NAVIGATION ARRAY FOR USE WITH A ROBOTIC ARM AND ASSOCIATED METHODS - Patent application

Abstract

The navigated instrument guide system and associated method can identify the absolute position of an instrument received within an instrument mounting body of a robotic arm. The navigation array unit of the guide system can include a primary array and a mounting array. The primary array can identify the position of the robotic arm and the instrument mounting body, while the mounting array can identify the depth position of the distal end of an instrument received within the instrument mounting body. The instrument can pass through the lumen of the mounting array when the instrument is inserted into the instrument mounting body. The mounting array can be configured to translate relative to the instrument mounting body and the primary array with distal translation of the instrument. In this manner, the position of the mounting array can identify the depth position of the instrument without a mechanical connection between the mounting array and the instrument.

Description

[Technical field]

[0001] For example, navigation arrays and associated methods are disclosed herein for locating, tracking, and / or navigating instruments in connection with robotic or robotic-assisted surgery. [Background technology]

[0002] Many different surgical procedures utilize some form of surgical navigation or tracking to assist in locating a surgical instrument relative to a portion of a patient's anatomy during surgery. One such type of procedure is robotic or robot-assisted surgery, where surgical navigation can be important to properly locate a robotically controlled or robotically assisted surgical instrument relative to the patient.

[0003] In known surgical navigation techniques, a navigation array or tracker may be mounted on an instrument that is received and / or controlled by a robotic arm to identify the position of the instrument. In some examples, the navigation array or tracker may be integrally formed with the instrument itself. However, such a solution may be inconvenient due to lack of ability to separate the array from the instrument or to couple the array to other instruments. Furthermore, an arrangement having a navigation array integrally formed with the instrument may require separate instruments for standard and navigational use, thereby increasing the cost of the instrument. In other examples, the navigation array may be removably attached to the instrument and used to track the position of multiple instruments throughout the course of a surgical procedure. However, this approach requires unloading and reloading the array for each particular instrument each time a different instrument is used. These steps may be time consuming and may increase the risk of damaging surgical components such as instruments, arrays, robotic arms, etc. due to the increased handling of the instruments required, which may disrupt and / or interrupt the flow of the surgical procedure. Furthermore, there may be an increased risk of incorrect calibration when reloading the array to a new instrument. Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, there is a need for improved systems, methods, and apparatus for locating the position of instruments associated with a robotic surgical arm in a precise, more efficient, and less interruptive manner during the course of a robotic or robotically-assisted surgical procedure. [Means for solving the problem]

[0005] A navigated instrument guide system is disclosed herein to accurately and precisely identify the absolute location of a robotic arm and an instrument associated therewith in a manner that does not interrupt the flow of a surgical procedure or require excessive handling of the instrument. The navigation array unit of the instrument guide system may include a primary array configured to locate the position of a distal end of the robotic arm and a mounting array configured to locate the distal tip of an instrument received within the instrument guide system, more particularly, the depth position of the distal tip of the instrument. In some embodiments, locating the position of the distal end of the robotic arm may include identifying an absolute position of an instrument guide system (e.g., an instrument mounting), which may be coupled to the distal end of the robotic arm in a known manner. In other embodiments, locating the position of the distal end of the robotic arm may include identifying a position of a longitudinal axis of the instrument guide system along which the instrument may be received. The primary array may be coupled to the distal end of the robotic arm, and the mounting array may be mounted on the primary array such that the mounting array may translate relative to the primary array. The mounting array can include a lumen through which an instrument can be inserted into the instrument mount of the navigated instrument guide system. The mounting array can move longitudinally relative to the main array and the instrument mount in conjunction with longitudinal movement of the instrument within the instrument mount. Thus, movement of the mounting array can be tracked and the depth location of the distal tip of the instrument can be identified or located.

[0006] In one aspect, a surgical assembly can include a first array coupled to a surgical robotic arm and configured to locate a distal portion of the arm, an instrument mount, and a second array. The instrument mount can be coupled to the robotic arm and can have a proximal end, a distal end, and a lumen extending therebetween. The second array can be configured to move relative to the instrument mount and the first array as an instrument passes through the lumen of the instrument mount, and can be configured to move along a path defined by the first array.

[0007] The devices and methods described herein can have many additional features and / or variations, all of which are within the scope of the present disclosure. In some embodiments, for example, the first array can be configured to locate the longitudinal axis of the instrument mount. The second array can be configured to move along a slot formed in the first array. In some such embodiments, the second array can also be configured to translate along the longitudinal axis of the instrument mount. The first array can be stationary relative to a distal portion of the robotic arm, and the second array can be configured to move longitudinally relative to the first array and the instrument mount with the longitudinal movement of an instrument received within the lumen of the instrument mount.

[0008] The second array may include an array frame, an extension, and a tubular body. The tubular body of the second array may have a proximal end, a distal end, and a lumen extending therebetween. The lumen of the tubular body may be configured to receive an instrument therethrough. In some such embodiments, the lumen of the second array may be coaxial with the lumen of the instrument mount. The second array may include a plurality of tracking elements. In some embodiments, the first array may include a greater number of tracking elements than the second array.

[0009] The surgical assembly may further include a biasing element configured to urge the second array proximally relative to the instrument mount. In some embodiments, the biasing element may be disposed within an inner lumen of the instrument mount. In other embodiments, the biasing element may be disposed proximally of the instrument mount.

[0010] In another aspect, a surgical robotic system may include an instrument mount, an instrument, a first array component, and a second array component. The instrument mount may be coupled to the surgical robotic arm and may have a proximal end, a distal end, and a lumen extending therebetween. The instrument may have an instrument body with a collar formed on the instrument body at a location proximal to a distal tip of the instrument. The first array component may be configured to locate a distal portion of the surgical robotic arm. The second array component may have a tubular body received within the lumen of the instrument mount. The second array may be configured to advance distally with the instrument when the collar of the instrument contacts a proximal portion of the second array component.

[0011] The surgical robotic system may further include a spring extending between the second array component and the instrument mount, such that the spring can compress and expand with longitudinal movement of the second array component. In some such embodiments, the spring may be biased away from the instrument mount. The instrument may be any of a drill, a tap, a needle, a stylus, and a probe. A distal-facing surface of the instrument collar may be configured to contact a proximal-facing surface of the second array component, such that distal movement of the instrument may cause distal movement of the second array component. A distance between a proximal end of the second array component and a distal end of the instrument mount may be substantially equal to a distance between a collar formed on the instrument body and a distal tip of the instrument.

