Method and system for power generation

Abstract

A medical device system is disclosed that includes a power storage system and a power generation system. The power generation system may be configured to generate power to be stored in the power storage system. The power storage system may be configured to deliver the stored power to the medical device system.

Description

METHOD AND SYSTEM FOR POWER GENERATIONCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63 / 535,756 filed 31 August 2023. The entire disclosure of which is incorporated by reference herein.FIELD

[0002] The present disclosure relates to a power generation system, and more specifically, a power generation system for incorporation with selected items.BACKGROUND

[0003] This section provides background information related to the present disclosure which is not necessarily prior art.

[0004] A subject, such as a human patient, may undergo a procedure. The procedure may include a procedure to correct or augment an anatomy of the subject. The augmentation of the anatomy can include various procedures, such as movement or augmentation of bone, insertion of an implant (i.e., an implantable device), or other appropriate procedures.

[0005] A medical professional can perform the procedure using one or more systems. The systems may include an imaging system, a navigation system, and a robotic system. Equipment of the systems may be powered using electrical power. The electrical power may be provided via a physical wire that is plugged into a wall outlet.SUMMARY

[0006] This section provides a general summary of the disclosure and is not a comprehensive disclosure of its full scope or all of its features.

[0007] According to various embodiments, a medical device system may include a power storage system and a power generation system. The power generation system may be configured to generate power to be stored in the power storage system. The power storage system may be configured to store the power and deliver the stored power to the medical device system. The medical device system may include a support and a wheel rotatably mounted to the support. The power storage system and the power generation system may be moveable with the support.

[0008] In various embodiments, the medical device system may include an imaging system, a navigation system, a robotic system, or combinations thereof. The imaging system may be configured to capture image data using a source and a detector. The source may be configured to emit x-rays and a detector may be configured to detect the x-rays. The imaging system may, however, be any appropriate imaging system such as a MRI, ultrasound, RF signal imaging, etc. The navigation system may be configured to track a subject or device using as localizer. The robotic system may be configured to assist in performing a procedure on the subject using a control unit and a robot arm.

[0009] Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.DRAWINGS

[0010] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0011] Fig. 1 is an environmental view of an imaging system and a navigation system in an operating theatre according to various embodiments;

[0012] Fig. 2 is a side view of a user pushing an imaging gantry of the imaging system of Fig. 1;

[0013] Fig. 3A is a block diagram of a power generation system of the imaging and navigation systems;

[0014] Fig. 3B is a schematic view of the power generation system of Fig.3A;

[0015] Fig. 4A is a block diagram of another power generation system of the imaging and navigation systems;

[0016] Fig. 4B is a schematic view of the power generation system of Fig.4A;and

[0017] Fig. 5 is an environment view of a robotic system in an operating theatre according to various embodiments.

[0018] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.DETAILED DESCRIPTION

[0019] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0020] A medical device system may include a power storage system and a power generation system. The medical device system may include one or more of a medical imaging system, a medical navigation system, a medical robotic system, or another suitable type of medical device system. A subject may be imaged with the medical imaging system, the subject or a device may be navigated with the medical navigation system, and the medical robotic system may assist with a procedure relative to the subject, according to various embodiments and as discussed further therein. The subject may be a living subject, such as a human patient.

[0021] The medical device system may include one or more power generation systems that are configured to generate power and a power storage system that is configured to store and deliver power to the medical device system. The power generation system may include at least one of an electromechanical generator system or a thermoelectric generator system. The electromechanical generator system generates power using an electromechanical generator that converts energy derived from movement of the equipment into power. The thermoelectric generator system may generate power using a thermoelectric plate that converts a temperature difference into power. The temperature difference may be between one or more components of the device and another component and / or an environment.

[0022] Fig. 1 is a schematic view of a procedure room 20. A user 24, such as a surgeon, can perform a procedure on a subject, such as a patient 28. The subject may be placed on a support, such as a table 32 for a selected portion ofthe procedure and imaged with an imaging system 36 (e.g., a medical imaging system). The table 32 may not interfere with image data acquisition of the imaging system 36. In performing the procedure, the user 24 can use the imaging system 36 to acquire image data of the patient 28 to allow a selected system to generate or create images to assist in performing a procedure. Images generated with the image data may be two-dimensional (2D) images, three-dimensional (3D) images, or any appropriate type of images, such as a model (e.g., reconstructed 3D model based on image data from the imaging system), long views, single projections views, etc. The images are displayed as an image 40 on a display device 44. The images 40 may also be displayed with the display device 122.

[0023] The display device 44 can be part of and / or connected to a processing system 48 that includes an input device 52, such as a keyboard, and a processor 56, which can include one or more processors, processor module, and / or microprocessors incorporated with the processing system 48 along with selected types of non- transitory and / or transitory memory 58. A connection 62 can be provided between the processor 56 and the display device 44 for data communication to allow the display device 44 to display or illustrate the image40. The processor 56 may be any appropriate type of processor such as a general- purpose processor that executes instructions included in a program or an application specific processor such as an application specific integrated circuit.

[0024] The display device 44 may be moved, such as using one or more wheels 54.In various embodiments, the display device 44 may be moved whileimage data is acquired. Also, the display device 44 can be moved from one operating theater to another (e.g., another room). This allows the display device 44 to be mobile and moveable relative to the subject 28, thus allowing it to be used in multiple locations and with multiple procedures without requiring a capital expenditure or space dedicated to a fixed imaging system.

[0025] The imaging system 36 can include an O-Arm® imaging system sold by Medtronic Navigation, Inc. having a place of business in CO, USA. The imaging system 36, including the O-Arm® imaging system, or other appropriate imaging systems may be in use during a selected procedure, such as the imaging system described in U.S. Patent No. 9,411,057 issued Aug. 9, 2016;U.S. Patent No. 9,807,860 issued October 31, 2017; U.S. Patent No. 8,238,631 issued Aug. 7, 2012, all the above incorporated herein by reference. Further, the imaging system 36 may include various features and elements, such as a slotted filter, such as that disclosed in U.S. Pat. No. 10,881,371 issued Jan. 5, 2021 andU.S. Pat. No. 11,071,507 issued July 27, 2021, all the above incorporated herein by reference.

[0026] The imaging system 36, for example, including the O-Arm® imaging system, may include a mobile cart 60 that includes a controller and / or control system 64. The control system 64 may include a processor and / or processing system 66 (similar to the processor 56) and a memory 68 (similar to the memory 58). The processor 66 may be a general-purpose processor or an application specific application processor. The memory 68 may include various instructions that are executed by the processor 66 to control the imaging system36, including various portions of the imaging system 36. The memory 68 may be a non- transitory memory such as a spinning disk or solid-state non-volatile memory.

