activate the device; When the second end effector is coupled to the handpiece, the navigation system the system at least determines the position of the second end effector relative to the second alert zone. controlling energization of the variable speed motor based in part on the feedback data; a surgical system configured to communicate a signal to the processor to activate a device. Item L The optional feedback device may be a tactile alert device that is in contact with the medical professional. When the high-speed surgical burr enters the alert zone, the medical professional a tactile alert device configured to emit a perceptible physical alert; A surgical system as described in item XLIX. Item LI The optional feedback device may include an audible alert device and a a tactile alert device, the audible alert device and the tactile alert Each device activates the medical device when the high-speed surgical burr enters the alert zone. The surgical system of claim XLIX, wherein the system is capable of generating an alert that is perceptible by an expert. Item LII The high speed bar assembly further includes a foot switch coupled to the control console. The foot switch has a first position and a second position to control the energization of the variable speed motor. It is movable between The medical professional operates the foot switch in a predetermined pattern within a predetermined period of time. Item XLIX or L can be used to disable any feedback device. The surgical system described in Item LIII Surgical navigation systems are used to navigate surgical instruments during medical procedures on patients. a method of performing a surgical operation, the method comprising: an end effector for selectively driving the end effector; a variable speed motor for selectively driving the end effector; and a processor for controlling energization of the variable speed motor, the method comprising: Choosing a medical implant and The medical implant is located within patient data stored in the surgical navigation system. and identifying a position to place the surgical navigation system on the patient. the selected medical implant, and the identified medical implant placement location. and configured to define an alert zone based on the location of the tracking the position of the surgical instrument using the surgical navigation system; , The navigation system locates the surgical instrument within the defined alert zone. When it is determined that the surgical navigation system has entered the surgical site, the surgical navigation system notifies the processor of the possible transmitting a signal to stop the variable speed motor; A method comprising: Item LIV The alert zone defined in the surgical navigation system is selected according to the medical professional's preferences. The method according to item LIII, further comprising the step of operating the line. Item LV The method further includes coupling a first end effector to the handpiece. The surgical navigation system identifies the first end effector and and configuring the device to define a first alert zone based at least in part on the end effector. The method according to item LIII or LIV, Item LVI The method further includes coupling a second end effector to the handpiece. The surgical navigation system identifies the second end effector and and configuring the device to define a second alert zone based at least in part on the end effector. The method according to any one of items LIII to LV, Item LVII The surgical navigation system positions the surgical instrument in the defined alert zone. Item L further includes a step of activating an alert device when it is determined that the user has entered the network. The method according to any one of III to LVI. Item LVIII The step of assigning an alert type to each of the defined alert zones also includes: The method according to any one of items LIII to LVII, comprising Item LIX Identifying a first end effector to be coupled to the handpiece, The surgical navigation system is based at least in part on the first end effector. an identifying step configured to define a first alert zone; decoupling the first end effector from the handpiece; coupling a second end effector to the handpiece, a navigation system for identifying the second end effector and and configuring the second alert zone based at least in part on the combination. and The method according to item LIII, further comprising: Item LX Identifying a first end effector to be coupled to the handpiece, The surgical navigation system is based at least in part on the first end effector. and defining a first alert zone by The first end effector is placed at a location of biological tissue where the medical implant is to be placed. applying The navigation system detects when the surgical instrument enters the first alert zone. When it is determined that the surgical navigation system has performed the variable speed monitor, transmitting a signal to stop the data; decoupling the first end effector from the handpiece; coupling a second end effector to the handpiece, a navigation system for identifying the second end effector and and configuring the second alert zone based at least in part on the combination. and The second end effector is placed at a location of biological tissue where the medical implant is to be placed. applying The navigation system detects when the surgical instrument enters the second alert zone. When it is determined that the surgical navigation system has performed the variable speed monitor, transmitting a signal to stop the data; The method according to item LIII, further comprising: Item LXI A surgical system for use by a medical professional in performing surgery on a patient, the surgical system M is, 1. A high speed bar assembly comprising: a control console having a processor; a handpiece in communication with the processor of the control console, a handpiece including a needle, a needle-like element ... A first position and a second position are selected by the medical professional to control energization of the