[0012] In yet another aspect, a surgical method may include positioning an instrument for insertion into a navigated instrument guide, which may have a primary array, a mounting array, and an instrument mounting. The method may include inserting the instrument into the navigated instrument guide such that the instrument extends through a lumen of the mounting array and a lumen of the instrument mounting, moving the instrument distally through the navigated instrument guide such that the instrument contacts the mounting array and moves the mounting array distally along a path defined by the primary array, and tracking a distal tip of the instrument based on a position of the mounting array.

[0013] In some embodiments, the instrument mounting can be at a distance from the patient's body. The instrument can include a collar formed thereon that contacts and drags the mounting array distally when the instrument is advanced distally through the instrument mounting. The mounting array can move distally relative to the main array and the instrument mounting when the instrument is advanced distally through the instrument mounting.

[0014] Further, in some embodiments, tracking of the distal tip of the instrument may be based on the position of the mounting array and a fixed distance between a collar formed on the instrument and the distal tip of the instrument.

[0015] Any of the above-described features or variations may be applied to any particular aspect or embodiment of the present disclosure in several different combinations, and no explicit description of any particular combination is provided, simply to avoid redundancy in this summary. [Brief description of the drawings]

[0016] [Figure 1] 1 illustrates an embodiment of a surgical robotic system including one embodiment of a navigated instrument guide system according to the present disclosure. [Figure 2A] 1 illustrates steps in an embodiment of a method for identifying a depth of an instrument associated with a robotic arm according to the present disclosure. [Figure 2B] 13 illustrates another step in an embodiment of a method for identifying a depth of an instrument associated with a robotic arm according to the present disclosure. [Figure 2C] 13 illustrates yet another step of a method for identifying a depth of an instrument associated with a robotic arm in accordance with the present disclosure. [Figure 2D] 13 illustrates yet another step of a method for identifying a depth of an instrument associated with a robotic arm in accordance with the present disclosure. [Figure 3A] 2 illustrates an exploded view of the navigated instrument guide system shown in FIG. 1. [Figure 3B] 1 illustrates one embodiment of an adapter of the navigated instrument guide system of the present disclosure. [Figure 4] FIG. 2 is a perspective view of the navigated instrument guide system shown in FIG. 1 with an instrument received therein. [Diagram 5] FIG. 2 is a front view of the main array of the navigated instrument guide system shown in FIG. 1. [Figure 6] FIG. 6 is a perspective view of the main array of FIG. 5. [Figure 7] FIG. 2 is a perspective view of a mounted array of the navigated instrument guide system shown in FIG. 1. [Figure 8] FIG. 2 is a perspective view of an instrument mount of the navigated instrument guide system shown in FIG. 1. [Figure 9] FIG. 9 is an exploded view of the instrument mount shown in FIG. 8, showing the instrument guide and adapter. [Figure 10] FIG. 1 is a front view of one embodiment of an instrument that may be used in association with the navigated instrument guide system of the present disclosure. [Figure 11] FIG. 2 is a detailed perspective view of the navigated instrument guide system of FIG. 1 with an instrument received therein. [Figure 12] 2 is another perspective view of the navigated instrument guide system shown in FIG. 1 with an instrument received therein. [Figure 13] FIG. 2 is a side view of the navigated instrument guide system shown in FIG. 1. [Figure 14]1 illustrates another embodiment of a navigated instrument guide system according to the present disclosure. [Figure 15] 15 shows an exploded view of the navigated instrument guide system of FIG. 14. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Disclosed herein is a navigated instrument system and associated methods for identifying, visualizing, and / or tracking the absolute location of a robotic arm and associated instruments (i.e., instruments, devices, tools, etc., received at a distal end of a robotic arm configured to interact with a surrounding environment) over the course of a surgical procedure, for example. The navigated instrument system of the present disclosure may include a navigation array unit having a primary array (also referred to as a first array) and a mounted array (also referred to as a second array). The navigation array unit may identify the location of a plurality of instruments over the course of a surgical procedure without mechanically attaching the navigation array unit to any of the plurality of instruments. The primary array may be coupled to the surgical robotic arm and configured to locate the absolute position of the robotic arm in three-dimensional space. The mounted array may be mounted to the primary array and configured to locate the position of the received instrument based on the position of the mounted array. More specifically, the mounted array may be configured to receive a portion of an instrument inserted into an instrument mount of the navigated instrument system and may move relative to the primary array and the instrument mount with longitudinal movement of the instrument. In this manner, the mounted array can identify and track the depth positioning of the distal end of the instrument without mechanically connecting or fastening the mounted array to the instrument itself. In this manner, the need to attach an array to each instrument used throughout a surgical procedure may be eliminated. The presently disclosed navigation array thereby can determine the absolute location of the robotic arm and associated instruments during the course of a surgical procedure in an effective and efficient manner without interrupting the surgical flow or requiring excessive handling of the instruments.

[0018] Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices, systems, and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. The devices, systems, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting embodiments. Features shown or described in connection with one embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be within the scope of the present disclosure.

[0019] Furthermore, to the extent that linear or circular dimensions are used in describing the disclosed devices and methods, such dimensions are not intended to limit the types of shapes that may be used with such devices and methods. Equivalents to such linear and circular dimensions may be determined for different geometric shapes. Furthermore, in this disclosure, like-numbered components of the embodiments generally have similar characteristics. Still further, the size and shape of the device, as well as its components, may depend at least on the anatomy of the subject with whom the device is used, the size and shape of the object with which the device is used, and the method and procedure with which the device is used.

[0020] FIG. 1 illustrates an embodiment of a robotic surgical system 100 including one embodiment of the presently disclosed navigated instrument system 101 coupled to a surgical robotic arm 120. The navigated instrument system 101 may include a navigation array unit 110 and an instrument mount 116. The navigation array unit 110 and the instrument mount 116 may be configured to receive an instrument 130 therein and may identify the positioning of the instrument 130 and the robotic arm 120 in absolute space (i.e., may identify or locate the position of the instrument 130 and the robotic arm 120 with respect to all degrees of freedom of a three-dimensional coordinate system, such as the coordinate system 102 shown in FIG. 1). Identifying the position of the instrument 130 and the robotic arm 120 may include identifying a depth position of the instrument 130. As used herein, the term "depth" may refer to a position along an axis extending parallel to the longitudinal axis of the instrument mount 116. In the coordinate system 102 shown in FIG. 1, the depth position may refer to a position along the z-axis 104. The navigation array unit 110 may include a primary array 112 and a mounting array 114. The primary array 112 may identify a position of a distal end 122 of the robot arm 120. In some embodiments, identifying the position of the distal end 122 of the robot arm 120 may include identifying an absolute position of an instrument mount 116, which may be coupled to the distal end of the robot arm 120 in a known manner. In other embodiments, identifying the position of the distal end 122 of the robot arm 120 may include identifying a position of a longitudinal axis L of the instrument mount 116. For example, as shown in FIG. 1, the longitudinal axis L extends parallel to the illustrated Z-axis. Identifying the position of the longitudinal axis L may include locating the position of the longitudinal axis along the x-axis and the y-axis. The mounting array 114 may identify a depth positioning of an instrument 130 received within the instrument mount 116. In this manner, the navigation array unit 110 can provide complete positioning information to a user (e.g., a surgical robotic system, a surgeon, a nurse, a medical practitioner, etc.) by identifying the absolute position of the robotic arm 120 and the depth position of the associated instrument 130.

