Sprint device that forms a reference marker capable of collaborating with a robot guidance system

Abstract

A splint device (100) capable of cooperating with a robotic guidance system is provided. In some embodiments, a splint body (200) is fixedly coupled to a first object (102) disposed within a flexible housing (104) defining an opening. The splint body includes a laterally extending intermediate portion (202) having opposing sides (204, 206), and first and second stabilizing portions (208) and (210) extending therefrom, extending around the first object, and fixed to the first object. In some embodiments, the splint body includes a retractor (300) having a first portion (302) coupled to the splint body and a second portion (304) extending away from the splint body and engaging the flexible housing around the opening to retract and maintain the flexible housing away from the first object so that the first object is accessible through the opening, and / or a spacer (400) engaged with the splint body and cooperating with the splint body to separate the second object (106) from the first object within the flexible housing.

Description

Technical Field

[0001] This application relates to surgical robots and related guidance systems, and more particularly to a sprint device that forms a fiducial marker that can cooperate with the guidance system of the robot.

Background Art

[0002] Robot systems are being increasingly realized in surgical applications. Such robots are often associated with a guidance system used to guide surgical instruments realized by the surgical robot. The guidance system may also be involved in the collection and / or analysis of patient data and is configured to be involved in the surgical pre - planning process by planning the surgical procedure or by relying on pre - planning data to guide the surgical procedure instrument to perform the surgical procedure.

[0003] In certain surgical procedures, some surgical robot systems rely on fixed fiducial points associated with the patient's body to guide the surgical robot. That is, some such surgical robot systems define a reference frame with respect to the patient's body so as to cope with or complement the movement or motion of the patient during the procedure, whether during pre - planning or during the actual surgical procedure itself. This fiducial point must also be repeatable so that multiple engagements / disengagements between the surgical robot system and the patient's body (i.e., during the period between pre - planning and the actual surgical procedure) do not change the reference frame realized by the surgical robot or its associated guidance system.

[0004] In certain examples, the fiducial point (or the connection between the guidance system and the patient for defining such fiducial point) realized by a guidance system for a surgical robot can be achieved, for example, by an optical modality, a mechanical modality, an acoustic modality, or other suitable and appropriate tracking / guidance modality, or any combination thereof. In some modalities particularly used for dental surgical applications, one mechanical modality for forming a fiducial point (i.e., a “fiducial marker”) can be achieved, for example, by attaching / fixing a rigid element to an object of interest (e.g., the patient's head / teeth). Such a rigid element may sometimes be referred to as a splint (see, e.g., FIGS. 1, 2A, and 2B), and can include a splint.

[0005] In some examples, such surgical procedures also rely on a separator to separate the edge of a flexible housing, the edge defining an opening (e.g., a surgical incision or wound), or rely on a retractor to retract an underlying object within the flexible housing (e.g., an organ and tissue), such that the object of interest within the flexible housing can be accessed through the opening. Depending on the surgical procedure, separators or retractors of different sizes and shapes can be utilized (see, e.g., FIGS. 3A and 3B). In some surgical procedures, it may be desirable to have one, two, three, four, etc. separators or retractors to access the object of interest within the flexible housing through the opening.

[0006] Typically, the separator or retractor is provided away from the fiducial marker (e.g., the splint). Thus, the accessibility of the fiducial marker for robot guidance can be hindered by the physical obstruction of the separator or retractor. Further, since various separators and retractors may only require positioning after forming the fiducial marker with the patient's body and before robot guidance, the surgical workflow can be inefficient. SUMMARY OF THE INVENTION

Problems to be Solved by the Invention

[0007] Therefore, there is a need for a sprint device that forms a fiducial marker capable of cooperating with a robot guidance system to address these and other limitations of prior art devices.

