Systems and methods for navigating a surgical forceps

Abstract

A surgical navigation system includes a surgical device having an end effector disposed at a distal end portion of an elongated shaft. The surgical device also includes a first electromagnetic (EM) sensor disposed on the elongated shaft and a plurality of data points plotted on the end effector. An ultrasound imaging device is configured to generate ultrasound image data. A second EM sensor is disposed on the ultrasound imaging device. The surgical navigation system also includes a computing device that is caused to receive ultrasound image data from the ultrasound imaging device and to generate a display including a representation of at least a portion of the surgical device relative to an ultrasound image plane.

Description

SYSTEMS AND METHODS FOR NAVIGATING A SURGICAL FORCEPSCROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 555,967, filed February 21, 2024, which is incorporated herein by reference in its entirety.FIELD

[0002] The disclosure relates to surgical instrument navigation. More specifically, the disclosure relates to systems and methods for navigating a surgical forceps within a patient using ultrasound imaging and electromagnetic navigation technologies.SUMMARY

[0003] Provided in accordance with aspects of the present disclosure is a surgical navigation system including an electromagnetic (EM) tracking system configured to generate an EM field. The system also includes a surgical forceps. The surgical forceps includes an elongated shaft and an end effector disposed at a distal end portion of the elongated shaft. The end effector has a first jaw member and a second jaw member. The surgical forceps also includes a first EM sensor disposed on the elongated shaft and a plurality of data points plotted on at least one of the first jaw member or the second jaw member at a known distance from the first EM sensor. The first EM sensor is configured to sense the EM field for enabling tracking of a location and an orientation of the surgical forceps. The system also includes an ultrasound imaging device in communication with the EM tracking system. The ultrasound imaging device is configured to generate ultrasound image data of the surgical forceps at a surgical site. A second EM sensor is disposed on the ultrasound imaging device and is configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging. The system also includes a computing device in communication with the EM tracking system and the ultrasound imaging device. The computing device includes a processor and a memory storing instructions which, when executed by the processor, cause the computing device to receive the ultrasound image data from the ultrasound imaging device and generate a display including a representation of at least a portion of the surgical forceps relative to an ultrasound image plane based at least in part on the plurality of data points.

[0004] In an aspect of the present disclosure, the surgical forceps is an electrosurgical forceps configured to be coupled to an electrosurgical generator for delivering electrosurgical energy to tissue.

[0005] In another aspect of the present disclosure, the representation of at least a portion of the surgical forceps includes an outline of a periphery of at least one of the first or second jaw members.

[0006] In another aspect of the present disclosure, at least one of the ultrasound imaging device or the surgical forceps is configured to be coupled to a surgical robotic system.

[0007] In another aspect of the present disclosure, the instructions, when executed by the processor, cause the computing device to determine a diameter of tissue grasped between the jaw members based on the ultrasound image data received from the ultrasound imaging device.

[0008] In still another aspect of the present disclosure, the instructions, when executed by the processor, cause the computing device to determine a position of tissue relative to the first and second jaw members based on the ultrasound image data received from the ultrasound imaging device.

[0009] In still yet another aspect of the present disclosure, the system also includes a display device configured to display the representation of at least a portion of the surgical forceps in relation to the ultrasound image plane.

[0010] In another aspect of the present disclosure, the surgical forceps includes a monopolar electrode configured to move relative to the end effector and to deliver electrosurgical energy to tissue. The monopolar electrode includes at least one data point plotted at a known distance from the first EM sensor.

[0011] In another aspect of the present disclosure, the instructions, when executed by the processor, cause the computing device to generate the display including a representation of the monopolar electrode relative to the end effector and the ultrasound image plane based at least in part on the plurality of data points.

[0012] In still another aspect of the present disclosure, the ultrasound imaging device is configured to be moved in a sweeping motion relative to the surgical site by a robot arm of a robotic surgical system to generate a three-dimensional ultrasound image of the surgical site.

[0013] In still another aspect of the present disclosure, the ultrasound imaging device is configured to be rotated about a longitudinal axis of the ultrasound imaging device by a robot armof a robotic surgical system to generate a three-dimensional conical image volume of the surgical site.

[0014] In still yet another aspect of the present disclosure, the ultrasound imaging device is configured to be coupled to a robot arm of a robotic surgical system and the robot arm is configured to move correspondingly with movement of the surgical forceps based on the received location of the first EM sensor.

[0015] In another aspect of the present disclosure, the ultrasound imaging device is configured to be coupled to a robot arm of a robotic surgical system and the robot arm is configured to move in a sweeping motion within a bound scanning volume delineated by at least one scanning stop coupled to a patient.

[0016] Another surgical navigation system is provided in accordance with the present disclosure and includes a surgical forceps having an end effector disposed at a distal end portion of an elongated shaft and a first electromagnetic (EM) sensor disposed on the elongated shaft of the surgical forceps. The first EM sensor is configured to sense an EM field generated by an EM field generator for enabling tracking of a location and an orientation of the surgical forceps. The surgical forceps also includes a plurality of data points plotted on the end effector at a known distance from the first EM sensor. An ultrasound imaging device is configured to generate ultrasound image data of the surgical forceps at a surgical site. A second EM sensor is disposed on the ultrasound imaging device and is configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging device. The system also includes a computing device. The computing device includes a processor and a memory storing instructions which, when executed by the processor, cause the computing device to receive the ultrasound image data from the ultrasound imaging device and generate a display including a representation of at least a portion of the surgical forceps relative to an ultrasound image plane based at least in part on the plurality of data points.

[0017] In an aspect of the present disclosure, the surgical forceps is an electrosurgical forceps configured to be coupled to an electrosurgical generator for delivering electrosurgical energy to tissue.

[0018] In another aspect of the present disclosure, the instructions, when executed by the processor, cause the computing device to determine a diameter of tissue grasped by the end effector based on the ultrasound image data received from the ultrasound imaging device.

[0019] In still another aspect of the present disclosure, the instructions, when executed by the processor, cause the computing device to determine a position of tissue relative to the end effector based on the ultrasound image data received from the ultrasound imaging device.

[0020] In yet another aspect of the present disclosure, the ultrasound imaging device is configured to be moved in a sweeping motion relative to the surgical site by a robot arm of a robotic surgical system to generate a three-dimensional ultrasound image of the surgical site.

[0021] In another aspect of the present disclosure, the ultrasound imaging device is configured to be rotated about a longitudinal axis of the ultrasound imaging device by a robot arm of a robotic surgical system to generate a three-dimensional conical image volume of the surgical site.

