Systems and methods for wireless location determination

Abstract

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

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to and benefit of U.S. Provisional Patent Application No. 63 / 392,177, filed July 26, 2022, and U.S. Provisional Patent Application No. 63 / 424,977, filed November 14, 2022, which are incorporated by reference in their entireties for all purposes.

[0002] (Technical field) The present disclosure relates to systems, devices, assemblies, and methods for wireless localization in surgical and medical procedures. The systems, devices, assemblies, and methods find use in a variety of applications, including integration with surgical tools. [Background technology]

[0003] (background) A common and serious challenge with many medical procedures is the precise location of the treatment area. For example, the location of a lesion, such as a tumor, that will undergo treatment, including surgical resection, continues to present a challenge to the medical community. Existing systems are expensive, complex, time-consuming, and often uncomfortable for the patient.

[0004] Such problems are illustrated by the conventional surgical treatment of pulmonary nodules. Pulmonary nodules can be difficult to locate during conventional open surgery or thoracoscopy; in some cases, hook wires, injections of visible dyes, or radioisotopes are placed in or around the nodule in an attempt to improve localization prior to removal. This procedure typically occurs in a computed tomography (CT) facility prior to removal of the nodule. The patient is then transported to the surgical unit, where the surgeon locates and removes the nodule by cutting wires, using radioisotope detectors, or using visual landmarks.

[0005] Similar types of procedures are performed to locate pulmonary nodules prior to resection. In some cases, where pulmonary nodules may be difficult to locate during traditional open surgery or thoracoscopy, hook wires, injections of visible dyes, or radioisotopes are placed in or around the nodule in an attempt to improve localization prior to removal. This procedure usually occurs in a CT facility prior to removal of the nodule. The patient is then transported to the surgical unit, where the surgeon locates and removes the nodule by cutting wires, using radioisotope detectors, or using visual landmarks.

[0006] Additionally, tools used during medical procedures are also difficult to locate. For example, the location of a handheld tool (e.g., a surgical stapler) utilized by a surgeon cannot be known other than intuitively by the surgeon. Any wired location sensor adds to the number of wires, tubes, etc. extending from the handheld tool, thereby reducing the maneuverability of the tool.

[0007] Improved systems and methods are needed for tissue and tool localization for medical procedures performed in a variety of environments. Summary of the Invention [Means for solving the problem]

[0008] (summary) In one aspect, the present disclosure provides a wireless location system including a surgical tool including a head having an excitation coil, a sensor coil, and a longitudinal axis, and a first wireless tag coupled to the head at a first location along the longitudinal axis. The first wireless tag is configured to generate a first signal in response to a magnetic field generated by the excitation coil. The wireless location system further includes a second wireless tag coupled to the head at a second location along the longitudinal axis. The second location is spaced apart from the first location. The second wireless tag is configured to generate a second signal in response to the magnetic field generated by the excitation coil. The wireless location system further includes a processor that determines a location of the head based on the first signal and the second signal detected by the sensor coil.

[0009] In some embodiments, the system further includes a third wireless tag configured to generate a third signal in response to the magnetic field generated by the excitation coil, and the processor determines a location of the head relative to the third wireless tag based on the first signal, the second signal, and the third signal detected by the sensor coil.

[0010] In some embodiments, the processor determines the orientation of the head.

[0011] In some embodiments, the first wireless tag is 60 mm 3 and defining a first volume of 60 mm or less, and a second wireless tag. 3 Define a second volume:

[0012] In some embodiments, the first wireless tag includes a ferrite rod, a coil wound around the ferrite rod, and an integrated circuit chip in electrical communication with the coil.

[0013] In some embodiments, the first wireless tag includes a shell, and the rod, coil, and integrated circuit chip are positioned within the shell.

[0014] In some embodiments, the system further includes a high magnetic permeability substrate positioned within the shell.

[0015] In some embodiments, the first wireless tag includes an adhesive layer, and the first wireless tag is affixed to the head using the adhesive layer.

[0016] In some embodiments, the first wireless tag includes a first coil and a second coil, the first coil spaced apart from the second coil along the longitudinal axis.

[0017] In some embodiments, the magnetic field generated by the excitation coil is in the range of 1 μT to 50 μT at a frequency in the range of 125 kHz to 150 kHz.

[0018] In some embodiments, the first wireless tag has an inductance value at a frequency in the range of 0.5 mH to 20 mH.

[0019] In some embodiments, the antenna has a quality factor in the range of 5 to 20, where the quality factor is defined as the ratio of inductive reactance to resistance at frequency.

[0020] In some embodiments, the system further includes a user display including a perspective view of the virtual head shown at the head location.

[0021] In some embodiments, the user display includes a top and bottom view, a side view, an endoscopic camera view, or any combination thereof.

[0022] In some embodiments, the user display includes a partial spherical shell that indicates the relative position of the head with respect to the third wireless tag.

[0023] In some embodiments, the user display includes a shortest distance path extending between the virtual head and the partial spherical shell.

[0024] In some embodiments, the virtual head includes a marker to indicate where the shortest distance path intersects with the virtual head.

[0025] In one aspect, the present disclosure provides a device including a wireless probe with a first end and a second end opposite the first end, and a handle removably coupled to the second end of the wireless probe, wherein the wireless probe generates a signal in response to a magnetic field and is located based on the signal.

[0026] In some embodiments, the device further includes a flexible tether coupled to the wireless probe, the tether being positioned within the handle when the handle is coupled to the second end of the wireless probe.

[0027] In some embodiments, the wireless probe includes a plurality of markings along the length of the wireless probe.

[0028] In some embodiments, the wireless probe includes a shaft extending between the first end and the second end, and the handle is aligned with the shaft when the handle is coupled to the second end of the wireless probe.

[0029] In some embodiments, the device is configured for manual operation with a handle coupled to the wireless probe, manual operation with the wireless probe grasped by a surgical tool, and robotic operation with the handle removed from the wireless probe.

[0030] In one aspect, the present disclosure provides a device including a wireless tag and a spool including a mounting portion, the spool configured to be attached to a workspace by the mounting portion, and a tether extending between the wireless tag and the spool.

[0031] In some embodiments, the mounting portion comprises an adhesive.

[0032] In some embodiments, the device further includes a clip configured, at least in part, to receive the wireless tag.

[0033] In some embodiments, the adhesive is positioned on a first side of the mounting portion and the clip is positioned on a second side of the mounting portion.

[0034] In some embodiments, the wireless tag includes multiple markings spaced along the length of the wireless tag.

[0035] In some embodiments, the multiple markings are equally spaced along the length of the wireless tag.

[0036] In some embodiments, the wireless tag includes an opening and the tether extends through the opening.

[0037] In one aspect, the present disclosure provides a wireless tag applicator for a tool. The wireless tag applicator includes a mounting portion including a groove configured to receive at least a portion of the tool, a slider movable relative to the mounting portion along an application axis, and a wireless tag movable with the slider. The wireless tag includes an adhesive portion oriented toward the groove. The wireless tag is coupled to the tool in response to movement of the slider along the application axis.

[0038] In some embodiments, the sliding portion is a first sliding portion, the wireless tag is a first wireless tag, and the applicator further includes a second sliding portion movable relative to the mounting portion along the application axis, and a second wireless tag movable with the second sliding portion.

[0039] In some embodiments, the second wireless tag is coupled to the tool in response to the second slide moving along the application axis.