Means for Solving the Problems

[0008] The foregoing and other needs are met, in one particular aspect, by an aspect of the present disclosure that provides a sprint device capable of cooperating with a robot guidance system, for example, for dental surgery. Such a device can include a sprint body configured to be fixedly coupled to a first object disposed within a flexible housing that defines an opening. A retractor having a first portion is coupled to the sprint body, and a second portion extends away from the sprint body. The second portion is configured to retract and maintain the flexible housing away from the first object and to engage the flexible housing around the opening such that the first object is accessible through the opening.

[0009] Another aspect of the present disclosure provides a sprint device capable of cooperating with a robot guidance system, for example, for dental surgery. Such a device can include a sprint body configured to be fixedly coupled to a first object disposed within a flexible housing that defines an opening. A spacer is engaged with the sprint body and is configured to cooperate with the sprint body to separate a second object from the first object within the flexible housing.

[0010] Accordingly, without limitation, the present disclosure includes the following exemplary embodiments.

[0011] Exemplary Embodiment 1: A sprint device capable of cooperating with a robot guidance system, the device comprising a sprint body configured to be fixedly coupled to a first object disposed within a flexible housing defining an opening, a retractor having a first portion coupled to the sprint body and a second portion extending away from the sprint body, the retractor configured to retract and maintain the flexible housing away from the first object such that the second portion is configured to engage the flexible housing around the opening so that the first object is accessible through the opening.

[0012] Exemplary Embodiment 2: A sprint device of the above-described embodiment or any combination of the above-described embodiments, wherein the sprint body includes a laterally extending intermediate portion having opposing sides, and a first stabilizing portion and a second stabilizing portion extending from the opposing sides of the intermediate portion, the intermediate portion and the first and second stabilizing portions extending around the first object and configured to be attached to the first object.

[0013] Exemplary Embodiment 3: A sprint device of the above-described embodiment or any combination of the above-described embodiments, wherein the sprint device includes a spacer that engages the intermediate portion of the sprint body, the spacer configured to cooperate with the intermediate portion to separate a second object from the first object within the flexible housing.

[0014] Exemplary Embodiment 4: A sprint device of the above-described embodiment or any combination of the above-described embodiments, wherein the retractor or the spacer is movably coupled to the sprint body.

[0015] Exemplary Embodiment 5: A sprint device of the above-described embodiment or any combination of the above-described embodiments, wherein the sprint device includes a first ratchet mechanism operably engaged between the retractor and the sprint body, the first ratchet mechanism configured to variably retract the flexible housing away from the first object.

[0016] Exemplary Embodiment 6: A sprint device of the above-described embodiment or any combination of the above-described embodiments, the sprint device comprising a second ratchet mechanism operably engaged between a spacer and an intermediate portion of the sprint body, the second ratchet mechanism being configured to variably separate a second object from a first object within a flexible housing.

[0017] Exemplary Embodiment 7: A sprint device operable in cooperation with a guidance system of a robot, the device comprising a sprint body configured to be fixedly coupled to a first object disposed within a flexible housing defining an opening, and a spacer engaged with the sprint body, the spacer being configured to cooperate with the sprint body to separate a second object from the first object within the flexible housing.

[0018] Exemplary Embodiment 8: A sprint device of the above-described embodiment or any combination of the above-described embodiments, the sprint device comprising a retractor having a first portion coupled to the sprint body and a second portion extending away from the sprint body, the flexible housing being retracted away from the first object and maintained such that the second portion is configured to engage the flexible housing around the opening so that the first object is accessible through the opening.

[0019] Exemplary Embodiment 9: A sprint device of the above-described embodiment or any combination of the above-described embodiments, the sprint body including a laterally extending intermediate portion having opposing sides, and a first stabilizing portion and a second stabilizing portion extending from the opposing sides of the intermediate portion, the intermediate portion and the first and second stabilizing portions being configured to extend around an object and be attached to the object, and a spacer being engaged with the intermediate portion of the sprint body.

[0020] Exemplary Embodiment 10: A retractor or spacer is movably coupled to the sprint body, which is a sprint device of the above-described embodiment or any combination of the above-described embodiments.