[0022] Another surgical navigation system is provided in accordance with the present disclosure and includes a surgical device having an end effector disposed at a distal end portion of an elongated shaft and a first electromagnetic (EM) sensor disposed on the elongated shaft. The surgical device also includes a plurality of data points plotted on the end effector at a known distance from the first EM sensor. The first EM sensor is configured to sense an EM field for enabling tracking of a location and an orientation of the surgical device. An ultrasound imaging device is configured to generate ultrasound image data of the surgical device at a surgical site. A second EM sensor is disposed on the ultrasound imaging device and is configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging device. A computing device includes a processor and a memory storing instructions which, when executed by the processor, cause the computing device to generate a display including a representation of at least a portion of the surgical device relative to an ultrasound image plane based at least in part on the plurality of data points.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Aspects of the disclosure are described herein with reference to the accompanying drawings, wherein:

[0024] FIG. 1 is a schematic diagram of a surgical navigation system, in accordance with aspects of the present disclosure;

[0025] FIG. 2 is a schematic diagram of a computing device of the surgical navigation system of FIG. 1, in accordance with aspects of the present disclosure;

[0026] FIG. 3 is a side view of a surgical forceps for use with the surgical navigation system of FIG. 1, in accordance with aspects of the present disclosure;

[0027] FIG. 4 A is an enlarged perspective view of a portion of the surgical forceps of FIG. 3, in accordance with aspects of the present disclosure;

[0028] FIG. 4B is an illustration of an example graphical user interface of the surgical navigation system of FIG. 1, in accordance with aspects of the present disclosure;

[0029] FIG. 5 is an illustration of another example graphical user interface of the surgical navigation system of FIG. 1, in accordance with aspects of the present disclosure;

[0030] FIG. 6A is an enlarged perspective view of a portion of the surgical forceps of FIG. 3 including a monopolar electrode, in accordance with aspects of the present disclosure;

[0031] FIG. 6B is an illustration of another example graphical user interface of the surgical navigation system of FIG. 1, in accordance with aspects of the present disclosure;

[0032] FIG. 7 is a schematic illustration of an exemplary robotic surgical system configured for use with the surgical navigation system of FIG. 1 , in accordance with aspects of the present disclosure;

[0033] FIG. 8 is an enlarged perspective view of an ultrasound imaging device of the surgical navigation system of FIG. 1 coupled to the surgical robotic system of FIG. 7, in accordance with aspects of the present disclosure;

[0034] FIG. 9 is an enlarged perspective view of an ultrasound imaging device of the surgical navigation system of FIG. 1 coupled to the surgical robotic system of FIG. 7, in accordance with aspects of the present disclosure;

[0035] FIG. 10 is an enlarged perspective view of an ultrasound imaging device of the surgical navigation system of FIG. 1 coupled to the surgical robotic system of FIG. 7 illustrating the ultrasound imaging device moving correspondingly with the surgical forceps of FIG. 3, in accordance with aspects of the present disclosure;

[0036] FIG. 11 is an illustration of an ultrasound imaging device of the surgical navigation system of FIG. 1 coupled to the surgical robotic system of FIG. 7 for imaging a localized area of a patient, in accordance with aspects of the present disclosure; and

[0037] FIG. 12 is an illustration of an ultrasound imaging device of the surgical navigation system of FIG. 1 and the surgical forceps of FIG. 3, in accordance with aspects of the present disclosure.DETAILED DESCRIPTION

[0038] Embodiments of the disclosure are now described in detail with reference to the drawings in which like reference numerals designate identical or corresponding elements in each of the drawings. The aspects may be combined in any manner consistent with the functionality of the apparatus and / or method disclosed herein. As used herein, the term “clinician” refers to a surgeon, a doctor, a clinician, a nurse, or any other care provider and may include support personnel. Throughout this description, the term “proximal” will refer to the portion of the device or component thereof that is closer to the clinician and the term “distal” will refer to the portion of the device or component thereof that is farther from the clinician. As used herein, the term “exemplary” does not necessarily mean “preferred” and may simply refer to an example unless the context clearly indicates otherwise.

[0039] Terms including “generally,” “about,” “substantially,” and the like, as utilized herein, are meant to encompass variations, e.g., manufacturing tolerances, material tolerances, use and environmental tolerances, measurement variations, design variations, and / or other variations, up to and including plus or minus 10 percent. Additionally, in the drawings and in the description that follows, terms such as front, rear, upper, lower, top, bottom, and similar directional terms are used simply for convenience of description and are not intended to limit the disclosure. In the following description, well-known functions or constructions are not described in detail to avoid obscuring the disclosure in unnecessary detail.

[0040] The present disclosure relates to a system the utilizes electromagnetic (EM) tracking and ultrasound imaging to navigate a surgical forceps in real time during a procedure for using the surgical forceps to treat tissue (e.g., vessel sealing). In aspects of the present disclosure, the surgical forceps may be an electrosurgical forceps configured to deliver electrosurgical energy to tissue. An electrosurgical forceps typically includes an end effector having a pair of jaws, at least one jaw of the pair being movable relative to the other jaw, for grasping tissue and delivering electrosurgical energy to the grasped tissue to effect a tissue seal. Electrosurgical energy (e.g., radiofrequency (RF) energy) is provided to the electrosurgical forceps by an electrosurgical generator to which the electrosurgical forceps is coupled. Although aspects of the present disclosure are described in terms of using radiofrequency (RF) energy to treat tissue with an electrosurgical forceps, such description should not be considered limiting. It is contemplated that the disclosed system may be configured for use with a surgical forceps that is not energy-based orwith an energy-based surgical forceps that uses other suitable forms of energy such as, for example, microwave, laser, ultrasonic, and / or cryogenic. In aspects of the present disclosure, the electrosurgical forceps may be configured to deliver electrosurgical energy in a bipolar manner using one jaw of the end effector to deliver energy through the grasped vessel with the other jaw of the end effector serving as a return path to the electrosurgical generator.

[0041] The technology of the present disclosure allows clinicians to better visualize the electrosurgical forceps relative to nodules, vessels, and other critical structures during a procedure, thereby enabling new approaches while improving safety of the patient and confidence of the clinician. For example, use of the present technology allows for a clinician to confirm that a blood vessel is completely between the jaws of the end effector, that there is a certain margin between the end effector and a structure (e.g., tumor or nodule), and that the end effector is sufficiently distanced from nerves so as to not cause damage to the nerves through energy delivery. Clinicians may also use the present technology to determine in real time that a vessel grasped between the jaws of the end effector is small enough or large enough to be sealed by the specific electrosurgical forceps being used by the clinician. While described herein with respect to various electrosurgical forceps, one skilled in the art reading this disclosure will appreciate that the principles, techniques and structures described herein can be applied to allow the visualization of any surgical instrument relative to any ultrasound-detectable tissue structure.