[0027] The imaging system 36 may include an imaging gantry 70 in which is positioned a source unit (also referred to as a source assembly) 74 and a detector unit (also referred to as a detector assembly) 78. In various embodiments, the detector 78 alone and / or together with the source unit 74 may be referred to as an imaging head or source / detector unit 98 of the imaging system 36. The imaging head 98 may be positioned in an internal volume that is enclosed by the imaging gantry 70. The movement of the imaging head 98 and / or individually the source unit 74 or the detector unit 78 may generate thermal energy. In various embodiments, the movement may be on rails and / or with a selected motor. The movement on the rails may generate thermal energy due to friction. Also, operation of the motor to move the unit may also generate heat. Further, the source unit 74 may emit x-rays or other energetic waves or particles that may generate thermal energy. Also, the detector unit 78 when interacting with (e.g., detecting) the emissions may generate thermal energy. As discussed herein, various portions of various systems may generate thermal energy that may be captured for various purposes, as discussed herein.

[0028] With additional reference to Fig. 2, the mobile cart 60 and the imaging gantry 70 is movable. The user 24 may move the one or more wheels 72 of the mobile cart 60 and the imaging gantry 70 by pushing, pulling, and steering the mobile cart 60. As discussed herein, regenerative braking may be useful tocapture or recapture energy, according to various embodiments. The gantry 70 is moveably connected to the mobile cart 60. The gantry 70 may also need to be braked and regenerative braking may occur with this portion of the system as well. The gantry 70 may be O-shaped or toroid shaped, and the gantry 70 is substantially annular and includes walls that form a volume in which the source unit 74 and detector 78 may move within. In various embodiments, the gantry 70 and / or the mobile cart 60 may be moved while image data is acquired, including both being moved simultaneously. Also, the imaging system 36 via the mobile cart 60 can be moved from one operating theater to another (e.g., another room). The gantry 70 can move relative to the cart 60, as discussed further herein. This allows the imaging system 36 to be mobile and moveable relative to the subject 28, thus allowing it to be used in multiple locations and with multiple procedures without requiring a capital expenditure or space dedicated to a fixed imaging system.

[0029] In various embodiments, the imaging system 36 may include an imaging system that acquires images and / or image data by the use of emitting x- rays and detecting x-rays after interactions and / or attenuations of the x-rays with or by the subject 28. The x-ray imaging may be an imaging modality. It is understood that other imaging modalities are possible, such as other high energy beams, radio frequency, magnetic fields, etc.

[0030] Thus, in the imaging system 36, the source 74 may be an x-ray emitter that can emit x-rays at and / or through the patient 28 to be detected by the detector78. As is understood by one skilled in the art, the x-rays emitted by thesource 74 can be emitted in a cone along a selected main vector and detected by the detector 78. The source 74, as discussed herein, may include one or more sources of x-rays for imaging the subject 28. In various embodiments, the source 74 may include a single source that may be powered by more than one power source to generate and / or emit x-rays at different energy characteristics. Further, more than one x-ray source may be the source 74 that may be powered to emit x-rays with differing energy characteristics at selected times. The source 74 and the detector 78 may also be referred to together as a source / detector unit 98, especially wherein the source 74 is generally diametrically opposed (e.g., 180 degrees (0) apart) from the detector 78 within the gantry 70.

[0031] The imaging system 36 may move, as a whole or in part, relative to the subject 28. For example, the source 74 and the detector 78 can move around the patient 28, e.g., a 360° motion, spiral, portion of a circle, etc. The movement of the source / detector unit 98 within the gantry 70 may allow the source 74 to remain generally 180° opposed (such as with a fixed inner gantry or rotor or moving system) to the detector 78. Thus, the detector 78 may be referred to as moving around (e.g., in a circle or spiral) the subject 28 and it is understood that the source 74 is remaining opposed thereto, unless disclosed otherwise.

[0032] Also, the gantry 70 can move isometrically (also referred as "wag") relative to the subject 28 generally in the direction of arrow 100 around an axis 102, such as through the cart 60, as illustrated in Fig. 1. The gantry 70 can also tilt relative to a long axis106 of the patient 28 illustrated by arrows 110. In tilting,a plane of the gantry 70 may tilt or form a non-orthogonal angle with the axis 106 of the subject 28. The gantry 70 may also move longitudinally in the direction of arrows 114 along the axis 106 relative to the subject 28 and / or the cart 60. Further, the gantry 70 can move up and down generally in the direction of arrows 118 relative to the cart 30 and / or the subject 28, generally transverse to the axis 106 and parallel with the axis 102.

[0033] The movement of the imaging system 36, in whole or in part is to allow for positioning of the source / detector unit (SOU) 98 relative to the subject28. The imaging system 36 can be precisely controlled to move the SOU 98 relative to the subject 28 to generate precise image data of the subject 28. The imaging system 36 can be connected to the processor 56 via a connection 120, which can include a wired or wireless connection or physical media transfer from the imaging system 36 to the processor 56. Thus, image data collected with the imaging system 36 can be transferred to the processing system 56 for navigation, display, reconstruction, etc.

[0034] According to various embodiments, the imaging system 36 can be used with an unnavigated or navigated procedure. In a navigated procedure, a navigation system 134, can include either or both of an optical localizer 130 and / or an electromagnetic localizer 138. The optical localizer 130 can be used to emit and receive infrared light. The electromagnetic localizer 138 can be used to generate a field and / or receive and / or send a signal within a navigation space or navigation domain relative to the subject 28. The navigation space relative to the subject 28 can be registered to the image 40. Correlation, as understood in theart, is to allow registration of the navigation space and an image space defined by the image 40. A patient tracker or dynamic reference frame 140 can be connected to the subject 28 to allow for a dynamic registration and maintenance of registration of the subject 28 to the image 40.

[0035] In some configurations, the optical localizer 130 may include the display device 122. The display device 122 may display the image 40 from the imaging system 36, or another suitable image. The display device 122 may be in addition to or in alternative of the display device 44. The optical localizer 130 may include a controller and / or control system 124 that has a processor and / or processing system 126 (similar to the processors 56, 66) and a memory 128 (e.g., a non-transitory memory). The processor 126 may be a general-purpose processor or an application specific application processor. The memory 128 may include various instructions that are executed by the processor 126 to control the imaging system 36, including various portions of the imaging system 36. The memory 128 may be a non- transitory memory such as a spinning disk or solid- state non-volatile memory.

[0036] The optical localizer 130 may be movable using one or more wheels 132. In various embodiments, the optical localizer 130 may be moved during a procedure, such as before or after image data is acquired. Also, the optical localizer 130 can be moved from one operating theater to another (e.g., another room). This allows the optical localizer 130 to be mobile and moveable relative to the subject 28, thus allowing it to be used in multiple locations and withmultiple procedures without requiring a capital expenditure or space dedicated to a fixed navigation system 134.