[0021] To that end, the primary array 112 and the mounted array 114 may include one or more markers 113 and 115, respectively. The navigation system camera 125 may capture the location of the one or more markers 113 and 115. The primary array 112 may be coupled to a distal end 122 of the robotic arm 120 in a known, precise relationship. In some embodiments, as discussed in detail below, the primary array 112 may be coupled to an instrument mount 116, which in turn may be coupled to the distal end 122 of the robotic arm 120. The primary array 112 may be coupled to the distal end 122 of the robotic arm such that relative movement between the primary array and the distal end of the robotic arm is limited. In other words, the primary array 112 may be stationary relative to the distal end 122 of the robotic arm. The location information captured from the markers 113 of the primary array can thereby identify the location of the robot arm in three-dimensional space, given the known precise relationship between the distal end 122 of the robot arm 120 and the primary array 112.

[0022] The mounting array 114 may be configured to determine the depth of the distal tip 130d of the instrument 130 when the instrument 130 is received within the instrument mounting body 116. The mounting array 114 may be configured to identify the depth position of the instrument 130 without being mechanically connected or fastened to the instrument 130. As described in detail below, the instrument 130 may pass through a lumen of the mounting array 114, causing the mounting array 114 to drag or move distally with distal translation of the instrument. The mounting array 114 and markers 115 may move absolutely and linearly with translation of the instrument 130. This allows the position and / or movement of the mounting array 114, as captured by the markers 115 and navigation system camera 125, to identify and track the depth position of the instrument 130.

[0023] 2A-2D illustrate an exemplary method of using the navigation array unit 110 to identify the absolute location of an instrument 130 associated with a robotic surgical arm 120. In FIG. 2A, the instrument 130 may be inserted into the instrument mounting body 116. The instrument 130 may have an instrument body having a proximal end 130p and a distal end (not visible in FIG. 2A) and a collar 132 formed thereon. The instrument 130 may be inserted such that the distal end of the instrument may be located within the lumen of the instrument guide 116 without extending beyond the distal end 116d of the instrument guide, and the collar 132 of the instrument 130 may be positioned proximal to the mounting array 114. More specifically, the collar 132 may be proximal to the proximal end 114p of the mounting array 114. A known length C may define the distance between the proximal end 114p of the mounting array 114 and the distal end 116d of the instrument mounting body 116. In the insertion position of FIG. 2A (i.e., with the collar 132 of the instrument 130 proximal to the proximal end 114p of the mounting array 114), the mounting array 114 can be located in a first proximal-most position relative to the primary array 112. In this proximal-most position, the mounting array 114 can be located at the proximal end of the slot 124 of the primary array 112. The mounting array 114 can be configured to translate longitudinally along a path defined by the slot 124 of the primary array 112. In some embodiments, the slot 124 can provide structural integrity to the mounting array 114 through contact or close tolerance between the mounting array and the primary array 112 as the mounting array translates along the path defined by the slot 124. The biasing element 126 can extend to an uncompressed position between the mounting array 114 and the instrument mount 116 and can bias the mounting array proximally relative to the instrument mount.

[0024] As shown in FIG. 2B, the instrument 130 may be moved distally to advance the instrument within the instrument mount 116 to the point where the instrument's collar 132 contacts the proximal end 114p of the mounting array 114. More specifically, a distally facing surface of the collar 132 may contact a proximally facing surface of the proximal end 114p of the mounting array 114. In this configuration (i.e., the point where the instrument 130's collar 132 first contacts the proximal end 114p of the mounting array 114), the mounting array 114 may maintain its proximal-most position of FIG. 2A. As described below, the distance D between the instrument 130's collar 132 and the distal end of the instrument 130 may be substantially equal to the distance C between the proximal end 114p of the mounting array 114 and the distal end 116d of the instrument mount 116. 2B, the distal end of instrument 130 and distal end 116d of instrument mount 116 may be aligned and distance C may represent the distance between collar 132 and the distal end of instrument 130. In other embodiments, there may be an additional known setback or buffer distance between distal end 116d of instrument mount 116 and the distal end of instrument 130, such that the distal tip of the instrument is proximal to distal end 116d by the setback or buffer amount when in the position of FIG. 2B. Because this setback or buffer distance is known, it may be taken into account when determining the position of the distal end of instrument 130.

[0025] As shown in FIG. 2C, with the collar 132 of the instrument 130 in contact with the proximal end 114p of the mounting array 114, the instrument may be advanced further distally within the instrument mount 116 such that the distal end 130d of the instrument may extend distally beyond the distal end 116d of the instrument mount 116. As the instrument 130 moves distally beyond the position where the collar 132 may contact the proximal end 114p of the mounting array 114 (i.e., the position of FIG. 2B), the distal movement of the collar 132 may drag or move the mounting array 114 distally. As the mounting array 114 is dragged distally, it may translate distally along a path defined by the slots 124 of the primary array 112. As such, the mounting array 114 may move linearly with the distal movement of the instrument 130. The biasing element 126 may be compressed distally toward the instrument mount 116 by the distal force of the collar 132 as the instrument 130 moves distally. The biasing element 126 may provide a desired resistance that may semi-rigidly maintain the position of the mounting array 114 in a proximal-most position relative to the instrument mount 116 and main array 112, while continuing to allow longitudinal movement of the mounting array if a user (i.e., robot or human) overcomes the resistance force by distal translation of the instrument 130, for example, when the instrument's collar 132 contacts the mounting array. In some embodiments, the desired resistance force provided by the biasing element 126 may aid in seating a drill or other instrument 130 against the instrument mount 116.