[0040] In some embodiments, the tool is a surgical stapler and the wireless tag is coupled to a side surface of the first jaw.

[0041] In some embodiments, the groove receives a portion of a second jaw of a surgical stapler.

[0042] In some embodiments, the slider includes a cavity that at least partially receives the wireless tag.

[0043] In some embodiments, the applicator further comprises a magnet positioned within the cavity, and the wireless tag comprises a ferromagnetic rod.

[0044] In some embodiments, the cavity includes a notch and the wireless tag includes a shell with a protrusion positioned within the notch.

[0045] In some embodiments, the applicator further includes a removable substrate coupled to the slider, the removable substrate abutting the adhesive portion of the wireless tag.

[0046] In some embodiments, the removable substrate includes a graspable portion, a first portion extending from the graspable portion along a first axis, a second portion extending along a second axis, and an arcuate portion positioned between the first and second portions.

[0047] In some embodiments, the second axis is spaced from and parallel to the first axis.

[0048] In some embodiments, the slider further includes a spring lever that deflects in response to the slider moving along the application axis.

[0049] In some embodiments, the spring lever biases the slider away from the groove.

[0050] In some embodiments, the mount further includes a ramp portion, and the slider includes a cam portion configured to slide relative to the ramp portion in response to the slider moving along the application axis.

[0051] In some embodiments, the wireless tag applicator generates audible feedback in response to the slider moving along the application axis.

[0052] In one aspect, the present disclosure provides a method for aligning a virtual display viewing height with a camera viewing height, the method including orienting a camera toward a region of interest with a first wireless tag positioned within the region of interest, positioning a second wireless tag within a field of view of the camera, determining a vector between the first and second wireless tags, and orienting the virtual display viewing height using the vector.

[0053] In some embodiments, the camera is part of an endoscope.

[0054] In some embodiments, the region of interest is the patient's thoracic cavity.

[0055] In some embodiments, positioning the second wireless tag within the field of view of the camera includes positioning the second wireless tag in the center of the field of view.

[0056] In some embodiments, positioning the second wireless tag within the field of view of the camera includes positioning the second wireless tag within a threshold distance from the camera.

[0057] In some embodiments, positioning the second wireless tag within the field of view of the camera does not require a specific orientation of the second wireless tag.

[0058] In some embodiments, determining the vector is in response to receiving a user input.

[0059] In some embodiments, determining the vector between the first wireless tag and the second wireless tag includes receiving a first signal from the first wireless tag in response to the magnetic field and receiving a second signal from the second wireless tag in response to the magnetic field.

[0060] Other aspects of the present disclosure will become apparent by consideration of the detailed description and accompanying drawings.

[0061] (definition) As used herein, the terms “processor” and “central processing unit” or “CPU” are used interchangeably and refer to a device capable of reading a program from a computer memory (e.g., a ROM or other computer memory) and performing a set of steps in accordance with the program. As used herein, the term “processor” (e.g., a microprocessor, microcontroller, processing unit, or other suitable programmable device) may include, among other things, a control unit, an arithmetic logic unit (“ALC”), and multiple registers, and may be implemented using known computer architectures (e.g., modified Harvard architecture, von Neumann architecture, etc.). In some embodiments, a processor may be configured to communicate in standalone and / or distributed environments, and may be configured to communicate with other processors via wired or wireless communication, where such one or more processors may be configured to operate on one or more processor-controlled devices, which may be similar or different devices.

[0062] As used herein, the term "memory" refers to any memory storage, non-transitory computer-readable medium. Memory may include, for example, a program storage area and a data storage area. The program storage area and data storage area may include a combination of different types of memory, such as ROM, RAM (e.g., DRAM, SDRAM, etc.), EEPROM, flash memory, a hard disk, an SD card, or other suitable magnetic, optical, physical, or electronic memory devices. A processor is connected to the memory and can execute software instructions, which may be stored in the RAM of the memory (e.g., during execution), the ROM of the memory (e.g., on a substantially permanent basis), or another non-transitory computer-readable medium, such as another memory or a disk. In some embodiments, memory includes one or more processor-readable and accessible memory elements and / or components that may be internal to the processor-controlled device or external to the processor-controlled device and accessible via a wired or wireless network. Software included in the implementation of the methods disclosed herein may be stored in the memory. Software includes, for example, firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. For example, a processor can be configured to read from memory and execute instructions related to, among other things, the processes and methods described herein.

[0063] As used herein, the term "computer-readable medium" refers to any device or system for storing and providing information (e.g., data and instructions) to a computer processor. Examples of computer-readable media include, but are not limited to, DVDs, CDs, hard disk drives, magnetic tapes, and servers for streaming media over a network, whether local or remote (e.g., cloud-based).

[0064] "About" and "approximately" are used to provide flexibility for the numerical range endpoints by assuming that a given value can be "slightly above" or "slightly below" the endpoint without affecting the desired result.

[0065] The term "coupled," as used herein, is defined as "connected," but not necessarily directly, and not necessarily mechanically. The term "coupled" should be understood to mean physically, magnetically, chemically, fluidly, electrically, or otherwise coupled, connected, or joined, and does not exclude the presence of intermediate elements between the coupled elements, unless specifically termed to the contrary.

[0066] As used herein, the term "in electronic communication" refers to electrical devices (e.g., computers, processors, etc.) that are configured to communicate with each other through direct or indirect signal transmission. Similarly, a computer that is configured to transmit information to another computer or device (e.g., through cables, wires, infrared signals, telephone lines, air waves, etc.) also communicates electronically with other computers or devices.

[0067] As used herein, the term "transmitting" refers to the movement of information (e.g., data) from one location to another (e.g., from one device to another) using any suitable means.

[0068] As used herein, the term "network" generally refers to any suitable electronic network, including, but not limited to, a wide area network ("WAN") (e.g., a TCP / IP-based network), a local area network ("LAN"), a neighborhood area network ("NAN"), a home area network ("HAN"), or a personal area network ("PAN"), employing any of a variety of communication protocols, such as Wi-Fi, Bluetooth, ZigBee, etc. In some embodiments, the network is a cellular network such as, for example, a Global System for Mobile Communications ("GSM") network, a General Packet Radio System ("GPRS") network, an Evolution Data Optimized ("EV-DO") network, an Enhanced Data Rates for GSM Evolution ("EDGE") network, a 3GSM network, a 4GSM network, a 5G New Wireless, a Digital Enhanced Radio Telecommunications ("DECT") network, a Digital AMPS ("IS-136 / TDMA") network, or an Integrated Digital Enhanced Network ("iDEN") network.

[0069] As used herein, the term "subject" or "patient" refers to any animal (e.g., mammal), including, but not limited to, humans, non-human primates, companion animals, livestock, equines, rodents, and the like, that will be the recipient of a particular treatment. Typically, the terms "subject" or "patient" are used interchangeably herein in reference to a human subject.

[0070] As used herein, the term "subject / patient suspected of having cancer" refers to a subject who exhibits one or more symptoms indicative of cancer (e.g., a noticeable mass or mass), or is being screened for cancer (e.g., during a routine checkup). A subject suspected of having cancer may also have one or more risk factors. A subject suspected of having cancer generally has not been tested for cancer. However, "subject suspected of having cancer" encompasses individuals who have received an initial diagnosis (e.g., a CT scan showing a mass), but the stage of the cancer is not known. The term also includes people who have had cancer in the past (e.g., individuals in remission).

