Registration tools and associated systems and methods

Abstract

A tool includes a body having a first portion and a second portion. The second portion of the body includes a first pattern. A movable component is movably coupled with the first portion of the body and configured to move between a first position and a second position. The movable component includes a second pattern such that the second pattern is configured to be moved relative to the first pattern.

Description

REGISTRATION TOOLS AND ASSOCIATED SYSTEMS AND METHODSCross-Reference to Related Applications

[0001] This application claims the benefit of, and priority to, U.S. Provisional Patent Application No. 63 / 654,912 filed May 31, 2024, U.S. Provisional Patent Application No. 63 / 699,462 filed September 26, 2024, and U.S. Provisional Patent Application No. 63 / 742,199 filed January 6, 2025, each of which is hereby incorporated by reference herein in its entirety.Technical Field

[0002] The present disclosure relates generally to surgical procedures and, more specifically, tools used in association with augmented reality implemented surgical procedures.Background

[0003] Many different types of medical tools are used during surgical procedures. For example, scalpels, scissors, forceps, clamps, etc. may be used during a surgical procedure. Having a sterile environment in which to operate, and sterile tools with which to operate, is important for patient safety. Accordingly, many medical tools are designed to be capable of being cleaned and / or sterilized. While many basic surgical tools (e.g., scalpels, scissors, forceps, clamps, etc.) can be designed for the ease of cleaning and / or sterilization, more complex tools are often difficult to clean and / or sterilize. For example, electronic surgical tools may not be easily cleaned and / or sterilized. Because it is difficult to clean and / or sterilize complex medical tools, such tools are often discarded after use. Such discarding of medical tools not only adds to the cost of a medical procedure, but can also increase waste. Accordingly, a need exists for complex medical tools that can be easily cleaned and / or sterilized.Summary

[0004] In some implementations of the present disclosure, a tool includes a body having a first portion and a second portion. The second portion of the body includes a first pattern. A movable component is movably coupled with the first portion of the body and configured to move between a first position and a second position. The movable component includes a second pattern such that the second pattern is configured to be moved relative to the first pattern.

[0005] In some implementations of the present disclosure, a tool includes a body having a first portion and a second portion. The second portion of the body includes a pattern. A movable component is movably coupled to the first portion of the body and configured to move between a first position and a second position. Responsive to the movable component being in the first position, the movable component is configured to obstruct a portion of the pattern. Responsive to the movable component being in the second position, the movable component is configured to not obstruct the pattern.

[0006] In some implementations of the present disclosure, a method for registering landmarks via a tool includes providing the tool. The tool includes a body having a first portion and a second portion. The second portion of the body includes a first pattern. The tool further includes a movable component movably coupled with the first portion of the body that is configured to move between a first position and a second position. The moveable component includes a second pattern such that the second pattern is configured to be moved relative to the first pattern. The method further includes, in response to determining that the second pattern has moved relative to the first pattern, causing a landmark to be registered.Brief Description of the Drawings

[0007] Disclosed herein are implementations of systems, apparatuses, and methods pertaining registration tools. This description includes drawings, wherein:

[0008] FIG. 1A is an assembled front perspective view of a tool, according to some implementations of the present disclosure;

[0009] FIG. IB is an assembled rear perspective view of the tool of FIG. 1 A;

[0010] FIG. 2A is an exploded front perspective of the tool of FIG. 1 A;

[0011] FIG. 2B is an exploded rear perspective of the tool of FIG. 1 A;

[0012] FIG. 3A is a top plan view of the tool of FIG. 1 A in a first position, according to some implementations;

[0013] FIG. 3B is a side sectional view of the tool of FIG. 3 A;

[0014] FIG. 3C is a perspective view of the tool of FIG. 3A;

[0015] FIG. 4A is a top plan view of the tool of FIG. 1A in a second position, according to some implementations;

[0016] FIG. 4B is a side sectional view of the tool of FIG. 4A;

[0017] FIG. 4C is a perspective view of the tool of FIG. 4A;

[0018] FIG. 5 is a top plan view of the tool of FIG. 1A with lines illustrating an intersection point, according to some implementations of the present disclosure;

[0019] FIG. 6 is an assembled front perspective view of a tool, according to some implementations of the present disclosure;

[0020] FIG. 7A is top plan view of a tool with a movable component in a first position, according to some implementations of the present disclosure;

[0021] FIG. 7B is a top plan view the tool of FIG. 7A with the movable component in a second position;

[0022] FIG. 8A is a first perspective view of a tool with a movable component in a first position, according to some implementations of the present disclosure;

[0023] FIG. 8B is a first perspective view of the tool shown in FIG. 8A with the movable component in a second position;

[0024] FIG. 9 is an exploded view of the tool shown in FIG. 8A, according to some implementations of the present disclosure;