[0026] The distal end 130d of the instrument can extend a distance D1 beyond the distal end 116d of the instrument mount 116. Distance D1 can be equal to the distance D1' that the mounting array 114 moves as the mounting array is dragged along the axis (i.e., z-axis 104) of the instrument mount 116 by the instrument 130. The distance D1' that the mounting array 114 moves can be determined by tracking one or more markers 115 (see FIG. 1) on the mounting array. For example, the navigation system camera 124 (see FIG. 1) can track the markers 115 and calculate the distance D1' that the mounting array 114 moves. Because the distance between the proximal end 114p of the mounting array 114 and the distal tip 130d of the instrument remains constant when the collar 132 contacts the proximal end of the mounting array, the distance D1' that the mounting array 114 moves can be used to identify the depth location of the distal end of the instrument 130. Further, in embodiments where a known setback or buffer is used, the distance D1' by which the mounting array 114 moves can be equal to the distance D1 that the distal end of the instrument 130 extends from the instrument mount 116 by subtracting the known setback or buffer from the distance D1' by which the mounting array moves.

[0027] 2D illustrates the instrument 130 in a fully inserted position within the instrument mount 116. In this position, the biasing member 126 may be fully compressed such that further distal translation of the instrument 130 relative to the instrument mount 116 is not possible. The distance D1 that the distal end 130d of the instrument 130 extends beyond the distal end 116d of the instrument mount 116 may be greater than that shown in FIG. 2C. The distance D1′ at the fully inserted position and the corresponding depth position of the distal end 130d of the instrument may be determined by the mounting array 114 as the mounting array 114 continues to be dragged distally with distal movement of the collar 132 of the instrument 130. The mounting array 114 may be in a distal-most position within the slot 124 of the primary array 112 when the instrument 130 is fully inserted within the instrument mount 116. In some embodiments, the depth of the instrument 130 may be identified when the distal tip 130d of the instrument 130 is positioned a distance away from (ie, not in contact with) the work surface or surgical site.

[0028] The navigated instrument system 101 as shown in FIG. 1 will now be described in more detail with reference to FIGS. 3A, 3B, and 4. FIG. 3A illustrates an exploded view of the navigated instrument system 101 and an instrument 130 configured to be received therein. In this view, the primary array 112, the mounting array 114, the biasing element 126, the instrument mounting body 116, and the instrument 130 are visible. In some embodiments, the instrument mounting body 116 may include an instrument guide 117 and an adapter 119. The instrument guide 117 may be configured to be received within a lumen of the adapter 119 such that the distal end 117d of the instrument guide extends beyond the distal end 119d of the adapter 119. In other embodiments, the instrument mounting body 116 may be a single tubular member.

[0029] The instrument mounting 116 may be configured to securely couple to the robotic arm 120 (see FIG. 1 ) and may be configured to receive an instrument therethrough. More specifically, in some embodiments, the adapter 119 may be securely attached to the robotic arm 120. As a non-limiting example, FIG. 3B shows an embodiment of the adapter 119 that may be attached to the distal end of the robotic arm 120 by a connection mechanism 121. Other configurations of the adapter 119 are within the scope of the present disclosure, so long as the adapter 119 may be configured to receive a surgical instrument therein and maintain a secure and precise connection to the robotic arm 120. In some embodiments, the instrument mounting 116 may be slidably received within the adapter 119 such that the instrument mounting may slide or translate relative to the longitudinal axis L of the adapter 119. In such embodiments, the instrument mounting may be adjusted to a desired positioning along the longitudinal axis L and securely locked such that the instrument mounting may be maintained in a secure and known position relative to the robotic arm 120.

[0030] Because the primary array 112 may be coupled to the instrument mount 116 in a known, precise manner, the primary array 112 may be used to identify and track the position of the instrument mount 116, and thus the distal end of the robotic arm 120. The mounting array 114 may be configured such that a portion 312 of the mounting array may be slidably received within a slot 124 of the primary array 112, while another portion 310 of the mounting array may be slidably received within a lumen of the instrument mount 116. In the illustrated embodiment, a portion 310 of the mounting array 114 may be slidably received within a lumen of the instrument guide 117. As described in detail below, the mounting array 114 may be slidably received within the primary array 112 such that the frame of the mounting array may be in a plane parallel to the plane of the frame of the primary array. In use, the primary array 112 and the mounting array 114 may be positioned such that both arrays face the navigation camera 125 and do not obstruct the surgeon's access to the working area.

[0031] The biasing element 126, which may be, for example, a coil or other compression spring, may have a proximal end 126p configured to abut a surface of the mounting array 114 and a distal end 126d configured to abut a surface of the instrument mount 116. As discussed above, the biasing element 126 may impart a desired resistance force that may semi-rigidly maintain the position of the mounting array 114 in a proximal position relative to the instrument mount 116 and main array 112, while continuing to allow longitudinal movement of the drag array if a user (i.e., robot or human) overcomes the resistance force by distal translation of the instrument 130, for example, when the instrument collar 132 contacts the mounting array. In the illustrated embodiment, the distal end 126d of the biasing element 126 may be configured to abut a surface of the instrument guide 117.

[0032] Also visible in Figure 3A is an instrument 130 configured to be received within the instrument mounting body 116 during a surgical procedure. The instrument 130 may be inserted into the lumen of the mounting array 114 and may extend distally through the lumen of the instrument guide 117 such that a distal end 130d of the instrument may extend beyond the distal end of the instrument mounting body 116. As will be apparent from the assembled navigated instrument system 101, as will be described in detail with respect to Figure 4 below, in some embodiments the distal end 116d of the instrument mounting body 116 may be the distal end 117d of the instrument guide 117.

[0033] 4, the navigated instrument end effector 101 is shown in its assembled configuration with an instrument 130 received therein. The primary array 112 may be securely coupled to the instrument mount 116. The mounting array 114 may be received within slots 124 of the primary array 112 and the instrument mount 116 such that the mounting array 114 may translate longitudinally relative to the primary array and the instrument mount along with translation of the instrument 130. As shown in FIG. 4, the biasing element 126 may be in at least a partially compressed state between a proximal end 114p of the mounting array 114 and a proximally facing surface of the instrument mount 116. The instrument 130 may be received within the instrument mount 116 such that the collar 132 abuts the proximal end 114p of the mounting array and may be configured to drag or move the mounting array 114 distally.

[0034] With reference now to Figures 5-9, the components of the navigated instrument system 101 will be described. The primary array 112 is shown in Figures 5 and 6. As introduced above, the primary array 112 may be coupled to the robot arm 120 and configured to locate the position of the robot arm 120. In this manner, position information from one or more markers of the primary array 112 may be used to identify the position of the robot arm 120 in three-dimensional space. Because the primary array 112 may be coupled to the robot arm 120, the primary array may be first in the chain of potential positioning errors for the robot arm 120 and its associated components. As such, the primary array 112 may be a large array, i.e., larger in size than the mounted array 114, which may improve the accuracy and precision of the positioning information obtained from the primary array. However, the sizing of the primary array 112 may be balanced with maneuverability of the primary array within the surgical space and operating room so that the primary array does not get in the way of surgeons, nurses, and / or robotic components, and may be positioned so that the navigation camera 125 can capture the perspective of the primary array without tilt or distortion.