[0037] The patient tracking device or dynamic registration device 140 and an instrument 144 can then be tracked relative to the subject 28 to allow for a navigated procedure. One skilled in the art will understand that the instrument 144 may be any appropriate instrument, such as a ventricular or vascular stent, spinal implant, neurological stent or stimulator, ablation device, or the like. The instrument 144 can be an interventional instrument or can include or be an implantable device. The instrument 144 can include a tracking device, such as an optical tracking device 148 and / or an electromagnetic tracking device 152 to allow for tracking of the instrument 144 with either or both of the optical localizer 130 or the electromagnetic localizer 138. A navigation / probe interface device 158 may have communications (e.g., wired or wireless) with the instrument 144 (e.g., via a communication line 156), with the electromagnetic localizer 138 (e.g., via a communication line 162), and / or the optical localizer 130 (e.g., via a communication line 166). The interface 158 can also communicate with the processor 56 with a communication line 168 and may communicate information (e.g., signals) regarding the various items connected to the interface 158. It will be understood that any of the communication lines can be wired, wireless, physical media transmission or movement, or any other appropriate communication. Nevertheless, the appropriate communication systems can be provided with the respective localizers to allow for tracking of the instrument 144relative to the subject 28 to allow for illustration of a tracked location of the instrument 144 relative to the image 40 for performing a procedure.

[0038] Registration may be performed in various manners. For example, the tracked pose of the imaging system 36 relative to the subject 28 at the time of image data acquisition may allow knowledge of a pose of the image 40 and a related image space coordinate system relative to the subject 28. Further, similar or identical fiducial points may be identified and tracked on the subject 28 and the image 40. A registration may be assisted and / or performed using images that have portions imaged therein and various known component registration methods include those disclosed in U.S. Patent No. 11,138,768 incorporated herein by a reference. Thus, a transformation map may be generated to allow a tracked pose of the instrument 144 (e.g., that may be any appropriate member) to be illustrated as a graphical representation relative to (including superimposed thereon) the image 40. Also, the relative pose of the imaging system 36 and the subject 28 may be known or determined.

[0039] Upon registration and tracking of the instrument 144, an icon 180 may be displayed relative to, including overlaid (i.e., superimposed) on, the image 40. Tracking the instrument 144 allows for viewing a location (including x, y, z position and orientation) of the instrument 144 relative to the subject 28 with use of the registered image 40 without direct viewing of the instrument 144 within the subject 28.

[0040] Further, the imaging system 36, such as the gantry 70, can include an optical tracking device 174 and / or an electromagnetic tracking device 178 tobe tracked with the respective optical localizer 130 and / or electromagnetic localizer 138 of the navigation system 134. Accordingly, the imaging system 36 can be tracked relative to the subject 28 as can the instrument 144 to allow for initial registration, automatic registration, or continued registration of the subject28 relative to the image 40. Registration and navigated procedures are discussed in the above incorporated U.S. Patent No. 8,238,631, incorporated herein by reference.

[0041] The various systems, including the imaging system 36 and the navigation system 134, may each individually or together include one or more of a power storage system 198 and a power generation system 200. More specifically, each of the display device 44, the mobile cart 60, the imaging gantry 70, and the optical localizer 130 may include at least one of the power storage system 198 and one of the power generation system 202. The power generation system 200 may include, according to various embodiments an appropriate generator such as at least one of an electromechanical generator system 200 or a thermoelectric generator system 204. In the illustrated examples, the display device 44, the mobile cart 60, the imaging gantry 70, and the optical localizer 130 includes both the electromechanical generator system 200 and the thermoelectric generator system 204. The electromechanical and thermoelectric generator systems 200, 204 are configured to generate power. The power storage system 198 is configured to store power and deliver the stored power to any appropriate system that requires or uses power, such as the imaging system 36 and the navigation system 134.

[0042] According to various embodiments, the power storage system 198 may store power to be delivered to at least one of the display device 44, the mobile cart 60, the imaging gantry 70, and the optical localizer 130. According to various embodiments, the power storage system 198 may deliver power to the processor 56, 66, 126 of the respective one of display device 44, the mobile cart 60, and the optical localizer 130. According to various embodiments, the power storage system 198 may deliver power to at least one of the source 74 and the detector 78 of the imaging system 36. According to various embodiments, the wheels 54, 72, 132 of the display device 44, the mobile cart 60, and the optical localizer 130 may be powered by a motor 206 such that the motor 206 is configured to drive movement of the respective wheel 54, 72, 132. The power storage system 198 may deliver power to the motor 206.

[0043] The power storage system 198 may include a storage and / or delivery system. For example, the power storage system 198 may include a battery that is able to be both charged and discharged directly. In various embodiments, however, the battery may be connected to a distribution system that directly delivers the power to selected portions. The portions may be selected manually and / or automatically, as discussed herein. Other storage systems include capacitors, mechanical storage, etc.

[0044] The power storage system 198 and the power generation system200 are movable with the respective one of the imaging system 36 and the navigation system 134. Accordingly, a selected system, such as the imaging system 36 and the navigation system 134, may be powered for a period of timewithout being plugged in to a powered wall outlet. In some examples, the electromechanical and thermoelectric generator systems 200, 204 may generate power while the respective one of the display device 44, the mobile cart 60, the imaging gantry 70, and the optical localizer 130 is plugged into the power wall outlet.

[0045] With additional reference to Fig. 3A, the electromechanical generator system 200 may include an electromechanical generator 208 and a charge controller 216. The electromechanical generator 208 may be any appropriate electromechanical generator, including an electric motor operated as a electromechanical generator. Examples, therefore, include a motor (e.g., a motor with part number M1N10FB 1 i G), sold by Digikey having a place of business in Minnesota, USA The power storage system 198, according to various embodiments, includes a rechargeable battery 212. As noted above, however, the power storage system 198 may include other power storage systems, such as a capacitor.

[0046] In various embodiments, the electromechanical generator 208 is configured to generate power (e.g., at least a potential) based on rotational movement of one or more wheels (e.g., wheels 54, 72, 132) of the respective one of the display device 44, the mobile cart 60, the imaging gantry 70, and the optical localizer 130. For example, as the wheel rotates due to movement and an external force a spindle 213 may be turned that is connected to the electromechanical generator 208. Thus, a mechanical force may be transferred to the electromechanical generator 208 from one or more of the wheels. In otherwords, the wheel, according to various embodiments may be coupled to the spindle 213 that is coupled to the electromechanical generator 208. In an example, therefore, spinning of the wheel may spin the spindle 213 and, in turn, spin a portion of the electromechanical generator 208 to generate power that is stored and / or used.

[0047] The rechargeable battery 212 is configured to receive power from the electromechanical generator 208. The power may be stored within the rechargeable battery 212, such as via recharging the battery 212 due to the generated potential. Power from the battery 212 may then delivered to any appropriate system, such as the respective one of the display device 44, the mobile cart 60, the imaging gantry 70, and the optical localizer 130.