[0042] In addition to an end effector including jaws, some electrosurgical forceps also include a monopolar electrode used for tissue treatment (e.g., dissecting). For example, the monopolar electrode may be movable relative to the end effector and used to dissect tissue using monopolar energy. In this scenario, a return electrode (e.g., return pad) may be coupled to the patient and serve to return the monopolar energy to the electrosurgical generator. The technology of the present disclosure allows for the location and / or orientation of both the end effector and the monopolar electrode to be tracked in real time during a procedure.

[0043] In aspects of the present disclosure, a robotic surgical system may be employed and used to consistently sweep an ultrasound imaging device relative to the patient to produce a continuously updated ultrasound map of a surgical site to improve the clinician’s visualization and allow clinicians to seal visually-obscured structures. For example, the end effector of the electrosurgical forceps may be articulated by the robotic surgical system to navigate the end effector around critical and / or obscuring structures and the ultrasound imaging may aid theclinician and / or the robotic surgical system to place a target vessel between the jaws of the end effector.

[0044] The present disclosure provides a system configured to track the location and orientation of an electrosurgical forceps inside the patient and give the clinician a real-time view of the location and orientation of the electrosurgical forceps in relation to a target (e.g., tumor, nodule, etc.) and / or critical structures. Additionally, the system of the present disclosure is configured to provide a clinician with a visualization of a spatial relationship of the electrosurgical forceps with an ultrasound image plane generated by an ultrasound imaging device and with objects (e.g., tumors, nodules, vessels, nerves, critical structures, etc.) being imaged by the ultrasound imaging device.

[0045] Referring now to FIG. 1, the present disclosure is generally directed to a surgical navigation system 10, which includes a computing device 100 a display 110, a table 120, a generator 130 (e.g., an electrosurgical generator 130), an ultrasound imaging device 140, an ultrasound workstation 150, and a surgical instrument 200 (e.g., an electrosurgical forceps 200) configured to be coupled to generator 130. Computing device 100 may be, for example, a laptop computer, desktop computer, tablet computer, or other similar device. Computing device 100 may be configured to control generator 130, a power supply, and / or any other accessories and peripheral devices relating to, or forming part of, system 10. Display 110 is configured to output instructions, images, and messages relating to the performance of a vessel sealing procedure involving instrument 200. Table 120 may be, for example, an operating table or other table suitable for use during a surgical procedure, which includes an EM field generator 121. EM field generator 121 is used to generate an EM field during the procedure and forms part of an EM tracking system which is used to track the locations and orientations of instrument 200 and ultrasound imaging device 140 within the body of a patient. EM field generator 121 may include various components, such as a specially designed pad to be placed under, or integrated into, an operating table or patient bed. An example of such an EM tracking system is the StealthStation® S8 surgical navigation system available from Medtronic Navigation, Inc. of Louisville, Colorado.

[0046] In addition to the EM tracking system, instrument 200 may also be visualized by using ultrasound imaging. Ultrasound imaging device 140 (e.g., an ultrasound wand) may be used to image the patient's body during a procedure to visualize the location of instrument 200 inside the patient's body. Ultrasound imaging device 140 includes an EM sensor 145 embedded within orattached to ultrasound imaging device 140, which may be for example, a printed sensor, a clip-on sensor, or a sticker sensor. In aspects of the present disclosure, EM sensor 145 may be an EM coil wrapped around a portion of ultrasound imaging device 140. During a procedure, ultrasound imaging device 140 may be positioned in relation to instrument 200 such that instrument 200 is at an angle to the ultrasound image plane, thereby enabling the clinician to visualize the spatial relationship of instrument 200 with the ultrasound image plane and with objects being imaged by ultrasound imaging device 140. Further, the EM tracking system may also track the location and orientation of ultrasound imaging device 140 using EM sensor 145.

[0047] The location and orientation of instrument 200 within the body of the patient may be tracked during the surgical procedure by using the EM tracking system, which tracks the location and orientation of an EM sensor 205 embedded within or attached to instrument 200. EM sensor 205 may be, for example, a printed sensor, a clip-on sensor, or a sticker sensor. In aspects of the present disclosure, EM sensor 205 may be an EM coil wrapped around a portion of instrument 200. For example, FIG. 3 shows EM sensor 205 embodied as an EM coil wrapped around a distal end portion of a shaft 210 of instrument 200.

[0048] Turning now to FIG. 2, there is shown a system diagram of computing device 100. Computing device 100 includes a memory 202, a processor 204, a display 206, a network interface 208, an input device 210, and an output module 212.

[0049] Memory 202 includes any non-transitory computer-readable storage media for storing data and / or software that is executable by processor 204 and which controls the operation of computing device 100. In an embodiment, memory 202 may include one or more solid-state storage devices such as flash memory chips. Alternatively or in addition to the one or more solid- state storage devices, memory 202 may include one or more mass storage devices connected to the processor 204 through a mass storage controller (not shown) and a communications bus (not shown). Although the description of computer-readable media contained herein refers to a solid- state storage, it should be appreciated by those skilled in the art that computer-readable storage media can be any available media that can be accessed by the processor 204. That is, computer readable storage media includes non-transitory, volatile and non-volatile, removable and nonremovable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media includes RAM, ROM, EPROM, EEPROM, flash memory orother solid state memory technology, CD-ROM, DVD, Blu-Ray or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computing device 100.

[0050] Memory 202 may store application 216 and / or CT data 214. Application 216 may, when executed by processor 204, cause display 206 to present user interface 218. Processor 204 may be a general purpose processor, a specialized graphics processing unit (GPU) configured to perform specific graphics processing tasks while freeing up the general purpose processor to perform other tasks, and / or any number or combination of such processors. Display 206 may be touch sensitive and / or voice activated, enabling display 206 to serve as both an input and output device. Alternatively, a keyboard (not shown), mouse (not shown), or other data input devices may be employed.

[0051] Network interface 208 may be configured to connect to a network such as a local area network (LAN) consisting of a wired network and / or a wireless network, a wide area network (WAN), a wireless mobile network, a Bluetooth network, and / or the internet. For example, computing device 100 may receive computed tomographic (CT) image data of a patient from a server, for example, a hospital server, internet server, or other similar servers, for use during surgical ablation planning. Patient CT image data may also be provided to computing device 100 via a removable memory 202. Computing device 100 may receive updates to its software, for example, application 216, via network interface 208. Computing device 100 may also display notifications on display 206 that a software update is available.