[0035] The primary array 112 may include a frame 202 having one or more branches 204. A slot 124 may be formed by the frame 202. The slot 124 may extend from a proximal end 124p to a distal end 124d along a longitudinal axis of the primary array 112 and may be configured to receive a mounting array 114 such that the mounting array may translate longitudinally within the slot 124. Each branch 204 of the primary array 112 may have an attachment mechanism 206 that may receive a spherical fiducial or other marker 113 for use with a navigation system. The attachment mechanism(s) 206 may be arranged in a predetermined position and orientation relative to each other and / or to the frame 202. The attachment mechanism 206 may be positioned such that, in use, one or more markers 113 attached thereto may be located within the field of view of the navigation system and may be identified within images captured by the navigation system (e.g., by the navigation system camera 124). As non-limiting examples, the one or more markers 113 may include infrared reflectors, LEDs, etc. The branches 204 and / or attachment mechanisms 206 may be arranged on the primary array 112 at different positions and / or orientations than those of the illustrated primary array. For example, the primary array 112 has four branches 204, each with a single attachment mechanism 206, but the primary array may have a greater or lesser number of branches and / or attachment mechanisms. The design of the primary array 112, including the number, positioning, and orientation of the branches 204 and / or markers 206, may take into account factors such as manufacturing constraints and costs, array stability, array weight, etc. The primary array 112 may include an inertial measurement unit (IMU), accelerometers, gyroscopes, magnetometers, other sensors, or combinations thereof. In some embodiments, the sensors may transmit position and / or orientation information to a navigation system, such as a processing unit of the navigation system and / or a processing unit of a robotic surgical system. One or more markers 113 of the primary array 112 can convey position information in all degrees of freedom (i.e., along the x-, y-, and z-axes of the coordinate system 102) of the component(s) to which the primary array is coupled or has a known positional relationship.In other words, position information captured by the navigation system from one or more markers 113 in the primary array can identify the position of the distal end of the robot arm 120 and / or the instrument mount 116 in the x, y, and z directions.

[0036] The primary array 112 may include a coupling ring 208 that may be configured to securely couple the primary array 112 to the robotic arm 120 in a known, precise position and orientation. In some embodiments, the coupling ring 208 may clamp or otherwise couple the primary array 112 to the instrument mount 116, which in turn may be securely coupled to the robotic arm 120. In other embodiments, the primary array 112 may be mounted directly along the robotic arm 120. The coupling ring 208 may include a release mechanism, such as a tab 210, that may be actuated by a robotic and / or human user to release the clamping force of the coupling ring 208 or other coupling mechanism. Additional details of non-limiting embodiments of the coupling ring 208 may be found in U.S. Patent Application Publication No. 2018 / 0344301, filed May 31, 2017, by Wehrli et al., entitled "Coupling Devices for Surgical Instruments and Related Methods," which is incorporated herein by reference in its entirety. In some embodiments, the coupling ring 208 may be integrally formed with the primary array 112. For example, the posts 212 may extend from a rear-facing side of the primary array 112 to the coupling ring 208. In other embodiments, the primary array 112 may be attached to the coupling ring 208 by a fixed coupling assembly, such as the connection assembly disclosed in commonly owned and assigned U.S. patent application Ser. No. 16 / 696,126, filed Nov. 26, 2019, entitled “Instrument Coupling Interfaces and Related Methods” by Philippe Lindenmann et al., which is hereby incorporated by reference in its entirety.

[0037] 7 shows a perspective view of the mounting array 114. As described above, the mounting array 114 may be configured to identify and track the depth position of an instrument (e.g., instrument 130) received within the navigated instrument system 101 of the robotic arm 120. The mounting array 114 may include an array frame 302 having one or more branches 304. Each branch 304 of the mounting array 114 may have an attachment mechanism 306 that may receive a spherical fiducial or other marker 115, as described above with respect to the main array 112. The fiducial(s) or other marker(s) 115 of the mounting array 114 may function in the manner described above with respect to the main array 112. As such, for the sake of brevity, a description of such functionality is omitted here. As described in more detail below, the mounting array frame 302 may be smaller, and in some cases significantly smaller, than the mounting array frame 202 so that the mounting array frame 302 and any associated reference point(s) / marker(s) 115 may be entirely received within the footprint or perimeter defined by the markers 113 of the main array 112.

[0038] The extension 308 can extend from the frame 302 to the tubular body 310 of the mounting array 114. In some embodiments, the connecting portion 312 can extend between the frame 302 and the extension 308. More specifically, the connecting portion 312 can extend from a rearward facing side 302b of the frame 302, the rearward facing side of the frame being opposite the forward facing side 302f. The connecting portion 312 can be configured to be received within a slot 124 of the main array 112. To that end, the connecting portion 312 can have a size and dimensions complementary to the size and dimensions of the slot 124, such that the connecting portion can translate longitudinally within the slot 124. In some embodiments, the connecting portion 312 can have a generally rectangular cross-section to match the cross-section of the slot 124. Other geometries of the connecting portion 312 and the slot 124 may be within the scope of the present disclosure so long as the connecting portion 312 can be received within the slot 124 and allow the mounting array 114 to translate along the longitudinal axis of the slot relative to the main array 112. The extension member 308 may extend from a first end 307 at the connecting portion 312 to a second end 309 of the tubular body 310. The extension may have a proximal facing surface 308p and a distal facing surface 308d. The proximal end 114p of the mounting array 114 may be defined by the proximal facing surface 308p of the extension 308 at the second end 309 and may form an outer circumferential surface of the proximal end 310p of the tubular body 310.

[0039] The tubular body 310 can have a lumen 314 extending from the tubular body proximal end 310p to the tubular body distal end 310d. The lumen 314 can be configured to receive an instrument (e.g., instrument 130) when the instrument is inserted and received within the instrument wear body 116. As described in detail below, the tubular body 310 can be configured to be slidably received within the instrument wear body 116. More specifically, the distal end 310d of the tubular body 310 can be received within the lumen of the instrument wear body 116. The tubular body 310 can be configured to translate along a longitudinal axis of the lumen relative to the instrument wear body 116. The second end 309 of the extension can form a stop such that the tubular body 310 cannot translate distally within the lumen of the instrument wear body 116 beyond the tubular body proximal end 310p. Distal-facing surface 308d of second end 309 of extension 308 can abut a proximal-facing surface of instrument mount 116 to prevent distal translation of tubular body 310. Distal-facing surface 308d of second end 309 of extension 308 can also serve as a proximal contact point for biasing element 126.