[0021] Exemplary Embodiment 11: A sprint device of the above-described embodiment or any combination of the above-described embodiments, wherein the sprint device comprises a first ratchet mechanism operably engaged between the retractor and the sprint body, and the first ratchet mechanism is configured to variably retract the flexible housing from the object.

[0022] Exemplary Embodiment 12: A sprint device of the above-described embodiment or any combination of the above-described embodiments, wherein the sprint device comprises a second ratchet mechanism operably engaged between the spacer and an intermediate portion of the sprint body, and the second ratchet mechanism is configured to variably separate a first object from a second object within the flexible housing.

[0023] These and other features, aspects, and advantages of the present disclosure will become apparent from the following detailed description, read in conjunction with the accompanying drawings described briefly below. The present disclosure includes any combination of two, three, four, or more features or elements shown in the present disclosure, whether or not such features or elements are explicitly combined or recited in the description of a particular embodiment herein. The present disclosure is intended to be read as a whole such that, unless the context of its disclosure clearly indicates otherwise, any separable feature or element of the present disclosure should be regarded as intended, i.e., capable of being combined, in any of its aspects and embodiments.

[0024] It should be understood that the summary of this specification is provided only for the purpose of summarizing some exemplary aspects to provide a basic understanding of the present disclosure. Thus, it will be understood that the above-described exemplary aspects are merely examples and should in no way be construed as narrowing the scope or spirit of the present disclosure. The scope of the present disclosure will be understood to encompass many potential aspects in addition to those summarized herein, some of which will be further described below. Further, other aspects and advantages of such aspects disclosed herein will become apparent from the following detailed description in conjunction with the accompanying drawings that illustrate the principles of the described aspects by way of example.

[0025] Thus, having described the present disclosure in general terms, reference is now made to the accompanying drawings, which are not necessarily drawn to scale.

Brief Description of the Drawings

[0026]

Figure 1

Figure 2A

Figure 2B

Figure 3A

Figure 3B

Figure 4

Figure 5

Figure 6

DETAILED DESCRIPTION OF THE INVENTION

[0027] The present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all, aspects of the disclosure are shown. In fact, the present disclosure may be embodied in many different forms and should not be construed as limited to the aspects set forth herein. Rather, these aspects are provided so that this disclosure will satisfy applicable legal requirements. Like reference numerals refer to like elements throughout.

[0028] Certain aspects of the present disclosure provide a sprint device 100 that can cooperate with a guidance system of a surgical robot, for example, for dental surgery as shown in FIG. 4. However, those skilled in the art will understand that the concept of the sprint device disclosed herein as forming a reference marker and / or a tracking marker, or a reference frame for a surgical robot system, using a variable retractor and / or spacer, can find applicability in other surgical processes that do not include dental surgery, such as orthopedic procedures (e.g., knee surgery), ENT surgery, and neurosurgical procedures. Thus, the aspects of the present disclosure presented herein are merely examples of the applicability of the disclosed concept and are not intended to be limiting in any way.

[0029] Such a sprint device 100 can include, for example, a sprint body 200 arranged to be fixedly coupled to a first object 102 disposed within a flexible housing 104 that defines an opening. As used herein, a "flexible housing that defines an opening" refers to a flexible (i.e., flexible, movable) housing that defines an operably movable and variable aperture, such that when the flexible housing moves operably so that the opening / aperture expands to an open position, the opening / aperture provides access to an internal chamber within the housing. For example, as shown in FIG. 5, a flexible housing that defines an opening / aperture can include a model of a patient's mouth having teeth / gums / jaw within a housing that is accessible through the opening / aperture when the patient's mouth is in an open position. In another example, a flexible housing that defines an opening / aperture can include the body of a patient or a part thereof where an incision is made, and underlying tissues, bone, muscle, etc. are accessible through the opening / aperture when the incision is in an open position, e.g., during knee extension. As contemplated herein, the sprint device can also be utilized with any type of non-surgically flexible housing that defines an opening.