[0052] Input device 210 may be any device by means of which a user may interact with computing device 100, such as, for example, a mouse, keyboard, foot pedal, touch screen, and / or voice interface. Output module 212 may include any connectivity port or bus, such as, for example, parallel ports, serial ports, universal serial busses (USB), or any other similar connectivity port known to those skilled in the art.

[0053] Application 216 may be one or more software programs stored in memory 202 and executed by processor 204 of computing device 100. Application 216 may be installed directly on computing device 100, or may be installed on another computer, for example a central server, and opened on computing device 100 via network interface 208. Application 216 may run natively on computing device 100, as a web-based application, or any other format known to those skilled inthe art. Application 216 communicates with a user interface 218 which generates a user interface for presenting visual interactive features to a clinician, for example, on display 206 and for receiving clinician input, for example, via a user input device. For example, user interface 218 may generate a graphical user interface (GUI) and output the GUI to display 206 for viewing by a clinician.

[0054] Computing device 100 is linked to display 110, thus enabling computing device 100 to control the output on display 110 along with the output on display 206. Computing device 100 may control display 110 to display output which is the same as or similar to the output displayed on display 206. For example, the output on display 206 may be mirrored on display 100. Alternatively, computing device 100 may control display 110 to display different output from that displayed on display 206. For example, display 110 may be controlled to display guidance images and information during a procedure, while display 206 is controlled to display other output, such as configuration or status information.

[0055] Turning now to FIG. 3, instrument 200 generally includes a housing 220, a handle assembly 230, a rotating assembly 240, a trigger assembly 250, an activation assembly 260, an end effector 270, and a connector assembly 280. End effector 270 includes first and second jaw members 272, 274, at least one of which is movable relative to the other to grasp tissue to enable sealing and / or dividing of the grasped tissue. Instrument 100 further includes a shaft 210 that has a proximal end portion engaged to housing 220 and a distal end portion operably engaged to end effector 270. As shown in FIG. 3, EM sensor 205 is disposed on the distal end portion of shaft 210 and is configured to be tracked using the EM tracking system. During manufacturing of instrument 200, a plurality of data points, referenced generally as 290 in FIG. 4A, are plotted along one or both of first and second jaw members 272, 274 at a distance from EM sensor 205 that is known by the EM tracking system and stored in memory 202 of computing device 100. By knowing the distance of each of the plurality of data points 290 from EM sensor 205, the EM tracking system is able to track the location of the plurality of data points 290 during navigation of instrument 200 and generate a representation of at least one of the first or second jaw members 272, 274 (FIG. 4B) based on the tracked location of the plurality of data points 290. For example, the representation may be an outline of a periphery of at least one of the first or second jaw members 272, 274. By visualizing a location and orientation of the periphery of at least one of the first or second jawmembers 272, 274, the clinician is able to determine a margin between end effector 270 and structures within the patient.

[0056] Handle assembly 230 includes a fixed handle 232 and a movable handle 234. Fixed handle 232 is integrally associated with housing 220 and movable handle 234 is movable relative to the fixed handle 232 to actuate a drive assembly (not shown) of surgical instrument 200 to move either or both of jaw members 272, 274 of end effector 270 relative to one another from an open configuration to a closed configuration to grasp tissue between first and second jaw members 272, 274. Handle assembly 230 is configured to be gripped and manipulated by a clinician during a procedure, although non-handle configurations are also contemplated, e.g., for mounting device 200 and / or attaching device 200 to a surgical robot arm (see FIG. 7).

[0057] Each jaw member 272, 274 of end effector 270 includes an electrically conductive tissue contacting surface 273, 275, respectively. Jaw members 272, 274 are configured to grasp tissue between electrically conductive tissue contacting surfaces 273, 275 in the closed configuration thereof. Electrically conductive tissue contacting surfaces 273, 275 are adapted to connect to generator 130, e.g., via suitable electrical lead wires, electrically conductive structures, or combinations thereof extending through shaft 210, housing 220, and connector assembly 280 to enable energization of electrically conductive tissue contacting surfaces 273, 275 with energy, e.g., bipolar RF energy, at different potentials to enable the conduction of the energy between electrically conductive tissue contacting surfaces 273, 275 and through tissue grasped therebetween in a bipolar configuration to treat the tissue. In aspects, surgical generator 130 is configured to implement a tissue sealing algorithm to control the delivery of RF energy to electrically conductive tissue contacting surfaces 273, 275 and through the tissue grasped therebetween to seal the tissue.

[0058] Rotating assembly 240 is engaged with shaft 210 within housing 220 and extends outwardly from either side of housing 220 to enable a user to manually control the orientation of shaft 210 and thus, end effector 270, relative to housing 220.

[0059] Trigger assembly 250 enables a user to advance a knife (not shown) between first and second jaw members 272, 274 to cut tissue grasped between jaw members 272, 274. The knife may be configured for dynamically mechanically cutting tissue or may be energized to dynamically electrically (or electromechanically) cut tissue grasped between jaw members 272, 274. As an alternative to a movable knife, a cutting electrode (not shown) disposed within eitheror both jaw members 272, 274 may be provided for selective energization to statically electrically (or electromechanically) cut tissue grasped between jaw members 272, 274. In aspects, the energizable knife or cutting electrode may be energized with monopolar RF energy, bipolar RF energy, thermal energy, microwave energy, or other suitable energy modality.

[0060] Continuing with reference to FIG. 3, activation assembly 260 is configured to signal generator 130 to initiate the supply of electrosurgical energy to first and second jaw members 272, 274 for sealing tissue. Activation assembly 260 includes an activation button 262 supported by housing 220 and movable between an un-actuated position and an actuated position to thereby transition an underlying electrical switch (not shown) between a first state and a second state. The electrical switch of activation assembly 260, in turn, is adapted to electrically connect to generator 130, e. g. , via one or more electrical lead wires extending from the electrical switch through housing 220 and connector assembly 280 to enable communication of the state of the electrical switch to generator 130.

[0061] Connector assembly 280 of instrument 200 includes a cable 284 having a plug 286 configured to connect instrument 200 to generator 130. Electrical lead wires (not shown) electrically coupled to plug 286 extend through cable 284 and into housing 220 for electrical connection to jaw members 272, 274 and / or activation assembly 260 to enable the selective supply of energy from generator 130 to jaw members 272, 274, e.g., upon activation of activation button 262.