[0040] The instrument mounting 116 will now be described with respect to Figures 8 and 9, which show assembled and exploded views of the instrument mounting, respectively. The instrument mounting 116 may be attached to the robotic arm 120 and may be configured to receive the instrument 130 and the tubular body 310 of the mounting array 114 therein. Over the course of a surgical procedure, multiple instruments may be received within the instrument mounting 116. For example, during a single surgical procedure, a first instrument may be inserted into the instrument mounting 116, the first instrument may be later removed, and a second instrument may be inserted into the instrument mounting. As described above, the instrument mounting 116 may include an instrument guide 117 received within a lumen of the adaptor 119. More specifically, the adaptor 119 may be a tubular body having a proximal end 119p and a distal end 119d with a lumen 402 extending therebetween. The proximal end 119p may be configured to couple to the main array 112 in a known, reliable, and precise manner. The proximal end 119p may be formed with one or more exterior surface features that are complementary to features of the coupling ring 208 of the primary array 112. In some embodiments, the proximal end 119p may include a flange 404. A proximal-facing surface 404p of the flange 404 may be configured to abut a distal-facing surface of the coupling ring 208. Such a structure may help ensure that the primary array 112 may be coupled to the robotic arm 120 by the instrument mount 116 in an intended and known position. The lumen 402 of the adapter 119 may be configured to receive an instrument guide 117 therein.

[0041] The instrument guide 117 may be a tubular body having a proximal end 117p and a distal end 117d with a lumen 406 extending therebetween. In some cases, the instrument guide 117 may be configured for use with a particular instrument and may be exchanged for another instrument guide during the course of a surgical procedure depending on the particular instrument being used. For example, a particular instrument guide 117 may be selected based on the inner diameter of the lumen 406 such that the lumen 406 can accommodate the outer diameter of the instrument used in the surgical procedure. The lumen 406 may be configured to receive the tubular body 310 of the mounting array 114 and the instrument 130. The proximal end 117p of the instrument guide 117 may include a flange 408. The proximal facing surface 408p of the flange 408 may serve as a stop for the distal end 126d of the biasing element 126. The flange 408 may include features, such as ridges 410, that may facilitate a user's gripping or other manipulation (e.g., rotating or pivoting) of the instrument guide 117. The extension portion 412 of the instrument guide 117 may be configured to form a friction fit between the instrument guide 117 and the adapter 119 when the extension portion 412 is received within the lumen 402 of the adapter 119. The friction fit may secure the coupling of the instrument guide 117 with the adapter 119. In this manner, the instrument 130 and mounting array 114 may be received within the lumen 406 of the instrument guide 117 in a known orientation. In some embodiments, the extension portion 412 may include male threads that may be complementary to female threads formed on an inner surface of the proximal portion 119p of the adapter 119. The male threads of the extension portion 412 may engage with the female threads of the proximal portion 119p of the adapter 119 to form a threaded connection between the instrument guide 117 and the adapter. In some embodiments, instrument guide distal end 117d may be tapered. Tapered distal end 117d may improve the ease with which instrument guide 117 may be inserted and passed through lumen 404 of adapter 119 and may aid in dilating soft tissue as instrument guide distal end 117d is inserted into a patient.

[0042] FIG. 10 illustrates one embodiment of an instrument that may be used with the navigated instrument system of the present disclosure. In some embodiments, the instrument 130 may be a drill. The instrument 130 may have a generally tubular body 502 with a tapered portion 504 that transitions from the tubular body 502 to a drill bit 506. The drive mechanism 508 may be located at the distal end 130d of the instrument 130. The collar 132 may be integrally formed on the tubular body 502. The collar 132 may extend radially from the tubular body 502 and may be sized such that the collar may abut the proximal end 114p of the mounting array. In some embodiments, the collar 132 may be manufactured separately from the instrument 130 and securely and precisely attached thereto, while in other embodiments, the collar 132 may be integrally formed with the instrument 130. The collar 132 may be positioned a fixed distance D from the distal end 130d of the instrument. More specifically, the fixed distance D may be measured from the distal facing surface 132d of the collar 132 to the distal facing surface of the distal end 130d of the instrument 130. In the embodiment shown in FIG. 10, the distal facing surface of the distal end 130d of the instrument 130 may be the distal facing surface of the drive mechanism 508. The distance D between the collar 132 and the distal end 130d of the instrument 130 may be substantially equal to the distance C between the proximal end 114p of the mounting array 114 and the distal tip 116d of the instrument mounting body 116, as described above. In embodiments where a setback or buffer is employed, the distance C may be substantially equal to the distance D plus the setback or buffer distance. The instrument 130 may be manufactured such that the distance D from the collar 132 to the distal end 130d of the instrument may be precisely and accurately known. In some embodiments, the instrument 130 may be manufactured such that the distance D may be precisely and accurately known to within a tenth of a millimeter. The precision and accuracy of the known distance D can be important to the precision and accuracy of identifying the depth location of the distal tip 130d of the instrument 130 by the mounting array 114. Although the description of the instrument 130 provided herein refers to a drill as shown in the figures, the present disclosure is also contemplated for use with other surgical tools or instruments configured to be received within the instrument mounting body 116, such as, for example, any of a tap, driver, needle, stylus, probe, etc.

[0043] With the components of the navigated instrument system 101 now described, Figures 11-13 show additional views of the navigated instrument system. Figure 11 illustrates a partial perspective view of the navigated instrument system 101 and an instrument 130, more particularly showing the assembly and configuration of the navigation array unit 110 and the proximal end of the instrument mount 116, with the mounted array 114 being dragged distally by the instrument 130. Figure 12 shows another perspective view of the rear of the navigated instrument system 101 with the instrument 130. Figure 13 shows the navigated instrument system 101 in side view.

[0044] As shown in FIGS. 11-13, the mounted array 114 may be located entirely within the perimeter or footprint of the primary array 112. In other words, one or more markers 115 of the mounted array 114 may always be located within the perimeter formed by one or more markers 113 of the primary array 112. Such an arrangement may serve to significantly reduce the risk of the navigation system crossing signals between the markers 113 of the primary array 112 and the markers 115 of the navigated array 114. The optical navigation system may confuse the markers, especially when one marker passes by or in close proximity to another, and may misidentify which array a particular marker is associated with. The navigation array unit 110 of the present disclosure may substantially reduce the risk of improper navigation marker association by isolating the markers 113 of the primary array 112 from the markers 115 of the mounted array 114, even though the markers 115 may move relative to the primary array 112. As shown, the mounting array 114 may include three markers 115. Each of the three markers 115 may maintain a constant distance and position relative to each other and relative to the mounting array 114. With such a three-star array, the navigation system may clearly identify the marker 115 associated with the mounting array 114 and, accordingly, the z-axis or depth axis of the instrument 130. Misidentification of the markers 115 by the navigation system may be significantly reduced in an array having three markers compared to an array having fewer than three markers. In other embodiments, the mounting array 114 may have a greater or lesser number of markers 115.