variable speed motor. a foot switch operable between a a high speed bar assembly including: a navigation system in communication with the processor, the navigation system including: configured to actively determine the position of the handpiece relative to an alert zone; A navigation system, Including, The navigation system is configured to When it is determined that the position of the handpiece has entered the alert zone, the handpiece is temporarily stopped. configured to communicate a first signal to the processor to selectively de-energize the When the processor temporarily de-energizes the handpiece, the handpiece Remain in the alert zone, When the variable speed motor is re-energized, the navigation system based on whether the movement is proximal or distal to the surgical site on the patient. a second signal to the processor to energize or de-energize the handpiece; A surgical system configured to communicate. Item LXII To assist a medical professional in performing a procedure on a patient, Used in conjunction with a navigation system configured to define alert zones on the patient. 1. A surgical instrument assembly for performing a surgical procedure, the surgical instrument assembly comprising: a control console including a control processor in communication with the navigation system; a high-speed surgical burr assembly having a variable speed motor in communication with the control processor. wherein the variable speed motor is configured to rotate the burr. and, between a first position and a second position to energize the variable speed motor of the high speed surgical burr A movable foot switch and a footswitch sensor in communication with the control processor, the footswitch comprising: detecting the position of the foot switch and generating a first signal indicative of the position of the foot switch; a foot switch sensor configured to communicate a signal to the control processor; a tactile alert device coupled to the foot switch and in communication with the control processor; wherein the medical professional presses the foot switch to operate the high-speed surgical burr. and a foot switch is connected to the tactile alert device so that the tactile alert device is in contact with the medical professional. a tactile alert device disposed on the touch screen; Including, The navigation system actively positions the high-speed surgical burr relative to the patient. configured to determine The navigation system detects when the high-speed surgical burr enters the alert zone. and activating the tactile alert device to provide a physical alert that is perceptible to the medical professional. configured to transmit a second radiating signal to the control processor; While the high-speed surgical burr is still within the alert zone, the processor: The foot switch sensor detects that the medical professional has set the foot switch to the first position. The subsequent first position indicates that the robot has moved a predetermined number of times between the first position and the second position within a predetermined period of time. a surgical instrument assembly configured to deactivate the alert device upon receiving a signal; Yellowtail. Item LXIII A surgical system for use by a medical professional in performing surgery on a patient, the surgical system M is, 1. A high speed bar assembly comprising: a control console having a processor; a handpiece in communication with the processor of the control console, a handpiece including a needle, a needle-like element ... A first position and a second position are selected by the medical professional to control energization of the variable speed motor. a foot switch operable between a a high speed bar assembly including: a navigation system in communication with the processor, the navigation system including: configured to actively determine the position of the handpiece relative to an alert zone; A navigation system, Including, The navigation system detects when the end effector enters the alert zone. and adjusting the torque map to which the handpiece is powered in response to the a surgical system configured to communicate a first signal to the processor to cause the surgical system to Item LXIV A surgical system for use by a medical professional in spinal or cranial surgery on a patient, The surgical system comprises: 1. A handheld surgical instrument configured to receive an end effector, comprising: A handpiece and a variable speed motor disposed within the handpiece; a trigger operable by the medical professional to start and stop the variable speed motor; Moth and a first position and a second position by the medical professional to control the speed of the variable speed motor; a switch operable between a a processor configured to control energization of the variable speed motor; a handheld surgical instrument, a navigation system in communication with the processor, the switch being connected to the first and configured to determine using machine vision whether the target is in the first position or the second position. navigation system and Including, The navigation system confirms that the switch is in the proper position and that the hand and the type of end effector coupled to the handheld surgical instrument. a surgical system configured to communicate a signal to the processor that controls energization of the sensor; Item LXV the handheld surgical instrument further includes a tracking device coupled to the switch; The navigation system is configured to switch the switch based on the location of the tracking device. The method according to item LXIV, configured to determine whether the sensor is in a first position or a second position. Surgical system. Item LXVI the handheld surgical instrument further includes a battery module; The processor is disposed within the battery module. The surgical system described in Item LXVII Surgical navigation system for use in guiding surgical instruments to perform a medical procedure 1. A surgical navigation system substantially as described in any of the preceding paragraphs. Stem.