[0048] The charge controller 216 is configured to regulate the flow of electricity to and from the rechargeable battery 212. For example, the charge controller may limit or eliminate a recharge potential to the battery 212 to assist in maintaining an appropriate charge and not overcharging the battery 212. Similarly, the charge controller 216 may limit or eliminate a charge from the battery 212. The charge controller 216, therefore, may include appropriate circuits and / or a processor 217 to control the charge. The processor 217 may execute instructions based on selected inputs, such as a sensed power need, an input from the user 24, or other appropriate inputs.

[0049] The power from the charge controller 216 may, therefore, be delivered to a system, such as the imaging system 36. The power receiving system may receive it via the charge controller 216 to assist in ensuring anappropriate type of power is received. For example, generating an alternating or direct current, providing an appropriate voltage, etc. Again, the charge controller 216, such as with the processor 217, may control the outflow of power. As a further example, the charge control circuit 216 may direct the power to a portable computing portion (e.g., tablet 376), display, or other selected portion being used within the system. Thus, as illustrated in Fig. 3A power may flow between the various components.

[0050] As an example, shown in Fig. 3B, the electromechanical generator 208 is coupled to at least one wheel (e.g., wheels 54, 72, 132) of the respective one of the display device 44, the mobile cart 60, imaging gantry 70, and the optical localizer 130. More specifically, a shaft or spindle 220 extends between a first end 222 and a second end 226 that is opposite to the first end 222. The first end 222 of the shaft 220 is connected to the electromechanical generator 208 and the second end 226 of the shaft 220 is connected to the respective wheel 54, 72, 132. Rotation of the wheel 54, 72, 132 drives rotation of one or more internal components (e.g., rotor) of the electromechanical generator 208. In some examples, a mechanical coupling 230, such as a gear, may be disposed between the wheel 54, 72, 132 and the electromechanical generator 208. The mechanical coupling 230 may support the rotational movement of the shaft 220. In other words, the wheel, according to various embodiments may be coupled to the spindle 220 and / or the gear 230 that is coupled to the electromechanical generator 208. In an example, therefore, spinning of the wheel may spin thespindle 220 and / or the gear 230 and, in turn, spin a portion of the electromechanical generator 208 to generate power that is stored and / or used.

[0051] The electromechanical generator 208 converts mechanical energy from the rotation of the internal components of the electromechanical generator 208 into power. In some examples, the electromechanical generator 208 may convert kinetic energy from braking of the wheels 54, 72, 132 to power. In various embodiments, therefore, movement of the wheels, such as during transport as illustrated in Fig. 2, may be used to harvest energy or power that may be stored. This kinetic energy due to the movements, such as for transportation, may otherwise be entirely wasted or substantially wasted. The movement may also cause thermal energy to be generated that may also be harvest to be stored in the storage 198, as discussed herein.

[0052] Power (e.g., a voltage) from the electromechanical generator 208 may be delivered directly to an appropriate system, such as the imaging system36. Power, therefore need not be initially stored in a storage system, such as the rechargeable battery 212. Further, the electromechanical generator 208 may be provided in a manner that does not require any further control to provide power to a selected system. Thus, the charge controller 216 may not be required. As illustrated in Fig. 3B, power may be generated at the electromechanical generator 208 and delivered directly to the appropriate system, such as the imaging system 36. Other exemplary systems that may receive energy include indicators, such as LEDs that are provided as indication for a system under motion.

[0053] With reference to Fig. 1 and additional reference to Figs. 4A-4B, the thermoelectric generator system 204 may, according to various embodiments, include a thermoelectric plate 234 (i.e., thermoelectric generator) and a charge controller 238. The charge controller 238 may be similar to the charge controller 216 discussed above and may include one or more circuits and / or a processor 239.

[0054] The thermoelectric plate 234 is configured to generate power based on a temperature difference within and / or relative to at least one of the respective display device 44, the mobile cart 60, imaging gantry 70, and the optical localizer130. When both the electromechanical generator system 200 and the thermoelectric generator system 204 are provided, the electromechanical and thermoelectric generator systems 200, 204 may use one rechargeable battery 212, as illustrated. The rechargeable battery 212 is configured to receive power from the thermoelectric plate 234, store power within the rechargeable battery 212, as discussed above, it is understood, however, that each generator portion may include a power storage system 198, such as an individual battery 212.

[0055] Moreover, power may be delivered from the storage system 198 to one or more of the respective one of the display device 44, the mobile cart 60, the imaging gantry 70, and the optical localizer 130. The charge controller 238 is configured to regulate the flow of power (e.g., voltage) to and from the rechargeable battery 212. The charge controller 238 may include similar or identical portions as the charge controller 216 and operate in a similar or identical manner.

[0056] The thermoelectric plate 234 may be any appropriate thermoelectric plate (e.g., making use of the peltier effect) such as a Thermoelectric CP60240, sold by CUI Devices or ATE1-TC-31-3AS, sold by Analog Technologies. The thermoelectric plate 234 operates due to a temperature or thermal differential which may be provided by a higher temperature area (e.g., heat source) relative to a lower temperature area (e.g., environment, heat sink, etc.) and / or other appropriate thermal differential 240. The thermal differential 240 may be divided into various components or portions, as discussed below and illustrated in Fig. 4B. The thermal differential 240 may be provided adjacent to the thermoelectric plate to allow the thermoelectric plate to operate due to the thermal differential and generates power in any appropriate manner.

[0057] As shown in Fig. 4B, the thermoelectric plate 234 extends between a first side 254 and a second side 258 that is opposite to the first side 254. The thermoelectric plate 246 is configured to generate power based on a temperature difference between a first temperature at the first side 254 of the thermoelectric plate 246 and a second temperature at the second side 258 of the thermoelectric plate 246. The thermal differential portion 240 may be provided as a heat source 242 is positioned at the first side 254 of the thermoelectric plate 246. The heat source 242 may be the processor 56, 66, 126 of the respective one of the display device 44, the mobile cart 60, imaging gantry 70, and the optical localizer 130 as the processor 56, 66, 126 generates heat. Any other appropriate portion may also be the heat source 242, such as a motor, an x-ray emitter, etc.

[0058] A heat sink or heat generation free zone 250 is positioned at the second side 258 of the thermoelectric plate 246. The heat sink 250 may be a selected item or material, such as a radiator (e.g., solid or liquid filled). The heat sink 250 may also be or alternatively be an open area, such as a space or volume external to the system.

[0059] According to various embodiments, thermoelectric plate 234, heat source 242, and heat sink 250 are positioned within a housing or support 260. The housing 260 may be a portion of and / or included within the selected system, such as the respective one of the respective one of the display device 44, the mobile cart 60, imaging gantry 70, and the optical localizer 130. The housing 260 may be configured to support the respective one of the imaging system 26 and the navigation system 134.