[0071] As used herein, the term "biopsy tissue" refers to a sample of tissue (e.g., breast tissue) that is removed from a subject for the purpose of determining whether the sample contains cancerous tissue. In some embodiments, biopsy tissue is obtained because a subject is suspected of having cancer. The biopsy tissue is then examined (e.g., by microscopic examination, i.e., by molecular testing) for the presence or absence of cancer.

[0072] As used herein, the term "sample" is used in its broadest sense. In one sense, it is meant to include specimens or cultures obtained from any source, as well as biological and environmental samples. Biological samples may be obtained from animals (including humans) and encompass fluids, solids, tissues, and gases. Biological samples include tissues, blood products such as plasma, serum, and the like. Such examples, however, are not to be construed as limiting the sample types applicable to the present invention.

[0073] As used herein, the terms "tag," "marker tag," "wireless tag," or "SmartClip®" refer to a small marker that, when excited by the time-varying magnetic field of an exciter, will emit a "homing beacon" spectrum of frequencies that is received by a "sensor coil" or "witness coil" and used to determine its location. This is programmed to produce a unique spectrum, thus allowing multiple tags to be located simultaneously.

[0074] As used herein, the terms "comprise," "include," "having," "has," "can," "contain," and variations thereof, are intended to be open-ended transitional phrases, terms, or words that do not exclude the possibility of additional acts or structures. The singular forms "a," "an," and "the" include plural references unless the context clearly dictates otherwise. The present disclosure also contemplates other embodiments "comprising," "consisting of," and "consisting essentially of" the embodiments or elements presented herein, whether explicitly stated or not.

[0075] With respect to the recitation of numerical ranges herein, each intervening number therebetween, with the same degree of precision, is also expressly contemplated. For example, with respect to the range of 6 to 9, the numbers 7 and 8 are also contemplated, in addition to 6 and 9, and with respect to the range of 6.0 to 7.0, the numbers 6.0, 6.1, 6.2, 6.3, 6.4, 6.5, 6.6, 6.7, 6.8, 6.9, and 7.0 are also expressly contemplated.

[0076] In the foregoing description of the preferred embodiment, specific terminology has been used for the sake of clarity. However, it is to be understood that the present invention is not intended to be limited to the specific terminology so selected, and that each specific term includes all technical equivalents that operate in a similar manner and perform a similar technical purpose. Terms such as "top" and "bottom," "front" and "rear," "inner" and "outer," "above," "below," "upper," "lower," "vertical," "horizontal," "upright," and the like are used as words of convenience to provide points of reference. [Brief explanation of the drawings]

[0077] [Figure 1] FIG. 1 is a perspective view of an antenna coupled to a portion of a surgical stapler.

[0078] [Figure 2] FIG. 2 is a graph of modeled Q and inductance values for different winding configurations for the antenna of FIG.

[0079] [Figure 3] FIG. 3 is a schematic diagram of a navigation display for locating a radio tag implanted in the body relative to a tracked probe.

[0080] [Figure 4A] 4A-4C are schematic diagrams of a navigation display in which a tracked probe is in position relative to a radio tag implanted within the body. [Figure 4B] 4A-4C are schematic diagrams of a navigation display in which a tracked probe is in position relative to a radio tag implanted within the body. [Figure 4C]4A-4C are schematic diagrams of a navigation display in which a tracked probe is in position relative to a radio tag implanted within the body.

[0081] [Figure 5A] FIG. 5A is a schematic illustration of a navigation display in which a surgical stapler is wirelessly located relative to a radio tag implanted within the body.

[0082] [Figure 5B] FIG. 5B is a schematic illustration of a navigation display with the surgical stapler of FIG. 5A in a closed or crimping configuration.

[0083] [Figure 6] FIG. 6 is a navigation display in which the surgical stapler is wirelessly located relative to a radio tag.

[0084] [Figure 7] FIG. 7 is a navigation display in which a tracked probe is wirelessly located relative to a radio tag.

[0085] [Figure 8] FIG. 8 is a side view of the device, including the wireless probe and the detachable handle.

[0086] [Figure 9] FIG. 9 is a side view of the device of FIG.

[0087] [Figure 10] FIG. 10 is a perspective view of a device including a wireless probe, a detachable handle, and a tether.

[0088] [Figure 11] FIG. 11 is a front perspective view of a device including a wireless tag and a spool.

[0089] [Figure 12]FIG. 12 is a rear perspective view of the device of FIG.

[0090] [Figure 13] FIG. 13 is a perspective view of the device of FIG. 11 with the spool installed in a work environment and the wireless tag spaced apart from the spool.

[0091] [Figure 14] FIG. 14 is a perspective view of a surgical stapler including a wireless tag.

[0092] [Figure 15] FIG. 15 is a rear perspective view of the wireless tag of FIG.

[0093] [Figure 16] FIG. 16 is a front perspective view of the wireless tag of FIG.

[0094] [Figure 17A] FIG. 17A is a perspective view of an applicator for applying a wireless tag to a surgical stapler shown in a retracted configuration.

[0095] [Figure 17B] FIG. 17B is a perspective view of the surgical stapler and applicator, with the applicator shown in the ready configuration.

[0096] [Figure 17C] FIG. 17C is a perspective view of a surgical stapler mounted on an applicator, with the applicator shown in an activated configuration.

[0097] [Figure 17D] FIG. 17D is a perspective view of the surgical stapler removed from the applicator with the wireless tag mounted on the surgical stapler and the applicator shown in a use configuration.

[0098] [Figure 18A]FIG. 18A is a perspective view of a cross section of the applicator taken along line 18A-18A shown in FIG. 17A.

[0099] [Figure 18B] FIG. 18B is a perspective view of a cross section of the applicator taken along line 18B-18B shown in FIG. 17D.

[0100] [Figure 19] FIG. 19 is a perspective view of a portion of the applicator of FIG. 17D.

[0101] [Figure 20] FIG. 20 is a perspective cross-sectional view of the applicator of FIG. 17A.

[0102] [Figure 21] FIG. 21 is a flow chart of a method for matching the virtual display viewing height to the camera viewing height.

[0103] [Figure 22] FIG. 22 is a schematic diagram of a wireless location system. DETAILED DESCRIPTION OF THE INVENTION

[0104] Before any embodiment is described in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or carried out in various ways.

[0105] (Detailed explanation) Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. In case of conflict, the present specification, including definitions, will control. Preferred methods and materials are described below, although methods and materials similar or comparable to those described herein can also be used in the practice or testing of the present disclosure. All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety. The materials, methods, and examples disclosed herein are illustrative only and are not intended to be limiting.

[0106] Provided herein are systems, devices, assemblies, and methods for integrating remotely located tags into medical procedures. While this specification focuses on medical uses in human tissue, it should be understood that the systems and methods find broader use, including non-human uses (e.g., in conjunction with non-human animals such as livestock, companion animals, wild animals, or any veterinary setting). For example, the systems may be used in environmental settings, agricultural settings, industrial settings, or the like.

[0107] In addition to being localized within human tissue, wireless tags can be integrated into tools to wirelessly track the location and orientation of tools utilized in various medical procedures. Such wireless localization systems are described in detail in U.S. Patent Application No. 17 / 746,105, filed May 17, 2022, which is incorporated herein by reference in its entirety.