[0025] FIG. 10A is a second perspective view of the tool shown in FIG. 8 A with the movable component in the first position;

[0026] FIG. 10B is a second perspective view of the tool shown in FIG. 8B with the movable component in the second position;

[0027] FIG. 11 A is a top view of the tool shown in FIG. 8A with the movable component in the first position;

[0028] FIG. 1 IB is a top view of the tool shown in FIG. 8A with the movable component in the second position;

[0029] FIG. 12A is a side elevation view of the tool shown in FIG. 8A with the movable component in the first position;

[0030] FIG. 12B is a side elevation view of the tool shown in FIG. 8A with the movable component in the second position;

[0031] FIG. 13 A is a rear view of the tool shown in FIG. 8 A with the movable component in the first position;

[0032] FIG. 13B is a rear view of the tool shown in FIG. 8 A with the movable component in the second position;

[0033] FIG. 14A is a front view of the tool shown in FIG. 8A with the movable component in the first position;

[0034] FIG. 14B is a front view of the tool shown in FIG. 8A with the movable component in the second position;

[0035] FIG. 15 is a diagram illustrating an imaging device capturing image data associated with the tool of FIG. 4A in the second position, according to some implementations of the present disclosure;

[0036] FIG. 16 is a block diagram of a system for registering landmarks with a registration tool, according to some implementations of the present disclosure;

[0037] FIG. 17 is a flow chart depicting illustrating example operations for registering landmarks, according to some implementations of the present disclosure;

[0038] FIG. 18 is a perspective view of a user and a patient during a surgical procedure using an AR surgical system, according to some implementations of the present disclosure;

[0039] FIG. 19 depicts an image from a user device as the user performs a surgical procedure using the AR surgical system of FIG. 18, according to some implementations of the present disclosure;

[0040] FIG. 20 depicts an image from the user device as the user manipulates a tool to permit rotation of a model, according to some implementations of the present disclosure;

[0041] FIG. 21 depicts an image from the user device as the user rotates the tool to cause the model to rotate, according to some implementations of the present disclosure;

[0042] FIG. 22 depicts an image from the user device as the user rotates the tool to cause the model to rotate, according to some implementations of the present disclosure;

[0043] FIG. 23 depicts an image from the user device as the user rotates the tool to cause the model to rotate, according to some implementations of the present disclosure;

[0044] FIG. 24 depicts an image from the user device as the user rotates the tool to cause the model to rotate, according to some implementations of the present disclosure;

[0045] FIG. 25 depicts an image from the user device after the user stops rotating the tool, according to some implementations of the present disclosure;

[0046] FIG. 26 depicts an image from the user device as the user manipulates to tool to permit modification of a component in the model, according to some implementations of the present disclosure;

[0047] FIG. 27A depicts an image from the user device as the user modifies a component of the model, according to some implementations of the present disclosure;

[0048] FIG. 27B depicts an image from the user device as the user modifies a component of the model, according to some implementations of the present disclosure;

[0049] FIG. 27C depicts an image from the user device as the user modifies a component of the model, according to some implementations of the present disclosure;

[0050] FIG. 28 is a flow chart depicting example operations for using a surgical system, according to some implementations of the present disclosure;

[0051] FIG. 29 is a flow chart depicting example operations for using a surgical system, according to some embodiments of the present disclosure;

[0052] FIG. 30 is a flow chart depicting example operations for using a surgical system, according to some implementations of the present disclosure;

[0053] FIG. 31 A is an assembled front perspective view of a tool in a first position, according to some implementations of the present disclosure;

[0054] FIG. 3 IB is an exploded view of the tool of FIG. 31 A;

[0055] FIG. 32A is an assembled rear perspective view of the tool of FIG. 31 A;

[0056] FIG. 32B is an exploded rear perspective view of the tool of FIG. 31 A;

[0057] FIG. 33 A is a side elevation view of the tool of FIG. 31 A in the first position;

[0058] FIG. 33B is a sectional view of the tool of FIG. 31 A in the first position;

[0059] FIG. 33C is a top plan view of the tool of FIG. 31 A in the first position;

[0060] FIG. 34A is a side elevation of the tool of FIG. 31 A in the second position;

[0061] FIG. 34B is a sectional view of the of tool of FIG. 31 A in the second position;

[0062] FIG. 34C is a top plan view of the tool of FIG. 31 A in the second position;

[0063] FIG. 35A is a side elevation view of the tool of FIG. 31 A where a movable component is in a second rotational position;

[0064] FIG. 35B is a sectional view of the tool of FIG. 31 A where the movable component is in the second rotational position;

[0065] FIG. 35C is a top plan view of the tool of FIG, 31A where the movable component is in the second rotational position;

[0066] FIG. 36A is a side elevation view of the tool of FIG. 31 A where a movable component is in a third rotational position;

[0067] FIG. 36B is a sectional view of the tool of FIG. 31 A where the movable component is in the third rotational position; and

[0068] FIG. 36C is a top plan view of the tool of FIG, 31A where the movable component is in the third rotational position.Detailed Description

[0069] Generally speaking, pursuant to various implementations, systems, apparatuses, and methods are provided herein useful to tools. In some implementations, a tool comprises a body having a first portion and a second portion, the second portion of the body including a firstpattem, a movable component movable coupled with the first portion of the body and configured to move between a first position and a second position, the movable component includes a second pattern such that the second pattern is configured to be moved relative to the first pattern.