[0060] According to various embodiments, the heat source 242 is positioned inboard relative to the thermoelectric plate 234 and the heat sink 250 is positioned outboard relative to the thermoelectric plate 234. In other words, the heat sink 250 is positioned between the thermoelectric plate 234 and an external environment (i.e., atmosphere outside of housing 260). The heat sink 250 is configured to direct a flow of heat away from the second side 258 of the thermoelectric plate 246. Thus, the heat source 242 is configured to heat the first side 254 of the thermoelectric plate 234 and the heat sink 250 is configured to cool the second side 258 of the thermoelectric plate 246, creating the temperature differential 240. The first temperature or temperature at the first side 254 is greater than the second temperature or temperature at the second side258. The temperature difference may be based on any appropriate system and may be about 0.1 degree centigrade (C) to greater than 100 C. The temperature differential may be based on the environment in which the thermoelectric generator system 204 is placed, an operating time of the system such as the heat source 242, etc. Nevertheless, the thermoelectric plate 246 may be configured to generate a selected power (e.g., voltage) based on the thermal differential 240.

[0061] The electromechanical and thermoelectric generator systems 200, 204 are capable of prolonging use or operation of the respective device without an external power source. This in turn reduces costs that may be related to electricity generation and delivery and may assist in reducing emissions related thereto and / or allowing for Carbon credits. One of ordinary skill in the art can appreciate that the electromechanical generator system 200 can be integrated into another suitable medical device system that has at least one wheel (e.g., wheel 54, 72, 132) and the thermoelectric generator system 204 can be integrated into another suitable medical device that has a heat source (e.g., processor 56, 66, 126). For example, Fig. 5 illustrates a robotic system 300 (i.e., medical robotic system) having the electromechanical and / or thermoelectric generator systems 200, 204.

[0062] With reference to Fig. 5, the robotic system 300 includes a robot arm or robot arm assembly 304. The robot arm assembly 304 may include a support, an articulated portion (e.g., arm portion) 328, and an end effector 332. In various embodiments, the robotic system300 may include a separate a controlunit 308, but it is not required. The robot arm assembly 304 and the control unit308 includes the power storage system 198 and at least one of the electromechanical and thermoelectric generator systems 200, 204. In some examples, the robot arm assembly 304 and the control unit 308 may include one of the electromechanical and thermoelectric generator systems 200, 204. For example, the robot arm 304 may include the electromechanical generator system 200 and the control unit 308 may include the thermoelectric generator system204. In another example, the robot arm assembly 304 and the control unit 308 may each include the electromechanical generator system 200. A user, such as a surgeon, can operate the control unit 308 and, simultaneously, the robot arm assembly 304 is configured to perform a procedure on a subject 312, based on the user's operation of the control unit 308. The subject 312 may be placed on a support 316, such as a table for a selected portion of the procedure. The control unit 308, therefore, may remotely control the arm assembly 304 relative to the subject 312.

[0063] The robot arm assembly 304 may be movable, such as for moving relative to the subject 312. using one or more wheels 318. The robot arm assembly 304 may also include the wheels 318 for movement between operating theaters and the like. The robot arm assembly 304 can be moved from one operating theater to another (e.g., another room). This allows the robot arm assembly 304 to be mobile and moveable relative to the subject 312, thus allowing it to be used in multiple locations and with multiple procedures without requiring a capital expenditure or space dedicated to a fixed robotic system.

[0064] The robot arm assembly 304 includes a robot base 320, the support or tower 324, the articulated arm 328, and the end effector 332. The robot base 320 partially houses the electromechanical generator system 200. The electromechanical generators 208 of the electromechanical generator system 200 are positioned adjacent to and coupled with the wheels 318. The electromechanical generators 208 and the wheels 318 may be the same in quantity. For example, the illustrated robot arm assembly 304 has four electromechanical generators 208 and four wheels 318. However, the electromechanical generators 208 may include another number of generators and the wheels 318 may include another number of wheels 318. In various embodiments, for example, all of the wheels 318 may be connected to a single generator, such as with a transmission, etc.

[0065] The tower 324 extends from the robot base 320. The tower 324 may house a control system 336 that may include a processor 340 and a memory 344. The processor 340 may be wirelessly or physically connected to the control unit 308 and configured to receive input from the control unit 308. The processor 340 may control movement of the arm 328 and end effector 332, based on the received input from the control unit 308. The memory 344 may include various instructions that are executed by the processor 340 to control the robot arm assembly 304. The memory 344 may be a non-transitory memory such as a spinning disk or solid-state non-volatile memory. The instructions may be executed substantially automatic in a selected order and / or based on a selected input. For example, the user may include a selected operation and theinstructions may be executed to carry out the operation. However, as discussed above, the controller 308 may also remotely control the arm assembly 304 and, therefore, the processor executes instructions based on input from at least the controller 308.

[0066] Additionally, the tower 324 may house the thermoelectric generator system 204. The thermoelectric plate 234 of the thermoelectric generator system 204 may be positioned adjacent to the processor 340. A heat sink or environment may be adjected to the thermoelectric generator system 204 opposite to the processor 340. Thus, the thermoelectric generator system 204 may experience the thermal differential, as discussed above, during selected times relative to operation of the processor 304. The thermoelectric generator system 204 may be placed near heat or thermal energy generating objects in the system, such as x-ray emitters or processors. The thermal energy generated by these systems may, without to the thermoelectric generator system 204, generally be lost to the environment as heat. Thus, the thermoelectric generator system 204 allows recovery or capture of this otherwise wasted heat that is recovered as energy to be used later.

[0067] A handle 348 may be attached to one side of the tower 324 and used to move the robot arm assembly 304. A user may use the handle 348 to push, pull, and steer the robot arm assembly 304.

[0068] The arm 328 may be connected to, such as extends from a side of the tower 324 that is opposite to the handle 348. The arm 328 includes a plurality of links 352 that are movable (e.g., translatable or rotatable) relative to eachother. The arm 328 extends between a first arm end 356 that is attached to the tower 324 and a second arm end 360 that is attached to the end effector 332. The end effector 332 may be any appropriate portion, such as a tube, guide, or passage member. Affixed to and / or in place of the end effector 332 may be an ultrasonic probe (US) probe, a surgical instrument (e.g., instrument 144), or another suitable device. The arm 328 and the end effector 332 may be moved relative to the robot base 320 or tower 324 with one or more motors. The position of the end effector 332 may be known or determined relative to the robot base 320 or tower 324 with one or more encoders at one or more joints, such as a wrist joint and / or an elbow joint of the arm 328. In various embodiments, an imaging device 362, such as a camera, may be positioned near the end effector 332 of the robot arm assembly 304. The imaging device 362 is configured to capture image data of the subject 312, or a portion of the subject 312.