[0108] 22 , the present disclosure provides a wireless localization system 2 including an excitation coil 3, a sensor coil 4, and a tool 5 (e.g., a surgical stapler, a surgical tool, a robotic tool). In the illustrated embodiment, the excitation coil 3 and the sensor coil 4 are positioned within a pad 6 that is positioned under a patient 7. In the illustrated embodiment, the pad 6 is positioned within a surgical table 8. Such pads are described in further detail in U.S. Patent Application No. 17 / 746,105, filed May 17, 2022, which is incorporated herein by reference in its entirety.

[0109] 14 , in the illustrated embodiment, a first wireless tag 404 and a second wireless tag 408 are coupled to a tool 5. In particular, the surgical tool 5 includes a head 400 that defines a longitudinal axis 430. In the illustrated embodiment, the head 400 defines a terminal end 434 of the surgical tool 5. In the illustrated embodiment, the tracked tool 400 is a surgical stapler.

[0110] 14 , the first wireless tag 404 is coupled to the head 400 at a first position along the longitudinal axis 430. The first wireless tag 404 generates a first signal in response to a magnetic field generated by the excitation coil 3. The second wireless tag 408 is coupled to the head 400 at a second position along the longitudinal axis 430. The second position is spaced apart from the first position. In some embodiments, the first wireless tag 404 partially overlaps the second wireless tag 408 along the longitudinal axis 430. The second wireless tag 408 generates a second signal in response to the magnetic field generated by the excitation coil 3. In other words, the wireless tags 404, 408 are configured to generate a signal in response to a magnetic field generated by at least one excitation coil 3.

[0111] 14 , the surgical stapler includes a first jaw 412 (e.g., a reload jaw) and a second jaw 418 (e.g., an anvil jaw). A first wireless tag 404 is coupled to a first side 422 of the first jaw 412, and a second wireless tag 408 is coupled to a second side 426 of the first jaw 412 opposite the first side 422. In the illustrated embodiment, the first wireless tag 404 is offset from the second wireless tag 408 along an axis 430 of the first jaw 412. In other words, the first wireless tag 404 is positioned at a first distance relative to a distal tip 434 of the first jaw 412, and the second wireless tag 408 is positioned at a second distance relative to the distal tip 434, the first distance being less than the second distance. In the illustrated embodiment, the wireless tags 404, 408 are applied in locations on the tool 400 such that the wireless tags do not affect the tool's ability to pass through the port (e.g., the port compatibility of the surgical tool remains unchanged by the addition of the wireless tags).

[0112] 22 , signals generated by the wireless tags 404, 408 are detected by at least one sensor coil 4. The system 2 further includes a processor 9 configured to determine a location of the tool 5 based on the signals detected by the sensor coil 4. In some embodiments, the processor 9 is configured to determine an orientation (or orientations) and location of the tool 5 (e.g., localization in six degrees of freedom (6DOF)). In the illustrated embodiment, the processor 9 is electrically coupled to the pad 6 by a wired connection 10. In some embodiments, the processor 9 controls the magnetic field generated by the excitation coil 2 and receives signals detected by the sensor coil 4.

[0113] In some embodiments, the system 2 further includes a third wireless tag 406 that generates a third signal in response to the magnetic field generated by the excitation coil 3. In some embodiments, the third wireless tag 408 is implanted within the patient. The processor 9 is configured to determine the location of the tool 5 relative to the implanted wireless tag 406 based on the signal detected by the sensor coil 4. In other words, the processor 9 determines the location and orientation of the tool head 400 relative to the third wireless tag 406 based on the signal detected by the sensor coil 4.

[0114] Simultaneously, tracking the location and orientation of both the surgical stapler and a wireless tag implanted in or on the patient has advantages. Provided the implanted wireless tag marks a target location (e.g., a cancer), the tissue margin from the target location can be confirmed after the stapler jaws are closed (and after tissue rearrangement caused by stapler closure). In other words, before the stapler engages and cuts the tissue, the positioning and margin are confirmed by the wireless locating system presented herein. If necessary, the stapler can be moved and reclosed before the cut occurs. Thus, the margin can be confirmed with a high degree of confidence.

[0115] Surgical staplers are designed to fit through ports with limited space and clearance. Designing and manufacturing small diameter staplers is difficult, and staplers typically do not have excess space for the port. For example, the SureForm45 stapler available from Intuitive Surgical is designed to pass through a 12 mm port, with very little clearance between the clearance stapler head and the port.

[0116] In some embodiments, the wireless localization system disclosed herein estimates the position and orientation of the stapler head from shaft position and kinematic data originating from a device that controls or monitors stapler head articulation. Because the stapler head may articulate in various directions, it is advantageous to track the stapler head itself instead of tracking only the stapler shaft outside the port. Furthermore, directly tracking the location of the stapler head would require less integration and software embedding, verification, and communication.

[0117] Referring to FIG. 1, stapler head 12 (e.g., the head of a SureForm45 stapler) has a narrow portion 14 on which a wireless tag 18 is mounted. In some embodiments, wireless tag 18 is bonded to narrow portion 14 using an adhesive. In the illustrated embodiment, wireless tag 18 has a thickness 22 in the range of about 0.3 mm to about 0.8 mm. In the illustrated embodiment, wireless tag 18 has a width 26 in the range of about 2 mm to about 4 mm. In some embodiments, wireless tag 18 has a length 30 of about 30 mm. In some embodiments, wireless tag 18 has a length 30 of about 60 mm. 3 In another embodiment, the wireless tag 18 defines a volume of 38 mm 3 The following volumes are defined: In some embodiments, the thickness 22 of the wireless tag 18 is about 0.35 mm, the width 26 is about 3.5 mm, and the length 30 is about 30 mm. In other embodiments, the thickness 22 of the wireless tag 18 is about 0.75 mm, the width 26 is about 2.5 mm, and the length 30 is about 30 mm.

[0118] Continuing with reference to FIG. 1 , in the illustrated embodiment, the wireless tag 18 includes an antenna 34 and a substrate 38. In the illustrated embodiment, the antenna 34 includes a first coil 34A and a second coil 34B. The first coil 34A is spaced apart from the second coil 34B. In the illustrated embodiment, the first coil 34A is spaced apart from the second coil 34B along a longitudinal axis 38 of the tool 10 (e.g., the stapler head longitudinal axis). In the illustrated embodiment, the first coil 34A and the second coil 34B are positioned the same distance from a longitudinal axis 40 of the stapler 12. To achieve high inductance, thin wire is utilized for the coils 34A, 34B, and as many turns as possible are wound within volume constraints. In some embodiments, each coil 34A, 34B has approximately 100 to 150 turns. In some embodiments, coils 34A, 34B each have approximately 250-350 turns.

[0119] In the illustrated embodiment, the wireless tag 18 includes a dual coil antenna 34 with a high magnetic permeability, low electrical conductivity material substrate 38. In some embodiments, the substrate 38 is made from a 3M TM The material is magnetic flux field directing material (FFDM) EM25TP available from Co., Ltd. In some embodiments, the substrate 38 has a relative magnetic permeability (μ′) of about 2,000.

[0120] Even with small space constraints, the antenna 34 can collect and generate sufficient power from the magnetic field transmitted by the excitation coil 34 to generate a signal. In some embodiments, the magnetic field generated by the excitation coil 34 is in the range of about 1 μT to about 50 μT at a frequency in the range of about 125 kHz to about 150 kHz. In some embodiments, the antenna transmits a signal at a frequency offset from the original transmitted signal.