[0070] Many medical tools are designed to be used for more than one medical procedure (i.e., as reusable medical tools). Typically, the medical tools are cleaned and / or sterilized after use so that the medical tools can be used again. While many medical tools (e.g., scalpels, scissors, forceps, clamps, etc.) are designed to be easily cleaned and / or sanitized, more complex medical tools are often difficult to clean and / or sanitize. For example, many guided surgical procedures (e.g., augmented reality (AR) guided surgical procedures, visually guided surgical procedures, etc.) require electronic medical tools, which may be difficult to clean and / or sanitize.

[0071] AR surgical systems aid in performing surgical procedures. The AR surgical systems can overlay data (e.g., images, information, etc.) over an image of the patient and / or the user’s (e.g., surgeon’s) view of the patient. For the AR systems to properly locate data and overlay the data on a view of the physical world, the AR system must have knowledge of where objects are located in the physical world. This can be accomplished by registering landmarks. To register a landmark, the user utilizes a registration tool. At a high level, the registration tool includes a marker of some type that can be tracked by the AR system. Typically, the marker is an optically readable pattern or patterns. Additionally, the registration tools typically include electronics. For example, the registration tools can include wireless radios, buttons, lights, etc. Because of this, the registration tools are often difficult, if not impossible, to sufficiently clean and / or sanitize (e.g., using an autoclave cleaning solution). Similarly, visually guided surgical procedures rely on visual tracking of objects in a surgical field and the registration of landmarks to determine the locations of objects in the surgical field. However, whereas the ultimate presentation in an AR guided surgical procedure is an AR presentation, the ultimate presentation in a visually guided surgical procedure may not include AR objects.

[0072] Disclosed herein are systems, methods, and apparatuses that seek to overcome, if not eliminate, the difficulties of prior systems. In one implementation, a tool includes a body and a movable component that is movable relative to the body. The body includes a first pattern and the movable component includes a second pattern. Because the movable component is movable relative to the body, the movable component includes the second pattern, and the body includes the first pattern, the second pattern is movable relative to the first pattern. Movement of the second pattern with respect to the first pattern indicates to a surgical system (e.g., an AR guided surgical system, visually guided surgical system, etc.) that a landmark should beregistered. In some implementations, a user (e.g. a surgeon) can move the movable component between a first position and a second position with their hand to indicate that a landmark should be registered. Because this tool does not require electronic components, it can be designed and manufactured to be cleaned and / or sterilized using standard sterilization equipment commonly found in hospitals, or the like (e.g., autoclave cleaners). The discussion of FIGS. 1 A - IB and 2 A - 2B provides an overview of such a tool.

[0073] Referring generally to FIGS. 1 A to 4C, a tool 100 for use in registering landmarks in a guided surgical procedure is shown according to some implementations of the present disclosure. The guided surgical procedure can take any suitable form, such as an AR guided surgical procedure, a visually guided surgical procedure, etc. For ease of discussion, when the terms “AR guided surgical procedure” and “visually guided surgical procedure” are used, they should be generally interpreted as any guided surgical procedure. Similarly, when the terms “AR guided surgical system” and “visually guided surgical system” are used, they should generally be interpreted as any guided surgical system. As best seen in FIGS. 2A and 2B, the tool 100 generally has a body 102, a movable component 110, and an attachment member 124. Referring to FIG. 1 A, the movable component 110 is movably coupled to the body 102 and is movable between a first position (FIG. 1 A) and a second position (shown in FIGS. 4 A - 4C). The body 102 includes a recess 140 (FIGS. 2 A and 3B) into which the movable component 110 can seat when in the second position (FIGS. 4A - 4C). Further, as best shown in FIG. IB, the body 102 includes one or more through channels 130. The through channels 130 pass through portions of the body 102 to aid in allowing fluid to pass through the body 102, for example, during cleaning of the tool 100.