[0030] Similarly, as used herein, "object" refers to a physical structure within a flexible housing to which the sprint body 200 can be coupled. In some examples, it may be desirable to variably separate an object disposed within the flexible housing 104. In such cases, the first object 102 may be variably separated from the second object 106 to facilitate access to another object disposed within the flexible housing and / or the first object and / or the second object through the opening. For example, as shown in FIG. 5, the first object includes the lower jaw teeth and the second object includes the upper jaw teeth. In this example, a third object, such as one or more of the tongue and / or the lower jaw teeth and / or the upper jaw teeth, may be accessed through the oral cavity opening. In another example, the first object can include tissue, bone, muscle, etc. under the incision, and the second object can include other tissue, bone, muscle, etc.

[0031] Referring again to FIG. 4, the sprint body 200 can comprise, for example, a laterally extending intermediate portion 202 having opposing side surfaces 204, 206, and a first stabilizing portion 208 and a second stabilizing portion 210 extending from opposing side surfaces of the intermediate portion. Thereby, the intermediate portion 202 as well as the first and second stabilizing portions cooperate to form a sprint body that defines a longitudinally extending U-shaped channel 212 therein. In some embodiments, the first stabilizing portion and the second stabilizing portion engage the intermediate portion such that they are generally opposed to each other and laterally spaced apart. Thus, the inner surface 214 of the first stabilizing portion and the inner surface 216 of the second stabilizing portion are generally opposed to each other and laterally spaced apart, and cooperate with the intermediate portion to define a U-shaped channel. The U-shaped channel can generally be in the form of, for example, an upwardly facing "U" shaped channel or an inverted downwardly facing "U" shaped channel that is suitable or desirable for fixedly coupling or attaching to an object (e.g., a patient's mouth / teeth / jaw) disposed, for example, within a flexible housing. For example, the inverted "U" shaped channel can be fixedly coupled to a first object 102 (e.g., a patient's lower jaw or lower teeth), while the "U" shaped channel can be fixedly coupled to a second object 106 (e.g., a patient's upper jaw or upper teeth).

[0032] The U-shaped channel 212 can, for example, extend longitudinally over the first object 102 (e.g., over one or more teeth in a patient's mouth or along a portion of the jaw). In some embodiments of the present disclosure, the sprint device 100 including the sprint body 200 can cooperate to perform similar functions as associated with prior art sprint devices. More specifically, the U-shaped channel can be further configured to receive an adhesive material therein, for example, to facilitate engagement and adhesion with an object such as a single tooth / plurality of teeth or jaw of a patient. In this way, the sprint body 200 can be fixedly coupled to an object such as the first object 102 or the second object 106.

[0033] In some embodiments, the retractor 300 can be coupled to or engaged with the spring body 200, and in certain embodiments, the retractor can be further configured to extend outwardly from the spring body and outwardly from the U-shaped channel 212. The retractor can include a first portion 302 coupled to or engaged with the spring body and a second portion 304 extending away from the spring body. Thus, when the spring body is fixedly coupled to a first object 102 disposed within the flexible housing 104, it can be arranged to engage the flexible housing around the opening defined thereby, and the first or second portion of the retractor can retract, hold, and maintain the flexible housing away from the first object such that the first object is accessible through the opening.

[0034] The retractor 300 can include a curved, hooked, or angled blade that can self-retain (i.e., does not need to be held) when the retractor engages the flexible housing around the opening. The retractor can have a size or shape that can vary depending on the type of flexible housing with which the retractor is engaged. For example, the retractor can include a Holman retractor as shown in FIG. 3A.

[0035] In some embodiments, the spring device 100 also includes a spacer 400 that engages an intermediate portion 202 of the spring body 200. The spacer can be arranged to cooperate with the intermediate portion to separate a second object 106 from a first object 102 within a flexible housing 104. The spacer can include a first portion 402 engageable with the intermediate portion of the spring body and an opposing second portion 404 (FIG. 6) engageable with the second object. Opposing side surfaces 406, 408 can extend between the first portion and the second portion. Thus, when the spring body is fixedly coupled to a first object disposed within the flexible housing 104, the first portion of the spacer is arranged to cooperate with the intermediate portion, and the opposing second portion of the spacer is arranged to engage the second object to separate the second object from the first object within the flexible housing. In this way, the spacer can be provided instead of, or in addition to, the retractor 300, depending on the application in which the spring device is utilized.