[0062] Referring now to FIG. 4A, end effector 270 and a distal end portion of shaft 210 including EM sensor 205 are shown with the plurality of data points 290 plotted along the periphery of jaw member 274. For example, the plurality of data points 290 may be plotted along both lateral sides of jaw member 274 and around the distal tip of jaw member 274 as illustrated in FIG. 4A. FIG. 4B shows an example GUI 300 generated by user interface 218, which may be presented by computing device 100 on display 206 and / or display 110. GUI 300 includes a representation of instrument 200 based on the tracked location of EM sensor 205 and the plurality of data points 290 plotted on end effector 270. In aspects of the present disclosure, the representation of instrument 200 shown in GUI 300 is based on the positioning of the plurality of data points 290 illustrated in FIG. 4A, however, it should be appreciated that the plurality of data points 290 may be positioned on one or both of jaw members 272, 274 and at or along any suitable location of jaw members 272, 274 that provide the clinician with an accurate sense of the shape,location, size, and / or orientation of end effector 270 shown on GUI 300. Visualization of the plurality of data points 290, as illustrated in FIG. 4B, allows the clinician to precisely place end effector 270 relative to tumors, nodules, vessels, and other structures. The above-noted approach to navigating instrument 100 using EM sensor 205 and the plurality of data points 290 may be used in conjunction with ultrasound imaging, provided by ultrasound imaging device 140, to further improve the clinician’s visualization of instrument 100 relative to tumors, nodules, vessels, and other structures, as detailed below with reference to FIG. 5.

[0063] Turning now to FIG. 5, there is shown an example GUI 350 generated by user interface 218 which may be presented by computing device 100 on display 206 and / or display 110. GUI 350 includes graphical representation of instrument 200, a graphical representation of ultrasound imaging device 140, and an ultrasound image plane 355. Ultrasound image plane 355 includes an ultrasound image of the surgical site including a vessel, referenced in FIG. 5 as “V”, based on ultrasound image data captured by ultrasound imaging device 140. In aspects of the present disclosure, GUI 350 may depict instrument 200 as an outline only, such that the ultrasound image displayed on ultrasound image plane 355 is not obscured by instrument 200.

[0064] FIG. 5 shows ultrasound image plane 355 in which the orientation of ultrasound imaging device 140 and ultrasound image plane 355 are maintained in a fixed orientation normal to GUI 350. However, it should be understood that GUI 350 may depict ultrasound imaging device 140 and ultrasound image plane 355 according to an orientation of ultrasound imaging device 140 within an EM field generated by EM field generator 121. Thus, when the clinician moves ultrasound imaging device 140, the depiction of ultrasound imaging device 140 and ultrasound image plane 355 in GUI 350 changes according to the movement and angle of ultrasound imaging device 140 within the EM field, thereby providing a perspective view of structures (e.g., tumors, nodules, vessels, etc.) within the patient and the position and orientation of instrument 200 relative to those structures. In this way, the clinician is able to determine a margin between instrument 200 and structures within the patient so that contact with critical structures may be avoided and placement of target tissue (e.g., a vessel) between jaw members 272, 274 may be achieved. Once vessel “V” is placed between jaw members 272, 274, as shown in FIG. 5, ultrasound imaging data provided by ultrasound imaging device 140 may be used by computing device 100 to determine the position of vessel “V” relative to the longitudinal length of jaw members 272, 274. For example, computing device 100 may determine that vessel “V” is positioned at the tip or the heelof jaw members 272, 274 and provide the clinician with feedback (e.g., via display 206 and / or display 110) to manipulate end effector 270 so that vessel “V” is caused to be centered within jaw members 272, 274 for optimizing energy delivery to vessel “V” during a sealing procedure.

[0065] Additionally, ultrasound imaging data provided by ultrasound imaging device 140 may be used by computing device 100 to determine a diameter and / or thickness of a vessel to be sealed by instrument 200. The determined diameter and / or thickness of the vessel is provided in real time as input to generator 130 and may be utilized by generator 130 to control the delivery of RF energy to electrically conductive tissue contacting surfaces 273, 275 (e.g., adjust parameters of a tissue sealing algorithm implemented by generator 130) during a procedure.

[0066] Referring now to FIG. 6A, a distal end portion of instrument 200 is shown including an optional monopolar electrode 225 movable relative to shaft 210 and end effector 270 between a retracted position, wherein monopolar electrode 225 is disposed proximal to a distal end of end effector 270, and a deployed position, wherein at least a distal end portion of monopolar electrode 225 is disposed distal to a distal end of end effector 270. Monopolar electrode 225 includes an electrically conductive hook-shaped distal tip portion (although other configurations are contemplated) configured to deliver monopolar energy to tissue for treatment (e.g., dissection). In the extended position, monopolar electrode 225 may be rotated relative to end effector 270 via rotation of an additional rotating assembly (similar to rotating assembly 240 (FIG. 3)) disposed within housing 220 and coupled to monopolar electrode 225. A return pad (not shown) positioned on the patient is used to return energy transmitted from monopolar electrode 225 through tissue to generator 130. The construction and use of a forceps device including such a monopolar electrode 225 is more fully described in U.S. Patent No. 9,039,691.

[0067] FIG. 6B shows an example GUI 400 generated by user interface 218, which may be presented by computing device 100 on display 206 and / or display 110. GUI 400 includes a representation of a monopolar electrode 225 in the extended position relative to end effector 270. Similar to the plurality of data points 290 described above (FIG. 4A), monopolar electrode 225 may include one or more data points calibrated and stored in memory 202 of computing device 100 based on a known distance of each data point from EM sensor 205. In this manner, the clinician is able to visualize a position of monopolar electrode 225 relative to the position of end effector 270 such that monopolar electrode 225 can be precisely placed in proximity to target tissue. In aspects of the present disclosure, user interface 218 may toggle between GUI 300 (FIG. 4B) andGUI 400 (FIG. 6B) on display 206 and / or display 110 for enabling visualization of end effector 270 and monopolar electrode 225. In aspects of the present disclosure, user interface 218 may display GUI 300 (FIG. 4B) and GUI 400 (FIG. 6B) side by side on display 206 and / or display 110. Similarly as described above with respect to FIGS. 4A and 4B, the above-noted approach to visualizing the position of monopolar electrode 225 may be used in conjunction with ultrasound imaging, provided by ultrasound imaging device 140, to further improve the clinician’s visualization of monopolar electrode 225 relative to tumors, nodules, vessels, and other critical structures.