[0074] As best shown in FIGS. 2A and 2B, the body 102 includes a first portion 104 and a second portion 106, 106'. The first portion 104 has an elongated shape and the second portion 106, 106' includes a first body winged-portion 106 and a second body winged portion 106'. The second portion 106, 106’ of the body 102 includes a first pattern 108, 108'. The second portion 106, 106’ of the body 102 includes a main surface 114, 122 (shown in FIG. 1 A) that is generally flat. The main surface 114, 122 includes the first pattern 108, 108’. The first pattern 108, 108’ is an optically readable pattern and can take any suitable form. For example, the first pattern 108, 108’ can include one or more reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patterns, shapes, lighting elements, etc. As best depicted in FIG. 2A, the first pattern 108, 108' incudes a plurality of intersecting lines that form shapes. The first pattern 108, 108' is integrated into the second portion 106, 106’ (i.e., the main surface 114, 122 of the second portion 106, 106’). The first pattern 108,108’ can be integrated into the second portion 106, 106’ in that the first pattern 108, 108’ is etched into the second portion 106, 106’.

[0075] Although the tool 100 is depicted in FIGS 1 A - 4C as having two second portions 106, 106’, such is not required. For example, in some implementations, the tool 100 includes the second portion 106 but not the second portion 106'. In such alternative implementations, the first pattern 108 is located on the second portion 106. Further, although the first pattern 108, 108' is described as being integrated with the second portion 106, 106’, such is not required. For example, in some alternative implementations, the first pattern 108, 108' can be coupled to the first portion 106, 106’ (e.g., the first pattern 108, 108’ can be affixed, adhered, attached, applied, etc. to the second portion 106, 106’).

[0076] The movable component 110 includes a lever portion 111 and a lever winged-portion 116. The lever portion 111 is pivotably coupled to the body 102 via a first pin 134 that is positioned through a first pin hole 132 of the lever portion 111 and engages with corresponding holes in the body 102, which are best shown in FIG. IB (connected) and FIG. 2B (exploded). The lever portion 111 is generally fixed to the lever winged-portion 116 via a pair of pins 136. Additionally, the tool 100 includes a biasing mechanism 128 configured to bias the movable component 110 in a first position that is spaced from the body 102. The biasing mechanism 128 can take any suitable form, such as a coil spring, a leaf spring, a weight, an interference portion of the body 102, etc. In the example depicted in FIGS. 2A - 2B, the biasing mechanism 128 is a coil spring. The biasing mechanism 128 is positioned within the recess 140 in the body 102 such that the biasing mechanism 128 at least partially extends from the recess 140 and engages a protrusion 148 of the lever portion 111. The biasing mechanism 128 couples about the protrusion 148 to aid in preventing the biasing mechanism 128 from becoming incorrectly located relative to the lever portion 111 and / or the body 102.

[0077] As described herein and shown in the figures, the movable component 110 includes a lever winged-portion 116 that is coupled to the lever portion 111 via one or more additional pins 136 that seat in one or more additional holes 138. However, in some alternative implementations, the lever winged-portion 116 is integral (e.g., monolithically formed) with the lever portion 111.

[0078] The lever winged-portion 116 includes a main surface 118 that is generally flat. Additionally, the lever winged-portion 116 includes a second pattern 112. The second pattern 112 is an optically readable pattern and can take any suitable form. For example, the second pattern 112 can include one or more reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patterns, shapes, lighting elements,etc. As best depicted in FIG. 2A, the second pattern 112 incudes a plurality of intersecting lines that form shapes. The second pattern 112 is integrated with the lever-winged portion 116. The second pattern 112 can be integrated with the lever- winged portion 116 in that the second pattern 112 is etched into the lever-winged portion 116.

[0079] It should be noted, however, that the second pattern 112 need not be integrated with the lever-winged portion 116. For example, the second pattern 112 can be coupled to the lever winged-portion 116 of the movable component 116 (e.g., the second pattern can be affixed, adhered, attached, applied, etc. to the lever winged-portion 116 of the movable component 110).

[0080] The tool 100 is generally configured to be placed against an object. For example, a user may wish to register a landmark on an object (as discussed in more detail with respect to FIG. 16). To do so, the user would place the tool 100 against the object. As depicted in FIGS. 1 A- 4C, the tool 100 includes an attachment member 124. The user places the attachment member 124 (e.g., a tip, end, side, surface, etc. of the attachment member 124) against the object. As shown in FIGS. 1 A - 4C, the attachment member 124 is a stylus. However, implementations are not so limited. That is, the attachment member 124 can take any suitable form. For example, the attachment member 124 can be a stylus (as depicted in FIGS. 1 A - IB and 2A - 2B), a blunt-edged attachment (as depicted in FIG. 6), or any other suitable design. Further, the attachment member 124 can be fixed to the body 102, integrated with the body 102, or removably coupled to the body 102 (as depicted in FIGS. 2 A and 2B).

[0081] While the discussion of FIGS. 1A - IB and 2A - 2B provides an overview of a tool 100, the discussion of FIGS. 3A - 3C and 4A - 4C provides additional detail regarding movement of the patterns of the tool 100 relative to one another.