[0169] Some embodiments are as described above. However, the embodiments discussed herein may be The embodiments are not intended to be exhaustive or to limit the invention to any particular form. The terms used above are intended to be descriptive rather than limiting. Many modifications and variations are possible in light of the above teachings, and it is to be understood that the present invention is not limited to the disclosed embodiments. The method may be carried out in other ways than those described above.

Claims

1. 1. A surgical system for use by medical personnel in performing a surgical procedure on a patient, comprising: A handpiece and one of a first end effector and a second end effector, each of which is detachable from the handpiece; a variable speed motor disposed within the handpiece; a processor that controls energization of the variable speed motor; a handheld surgical instrument assembly having a navigation system in communication with the processor that determines the identity of the first end effector and the second end effector; and the navigation system defines a first boundary in a known coordinate system based at least in part on the identification of the first end effector, and defines a second boundary in the known coordinate system, the second boundary being different from the first boundary, based at least in part on the identification of the second end effector; Once the first end effector is identified, the navigation system sends a first signal to the processor to control energization of the variable speed motor based on a position of the first end effector relative to the first boundary; Once the second end effector is identified, the navigation system sends a second signal to the processor to control energization of the variable speed motor based on a position of the second end effector relative to the second boundary. Surgical system.

2. 2. The surgical system of claim 1, wherein the navigation system actively determines a position of the first end effector relative to the first boundary when connected to the handpiece and a position of the second end effector relative to the second boundary when connected to the handpiece, and sends the position of the first end effector or the second end effector to the processor.

3. The surgical system of claim 1 or 2, wherein the first boundary and the second boundary are each defined relative to an anatomical structure.

4. A surgical system according to any one of claims 1 to 3, wherein when the navigation system determines that the first end effector is distal to the first boundary or the second end effector is distal to the second boundary, the navigation system sends a signal to the processor to stop the variable speed motor.

5. The surgical system of any one of claims 1 to 4, wherein the navigation system enables the medical professional to input identification information of the first end effector or the second end effector connected to the handpiece.

6. the handheld surgical instrument assembly includes a battery module; the processor of the handheld surgical instrument assembly is disposed within the battery module and controls energization of the variable speed motor by the battery module; The surgical system according to any one of claims 1 to 5.

7. 7. The surgical system of claim 1, wherein the navigation system defines the first boundary based on a planned orientation of an implant selected for insertion into the patient, and defines the second boundary at a first distance from the first boundary along an axis of the implant.

8. the first end effector is a drill and the second end effector is a driver; the first boundary is disposed perpendicular to the axis of the implant; The surgical system of claim 7 .

9. the navigation system further comprises a third end effector detachable from the handpiece, the navigation system determining an identification of the third end effector and defining a third boundary in the patient based at least in part on the identification of the third end effector; When the third end effector is connected to the handpiece, the navigation system sends a third signal to the processor to control energization of the variable speed motor or vibrate a feedback device based at least in part on a position of the third end effector relative to the third boundary. The surgical system according to any one of claims 1 to 8.

10. The surgical system of claim 9 , wherein the third end effector is a tap.

11. the handheld surgical instrument assembly further includes a second handpiece having a second variable speed motor and a second processor that controls energization of the second variable speed motor; the first end effector and the second end effector are each detachable from the second handpiece; the first end effector is connected to the handpiece, and the second end effector is connected to the second handpiece; the navigation system sends the first signal to the processor to control energization of the variable speed motor of the handpiece based on the position of the first end effector relative to the first boundary; the navigation system sends the second signal to the second processor to control energization of the second variable speed motor of the second handpiece based on the position of the second end effector relative to the second boundary. The surgical system according to any one of claims 1 to 10.

12. further comprising a first tracking device and a second tracking device, each identifiable by the navigation system; the navigation system associates the first boundary with the first tracking device and the second boundary with the second tracking device; The surgical system according to any one of claims 1 to 11.

13. The surgical system according to any one of claims 1 to 12, wherein the second boundary is projected distally of the first boundary.

14. 1. A method of navigating a surgical instrument using a navigation system during a medical procedure on a patient, the surgical instrument having a handpiece, an end effector connected to the handpiece, a variable speed motor for selectively driving the end effector, and a processor for controlling energization of the variable speed motor; determining a planned pose for the selected implant in a known coordinate system; generating a plurality of boundaries in the known coordinate system based on the selected implant orientation, the boundaries including a drill-specific boundary and a driver-specific boundary; tracking the position of the surgical instrument using the navigation system; activating the drill-specific boundary based on the identification of the end effector as a drill instrument; activating the driver-specific boundary based on the identification of the end effector as a driver instrument; once the drill instrument is identified, controlling energization of the motor of the handpiece based on the drill-specific boundaries and the position of the end effector; once the driver instrument is identified, controlling energization of the motor of the handpiece based on the driver-specific boundaries and the position of the end effector; A method comprising:

15. 1. A surgical system for use by medical personnel in performing a surgical procedure on a patient, comprising: a handheld surgical instrument assembly; Navigation system and and The handheld surgical instrument assembly includes: A handpiece and one of a first end effector and a second end effector, each of which is detachable from the handpiece; a variable speed motor disposed within the handpiece; a processor that controls energization of the variable speed motor; and The navigation system in communication with the processor; determining a first boundary for the first end effector and a second boundary for the second end effector spaced from the first boundary along an axis of the implant based on a planned orientation of the selected implant to be inserted into the patient; sending a first signal to the processor to control energization of the variable speed motor based on a position of the first end effector relative to the first boundary; sending a second signal to the processor to control energization of the variable speed motor based on a position of the second end effector relative to the second boundary; Surgical system.

16. the first end effector is a drill and the second end effector is a driver; the first boundary is disposed perpendicular to the axis of the implant; The surgical system of claim 15.

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