[0045] An alternative embodiment of a navigated instrument system 1000 according to the present disclosure is illustrated in Figures 14 and 15. The navigated instrument system 1000 is shown in an assembled configuration in Figure 14 and in an exploded view in Figure 15. Except as indicated below, the structure, operation, and use of this embodiment are similar or identical to those of the navigated instrument system 101 described above. Accordingly, a detailed description of the structure, operation, and use is omitted here for the sake of brevity. The navigated instrument system 1000 may include a mounting array 1002, an instrument mounting body 1004, and a biasing element 1006 disposed within the instrument mounting body. Similar to the navigated instrument system 101 described above, the instrument mounting body 1004 may be configured to securely mount to a distal end of a robotic arm (not shown). As a non-limiting example, the instrument mounting body 1004 may be securely mounted or coupled to the robotic arm using an adapter, such as the adapter 119 shown in Figure 3B. Additionally, as described above, the primary array (not shown) may be securely attached to the instrument mount 1004 and configured to identify the position of the robotic arm and end effector 1000. The mounting array 1002 may be received within a slot in the primary array and configured to translate longitudinally along the slot with the longitudinal translation of an instrument received within the instrument mount 1004. As such, the mounting array 1002 may be configured to determine the depth position of an instrument received within the instrument mount 1004 in a manner similar to that described above.

[0046] The mounting array 1002 may include an array frame (not shown), a connecting member 1008, an extension member 1010, and a tubular body 1012. The connecting member 1008 may extend from the array frame and may be configured to translate longitudinally within a slot in the primary array. The tubular body 1012 may have a proximal end 1012p and a distal end 1012d, with a lumen extending therethrough. The lumen of the tubular body 1012 may be configured to receive an instrument (e.g., instrument 130) as described above with respect to the navigated instrument system 101. At least a portion of the tubular body 1012 may be received within a lumen of the instrument mounting body 1004. More specifically, the distal end 1012d of the tubular body may be received within a lumen of the instrument mounting body, thereby allowing the tubular body 1012 to translate along a longitudinal axis of the instrument mounting body. As described above, the collar of an instrument received within the lumen of the mounting array 1002 can be configured to drag the mounting array distally relative to the instrument mount 1004 and the main array.

[0047] In some embodiments, the biasing element 1006 can abut the distal end 1012d of the tubular body 1012. The biasing element 1006 can bias the tubular body 1012 toward the proximal end 1006p of the instrument mount 1006. The biasing element 1006 can provide a desired resistance force that can semi-rigidly maintain the position of the mounting array 1002 in a proximally biased position relative to the instrument mount 1004 and the main array, while continuing to allow longitudinal movement of the mounting array if a user (i.e., robot or human) overcomes the resistance force by distal translation of the instrument (e.g., instrument 130), for example, when the collar contacts the proximal portion 1012p of the mounting array.

[0048] Similar to the previous embodiment, the distance C' between the proximally facing surface of the proximal end 1012p of the tubular body 1012 and the distal end 1116d of the instrument mount 1116 can be known as an accurate and precise measurement. Furthermore, in some embodiments, as described above with reference to FIG. 10, the distance C' and the distance D between the instrument collar and the distal tip of the instrument can be substantially equal. Thus, as described above, the mounting array 1002 can translate a known distance (i.e., a distance tracked by the marker(s) of the mounting array) by applying a distal drag force from the instrument collar as the instrument translates distally within the instrument mount 1004. One or more trackers of the mounting array 1002 can be used to track and measure the distance the mounting array translates distally. The tracked distance the mounting array 1002 has moved can be used to identify the depth location of the distal tip of the instrument. In some embodiments, the tubular body 1012 may also include one or more visual depth indicators 1014 along the outer surface of the tubular body, allowing a user to visually ascertain or estimate the distance the mounting array 1002 translates within the lumen of the instrument mounting body 1004.

[0049] The instrument mounting body 1004 may have a generally tubular body 1016, with the lumen of the instrument mounting body extending from a proximal end 1004p to a distal end 1004d of the tubular body. The lumen of the instrument mounting body 1004 may extend through the distal end 1004d of the instrument mounting body at a distal opening 1018. In some embodiments, the distal end 1004d of the tubular body 1012 may taper toward the distal opening 1018. As described above, the tubular body 1012 of the mounting array 1002 may be inserted into the proximal end of the lumen of the instrument mounting body 1004. The stop mechanism 1020 may be formed in the proximal end 1004p of the instrument mounting body 1004. The geometry of the stop mechanism 1020 (i.e., the cross-section of the stop mechanism) may be complementary to the geometry of the extension 1010 of the mounting array 1002. The stop mechanism 1020 may be configured to receive the extension 1010 when the tubular body 1012 moves distally within the lumen of the instrument mount 1004, such that distal movement of the mounting array 1002 may be prevented when the extension 1010 is fully received within the stop mechanism 1020. One or more gripping enhancement features 1022 may be formed on an outer surface of the proximal portion 1004p of the instrument mount 1004. In some embodiments, the gripping enhancement feature 1022 may secure a coupling between the main array (not shown) and the instrument mount 1004. As a non-limiting example, the gripping enhancement feature 1022 may include one or more bellows formed on an outer surface of the instrument mount 1004, which may engage complementary features of a coupling ring of the main array.

[0050] Alignment between the instrument mounting body 1004 and the mounting array 1002 may be maintained with one or more alignment mechanisms. More specifically, the instrument mounting body 1004 may have one or more alignment holes 1024 that may extend through the tubular body of the instrument mounting body. Each of the one or more alignment holes 1024 of the instrument mounting body 1004 may be aligned with an alignment groove 1026 of the tubular body 1012 of the mounting array 1002. Each alignment groove 1026 may extend longitudinally along at least a portion of the tubular body 1012. In some embodiments, the alignment groove 1026 may extend from an outer surface of the tubular body 1012 toward the lumen of the tubular body without extending into the inner lumen. An alignment member (not shown), e.g., a pin, may be inserted through the alignment hole 1024 and into the alignment groove 1026. In this manner, rotation of the tubular body 1012 relative to the instrument mounting 1004 may be prevented. The alignment member may also incorporate a biasing element 1006 to function to prevent its inadvertent removal from the instrument mounting 1016, for example, if the tubular body 1012 is detached during surgery. Although a single alignment hole 1024 and alignment groove 1026 are shown in FIGS. 14 and 15 , additional alignment holes and alignment grooves may be formed in the instrument mounting 1004 and the tubular body 1012 of the mounting array 1002, respectively. Maintaining a known, precise alignment between the instrument mounting 1004 and the tubular body 1012 of the mounting array 1002 may aid in communicating accurate and precise location information from the markers of the mounting array 1002 to a robotic or navigation system.