[0082] FIGS. 3 A - 3C depict various views of the tool 100 in a first position, whereas FIGS. 4 A - 4C depict various views of the tool 100 in a second position, according to some implementations. As depicted in FIGS. 3A - 3C, the movable component 110 is in the first position relative to body 102. The movable component 110, and thus the second pattern 112, can be moved, as indicated by an arrow 142, between the first position (depicted in FIGS. 3A- 3C) and the second position (depicted in FIGS. 4 A - 4C). As noted previously, the body 102 includes a recess 140. The recess 140 accommodates at least a portion of movable component 110 when the movable component 110 is depressed against the body 102. That is, when the user manipulates the movable component 110 to the second position, at least a portion of the movable component 110 seats within the recess 140. It should be noted that, in some implementations, the recess 140 may not be present.

[0083] When the movable component 110 is in the first position relative to the body 102, the second pattern 112 and the first pattern 108 are not aligned. When in the first position, the second pattern 112 lies in a second plane 146, as best seen in FIG. 3B. By contrast, the first pattern 108 lies in a first plane 144. As can be seen in FIGS. 3A - 3C, the second plane 146 is not coplanar with the first plane 144. When the movable component 110 is in the second position relative to the body 102, the first pattern 108 and the second pattern 112 are aligned. That is, the first pattern 108 and the second pattern 112 lie in the same plane (i.e., are coplanar).

[0084] While the example implementation provided in FIGS. 1 - 4 depicts movement of the second pattern 112 between differing planes, implementations are not so limited. For example, in some embodiments, the second pattern 112 may be slidable relative to the first pattern 108. That is, the second pattern 112 would move between the first position and the second position not by differing the plane in which the second pattern 112 lies, but rather by changing the location of the second pattern 112 relative to the first pattern 108. As another example, in some implementations, the second pattern 112 may by fixed relative to the first pattern 108. In such implementations, the tool 100 may include a shutter or other structure that covers or otherwise obstructs a view of the second pattern 112. The tool 100 may also include a mechanism (e.g., a lever, button, slider, etc.) that moves the shutter or other structure relative to the second pattern 112 such that the second pattern 112 is no longer covered or otherwise obstructed (e.g., as shown in the example provided in FIGS. 7 A and 7B). Regardless of the specific implementation, when the movable component 110 is in the second position relative to the body 102, the second pattern 112 is said to be “aligned” with the first pattern 108. When the second pattern 112 and the first pattern 108 are aligned, it indicates to the AR system that the AR system should register a landmark. Additionally, or alternatively, movement of the second registration array 112 to an intermediate position (e.g., between the first position and the second position) may indicate that a landmark should be registered, or some other action be performed.

[0085] While the discussion of FIGS. 3 A - 3C and 4A - 4C describes movement of the patterns of the tool relative to one another, the discussion of FIG. 5 provides additional detail regarding the patterns.

[0086] FIG. 5 is a top view of a tool 100, according to some implementations. In the example provided in FIG. 5, the first pattern 108, 108’ and the second pattern 112 are optically readable patterns. Accordingly, the first pattern 108, 108’ and the second pattern 112 can take any form suitable for optical recognition. For example, the first pattern 108, 108’ and the second pattern 112 can include one or more reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patterns, shapes, lighting elements, etc. Asdepicted in the example provided in FIG. 5, the first pattern 108, 108’ and the second pattern 112 include a plurality of intersecting lines that form shapes. Though not depicted in the grayscale figures provided herein, the shapes can have differing colors. For example, the registration array can include two colors or more colors, and adjacent ones of the shapes can be different colors. Such implementations may make it easier for an imaging device to locate intersections of the lines.

[0087] Additionally, though not required, as depicted in FIG. 5, the first pattern 108, 108’ includes two portions: 1) a first portion 108; and 2) a second portion 108’. The first portion 108 of the first pattern 108, 108’ is located adjacent to a first end of the tool 100. The second portion 108’ of the first pattern 108, 108’ is located adjacent to a second end of the tool 100. The first end of the tool 100 is opposite the second end of the tool 100. It should be noted that, in implementations in which the first pattern 108, 108’ (and / or the second pattern 112) is divided into multiple portions, the portions can be located at any suitable point on the tool 100.

[0088] The first portion 108 and the second portion 108’ of the first pattern 108, 108’ are located at opposite ends of the body 102 to increase the total size of the first pattern 108, 108’. That is, the first pattern 108, 108’ operates as a single, large pattern. To a certain extent, as the size of the pattern increases, the accuracy of locating the patterns increases. For example, when locating the tool 100 via one or both of the patterns, an AR system can “draw lines” based on intersections of the lines that make up the patterns. As one example, and as depicted in FIG. 5, the first portion 108 of the first pattern 108, 108’ includes two primary intersections (first intersection 148 and a second intersection 154) and the second portion 108’ of the first pattern 108, 108’ includes two primary intersections (a third intersection 156 and a fourth intersection 150). As depicted in FIG. 5, lines can be “drawn” between the intersections (i.e., a first line 164 between the first intersection 148 and the fourth intersection 150 and a second line 162 between the second intersection 154 and the third intersection 156). The AR system can then use an intersection 166 of these two lines to aid in locating the registration tool 100.