[0068] With reference to FIGS. 7-10, surgical navigation system 10 may be configured for use with a robotic surgical system 1000 (FIG. 7). For example, one or both of instrument 200 and ultrasound imaging device 140 may be coupled with robotic surgical system 1000, which in turn is configured for communication with each of the components of surgical navigation system 10 (e.g., generator 130, EM tracking system, ultrasound workstation 150, computing device 100, and displays 110, 206) to enable EM tracking and ultrasound visualization in conjunction with the functionality of robotic surgical system 1000.

[0069] Turning now to FIG. 7 in particular, a robotic surgical system 1000 configured for use in accordance with the present disclosure is shown. Aspects and features of robotic surgical system 1000 not germane to the understanding of the present disclosure are omitted to avoid obscuring the aspects and features of the present disclosure in unnecessary detail.

[0070] Robotic surgical system 1000 generally includes a plurality of robot arms 1002, 1003; a control device 1004; and an operating console 1005 coupled with control device 1004. Operating console 1005 may include a display device 1006, which may be set up in particular to display three-dimensional (3D) images; and manual input devices 1007, 1008, by means of which a clinician, e.g., a clinician, may be able to telemanipulate robot arms 1002, 1003 in a first operating mode. Robotic surgical system 1000 may be configured for use on a patient 1013 lying on a patient table 1012 to be treated in a minimally invasive manner. Robotic surgical system 1000 may further include a database 1014, in particular coupled to control device 1004, in which are stored, for example, pre-operative data from patient 1013 and / or anatomical atlases.

[0071] Each of the robot arms 1002, 1003 may include a plurality of members, which are connected through joints, and a mounted device which may be, for example, a surgical tool “ST.” The surgical tools “ST” may include, for example, instrument 200 and ultrasound imaging device140 of the present disclosure, thus providing any of the above-detailed functionality on a robotic surgical system 1000.

[0072] Robot arms 1002, 1003 may be driven by electric drives, e.g., motors, connected to control device 1004. The motors, for example, may be rotational drive motors configured to provide rotational inputs to accomplish a desired task or tasks. Control device 1004, e.g., a computer, may be configured to activate the motors, in particular by means of a computer program, in such a way that robot arms 1002, 1003, and, thus, their mounted surgical tools “ST” execute a desired movement and / or function according to a corresponding input from manual input devices 1007, 1008, respectively. Control device 1004 may also be configured in such a way that it regulates the movement of robot arms 1002, 1003 and / or of the motors.

[0073] Control device 1004, more specifically, may control one or more of the motors based on rotation, e.g., controlling to rotational position using a rotational position encoder (or Hall effect sensors or other suitable rotational position detectors) associated with the motor to determine a degree of rotation output from the motor and, thus, the degree of rotational input provided. Alternatively or additionally, control device 1004 may control one or more of the motors based on torque, current, or in any other suitable manner.

[0074] With reference to FIGS. 8-10, each of instrument 200 and ultrasound imaging device 140 may be mounted to one of robot arms 1002, 1003 of robotic surgical system 1000. Motors of robotic surgical system 1000 may be configured to provide rotational inputs to cause instrument 200 and / or ultrasound imaging device 140 to perform desired tasks. For example, instrument 200 may be caused to articulate (via an articulation joint (not shown) at a distal end portion of shaft 210 of instrument 200) for maneuvering end effector 270 around structures and / or to reach obscured structures that may be visualized from the ultrasound imaging data provided by ultrasound imaging device 140.

[0075] As shown in FIG. 8, ultrasound imaging device 140 may be coupled to one of robot arms 1002, 1003, which is caused by robotic surgical system 1000 to move ultrasound imaging device 140 in a sweeping motion to create a live 3D ultrasound map of a surgical site.

[0076] As shown in FIG. 9, ultrasound imaging device 140 may be coupled to one of robot arms 1002, 1003, which is caused by robotic surgical system 1000 to rotate ultrasound imaging device 140 (e.g., 360 degrees) about its own longitudinal axis such that ultrasound waves emanating from ultrasound device 140 propagate toward the patient at an angle to produce a liveconical image volume that updates with every rotation (e.g., similar to sonar) and is extrapolated into a 3D image.

[0077] As shown in FIG. 10, ultrasound imaging device 140 may be coupled to one of robot arms 1002, 1003, which is caused by robotic surgical system 1000 to follow instrument 200, or more specifically end effector 270, as it moves within the patient such that instrument 1000 is automatically maintained within the ultrasound image plane (e.g., ultrasound image plane 355) without the need for the clinician to move ultrasound imaging device 140. This may be accomplished by having the EM tracking system of surgical navigation system 10 continuously communicate the tracked location of EM sensor 205 as input to robotic surgical system 1000. Based on the input received from the EM tracking system, robotic surgical system 1000 causes one of robot arms 1002, 1003 to which ultrasound imaging device 140 is mounted to move ultrasound imaging device 140 in real time correspondingly with movement of instrument 200 based on the provided tracked location of EM sensor 205. The above-noted functionality may be utilized either if the instrument 200 is being moved by the clinician manually or if instrument 200 is mounted to one of robot arms 1002, 1003 and being moved by robotic surgical system 1000.

[0078] As shown in FIG. 11, one or more physical scanning stops, referenced generally as 1010, may be strategically placed on a patient to delineate an automated localized ultrasound scanning area for ultrasound imaging device 140 to scan between scanning stops 1010 via robotic surgical system 1000. Once placed on the patient by the clinician, scanning stops 1010 may be located via the EM tracking system of surgical navigation system 10 (e.g., via use of a suitable EM sensor coupled to scanning stops 1010). The EM tracking system communicates the locations of scanning stops as input to robotic surgical system 1000. Ultrasound imaging device 140 may be coupled to one of robot arms 1002, 1003, which is caused by robotic surgical system 1000 to move ultrasound imaging device 140 in a sweeping motion (as similarly described above with respect to FIG. 8) between scanning stops 1010 to create a live 3D ultrasound map of the localized area delineated by scanning stops 1010. Since the locations of scanning stops 1010 are known to robotic surgical system 1000 via the EM tracking system, the motion of robot arms 1002, 1003 is automatically limited by the boundary delineated by scanning stops 1010.