[0036] The spacer 400 can have a size or shape that varies depending on the flexible housing 104 and / or the type of object with which the spacer engages to provide a separation between the first object 102 and the second object 106 disposed within the flexible housing. The shape of the spacer can correspond to the flexible housing and / or the object with which the spacer engages to comfortably engage the second object. For example, the spacer can include a bite block, as shown in FIG. 3B. In some other embodiments, for example, the spacer 400 can have a shape that can comfortably separate a patient's lower jaw from the upper jaw. More specifically, for example, as shown in FIG. 6, the opposing side surfaces 406, 408 (not shown in FIG. 6) of the spacer can be tapered such that the first portion and the opposing second portion of the spacer converge at a rear portion 410. Thus, the height of the front portion 412 of the spacer can be higher than the height of the rear portion.

[0037] In some embodiments, the retractor 300 and / or the spacer 400 may be movably coupled to the spring body 200. If the spring device 100 includes both a retractor and a spacer, one or both of the retractor and the spacer may be movably coupled to the spring body. Otherwise, the retractor and / or the spacer may be fixedly coupled to the spring body such that the retractor or the spacer is in a fixed position when engaged with the spring body. As used herein, being movably coupled is defined as being variably positioned such that the retractor and / or the spacer can be variably positioned relative to the spring body.

[0038] The retractor 300 may be coupled to the spring body 200 using a coupling device that allows the retractor to be fixedly or movably coupled to the spring body. For a fixed coupling, the coupling mechanism can include an adhesive, a screw, etc. for fixing the retractor in a single position relative to the spring body. For a movable coupling, the coupling device can comprise a ratchet mechanism, a crank mechanism, etc. for variably fixing the retractor in one or more positions relative to the spring body.

[0039] For example, as shown in FIG. 4, the retractor 300 is movably coupled to the spring body 200 using a first ratchet mechanism 306. More specifically, the first ratchet mechanism can include a pawl 308 disposed on a first portion 302 of the retractor. The pawl can be configured to engage one or more teeth 218 disposed on the spring body, such as on a first stabilization portion 208 or a second stabilization portion 210. The one or more teeth may be uniform but asymmetric, with each tooth having a moderate slope on one edge and a much steeper slope on the other edge. When the retractor is moved downward (i.e., forward), the pawl can easily slide upward over the gently sloped edge of the tooth. A biasing mechanism 310, such as a tension spring, can be coupled to both the retractor and the spring body. Thus, the biasing mechanism can extend from its initial position when the retractor is moved downward, such that the tensile force can push the pawl into the recess formed between each tooth as the pawl passes the tip of each tooth. When the retractor is moved upward (i.e., backward), the pawl moves in the opposite direction (backward), such that the pawl catches the steeply sloped edge of the first tooth it encounters, thereby locking the pawl to the tooth and preventing further movement in that direction.

[0040] In this way, the retractor 300 can be moved downward to variably retract the flexible housing 104 from the first object 102, such that the first object is accessible through an opening defined by the housing. As the retractor moves farther away, the flexible housing is retracted further from the first object around the opening. However, those skilled in the art will understand that the retractor can be movably coupled to the spring body in other ways.

[0041] The spacer 400 can be coupled to the sprint body 200 using a coupling device that allows the spacer to be fixedly or movably coupled. For a fixed coupling, the coupling mechanism can include an adhesive, a screw, etc. for fixing the spacer in a single position relative to the sprint body. For a movable coupling, the coupling device can comprise a ratchet mechanism, a crank mechanism, etc. for variably fixing the spacer in one or more positions relative to the sprint body.