[0089] While the discussion of FIGS. 1 - 5 describes a first embodiment of a tool, the discussion of FIGS. 6 and 7 describes a second implementation and a third implementation, respectively, of the tool.

[0090] FIG. 6 is a perspective view of a second implementation of a tool 200, according to some implementations. The tool 200 includes a body 202 and a movable component 210. The movable component 210 is movably coupled to the body 202 and is movable between a first position and a second position. The body 202 includes a recess 240 into which the movable component 210 can seat when in the second position, though such is not required. The body202 includes one or more through channels 230. The body 202 includes a first portion 204 and a second portion 206, 206’ . The first portion 204 has an elongated shape and the second portion 206, 206’ is a first body winged-portion 206 and a second body winged-portion 206’. The second portion 206, 206’ includes a first pattern 208, 208’. Further, the movable component 210 includes a second pattern 212. Unless where described otherwise, the tool 200 functions in much the same manner as, and includes similar components to, the tool 100 depicted, and described with respect to, FIGS. 1 A - 4C.

[0091] The tool 200 is generally configured to be placed against an object. For example, a user may wish to register a landmark on an object (as discussed in more detail with respect to FIG. 10). To do so, the user would place the tool 200 against the object. Whereas the tool 100 depicted in FIGS. 1 A - 4C includes an attachment member 124 shaped as a stylus, the tool 200 depicted in FIG. 6 includes an attachment 224 that is shaped as a blunt edged attachment. However, implementations are not so limited. That is, the attachment member 224 can take any suitable form. For example, the attachment member 224 can be a stylus (as depicted in FIGS. 1 A - IB and 2A - 2B), a blunt-edged attachment (as depicted in FIG. 6), or any other suitable design. Further, the attachment member 224 can be fixed to the body 202, integrated with the body 202, or removably coupled to the body 202.

[0092] While the discussion of FIG. 6 describes a second implementation of a tool, the discussion of FIGS. 7A and 7B describe a third implementation of a tool.

[0093] FIGS. 7 A and 7B depict a third embodiment of a tool 300, according to some implementations. The tool 300 generally comprises a body 302, a movable component 358, and an attachment member 324. The movable component 358 is movably coupled to the body 302 such that the movable component 358 is movable relative to the body 302. The body 302 includes a first pattern 308 and a second pattern 312. The first pattern 308 and the second pattern 312 can take any suitable form. For example, the first pattern 308 and the second pattern 312 can include one or more reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patterns, shapes, lighting elements, etc. As depicted in the example provided in FIGS. 7A - 7B, the first pattern 308 and the second pattern 312 include a plurality of intersecting lines that form shapes.

[0094] The body 302 includes a first portion 304 and a second portion 306. The first portion 304 is generally located proximal to a first end of the body 302 and the second portion 306 is generally located proximal to a second end of the body 302. The first pattern 308 is integrated into the second portion 306 of the body 302 and the second pattern 312 is integrated into the first portion 304 of the body 302. The first pattern 308 can be integrated into the second portion306 of the body 302 and the second pattern 312 can be integrated into the first portion 304 of the body 302 in that the first pattern 308 is etched into the second portion 306 and the second pattern 312 is etched into the first portion 304.

[0095] Although the first pattern 308 and the second pattern 312 are described as being integrated into the body 302, the first pattern 308 and / or the second pattern 312 can be coupled to the body 302 (e.g., the first pattern 308 and / or the second pattern 312 can be affixed, adhered, attached, applied, etc. to the body 302).

[0096] As previously noted, the movable component 358 is movably coupled to the body 302. Accordingly, the movable component 358 can be moved between a first position (as shown in FIG. 7A) and a second position (as shown in FIG. 7B), as indicated by an arrow 362. The movable component 358 can be movably coupled to the body 302 in any suitable manner. For example, the movable component 358 can be movably coupled to the body 302 via one or more rails, channels, guides, etc. When in the first position, the movable component 358 covers (wholly or partially) or obscures (wholly or partially) the second pattern 312, as shown in FIG. 7A. When in the second position, the movable component 358 does not cover or obscure the second pattern 312.

[0097] While the discussion of FIGS. 7A and 7B describes a second implementation of a tool, the discussion of FIGS. 8A - 14 describes a third implementation of a tool.