[0121] In some embodiments, the wireless tag 18 (e.g., antenna, substrate, etc.) has an inductance value at a frequency in the range of about 0.5 mH to about 20 mH. In some embodiments, the wireless tag 18 has a quality factor (Q) (e.g., the ratio of inductive reactance to resistance at a frequency) in the range of about 5 to about 20. A higher quality factor (Q) reduces the bandwidth of the wireless tag 18, while a lower quality factor will produce a poor signal. A lower inductance will produce a voltage that is inadequate for powering the wireless tag, and a higher inductance will reduce the magnetic field produced. To power the wireless tag 18, the antenna 34 needs sufficient inductance to provide the proper voltage and must have a high quality factor (e.g., a high ratio of power stored in the circuit per cycle to power dissipated in the circuit per cycle). Furthermore, the antenna 34 must function in close proximity to metal, as staplers, for example, are typically metal.

[0122] Referring to Figure 2, modeling results for various configurations are illustrated. Specifically, the quality factor (Q) and inductance of different winding configurations are illustrated. In some embodiments, Q is approximately 7.7 and the inductance is approximately 3.15 mH. In other embodiments, Q is approximately 9.4 and the inductance is approximately 3.6 mH.

[0123] As detailed herein, system 2 wirelessly tracks tool 5 (e.g., a robotic surgical stapler, a manual surgical stapler) using a low-profile wireless tag (e.g., wireless tag 404, wireless tag 408, wireless tag 18, etc.) that is adhered to stapler head 400 without affecting the stapler's ability to pass through the surgical port.

[0124] 22, system 2 further includes a display 11 (e.g., a monitor) showing a user display 50. Referring to FIG. 3, user display 50 includes a perspective view 54 of the location of tool 52 (e.g., a wireless probe). In the illustrated embodiment, user display 50 also includes an upper and lower view 58, a side view 62, and an endoscopic camera view 66 (e.g., a view drawn from a similar viewing height to that of the endoscopic camera). Endoscopic camera view 66 can be on a separate screen or overlaid on the same screen as views 54, 58, 62. In some embodiments, user display 50 includes a perspective view, an upper and lower view, a side view, an endoscopic camera view, or any combination thereof.

[0125] Continuing with reference to FIG. 3 , the user display 50 illustrates an example wireless tag 407 corresponding to the location of a physical wireless tag 406 implanted within the patient 7 (e.g., within the patient's lungs). In the illustrated embodiment, the example wireless tag 407 is positioned within a sphere 68. In some embodiments, the sphere 68 is a user-defined perimeter around the implanted wireless tag 406. In the illustrated embodiment, the views 54, 58, 62 include two rings 70A, 70B for the XY plane and one ring 74 for the YZ plane. The user display 50 simultaneously illustrates a tool 52 being tracked in real time. In the illustrated embodiment, the tracked tool 52 is represented in the user display 50 as a virtual cylinder 78. In some embodiments, the tracked tool 52 is a wired probe configured to inspect an area ( FIG. 3 ). In other embodiments, the tracked tool is a wirelessly located stapler ( FIG. 5A ). Line 82 illustrates the shortest path between the tracked tool 52 and the sphere 68 of the embedded wireless tag 406. The user display 50 further includes a spherical shell 86 that indicates the relative position of the tool 52 with respect to the embedded wireless tag 406.

[0126] 4A, 4B, and 4C, the spherical shell 86 indicates the relative position of the tool 52 with respect to the implanted wireless tag 406. In other words, the spherical shell 86 provides a context that allows a user viewing the display 50 to understand the relative position of the tool 52 with respect to the implanted wireless tag 406 without having to refer to multiple views. In some embodiments, the spherical shell 86 increases in size as the distance between the tool 52 and the implanted wireless tag 406 increases. With reference to FIG. 4C, as the tracked tool 52 approaches the targeted implanted wireless tag 406, the curvature of the spherical shell 86 increases and the section appears to wrap around the target sphere 68.

[0127] In some embodiments, the color of the spherical shell 86 indicates to a user viewing the display 50 which side of the spherical shell 86 (inside or outside) is facing the viewer. In some embodiments, multiple spherical shells (each with a different size or color) are used to simultaneously display multiple tracked tools. In some embodiments, the color of the spherical shell 86 is light blue when the inner surface of the sphere is viewed by the viewer. This, along with the curvature, indicates to the user, for example, from viewing only the perspective view 54, without having to examine the top and bottom views 58, that the tracked tool 52 is behind the embedded wireless tag 406 ( FIG. 4A ). In some embodiments, the color of the spherical shell 86 is light purple when the outer surface of the sphere is viewed by the viewer. This, along with the curvature, indicates to the user, for example, from viewing only the perspective view 54, without having to examine the top and bottom views 58, that the tracked tool 52 is in front of the embedded wireless tag 406 ( FIG. 4B ).

[0128] 5A-5B, the location of the stapler head 400 relative to the implanted wireless tag 406 is illustrated on the user display 50, where the stapler head 400 is effectively represented as a cylinder 104. In the illustrated embodiment, the length of the cylinder 104 is the same as the length of the stapler head 400. In FIG. 5A, the jaws of the stapler head 400 are open. In FIG. 5B, the jaws of the stapler head 404 are closed. With the stapler jaws closed, the user can advantageously verify the location of the stapler head 404 relative to the implanted wireless tag 406 before cutting any tissue. In other words, tissue may move as the stapler jaws close, and the display 50 illustrates the relative position of the stapler head 400 with respect to the implanted wireless tag 406 after the stapler jaws are closed.

[0129] Referring to FIG. 6 , the user display 150 is illustrated with an oblique view 154, a top-bottom view 158, and a side view 162 showing a virtual head representation 166 (e.g., a virtual head corresponding to the location of a physical stapler head 400) relative to a virtual tag representation 407 (e.g., a virtual tag corresponding to the location of a physical wireless tag 406) implanted within the patient 7. The user display 150 includes a first user-defined volume 170 (e.g., spherical) positioned around the wireless tag representation 407 (e.g., to indicate the size and shape of a tumor) and a second user-defined volume 174 (e.g., spherical) positioned around the first user-defined volume 170 (e.g., to represent a desired perimeter from the tumor). In some embodiments, the user-defined volumes 170, 174 are not spherical. The user display 150 further includes a shortest distance path 178 extending between the virtual head representation 166 (e.g., virtual head) and a partial spherical shell 182. In some embodiments, the partial spherical shell 182 operates similarly to the spherical shell 86 of the user display 50 discussed herein. The user display 150 further includes a marker 186 positioned on the virtual head 166 to indicate where the shortest distance path 178 intersects with the virtual head 166. In other words, the marker 186 identifies the portion of the head 400 that is closest to the wireless tag 406. In the illustrated embodiment, the marker 186 is a ring wrapped around the virtual head representation 166. In some embodiments, the user display 150 includes a virtual patient 190 that represents the orientation of the patient 7 in any given view (e.g., views 154, 158, 162).

[0130] 7, user display 150 is shown with a virtual wireless probe representation 194 (e.g., a virtual tag corresponding to the location of physical wireless probe 204, FIG. 8) versus a virtual tag representation 407 (e.g., a virtual tag corresponding to the location of physical wireless tag 406) implanted within patient 7. In some embodiments, user display 150 toggles between visualizing the position and orientation of the tracked wireless tag (FIG. 7) and visualizing the position and orientation of the tracked stapler (FIG. 6).