[0042] For example, as shown in FIG. 6, the spacer 400 is movably coupled to the sprint body 200 using a second ratchet mechanism 414. More specifically, the second ratchet mechanism can include a pawl 416 disposed on a first portion 402 of the spacer mechanism. The pawl can be configured to engage one or more teeth 220 disposed on an intermediate portion 202 extending laterally of the sprint body. The one or more teeth 220 may be uniform but asymmetric, with each tooth having a moderate slope on one edge and a much steeper slope on the other edge. As the spacer moves towards the rear of the flexible housing defining the opening (e.g., in the forward direction relative to the moderate slope of the teeth), the pawl may be able to easily slide over the moderately sloped edge of the teeth. A biasing mechanism 418, such as a tension spring, can be coupled to both the spacer and the sprint body. For example, as shown in FIG. 6, two tension springs can be present, each disposed on opposite side faces 406, 408 of the spacer and extending to stabilizing portions 208, 210 of the spacer.

[0043] Accordingly, the biasing mechanism 418 can extend from its initial position when the spacer 400 is moved rearward, such that the tensile force can push the claw into the recess formed between each tooth 220 as the claw passes the tip of each tooth. As the spacer is moved toward the front surface of the flexible housing that defines the opening (e.g., rearward relative to the moderate inclination of the teeth), the claw catches the steeply inclined edge of the first tooth it encounters, thereby locking it to the tooth and preventing further movement in that direction. In this way, the spacer can be moved rearward to variably separate the second object 106 from the first object 102 within the flexible housing 104. As the spacer is moved further rearward relative to the laterally extending intermediate portion 202, the second object is more separated from the first object. However, those skilled in the art will understand that the spacer can be movably coupled to the spring body in other ways.

[0044] In some embodiments, the spring body 200, the retractor 300, and / or the spacer 400 can each include attachment points 222, 312, 420 for engaging a tracking portion (or tracking arm or other tracking facility) associated with a guidance system for a surgical robot (i.e., for example, a reflective marker can be mounted to an attachment point for optical tracking of the fiducial marker or the spring device 100 itself, or the attachment point can include a fixed site for forming a mechanical connection for mechanical tracking of a reference point or “fiducial marker,” or the attachment point can be configured to receive suitable elements associated with any other suitable tracking configuration of the fiducial marker). For example, the first or second portion 302, 304 of the retractor can be configured or arranged to function as a fixed mounting site for a particular tracking device, such as one or more markers configured to be trackable by an optical tracking device (i.e., an optical tracking marker), which is permanently attached to the first or second portion of the retractor.

[0045] For example, as shown in FIG. 4, the second portion 304 of the retractor 300 includes an attachment point 312 so that a particular tracking device can be attached or one or more markers can be permanently fixed. FIG. 4 also shows an exemplary location of an attachment point 222 on the sprint body 200 such that a particular tracking device can be attached thereto or one or more markers can be permanently fixed thereto. For example, the attachment point can be provided on the laterally extending intermediate portion 202. FIG. 4 further shows an exemplary location of an attachment point 420 on the spacer 400 such that a particular tracking device can be attached thereto or one or more markers can be permanently fixed thereto. For example, the attachment point can be provided at the front portion 412.

[0046] Many modifications and other embodiments of the invention described herein will come to mind to those of ordinary skill in the art to which these disclosed embodiments pertain, having the benefit of the teachings presented in the foregoing description and the related drawings. For example, while the sprint device 100 can function as a reference marker, it is provided for robot guidance through an opening defined by the flexible housing to simultaneously retract and / or separate from objects 102, 206 disposed within the flexible housing and / or separate two or more objects within the flexible housing. In this way, registration and calibration of the instrument for interacting with the sprint device can be achieved after the sprint device engages the object and / or the flexible housing, and then robot guidance using the reference marker can be initiated without repositioning the various separators and retractors. Because the reference marker and the object of interest can already be accessible to the sprint device. In this way, for example, the steps of the workflow can be reduced.