[0079] Turning now to FIG. 12, in aspects of the present disclosure, instrument 200 (or more specifically end effector 270) may be used as a pointer to graphically bound particular portions of the ultrasound image generated by ultrasound imaging device 140 and / or to mark structures ofimportance. Markings generated by instrument 200 are overlaid on the ultrasound image generated by ultrasound imaging device 140 and displayed on display 206 and / or display 110. In this manner, if a structure of importance temporarily leaves the field of view of ultrasound imaging device 140, the location of the marked structure can be easily identified upon returning to the field of view of ultrasound imaging device 140. Instrument 200 may be used to delineate “keep out” zones, as illustrated in FIG. 12, to protect identified critical structures. In aspects of the present disclosure, “keep out” zone may be a graphical 3D shape such as a sphere that encompasses a critical structure. In aspects of the present disclosure, “keep out” zone may be represented by a plane in the ultrasound image, underneath which is a critical structure. The plane may be generated by demarking multiple points to form the shape and / or orientation of the plane within the ultrasound image. Based on the tracked location of EM sensor 205, surgical navigation system 10 (or more specifically the EM tracking system of surgical navigation system 10) may provide an indication (e.g., alert, alarm, warning, etc.) if instrument 200 encroaches or is within a predetermined distance to a “keep out” zone.

[0080] While several aspects of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular aspects. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

[0081] The following examples are illustrative of the techniques described herein.

[0082] Example 1. A surgical navigation system, comprising: an electromagnetic (EM) tracking system configured to generate an EM field; a surgical forceps including: an elongated shaft; an end effector disposed at a distal end portion of the elongated shaft and having a first jaw member and a second jaw member; a first EM sensor disposed on the elongated shaft of the surgical forceps and configured to sense the EM field for enabling tracking of a location and an orientation of the forceps; and a plurality of data points plotted on at least one of the first jaw member or the second jaw member at a known distance from the first EM sensor; an ultrasound imaging device in communication with the EM tracking system, the ultrasound imaging device configured to generate ultrasound image data of the surgical forceps at a surgical site; a second EM sensor disposed on the ultrasound imaging device and configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging device; and acomputing device in communication with the EM tracking system and the ultrasound imaging device, the computing device including: a processor; and a memory storing instructions which, when executed by the processor, cause the computing device to: receive the ultrasound image data from the ultrasound imaging device; and generate a display including a representation of at least a portion of the surgical forceps relative to an ultrasound image plane based at least in part on the plurality of data points.

[0083] Example 2. The surgical navigation system according to example 1, wherein the surgical forceps is an electrosurgical forceps configured to be coupled to an electrosurgical generator for delivering electrosurgical energy to tissue.

[0084] Example 3. The surgical navigation system according to example 1, wherein the representation of at least a portion of the surgical forceps includes an outline of a periphery of at least one of the first or second jaw members.

[0085] Example 4. The surgical navigation system according to example 1, wherein at least one of the ultrasound imaging device or the surgical forceps is configured to be coupled to a surgical robotic system.

[0086] Example 5. The surgical navigation system according to example 1, wherein the instructions, when executed by the processor, cause the computing device to determine a diameter of tissue grasped between the jaw members based on the ultrasound image data received from the ultrasound imaging device.

[0087] Example 6. The surgical navigation system according to example 1, wherein the instructions, when executed by the processor, cause the computing device to determine a position of tissue relative to the first and second jaw members based on the ultrasound image data received from the ultrasound imaging device.

[0088] Example 7. The surgical navigation system according to example 1, further comprising a display device configured to display the representation of at least a portion of the surgical forceps in relation to the ultrasound image plane.

[0089] Example 8. The surgical navigation system according to example 1, wherein the surgical forceps includes a monopolar electrode configured to move relative to the end effector and to deliver electrosurgical energy to tissue, the monopolar electrode including at least one data point plotted at a known distance from the first EM sensor.

[0090] Example 9. The surgical navigation system according to example 8, wherein the instructions, when executed by the processor, cause the computing device to generate the displayincluding a representation of the monopolar electrode relative to the end effector and the ultrasound image plane based at least in part on the plurality of data points.

[0091] Example 10. The surgical navigation system according to example 1, wherein the ultrasound imaging device is configured to be moved in a sweeping motion relative to the surgical site by a robot arm of a robotic surgical system to generate a three-dimensional ultrasound image of the surgical site.

[0092] Example 11. The surgical navigation system according to example 1, wherein the ultrasound imaging device is configured to be rotated about a longitudinal axis of the ultrasound imaging device by a robot arm of a robotic surgical system to generate a three-dimensional conical image volume of the surgical site.

[0093] Example 12. The surgical navigation system according to example 1, wherein the ultrasound imaging device is configured to be coupled to a robot arm of a robotic surgical system and the robot arm is configured to move correspondingly with movement of the surgical forceps based on the received location of the first EM sensor.

[0094] Example 13. The surgical navigation system according to example 1, wherein the ultrasound imaging device is configured to be coupled to a robot arm of a robotic surgical system and the robot arm is configured to move in a sweeping motion within a bound scanning volume delineated by at least one scanning stop coupled to a patient.

[0095] Example 14. A surgical navigation system, comprising: a surgical forceps including: an end effector disposed at a distal end portion of an elongated shaft; a first electromagnetic (EM) sensor disposed on the elongated shaft of the surgical forceps and configured to sense an EM field generated by an EM field generator for enabling tracking of a location and an orientation of the surgical forceps; and a plurality of data points plotted on the end effector at a known distance from the first EM sensor; an ultrasound imaging device configured to generate ultrasound image data of the surgical forceps at a surgical site; a second EM sensor disposed on the ultrasound imaging device and configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging device; and a computing device including: a processor; and a memory storing instructions which, when executed by the processor, cause the computing device to: receive the ultrasound image data from the ultrasound imaging device; and generate a display including a representation of at least a portion of the surgical forceps relative to an ultrasound image plane based at least in part on the plurality of data points.

[0096] Example 15. The surgical navigation system according to example 14, wherein the surgical forceps is an electrosurgical forceps configured to be coupled to an electrosurgical generator for delivering electrosurgical energy to tissue.

[0097] Example 16. The surgical navigation system according to example 14, wherein the instructions, when executed by the processor, cause the computing device to determine a diameter of tissue grasped by the end effector based on the ultrasound image data received from the ultrasound imaging device.

[0098] Example 17. The surgical navigation system according to example 14, wherein the instructions, when executed by the processor, cause the computing device to determine a position of tissue relative to the end effector based on the ultrasound image data received from the ultrasound imaging device.

[0099] Example 18. The surgical navigation system according to example 14, wherein the ultrasound imaging device is configured to be moved in a sweeping motion relative to the surgical site by a robot arm of a robotic surgical system to generate a three-dimensional ultrasound image of the surgical site.

[0100] Example 19. The surgical navigation system according to example 14, wherein the ultrasound imaging device is configured to be rotated about a longitudinal axis of the ultrasound imaging device by a robot arm of a robotic surgical system to generate a three-dimensional conical image volume of the surgical site.