[0051] Although specific embodiments are described above, modifications may be made within the spirit and scope of the described concepts. For example, the navigation array unit 110 may include two or more mounting arrays 114, which may monitor the depth or advancement of two or more instruments 130. In some such embodiments, the primary array 112 may have two or more slots 124, with each mounting array 114 movable along its respective slot 124. In other embodiments, two or more mounting arrays 114 may be received within and movable along a single slot 124, but may be positioned such that the two or more mounting arrays 114 do not contact one another. As such, the present disclosure is not intended to be limited to the described embodiments, but to have full scope as defined by the language of the claims. The above embodiments describe coupling a navigation array to an instrument or instrument adaptor. While this is one contemplated use, the methods and devices of the present disclosure may be equally adapted for use with other objects. Thus, the devices and components described herein may be formed in a variety of sizes and materials suitable for use in a variety of applications. All publications and references cited herein are expressly incorporated herein by reference in their entirety.

[0052] [Embodiment] (1) A surgical assembly comprising: a first array coupled to the surgical robotic arm and configured to locate a distal portion of the arm; an instrument mount coupled to the robotic arm, the instrument mount having a proximal end, a distal end, and a lumen extending therebetween; a second array configured to move relative to the instrument mount and the first array as an instrument passes through the lumen of the instrument mount; an assembly, wherein the second array is configured to move along a path defined by the first array; (2) An assembly as described in embodiment 1, wherein the first array configured to determine the position of the distal portion of the arm is configured to determine the position of a longitudinal axis of the instrument mounting body. (3) An assembly as described in embodiment 1 or 2, wherein the second array is configured to move along a slot formed in the first array. (4) The assembly of embodiment 3, wherein the second array is configured to translate along a longitudinal axis of the instrument mount. (5) An assembly described in any of embodiments 1 to 4, wherein the first array is stationary relative to a distal portion of the robot arm and the second array is configured to move longitudinally relative to the first array and the instrument mount with longitudinal movement of an instrument received within the lumen of the instrument mount.

[0053] (6) An assembly described in any of embodiments 1 to 5, wherein the second array includes an array frame, an extension, and a tubular body, the tubular body having a proximal end, a distal end, and a lumen extending therebetween, the lumen being configured to receive an instrument therethrough. (7) The assembly of embodiment 6, wherein the lumen of the second array is coaxial with the lumen of the instrument mounting body. (8) The assembly described in any one of embodiments 1 to 7, further comprising a biasing element configured to bias the second array proximally relative to the instrument mounting body. (9) The assembly of embodiment 8, wherein the biasing element is disposed within an inner lumen of the instrument mounting body. (10) The assembly of embodiment 8 or 9, wherein the biasing element is disposed proximal to the instrument mounting body.

[0054] (11) An assembly described in any one of embodiments 1 to 10, wherein the second array comprises a plurality of tracking elements. (12) The assembly described in embodiment 11, wherein the first array includes a greater number of tracking elements than the second array. (13) A surgical robot system, comprising: an instrument mount coupled to the surgical robotic arm, the instrument mount having a proximal end, a distal end and a lumen extending therebetween; an instrument having an instrument body and a collar formed on the instrument body at a location proximal to a distal tip of the instrument; a first array component configured to locate a distal portion of the surgical robotic arm; a second array component having a tubular body received within the lumen of the instrument wear body, the second array component configured to advance distally with the instrument when the collar of the instrument contacts a proximal portion of the second array component. (14) The system of embodiment 13, further comprising a spring extending between the second array component and the instrument mount, whereby the spring compresses and expands with longitudinal movement of the second array component. (15) The system of claim 14, wherein the spring is biased away from the instrument mount.

[0055] (16) The system described in any one of embodiments 13 to 15, wherein the instrument is one of a drill, a tap, a needle, a stylus, and a probe. (17) A system described in any of embodiments 13 to 16, wherein a distance between a proximal end of the second array component and a distal end of the instrument mounting body is substantially equal to a distance between the collar formed on the instrument body and the distal tip of the instrument. (18) A surgical method comprising: positioning an instrument for insertion into a navigated instrument guide, the navigated instrument guide having a primary array, a mounting array, and an instrument mount; inserting an instrument into the navigated instrument guide such that the instrument extends through a lumen of the mounting array and a lumen of the instrument mounting body; moving the instrument distally through the navigated instrument guide such that the instrument contacts the mounted array and moves the mounted array distally along a path defined by the primary array; and tracking a distal tip of the instrument based on a position of the mounted array. (19) The method of embodiment 18, wherein the instrument mounting body is at a distance away from the patient's body. (20) The method of any one of claims 18 to 19, wherein tracking the distal tip of the instrument is based on the position of the mounting array and a fixed distance between a collar formed on the instrument and the distal tip of the instrument.

[0056] (21) The method of any of embodiments 18 to 20, wherein the mounting array moves distally relative to the main array and the instrument mounting body when the instrument is advanced distally through the instrument mounting body. (22) The method of any of embodiments 18 to 21, wherein the instrument includes a collar formed thereon, the collar contacting the mounting array and dragging the mounting array distally when the instrument is advanced distally through the instrument mount.

Claims

1. 1. A surgical robotic system, comprising: an instrument mount coupled to the surgical robotic arm, the instrument mount having a proximal end, a distal end and a lumen extending therebetween; an instrument having an instrument body and a collar formed on the instrument body at a location proximal to a distal tip of the instrument; a first array component configured to locate a distal portion of the surgical robotic arm; a second array component having a tubular body received within the lumen of the instrument wear body, the second array component configured to advance distally with the instrument when the collar of the instrument contacts a proximal portion of the second array component; a spring extending between the second array component and the instrument mount, whereby the spring compresses and expands with longitudinal movement of the second array component. system.

2. The system of claim 1 , wherein the spring is biased away from the instrument mount.

3. The system of claim 1 or 2, wherein the instrument is one of a drill, a tap, a needle, a stylus, and a probe.

4. 4. The system of claim 1, wherein a distance between a proximal end of the second array component and a distal end of the instrument mount is substantially equal to a distance between the collar formed on the instrument body and the distal tip of the instrument.

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