[0069] The power storage system 198 may store and / or deliver power to at least one of the processor 340, the arm 328, the end effector 332 and the imaging device 362 of the robot arm assembly 304. As noted above, the power storage system 198 may store power that is generated due to one or more of the generators. The stored power may then be transferred to an appropriate system as needed and / or as controlled. For example, the processor may be selected to be operated. The processor 340, therefore, may receive power from the power storage system 198. The provision of power to the processor 340 form the power storage system 198 or any other source may be selected for various purposes and / or based on selected parameters. For example, whether the robot armassembly 304 is connected to a main power outlet (e.g., wall outlet) or not. When not connected, power may be drawn from the power storage system 198.

[0070] The control unit 308 may be movable relative to the subject 312 using one or more wheels 380. The control unit 308 can be moved from one operating theater to another (e.g., another room). This allows the control unit 308 to be used in multiple locations and with multiple procedures without requiring a capital expenditure or space dedicated to a fixed robotic system. Further, the movement of the control unit 308 may allow the generators to generate power, as discussed above.

[0071] The control unit 308 may include a base 364, one or more input devices 368, a display screen 372, and a portable device 376. The base 364 is attached to the wheels 380. The base 364 houses a control system 384 that may include a processor 388 and a memory 392. For example, the processor 388 may be connected, wired or wireless, to the processor of the robot arm assembly 304 and configured to send signals to the robot arm assembly 304. The memory392 may include various instructions that are executed by the processor to control the control unit 308. The memory 392 may be a non-transitory memory such as a spinning disk or solid- state non-volatile memory. The control unit 308 may, for example, receive inputs form the user and transmit them to the robot arm system 304. The processor of the arm assembly 304 system may receive the inputs to control the arm 328, such as moving the arm.

[0072] The base 364 houses a generator, such as at least one of the electromechanical or thermoelectric generator systems 200, 204. Theelectromechanical generators 208 of the electromechanical generator system 200 are coupled to the wheels 380 of the base 364. The thermoelectric plate 234 of the thermoelectric generator system 204 may be positioned adjacent to a heat source, such as the processor 388. The power storage system such as the rechargeable battery 212 is connected to the electromechanical generators 208 and the thermoelectric plate 234. The input devices 368 may positioned and accessible within a recess of the base 364. The pair of input devices 368 are movable relative to the base 364. The pair of input devices 368 may be provided for a right hand control and a left hand control. The input devices may control different features of the robot arm assembly 304. The user, such as a surgeon, is able to grasp and move the pair of input devices 368. The robot arm assembly 304 moves correspondingly based on the motion of the pair of input devices 368.

[0073] One or more images, based on the image data captured by the imaging device 362, are displayed on the display screen 372 to assist the user in performing the procedure. The images may be two-dimensional (2D) images, three-dimensional (3D), or another appropriate type of images, such as a model, long views, single projections views, etc. The user may view the image on the display screen 372 and operate the pair of input devices 368 based on the viewed image.

[0074] The control unit 308 may also include a charging station 400 for the portable device 376, such as a tablet. The charging station 400 is configured to charge the portable device 376 when the portable device 376 is electrically connected to the charging station 400.The power storage system 198 of thecontrol unit 308 may be used to power or provide power to at least one of the pair of input devices 368, the processor 388, the display screen 372, and the charging station 400 of the control unit 308. For example, the power storage system 198 may power or charge an internal battery of the device 400.

[0075] As noted above, according to various embodiments, a generator may be provided with one or more systems. The systems may be one or more systems useable in an operating theatre, such as a robotic arm assembly 304, display device or devices 122, 44, portable devices 376, imaging systems 20, navigation systems 134, or other appropriate systems. The generators may be provided in one or more of the systems and in any selected quantity to generate power that may be stored in an appropriate manner.

[0076] According to various embodiments, usability for energy recapture or regeneration may be for components of the system, as discussed herein, that may not be usually plugged to power. Such a component can be the tablet 376 that operators may only place in a charge location when the system is off and unplugged from power, such as during storage. During this time, any source of stored energy, such as from the generator system, can be used to charge the tablet.

[0077] As noted, one or more of the systems may be mobile, such as using one or more wheels, such as the wheel 72 of the imaging system 36 or the wheel 54 of the work station system 48. The wheels may be rotated due to a motive force, such as a force provided by the user 24. For example, the user 24 may move the imaging system 36 as illustrated inFig. 2. In moving the imagingsystem, the wheel 72 may be rotated that may provide mechanical power to the electromechanical generator system 200. The electromechanical generator system 200 may then provide power to be stored in the storage system 198. It is understood that any other appropriate input (e.g., thermal energy, motive energy, etc.) may be used to operate the electromechanical generator system 200 to generate power to be stored.

[0078] In addition, as noted above, the various systems may generate heat. For example, processors may be operated, imaging emitters may be operated, motion of the various components may generate thermal energy and heat the selected system portion. Lower temperatures may be environmental temperatures or ambient temperatures that may be lower than the elevated temperatures due to operation of the various systems. The temperature differential may be used to generate power with a thermal electric plate. Accordingly, the thermal electric system may also be provided in the imaging system 36, as illustrated in Fig. 2. While the thermal electric power generation system 204 may also operate during movement of the imaging system 36 from one location to another, it may also be used to generate power during operation of the imaging of the imaging system 36. Therefore, the thermal electrical generation system 204 may also be used to generate power at the appropriate time. The power may then be stored in the storage systems 198.

[0079] Once power is stored in the power storage system 198, it may be delivered to any appropriate system, at an appropriate time. For example, the power may be delivered from the power storage system 198 to operate imagingof the imaging system 36. Power may also be delivered to power the processor or memory system, such as the processor 66 of the imaging system 36. The power may be delivered from the power storage system 198 in any appropriate manner such as directly or indirectly, such as through the charge controller 216. Thus, the power stored in the power storage system 198 may be used in any appropriate manner.

[0080] As disclosed herein, various systems may be provided to operate with generators. According to various embodiments, systems include a mechanical movement system, a thermal generation system, or combinations thereof. In various embodiments, the mechanical movement system may include a wheel that spins to drive a generator or a movement of an imaging head that drives a generator. In various embodiments, the thermal generation system may include a system that generates heat such as a processor or a friction system (e.g., an imaging head moving on a track or rail). The generated thermal energy and / or thermal differential may be captured to generate energy or power.