[0047] Accordingly, it should be understood that the embodiments of the present invention are not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the present invention. Further, the foregoing description and the related drawings illustrate exemplary embodiments in the context of specific examples of combinations of elements and / or functions, but it should be understood that different combinations of elements and / or functions can be provided by alternative forms without departing from the scope of the disclosure. In this regard, for example, different combinations of elements and / or functions other than those specifically described above are also contemplated within the scope of the disclosure. Specific terms are used herein, but they are used only in a general and descriptive sense and not for purposes of limitation.

[0048] Terms such as first, second, etc. may be used herein to describe various steps or calculations, but it should be understood that these steps or calculations should not be limited by these terms. These terms are used only to distinguish one operation or calculation from another. For example, without departing from the scope of the present disclosure, a first calculation could be referred to as a second calculation, and similarly, a second step could be referred to as a first step. As used herein, the terms "and / or" and the " / " symbol include any and all combinations of one or more of the associated listed items.

[0049] As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the terms "comprises", "comprising", "includes" and / or "including" specify the presence of the stated features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It is further to be understood that the terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting.

Claims

A sprint device for forming a reference marker capable of cooperating with a guidance system of a surgical robot, comprising: A sprint body configured to be fixedly coupled to a first object disposed within a flexible housing defining an opening; A retractor having a first portion coupled to the sprint body and a second portion extending away from the sprint body, the second portion being configured to engage the flexible housing around the opening and the retractor being movably coupled to the sprint body to variably fix the retractor to the sprint body at one or more positions to retract and maintain the flexible housing away from the first object; A sprint device comprising the above. Claim 2 The sprint device according to claim 1, wherein the sprint body includes a laterally extending intermediate portion having opposing side surfaces, and a first stabilizing portion and a second stabilizing portion extending from the opposing side surfaces of the intermediate portion, the intermediate portion and the first and second stabilizing portions extending around the first object and being configured to be attached to the first object. Claim 3 The sprint device according to claim 2, further comprising a spacer engaging the intermediate portion of the sprint body, the spacer being configured to cooperate with the intermediate portion to separate a second object from the first object within the flexible housing. Claim 4 The sprint device according to claim 3, wherein the spacer is movably coupled to the sprint body. Claim 5 The sprint device according to claim 4, further comprising a first ratchet mechanism operably engaged between the retractor and the sprint body, the first ratchet mechanism being configured to variably retract the flexible housing away from the first object. Claim 6 The sprint device according to claim 4, further comprising a second ratchet mechanism operably engaged between the spacer and the intermediate portion of the sprint body, the second ratchet mechanism being configured to movably couple the spacer to the intermediate portion of the sprint body to variably separate a second object from the first object within the flexible housing. A sprint device for forming a reference marker capable of cooperating with a guidance system of a surgical robot, comprising: A sprint body configured to be fixedly coupled to a first object disposed within a flexible housing that defines an opening, A tapered spacer engaged with the sprint body, the spacer configured to engage a second object to separate the second object from the first object within the flexible housing and cooperate with the sprint body, A second ratchet mechanism operably engaged between the spacer and an intermediate portion of the sprint body, the second ratchet mechanism disposed to variably couple the spacer to the intermediate portion of the sprint body to variably separate the second object from the first object within the flexible housing A sprint device comprising the same.

8. A retractor having a first portion coupled to the sprint body and a second portion extending away from the sprint body, the second portion configured to engage the flexible housing around the opening and variably fix the retractor to the sprint body at one or more positions to retract and maintain the flexible housing away from the first object, the retractor movably coupled to the sprint body. The sprint device according to claim 7.

9. The intermediate portion extends laterally and has opposing side surfaces, the sprint body including a first stabilizing portion and a second stabilizing portion extending from the opposing side surfaces of the intermediate portion, the intermediate portion and the first and second stabilizing portions extending around the object and configured to be attached to the object. The sprint device according to claim 7.

10. A first ratchet mechanism operably engaged between the retractor and the sprint body, the first ratchet mechanism configured to movably couple the retractor to the sprint body to variably retract the flexible housing from the first object. The sprint device according to claim 8.

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