[0098] Referring generally to FIGS. 8A - 14, a tool 500 for use in registering landmarks in an AR guided surgical procedure is shown according to some implementations of the present disclosure. The tool 500 generally has a body 502, a movable component 510, and an attachment member 524. Referring to FIGS. 8A and 8B, the movable component 510 is movably coupled to the body 502 and is movable between a first position (FIGS. 8A, 10A, 11 A, 12A, 13A, and 14A) and a second position (FIGS. 8B, 10B, 11B, 12B, 13B, and 14B). The body 502 includes a recess 540 into which the movable component 510 seats when in the second position. Further, the body 502 includes one or more through channels 530. The through channels 530 pass through portions of the body 502 to aid in allowing fluid to pass through the body 502, for example, during cleaning of the tool 500.

[0099] The body 502 incudes a first portion 504 and a second portion 506. The first portion 504 has an elongated shape and the second portion 506 includes a first body winged-portion 506. The second portion 506 of the body includes a first pattern 508. The second portion 506 of the body 502 includes a main surface 514 (shown in FIG. 8A) that is generally flat. The main surface 414 includes the first pattern 508. The first pattern 508 is an optically readable pattern and can take any suitable form. For example, the first pattern 508 can include one ormore reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patterns, shapes, lighting elements, etc. The first pattern 508 incudes a plurality of intersecting lines that form shapes. The first pattern 508 is integrated into the second portion 506 (i.e., the main surface 514 of the second portion 506). The first pattern 508 can be integrated into the second portion 506 in that the first pattern 508 is etched into the second portion 506. The second portion 506 is angled relative to the first portion 504. Such geometry can be beneficial, as the angled nature of the second portion 506 relative to the first portion 504 allows the first pattern 508 to be better viewable when the attachment portion 524 is placed against an object (as discussed in more detail with respect to FIG. 16).

[0100] The movable component 510 includes a lever portion 511 and a lever winged-portion 516. The lever portion 511 is pivotably coupled to the body 502 via a first pin 534 that is positioned through a first pin hole of the lever portion 511 and engages with corresponding holes in the body 102. The lever portion 511 is generally fixed to the lever winged-portion 516 via a pair of pins 536 (FIGS. 12A and 12B). Additionally, the tool 500 includes a biasing mechanism, for example, that is similar to or the same as the biasing mechanism 528 shown in the first implementation of the tool 100. The biasing mechanism 528 is configured to bias the movable component 510 in a first position that is spaced from the body 502. The biasing mechanism 528 can take any suitable form, such as a coil spring, leaf spring, weight, an interference portion of the body 502, etc. For example, the biasing mechanism 528 can be positioned within the recess 540 in the body 502 such that the biasing mechanism at least partially extends from the recess 540 and engages a protrusion of the lever portion 111. In this example, the biasing mechanism 528 couples about the protrusion to aid in preventing the biasing mechanism from becoming incorrectly located relative to the lever portion 511 and / or the body 502.

[0101] As described herein and shown in the figures, the movable component 510 includes a lever winged-portion 516 that is coupled to the lever portion 511 via one or more additional pins 536 that seat in one or more additional holes. However, in some alternative implementations, the lever winged-portion 516 is integral (e.g., monolithically formed) with the lever portion 511.

[0102] The lever winged-portion 516 includes a main surface 518 that is generally flat. Additionally, the lever winged-portion 516 includes a second pattern 512. The second pattern 512 is an optically readable pattern and can take any suitable form. For example, the second pattern 512 can include one or more reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patterns, shapes, lighting elements,etc. As best depicted in FIGS. 11A and 11B, the second pattern 512 incudes a plurality of intersecting lines that form shapes. The second pattern 512 is integrated with the lever-winged portion 516. The second pattern 512 can be integrated with the lever-winged portion 516 in that the second pattern 512 is etched into the lever-winged portion 516.

[0103] It should be noted, however, that the second pattern 512 need not be integrated with the lever-winged portion 516. For example, the second pattern 512 can be coupled to the lever winged-portion 516 of the movable component 516 (e.g., the second pattern can be affixed, adhered, attached, applied, etc. to the lever winged-portion 516 of the movable component 510).

[0104] The tool 500 is generally configured to be placed against an object. For example, a user may wish to register a landmark on an object (as discussed in more detail with respect to FIG. 16). To do so, the user would place the tool 500 against the object. As depicted in FIGS. 8 - 14, the tool 500 includes an attachment member 524. The user places the attachment member 524 (e.g., a tip, end, side, surface, etc. of the attachment member 524) against the object. As shown in FIGS. 8 - 14, the attachment member 524 is a stylus. However, implementations are not so limited. That is, the attachment member 524 can take any suitable form. For example, the attachment member 524 can be a stylus (as depicted in FIGS. 1 - 2 and 8 - 14), a blunt- edged attachment (as depicted in FIG. 6), or any other suitable design. Further, the attachment member 524 can be fixed to the body 502, integrated with the body 502, or removably coupled to the body 502 (as depicted in FIGS. 2A and 2B).