[0081] Therefore, the various systems, such as the systems of the surgical theater may be used to generate power through motion or operation thereof that may otherwise be lost. Thus, the various generator systems and / or configurations allow for capture or recovering of energy that may otherwise be lost. This may allow the systems to capture otherwise lost energy, such as due to motion or thermal differentials. For example, during movement of the imaging system as illustrated in Fig. 2 any excess energy during transport may be lost if not for a generator system. Further, the generator system may capture energyduring braking or slowing. Also, during normal operation energy may be lost or wasted, such as a via heat generation, that may be captured with the thermal generator system. The various systems may be, therefore, operationally more efficient and / or include a power backup or power generation system in case of a main power failure. Further auxiliary systems may be powered or charged even when the main power is not connected to the system, such as charging the portable device 376.

[0082] Conclusion Examples

[0083] Ex amp le 1. A medical device system comprising: a support assembly; at least one of a mechanical movement system or a thermal generation system associated with the support assembly; a power storage system moveable with the support assembly; and a power generation system moveable with the support assembly, wherein the power generation system includes at least one generator system configured to generate electrical power from at least one of the mechanical movement system or the thermal generation system and the power storage system; wherein the power generation system is configured to generate power and the power storage system is configured to store the power and deliver the stored power.

[0084] Ex ample 2. The medical device system of example 1, wherein the at least one generator system includes at least one of a thermoelectric generator system or an electromechanical generator system.

[0085] Ex ample 3. The medical device system of example 1 , further comprising: an imaging system supported by the support assembly; wherein the imaging systemincludes a source that is configured to emit x-rays and a detector that is configured to detect the x-rays; wherein the imaging system is configured to capture image data using the source and the detector, and the power storage system is configured to deliver the stored power to at least one of the source or the detector.

[0086] Ex ample 4. The medical device system of example 1, further comprising: a localizer supported by the support assembly; wherein the localizer is configured to track instruments within the navigation space; and wherein the power storage system is configured to deliver the stored power to the localizer.

[0087] Ex ample 5. The medical device system of example 1, further comprising: a robotic system that includes a control unit and a robot arm; wherein at least one of the control unit or the robot arm is supported by the support assembly; wherein the robot arm is configured to move based on received input from the control unit; and wherein the power storage system is configured to deliver the stored power to at least one of the control unit and the robot arm.

[0088] Ex ample 6. The medical device system of example 1, further comprising: a charging station for a portable device; wherein the charging station is supported by the support assembly; wherein the power storage system is configured to deliver the stored power to at least one of the charging station or the portable device.

[0089] Ex ample 7. The medical device system of example 1, further comprising: a motor configured to drive movement of at least one wheel; wherein the at least onewheel is configured to assist in movement of the support assembly; wherein the power storage system is configured to deliver the stored power to the motor to drive the wheel.

[0090] Ex ample 8. The medical device system of example 2, wherein the thermal generation system including thermoelectric generator system includes: a thermoelectric plate that is configured to generate power, a heat source that is configured to generate heat and positioned on a first side of the thermoelectric plate, and a heat sink positioned on second side of the thermoelectric plate opposite to the first side of the thermoelectric plate and configured to cause a flow of thermal energy from the heat source through the thermoelectric plate to the heat sink.

[0091] Ex ample 9. The medical device system of example 8, wherein the thermoelectric plate is configured to generate power based on a temperature difference between a first temperature at the first side of the thermoelectric plate and a second temperature at the second side of the thermoelectric plate, wherein the heat source is at least one of a processor, ax -ray emitter source, a motor, a rail, or combinations thereof.

[0092] Ex ample 10. The medical device system of example 1, further comprising: a wheel rotatably mounted to the support assembly and configured to assist in movement of the support assembly; wherein the mechanical movement system includes the wheel; wherein the at least one generator system includes an electromechanical generator system; wherein the electromechanical generator system is coupled to the wheel and configured to generate power based on movement of the wheel.

[0093] E x ampl e 11. The medical device system of example 10, wherein the electromechanical generator system includes an electromechanical generator and a shaft; and wherein the shaft is coupled to the electromechanical generator at a first end and is coupled to the wheel at a second end.

[0094] E x ampl e 12. The medical device system of example 1, wherein the power storage system includes a rechargeable battery that is configured to receive power from the power generation system.

[0095] Ex ampl e 13. A method of generating power in a medical device system comprising: providing at least one of a mechanical movement system or a thermal generation system associated with a support assembly; providing a power storage system moveable with the support assembly; providing a power generation system moveable with the support assembly, wherein the power generation system includes at least one generator system configured to generate power with at least one of the mechanical movement system or the thermal generation system; providing a power storage system; configuring the power generation system to generate power; and configuring the power storage system to store the generated power and deliver the stored power.

[0096] Ex amp le 14. The method of example 13, wherein providing the at least one generator system includes providing at least one of a thermoelectric generator system or an electromechanical generator system.

[0097] Ex amp le 15. The method of example 13, further comprising: providing the medical device as at least one of: an imaging system supported by the support assembly, wherein the imaging system includes a source that is configured toemit x-rays and a detector that is configured to detect the x-rays; a localizer supported by the support assembly and configured to track an trackable member in a navigation space; a robotic system that includes a control unit and a robot arm; or a charging station for a portable device, wherein the power storage system is configured to deliver the stored power to at least one of the charging station or the portable device; wherein configuring the power storage system to deliver the stored power includes delivering power to at least one of the provided imaging system, localizer, robotic system, charging station.

[0098] Ex amp le 16. The method of example 13, further comprising: providing a motor configured to drive movement of at least one wheel to assist in movement of the support assembly; wherein configuring the power storage system to deliver the stored power includes delivering the stored power to the motor to drive the wheel.

[0099] Ex ampl e 17. The method of example 13, wherein providing the power generation system includes: providing a thermoelectric generator system that includes: configuring a thermoelectric plate to generate power, providing a heat source to generate heat as the provided thermal generation system; positioning the provided heat source on a first side of the thermoelectric plate, and positioning a heat sink on second side of the thermoelectric plate opposite to the first side of the thermoelectric plate; and configuring the heat sink to cause a flow of thermal energy from the heat source through the thermoelectric plate to the heat sink.

[0100] Ex amp le 18. The method of example 17, further comprising: providing as the heat source at least one of a processor, ax-ray emitter source, a motor, a rail, or combinations thereof.

[0101] Ex ampl e 19. The method of example 13, wherein providing the power generation system includes: providing an electromechanical generator system; coupling the electromechanical generator system to a wheel that is rotatably mounted to the support assembly, wherein the wheel is the provided mechanical movement system; generating power with the electromechanical generator system due at least to movement of the wheel.

[0102] Ex amp le 20. The method of example 13, wherein providing the power storage system includes: providing a rechargeable battery; and configuring the battery to receive power from the power generation system. from the power generation system.