[0131] In some embodiments, the user display is presented within the robotic console and / or is rendered from approximately the same viewing height as the endoscopic view. In some embodiments, a wireless localization system follows the robot's positioning flow and determines the viewpoint of the endoscopic camera. In some embodiments, the viewpoint of the user display is configured to correspond to the endoscopic view. In some embodiments, two video outputs to the robotic console are presented to the user simultaneously, providing a stereoscopic 3D view.

[0132] Referring to FIG. 21 , a method 700 for aligning a virtual display (e.g., display 150, display 50, etc.) with a camera view height (e.g., endoscopic camera view height) is illustrated. Method 700 includes orienting a camera (e.g., an endoscopic camera) toward a region of interest with a first wireless tag positioned within the region of interest (step 701). In some embodiments, the camera is part of an endoscope. In some embodiments, the camera is part of a robotic surgical system. In some embodiments, the region of interest is a patient's thoracic cavity. Method 700 further includes positioning a second wireless tag within the field of view of the camera (step 702). In some embodiments, positioning the second wireless tag within the field of view of the camera includes centering the second wireless tag within the field of view. In some embodiments, positioning the second wireless tag within the field of view of the camera includes positioning the second wireless tag within a threshold distance from the camera. In some embodiments, the threshold distance is approximately 6 inches. In other embodiments, the threshold distance is approximately 1 inch. In some embodiments, the threshold distance is in the range of about 1 inch to about 6 inches. Advantageously, positioning the second wireless tag within the field of view of the camera does not require a specific orientation of the second wireless tag.

[0133] Method 700 further includes determining a vector between the first and second wireless tags (step 703) and orienting the virtual display viewing height using the vector (step 704). In some embodiments, determining the vector is responsive to receiving a user input (e.g., a button press). In some embodiments, determining the vector between the first and second wireless tags includes receiving a first signal from the first wireless tag in response to the magnetic field and receiving a second signal from the second wireless tag in response to the magnetic field.

[0134] In one embodiment, the camera alignment method for an endoscopic procedure is summarized as follows: (a) The user orients the endoscope so that the expected location of the tumor is approximately centered within the endoscope display. (b) The user then inserts the probe into the thoracic cavity (if not already present). (c) The user moves the probe as close as possible to the endoscope lens, centering the probe within the endoscope display. The orientation of the probe does not affect this process. (d) The user presses a software button to instruct the system to realign the camera with the primary user display. (e) The processor runs software to calculate the generated vector between the probe center and the target radio tag center. (f) The processor runs software to align the vector with the virtual camera in the user display. (g) The endoscope and user display are displayed in the same orientation. This process can be repeated as necessary if the endoscope is moved to an area where the alignment is no longer accurate.

[0135] 8 and 9, device 200 includes a wireless probe 204 and a handle 208 removably coupled to the wireless probe 204. In some embodiments, the wireless probe 204 includes a wireless tag similar to those described herein. For embodiments in which the wireless probe 204 includes a single wireless tag, the wireless tag is as large as possible without affecting port compatibility (e.g., the ability of the wireless probe 204 to pass through a given diameter circle). In some embodiments, the wireless probe 204 includes at least two wireless tags. For embodiments in which the wireless probe 204 includes two wireless tags, the two wireless tags are positioned with an angle formed between them. In some embodiments, the angle between the two wireless tags in the wireless probe is up to about 90 degrees.

[0136] The wireless probe 204 includes a first end 212 and a second end 216 opposite the first end 212. In the illustrated embodiment, the first end 212 is tapered and includes a point. The handle 208 is removably coupled to the second end 216 of the wireless probe 204. In some embodiments, the handle 208 engages the wireless probe 204 using a releasable interference fit. In other embodiments, the handle selectively engages the wireless probe using a latch, release, hook, or any other suitable mechanism.

[0137] The wireless probe 204 assists in locating another wireless tag, for example, implanted within the patient. See, for example, Figure 3. In other words, the device 200 is a wirelessly tracked tool, and the wireless probe 204 is located in response to an electric field (e.g., an electric field generated by an excitation coil).

[0138] The device 200 is configured for manual and / or robotic operation. As an example of manual operation, a handle 208 can be attached to the wireless probe 204, and a user physically moves the wireless probe via the handle 208. As another example of manual operation, the wireless probe 204 is grasped by a surgical tool (e.g., surgical forceps) operated by a user. In some embodiments, the handle 208 is replaced with the use of a surgical tool. For robotic operation, the handle 208 can be removed from the wireless probe 204, and the wireless probe 204 is grasped directly, for example, by a robotic actuator or a robotically operated surgical tool. In some embodiments, the wireless probe 204 includes a durable, soft exterior that is easily grasped by a robotic actuator. In other words, the wireless probe 204 includes a soft material coating an outer shell such that the wireless probe 204 is easily grasped by either a manual operation or a robotically operated grasper.

[0139] 10 , device 300 includes a wireless probe 304, a handle 308 removably coupled to wireless probe 304, and a flexible tether 310 coupled to wireless probe 304. Wireless probe 304 includes a first end 312 and a second end 316 opposite first end 312. Handle 308 is removably coupled to second end 316 of wireless probe 304. A shaft 320 extends between first end 312 and second end 316. When handle 308 is coupled to second end 316 of wireless probe 304, handle 308 is aligned with shaft 320. In the illustrated embodiment, wireless probe 304 includes multiple length markings 324 spaced along shaft 320. In some embodiments, the spacing between adjacent markings 324 is equal.

[0140] The flexible tether 310 is positioned within the handle 308 when the handle 308 is coupled to the second end 316 of the wireless probe 304. In other words, the flexible tether 310 is exposed if and / or when the handle 308 is removed from the wireless probe 304. In some embodiments, the handle is detachable from the tether. In other embodiments, the handle is retained on the tether (e.g., when a user slides the handle back, the tether remains within the handle core). The tether 310 can be utilized to receive the wireless probe if it is dropped, for example, by a human or robotic operator. In other words, the tether 310 allows for easy removal or retrieval of the wireless probe 304 from the cavity. In some embodiments, a tether is not included. In some embodiments, a handle is not included.

[0141] 11-13, device 800 includes a wireless tag 804, a spool 808, and a tether 812 extending between wireless tag 804 and spool 808. Spool 808 includes a mounting portion 816, and spool 808 is configured to be attached to workspace 820 by mounting portion 816 (FIG. 13). In the illustrated embodiment, mounting portion 806 includes an adhesive portion 824 with a removable substrate 828.

[0142] 11 , device 800 includes, at least in part, clip 832 configured to receive wireless tag 804. In other words, wireless tag 804 is positioned within clip 832 in the storage configuration. In the storage configuration, tether 812 is wound around spool 808. In the illustrated embodiment, adhesive 824 is positioned on first side 817 of mounting portion 816, and clip 832 is positioned on second side 818 of mounting portion 816.

[0143] 11 and 13, wireless tag 804 includes a plurality of markings 836 spaced apart along a length 840 of wireless tag 804. In the illustrated embodiment, markings 836 are equally spaced apart along length 840 of wireless tag 804. Wireless tag 804 further includes an opening 844 formed at one end. Tether 812 extends through opening 844 and is secured to wireless tag 804.

[0144] 13 , in operation, spool 808 is attached to work environment 820 and tether 812 is at least partially unwound from spool 808 with wireless tag 804 spaced apart from spool 808. Wireless tag 804 of device 800 can be deployed (e.g., positioned within a patient) and located without any electrical wires connected to wireless tag 804, while tether 812 advantageously allows wireless tag 804 to be easily retrieved, for example, by a surgeon after a procedure is completed.