[0101] Example 20. A surgical navigation system, comprising: a surgical device including: an end effector disposed at a distal end portion of an elongated shaft; a first electromagnetic (EM) sensor disposed on the elongated shaft of the surgical device and configured to sense an EM field for enabling tracking of a location and an orientation of the surgical device; and a plurality of data points plotted on the end effector at a known distance from the first EM sensor; an ultrasound imaging device configured to generate ultrasound image data of the surgical device at a surgical site, the ultrasound imaging device including a second EM sensor disposed on the ultrasound imaging device and configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging device; and a computing device including: a processor; and a memory storing instructions which, when executed by the processor, cause the computing device to generate a display including a representation of at least a portion of the surgical device relative to an ultrasound image plane based at least in part on the plurality of data points.

Claims

WHAT IS CLAIMED IS:

1. A surgical navigation system (10), comprising: an electromagnetic (EM) tracking system configured to generate an EM field; a surgical forceps (200) including: an elongated shaft (210); an end effector (270) disposed at a distal end portion of the elongated shaft (210) and having a first jaw member (272) and a second jaw member (274); a first EM sensor (205) disposed on the elongated shaft (210) of the surgical forceps (200) and configured to sense the EM field for enabling tracking of a location and an orientation of the surgical forceps (200); and a plurality of data points (290) plotted on at least one of the first jaw member (272) or the second jaw member (274) at a known distance from the first EM sensor (205); an ultrasound imaging device (140) in communication with the EM tracking system, the ultrasound imaging device (140) configured to generate ultrasound image data of the surgical forceps (200) at a surgical site; a second EM sensor (145) disposed on the ultrasound imaging device (140) and configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging device (140); and a computing device (100) in communication with the EM tracking system and the ultrasound imaging device (140), the computing device including: a processor (204); and a memory (202) storing instructions which, when executed by the processor, cause the computing device (100) to: receive the ultrasound image data from the ultrasound imaging device (140); and generate a display (110) including a representation of at least a portion of the surgical forceps (200) relative to an ultrasound image plane (355) based at least in part on the plurality of data points (290).

2. The surgical navigation system (10) according to claim 1, wherein the surgical forceps (200) is an electrosurgical forceps configured to be coupled to an electrosurgical generator (130) for delivering electrosurgical energy to tissue.

3. The surgical navigation system (10) according to any one of claims 1 or 2, wherein the representation of at least a portion of the surgical forceps (200) includes an outline of a periphery of at least one of the first or second jaw members (272, 274).

4. The surgical navigation system (10) according to any preceding claim, wherein at least one of the ultrasound imaging device (140) or the surgical forceps (200) is configured to be coupled to a surgical robotic system (1000).

5. The surgical navigation system (10) according to any preceding claim, wherein the instructions, when executed by the processor (204), cause the computing device (100) to determine a diameter of tissue grasped between the first and second jaw members (272, 274) based on the ultrasound image data received from the ultrasound imaging device (140).

6. The surgical navigation system (10) according to any preceding claim, wherein the instructions, when executed by the processor (204), cause the computing device (100) to determine a position of tissue relative to the first and second jaw members (272, 274) based on the ultrasound image data received from the ultrasound imaging device (140).

7. The surgical navigation system (10) according to any preceding claim, further comprising a display device (206) configured to display the representation of at least a portion of the surgical forceps (200) in relation to the ultrasound image plane (355).

8. The surgical navigation system (10) according to any preceding claim, wherein the surgical forceps (200) includes a monopolar electrode (225) configured to move relative to the end effector (270) and to deliver electrosurgical energy to tissue, the monopolar electrode (225) including at least one data point (290) plotted at a known distance from the first EM sensor (205).

9. The surgical navigation system (10) according to claim 8, wherein the instructions, when executed by the processor (204), cause the computing device (100) to generate the display (110) including a representation of the monopolar electrode (225) relative to the end effector (270) and the ultrasound image plane (355) based at least in part on the plurality of data points (290).

10. The surgical navigation system (10) according to any preceding claim, wherein the ultrasound imaging device (140) is configured to be moved in a sweeping motion relative to the surgical site by a robot arm (1002, 1003) of a robotic surgical system (1000) to generate a three- dimensional ultrasound image of the surgical site.

11. The surgical navigation system (10) according to any preceding claim, wherein the ultrasound imaging device (140) is configured to be rotated about a longitudinal axis of the ultrasound imaging device (140) by a robot arm (1002, 1003) of a robotic surgical system (1000) to generate a three-dimensional conical image volume of the surgical site.

12. The surgical navigation system (10) according to any preceding claim, wherein the ultrasound imaging device (140) is configured to be coupled to a robot arm (1002, 1003) of a robotic surgical system (1000) and the robot arm (1002, 1003) is configured to move correspondingly with movement of the surgical forceps (200) based on the received location of the first EM sensor (205).

13. The surgical navigation system (10) according to any preceding claim, wherein the ultrasound imaging device (140) is configured to be coupled to a robot arm (1002, 1003) of a robotic surgical system (1000) and the robot arm (1002, 1003) is configured to move in a sweeping motion within a bound scanning volume delineated by at least one scanning stop coupled to a patient.

14. A surgical navigation system (10), comprising: a surgical forceps (200) including: an end effector (270) disposed at a distal end portion of an elongated shaft (210);a first electromagnetic (EM) sensor (205) disposed on the elongated shaft (210) of the surgical forceps (200) and configured to sense an EM field generated by an EM field generator (121) for enabling tracking of a location and an orientation of the surgical forceps (200); and a plurality of data points (290) plotted on the end effector (270) at a known distance from the first EM sensor (205); an ultrasound imaging device (140) configured to generate ultrasound image data of the surgical forceps (200) at a surgical site; a second EM sensor (145) disposed on the ultrasound imaging device (140) and configured to sense the EM field for enabling tracking of a location and an orientation of the ultrasound imaging device (140); and a computing device (100) including: a processor (204); and a memory (202) storing instructions which, when executed by the processor (204), cause the computing device (100) to: receive the ultrasound image data from the ultrasound imaging device (140); and generate a display (110) including a representation of at least a portion of the surgical forceps (200) relative to an ultrasound image plane (355) based at least in part on the plurality of data points (290).

15. The surgical navigation system (10) according to claim 14, wherein the surgical forceps (200) is an electrosurgical forceps configured to be coupled to an electrosurgical generator (130) for delivering electrosurgical energy to tissue.

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