[0103] Example embodiments are provided so that this disclosure will be thorough and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

[0104] Instructions may be executed by a processor and may include software, firmware, and / or microcode, and may refer to programs, routines, functions, classes, data structures, and / or objects. The term shared processor circuit encompasses a single processor circuit that executes some or all code from multiple modules. The term group processor circuit encompasses a processor circuit that, in combination with additional processor circuits, executes some or all code from one or more modules. References to multiple processor circuits encompass multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all code from multiple modules. The term group memory circuit encompasses a memory circuit that, in combination with additional memories, stores some or all code from one or more modules.

[0105] The apparatuses and methods described in this application may be partially or fully implemented by a processor (also referred to as a processor module) that may include a special purpose computer (i.e., created by configuring a processor) and / or a general purpose computer to execute one or more particular functions embodied in computer programs. The computer programs include processor-executable instructions that are stored on at least one non-transitory, tangible computer-readable medium. The computer programs may also include or rely on stored data. The computer programs may include a basic input / output system (BIOS) that interacts with hardware of the specialpurpose computer, device drivers that interact with particular devices of the special purpose computer, one or more operating systems, user applications, background services and applications, etc.

[0106] The computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time compiler, (v) descriptive text for parsing, such as HTML (hypertext markup language) or XML (extensible markup language), etc. As examples only, source code may be written in C, C++, C#, Objective-C, Haskell, Go, SOL, Lisp, Java®, ASP, Perl, Javascript®, HTML5, Ada, ASP (active server pages), Perl, Scala, Erlang, Ruby, Flash®, Visual Basic®, Lua, or Python®.

[0107] Communications may include wireless communications described in the present disclosure can be conducted in full or partial compliance with IEEE standard 802.11-2012, IEEE standard 802.16-2009, and / or IEEE standard 802.20-2008. In various implementations, IEEE 802.11-2012 may be supplemented by draft IEEE standard 802.1 lac, draft IEEE standard 802.1 lad, and / or draft IEEE standard 802.11 ah.

[0108] A processor, processor module, module or 'controller' may be used interchangeably herein (unless specifically disclosed otherwise) and each may be replaced with the term 'circuit.' Any of these terms may refer to, be part of, or include: an Application Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array(FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system- on-chip.

[0109] Instructions may be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term "processor" or "processor module" as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements. The processor or processors may operate entirely automatically and / or substantially automatically. In automatic operation the processor may execute instructions based on received input and execute instructions in light thereof. Thus, various outputs may be made without further or any manual (e.g., user) input.

[0110] The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if notspecifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the invention, and all such modifications are intended to be included within the scope of the invention.

Claims

CLAIMSWhat is claimed is:

1. A medical device system comprising: a support assembly; at least one of a mechanical movement system or a thermal generation system associated with the support assembly; a power storage system moveable with the support assembly; and a power generation system moveable with the support assembly, wherein the power generation system includes at least one generator system and a power storage system; wherein the power generation system is configured to generate power and the power storage system is configured to store the power and deliver the stored power.

2. The medical device system of claim 1, wherein the at least one generator system includes at least one of a thermoelectric generator system or an electromechanical generator system.

3. The medical device system of claim 1 , further comprising at least one of: an imaging system supported by the support assembly; a localizer supported by the support assembly, wherein the localizer is configured to track instruments within the navigation space; a robotic system that includes a control unit and a robot arm; or a charging station for a portable device.

4. The medical device system of claim 1, further comprising: a motor configured to drive movement of at least one wheel; wherein the at least one wheel is configured to assist in movement of the support assembly; wherein the power storage system is configured to deliver the stored power to the motor to drive the wheel.

5. The medical device system of claim 2, wherein the thermal generation system including thermoelectric generator system includes: a thermoelectric plate that is configured to generate power, a heat source that is configured to generate heat and positioned on a first side of the thermoelectric plate, and a heat sink positioned on second side of the thermoelectric plate opposite to the first side of the thermoelectric plate and configured to cause a flow of thermal energy from the heat source through the thermoelectric plate to the heat sink.

6. The medica device system of claim 8, wherein the thermoelectric plate is configured to generate power based on a temperature difference between a first temperature at the first side of the thermoelectric plate and a second temperature at the second side of the thermoelectric plate, wherein the heat source is at least one of a processor, ax -ray emitter source, a motor, a rail, or combinations thereof.

7. The medical device system of claim 1, further comprising: a wheel rotatably mounted to the support assembly and configured to assist in movement of the support assembly; wherein the mechanical movement system includes the wheel; wherein the at least one generator system includes an electromechanical generator system; wherein the electromechanical generator system is coupled to the wheel and configured to generate power based on movement of the wheel.

8. The medical device system of claim 10, wherein the electromechanical generator system includes an electromechanical generator and a shaft; and wherein the shaft is coupled to the electromechanical generator at a first end and is coupled to the wheel at a second end.

9. The medical device system of claim 1, wherein the power storage system includes a rechargeable battery that is configured to receive power from the power generation system.

10. A method of generating power in a medical device system comprising: providing at least one of a mechanical movement system or a thermal generation system associated with a support assembly; providing a power storage system moveable with the support assembly; providing a power generation system moveable with the support assembly, wherein the power generation system includes at least one generator system and a power storage system; configuring the power generation system to generate power; and configuring the power storage system to store the generated power and deliver the stored power.

11. The method of claim 10, further comprising: providing the medical device as at least one of: an imaging system supported by the support assembly, wherein the imaging system includes a source that is configured to emit x-rays and a detector that is configured to detect the x-rays; a localizer supported by the support assembly and configured to track an trackable member in a navigation space; a robotic system that includes a control unit and a robot arm; or a charging station for a portable device, wherein the power storage system is configured to deliver the stored power to at least one of the charging station or the portable device; wherein configuring the power storage system to deliver the stored power includes delivering power to at least one of the provided imaging system, localizer, robotic system, charging station.

12. The method of claim 10, further comprising: providing a motor configured to drive movement of at least one wheel to assist in movement of the support assembly; wherein configuring the power storage system to deliver the stored power includes delivering the stored power to the motor to drive the wheel.

13. The method of claim 10, wherein providing the thermal generation system including thepower generation system includes: providing a thermoelectric generator system that includes: configuring a thermoelectric plate to generate power, providing a heat source to generate heat; positioning the provided heat source on a first side of the thermoelectric plate, and positioning a heat sink on second side of the thermoelectric plate opposite to the first side of the thermoelectric plate; and configuring the heat sink to cause a flow of thermal energy from the heat source through the thermoelectric plate to the heat sink.

14. The method of claim 10, wherein providing the power generation system includes: providing an electromechanical generator system; coupling the electromechanical generator system to a wheel that is rotatably mounted to the support assembly, wherein provided mechanical movement system includes the wheel; generating power with the electromechanical generator system due at least to movement of the wheel.

15. The method of claim 10, wherein providing the power storage system includes: providing a rechargeable battery; and configuring the battery to receive power from the power generation system.

Images