[0145] 15 and 16, a wireless tag 500 is illustrated. In some embodiments, the wireless tag 500 corresponds to either or both of the wireless tag 404 and the wireless tag 408. The wireless tag 500 includes a rod 504 and a coil 508 coupled to the rod 504. In some embodiments, the rod 504 is a ferrite rod. Ferrite advantageously has high magnetic permeability (μ′) and low complex permeability (μ″) at the operating frequency. High permeability increases inductance, and low complex permeability reduces core loss. In some embodiments, the rod 504 has a large aspect ratio (e.g., a large length-to-diameter ratio). In some embodiments, the length of the rod 504 is in the range of about 15 mm to about 20 mm. In some embodiments, the diameter of the rod 504 is in the range of about 0.6 mm to about 0.75 mm.

[0146] Coil 508 includes several turns wound around rod 504. In some embodiments, coil 508 includes several turns around rod 504 in a range of about 500 to about 1,000. In some embodiments, the number of turns is in a range of about 400 to about 1,200. In some embodiments, coil 508 is made from wire in a range of 47 AWG and 53 AWG. In some embodiments, coil 508 has several layers of turns in a range of 1 to 3 layers. In some embodiments, the turns and layers of coil 508 are selected to produce an inductance in a range of about 2 mH to about 5 mH. In the illustrated embodiment, rod 504 and coil 508 are aligned with axis 512.

[0147] The wireless tag 500 further includes an integrated circuit chip 516 electrically coupled to the coil 508. In some embodiments, the integrated circuit chip 516 is a contactless identification device. In some embodiments, the wireless tag 500 further includes a high magnetic permeability substrate. In some embodiments, the substrate is a 3M TMThe substrate is a magnetic flux field directing material (FFDM) EM25TP available from Microelectronics, Inc. In some embodiments, the substrate has a relative magnetic permeability (μ′) of about 2,000. In some embodiments, the substrate is positioned between the rod 504 and the tool to increase the overall inductance and Q factor.

[0148] Wireless tag 500 further includes a shell 524. In some embodiments, rod 504, coil 508, and integrated circuit chip 516 are positioned within shell 524. In some embodiments, a high magnetic permeability substrate is positioned within shell 524. Wireless tag 500 further includes an adhesive layer 528. In the illustrated embodiment, adhesive layer 528 is bonded to shell 524. In some embodiments, adhesive layer 528 bonds wireless tag 500 to a tool surface (e.g., side 422 of jaw 412, FIG. 14 ). In other words, wireless tag 500 is configured to be affixed to a tool using adhesive layer 528. In some embodiments, wireless tag 500 is potted, glued, or epoxied to the tool surface.

[0149] 16, shell 524 includes a flange 532, a recess 536 for receiving rod 504, and at least one protrusion 540. In the illustrated embodiment, shell 524 includes multiple protrusions 540. As described in further detail herein, protrusions 540 advantageously ensure proper loading, for example, into an applicator (e.g., applicator 600, FIG. 17A). In some embodiments, shell 524 is formed from glass.

[0150] 17A-17D, an applicator 600 for applying wireless tags 404, 408 to a tool head 400 is illustrated. The applicator 600 includes a mounting portion 616 with a groove 620 configured to receive at least a portion of the tool head 400. The applicator 600 includes a first sliding portion 624 movable relative to the mounting portion 616 along an application axis 628 (FIG. 17C) and a second sliding portion 632 movable relative to the mounting portion 616 along the application axis 628. Before the wireless tags 404, 408 are applied to the tool head 400, the first wireless tag 404 is coupled to and movable with the first sliding portion 624, and the second wireless tag 408 is coupled to and movable with the second sliding portion 632. In the illustrated embodiment, the wireless tags 404, 408 include an adhesive portion (e.g., adhesive layer 528, FIG. 15 ) that is oriented toward the groove 620. In other words, the adhesive portion on the wireless tags 404, 408 is oriented toward the tool head 400 when the tool is coupled to the mounting portion 616.

[0151] 17A , applicator 600 includes a removable substrate 636 coupled to first sliding portion 624 and second sliding portion 632. Removable substrate 636 includes a first side 640 that abuts the adhesive portion of first wireless tag 404 and a second side 644 that abuts the adhesive portion of second wireless tag 408. Removable substrate 636 includes a grippable portion 648 that is grippable by a user to pull and remove removable substrate 636 from applicator 600 and expose wireless tags 404, 408. Each side 640, 644 includes a first portion 652 extending from grippable portion 648 along a first axis 656, a second portion 660 extending along a second axis 664, and an arcuate portion 668 positioned between first portion 652 and second portion 660. In the illustrated embodiment, the second axis 664 is spaced from and parallel to the first axis 656. Advantageously, the entire removable substrate 636 is removable from both the first wireless tag 404 and the second wireless tag 408 with a single pulling motion of the grippable portion 648 by the user. In other words, the adhesive on both wireless tags 404, 408 is exposed in response to the user pulling the grippable portion 648 in the removal direction 672.

[0152] Referring to FIG. 17B, in the illustrated embodiment, the tool is a surgical stapler and groove 620 receives a portion of second jaw 418 of stapler head 400.

[0153] 17C, the wireless tags 404, 408 are coupled to the tool head 400 in response to movement of the sliders 624, 632 along the application axis 628. Specifically, once the tool head 400 is in position on the applicator 600, the user moves the sliders 624, 632 along the axis 628 to load the wireless tags 404, 408 onto the tool 5.

[0154] 17D , after contacting the tool head 400, the sliders 624, 632 are retracted away from the tool head 400, leaving the wireless tags 404, 408 coupled to the tool 5. In the illustrated embodiment, the wireless tag 404 is coupled to a side surface 422 of the jaw 412 and the wireless tag 408 is coupled to an opposing side surface 426 of the jaw 412. Advantageously, the applicator 600 physically aligns the stapler head 400 and the jaws 412, 418 to ensure that the wireless tags 404, 408 are applied in the correct location on the stapler 5.

[0155] 17D, 18A, 19, and 20, first slide 624 includes a first cavity 676 that at least partially receives first wireless tag 404. Similarly, second slide 632 includes a second cavity 680 that at least partially receives second wireless tag 408. At least one magnet 684 is positioned within first cavity 676 and magnetically coupled to first wireless tag 404 (e.g., ferromagnetic rod 504). Referring to FIG. 19, in the illustrated embodiment, multiple magnets 684 are positioned within cavity 676 and magnetically support wireless tag 404 within cavity 676 before wireless tag 404 is attached to surgical stapler head 400.

[0156] 19 , cavity 676 includes a notch 688. In some embodiments, notch 688 facilitates insertion of magnet 684. In some embodiments, notch 688 receives protrusion 540 formed on shell 524 of wireless tag 404. In other words, when applicator 600 is in the configuration shown in FIGS. 17A and 17B , cavity 676 includes notch 688 and first wireless tag 404 includes shell 524 with protrusion 540 positioned within notch 688.

[0157] 18A and 18B, the first slide 624 includes a spring lever 690 and the second slide 632 includes a spring lever 692. The spring lever 690 abuts a portion of the mount 616 as the first slide 624 moves relative to the mount 616. Similarly, the spring lever 692 abuts a portion of the mount 616 as the second slide 632 moves relative to the mount 616. In the illustrated embodiment, the spring levers 690, 692 deflect in response to the slides 624, 632, respectively, moving along the apply axis 628 to attach the wireless tags 404, 408 to the stapler head 400. After compression of the slides 624, 632 is removed, the spring levers 690, 692 urge the slides 624, 632 away from the groove 620 and the stapler head 400 positioned within the groove 620. In other words, as the slides 624, 632 are compressed by the user, the spring levers 690, 692 deflect as they abut the mounting portion 616. When the slides 624, 632 are released by the user, the spring levers 690, 692 urge the slides 624, 632 away from the tool head 400. Advantageously, after the wireless tags 404, 408 are attached to the tool head 400, as the surgical tool 5 is removed from the applicator 600, the sliders 624, 632 are biased away from the head 400 a sufficient distance to provide clearance for the wireless tags 404, 408 to exit the applicator 600 without contacting the applicator 600. In other words, the spring levers 690, 692 bias the sliders 624, 632 outward, providing clearance for the wireless tags 404, 408 as they are removed with the stapler head 400.

[0158] 18A and 18B , mount 616 further includes a ramp portion 694, and first slide 624 includes a cam portion 696. Similarly, second slide 632 includes a cam portion 696 that corresponds to another ramp portion 694 formed on mount 616. Cam portion 696 is configured to slide relative to ramp portion 694 in response to movement of slides 624, 632 along application axis 628. In some embodiments, wireless tag applicator 600 generates audible feedback (e.g., a click) in response to movement of first slide 624 and / or second slide 632 along application axis 628. In the illustrated embodiment, the audible click is generated in response to cam portion 696 riding over ramp portion 694 on mount 616. Advantageously, the audible feedback signals the user that the sliders 624 , 632 have been compressed a sufficient distance to successfully apply the wireless tags 404 , 408 to the stapler head 400 .

[0159] Various features and advantages are set forth in the following claims.

Claims

1. 1. A wireless location system, comprising: An excitation coil; A sensor coil; a surgical tool including a head defining a longitudinal axis; a first wireless tag coupled to the head at a first position along the longitudinal axis, the first wireless tag configured to generate a first signal in response to a magnetic field generated by the excitation coil; a second wireless tag coupled to the head at a second position along the longitudinal axis, the second position being spaced apart from the first position, the second wireless tag configured to generate a second signal in response to the magnetic field generated by the excitation coil; a processor that determines a location of the head based on the first signal and the second signal detected by the sensor coil; and A system comprising:

2. 2. The system of claim 1, further comprising a third wireless tag configured to generate a third signal in response to the magnetic field generated by the excitation coil, and the processor determines the location of the head relative to the third wireless tag based on the first signal, the second signal, and the third signal detected by the sensor coil.

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

4. The first wireless tag is 60 mm ３ and defining a first volume of 60 mm or less, and the second wireless tag is ３ The system of claim 1 , defining a second volume:

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

6. The system of claim 5 , wherein the first wireless tag includes a shell, and the rod, the coil, and the integrated circuit chip are positioned within the shell.

7. The system of claim 6 , further comprising a high magnetic permeability substrate positioned within the shell.

8. The system of claim 5 , wherein the first wireless tag includes an adhesive layer, and the first wireless tag is affixed to the head using the adhesive layer.

9. The system of claim 1 , wherein the first wireless tag includes a first coil and a second coil, the first coil being spaced apart from the second coil along the longitudinal axis.

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

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

12. 11. The system of claim 10, wherein the antenna has a quality factor in the range of 5 to 20, said quality factor being defined as the ratio of inductive reactance to resistance at said frequency.

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

14. The system of claim 13 , wherein the user display includes a top and bottom view, a side view, an endoscopic camera view, or any combination thereof.

15. The system of claim 13 , wherein the user display includes a partial spherical shell that indicates the relative position of the head with respect to a third wireless tag.

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

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

18. A device, a wireless probe with a first end and a second end opposite the first end; a handle removably coupled to the second end of the wireless probe; and Equipped with The wireless probe generates a signal in response to a magnetic field and the device is located based on the signal.

19. 20. The device of claim 18, further comprising a flexible tether coupled to the wireless probe, the tether being positioned within the handle when the handle is coupled to the second end of the wireless probe.

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

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

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

23. A device, A wireless tag and a spool including a mounting portion, the spool configured to be attached to a workspace by the mounting portion; a tether extending between the wireless tag and the spool; A device comprising:

24. 24. The device of claim 23, wherein the mounting portion comprises an adhesive.

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

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

27. 24. The device of claim 23, wherein the wireless tag includes a plurality of markings spaced along the length of the wireless tag.

28. 28. The device of claim 27, wherein the plurality of markings are equally spaced along the length of the radio frequency tag.

29. 24. The device of claim 23, wherein the wireless tag includes an opening and the tether extends through the opening.

30. 1. A wireless tag applicator for a tool, the wireless tag applicator comprising: a mounting portion including a groove configured to receive at least a portion of the tool; a slider movable relative to the mounting portion along an application axis; a wireless tag that is movable with the slider, the wireless tag including an adhesive portion that is oriented toward the groove; Equipped with The wireless tag applicator, wherein the wireless tag is coupled to the tool in response to movement of the slider along the application axis.

31. 31. The radio tag applicator of claim 30, wherein the sliding portion is a first sliding portion, the radio tag is a first radio tag, and the applicator further includes a second sliding portion movable relative to the mounting portion along the application axis, and a second radio tag movable together with the second sliding portion.

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

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

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

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

36. 36. The radio frequency tag applicator of claim 35, further comprising a magnet positioned within the cavity, wherein the radio frequency tag comprises a ferromagnetic rod.

37. 36. The wireless tag applicator of claim 35, wherein the cavity includes a notch, and the wireless tag includes a shell with a protrusion positioned within the notch.

38. 31. The wireless tag applicator of claim 30, further comprising a removable substrate coupled to the sliding portion, the removable substrate abutting the adhesive portion of the wireless tag.

39. 39. The radio tag applicator of claim 38, wherein the removable substrate includes a grippable portion, a first portion extending from the grippable portion along a first axis, a second portion extending along a second axis, and an arcuate portion positioned between the first portion and the second portion.

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

41. 31. The radio tag applicator of claim 30, wherein the slider further includes a spring lever, the spring lever deflecting in response to movement of the slider along the application axis.

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

43. The radio tag applicator of claim 30, wherein the mounting portion further includes a sloped portion, and the sliding portion includes a cam portion configured to slide against the sloped portion in response to the sliding portion moving along the application axis.

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

45. 1. A method for aligning a virtual display viewing height with a camera viewing height, the method comprising: orienting a camera toward a region of interest with a first wireless tag located within said region of interest; positioning a second wireless tag within the field of view of the camera; determining a vector between the first wireless tag and the second wireless tag; orienting the virtual display viewing height using the vector; and A method comprising:

46. 46. The method of claim 45, wherein the camera is part of an endoscope.

47. 46. The method of claim 45, wherein the region of interest is the patient's thoracic cavity.

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

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

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

51. 46. The method of claim 45, wherein determining the vector is in response to receiving a user input.

52. 46. The method of claim 45, wherein determining the vector between the first and second wireless tags comprises receiving a first signal from the first wireless tag in response to a magnetic field and receiving a second signal from the second wireless tag in response to the magnetic field.

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