[0105] Generally speaking, FIGS. 8A, 10A, 11 A, 12A, 13A, and 14A (the “first position figures) depict the movable component 510 of the tool 500 in the first position, while FIGS. 8B, 10B, 1 IB, 12B, 13B, and 14B (the “second position figures) depict the movable component 510 of the tool 500 in the second position. As depicted in the first position figures, the movable component 510 is in the first position relative to body 502. The movable component 510, and thus the second pattern 512, can be moved, as indicated by an arrow 542, between the first position (depicted in the first position figures) and the second position (depicted in the second position figures). As noted previously, the body 502 includes a recess 540. The recess 540 accommodates at least a portion of movable component 510 when the movable component 510 is depressed against the body 502. That is, when the user manipulates the movable component 510 to the second position, at least a portion of the movable component 510 seats within the recess 540. It should be noted that, in some implementations, the recess 540 may not be present.

[0106] When the movable component 510 is in the first position relative to the body 502, the second pattern 512 and the first pattern 508 are not aligned. When in the first position, the second pattern 512 lies in a second plane 546, as best seen in FIG. 12A. By contrast, the first pattern 508 lies in a first plane 544. As can be seen in FIG. 12A, the second plane 546 is not coplanar with the first plane 544. When the movable component 510 is in the second position relative to the body 502, the first pattern 508 and the second pattern 512 are aligned. That is, the first pattern 508 and the second pattern 512 lie in the same plane (i.e., are coplanar). Additionally, as best seen in FIGS. 8A and 11 A, the second portion 506 of the body 502 includes an opening 576. The opening 576 is generally sized and shaped to accommodate the lever winged-portion 516 when the movable component 510 is in the second position. Additionally, in the example depicted in FIGS. 8 - 14, the opening 576 includes a notch 578. The notch 578 provides clearance for the lever 511 when the movable component 510 is in the first position.

[0107] FIG. 9 is an exploded view of the tool 500 shown in FIG. 8A, according to some implementations of the present disclosure. As shown in FIG. 9, the tool 500 includes the lever portion 511, the lever- winged portion 516, and the body 502. The body 502 generally includes the first portion 504, a body cover 586, and a main body portion 588. The body cover 586 and the first portion 504 are secured to the main body portion 588. For example, as depicted in FIG. 9, the body cover 586 slides over and seats on the main body portion 588. Additionally, if desired, the body cover 586 can be secured to the main body portion 588 via one or more fasteners, an interference fit, clips, etc. The first portion 504 is secured to the main body portion 588 via a fastener 580 (e.g., a screw, pin, rivet, clip, clasp, clamp, etc.). While FIG. 9 depicts the first portion 504, the main body portion 588, and the body cover 586 as separate components, in some implementations, one or more of the first portion 504, the body cover 586, and the main body portion 588 can be combined as a single component.

[0108] As depicted in FIG. 9, the lever-winged portion 516 is secured to the lever portion 511 via pins 582, though any suitable connection means can be employed. Additionally, the lever portion 511 is secured to the body 502 via additional pins 584, though any suitable connection means can be employed. Further, as depicted in FIG. 9, the biasing mechanism 528 acts to bias the lever portion 511 in the first position. The biasing mechanism 528 seats on a protrusion 548 and acts against the body 502 to bias the lever portion 511 in the first position.

[0109] While the discussion of FIGS. 1 - 14 describes multiple implementations of a tool, the discussion of FIGS. 15 - 17 provide additional detail regarding use of the tool

[0110] FIG. 15 is a diagram depicting imaging devices capturing image data associated with a registration tool, according to some implementations. As previously discussed, the tool 100 includes a first pattern 108, 108’ and a second pattern 112. In the example depicted in FIG. 15, the first pattern 108, 108’ includes a first portion 108 and a second portion 108’. The patterns are optically readable patterns. It should be noted that although the tool 100 as depicted in FIGS. 1 A - 4C is shown in FIG. 15, any suitable tool can be used in concert with the imaging device 146 (e.g., the tool 200 of FIG. 6, the tool 300 of FIGS. 7A - 7B, the tool 500 of FIGS. 8 - 14, etc.).[OHl] The imaging device 146 captures image data associated with the tool 100. Specifically, the imagining device 146 captures image data including at least the first pattern 108, 108’ and the second pattern 112. Because the patterns are optically readable patterns, an AR system (e.g., an AR surgical system) can use the image data to identify and / or locate the patterns. Further, the AR system can determine a location of an attachment member 124 based on the identification and / or locating of the patterns.

[0112] FIG. 16 is a block diagram of a system 900 for registering landmarks with a registration tool 100, according to some implementations. The system 900 includes a control system 170, imaging device(s) 146, the tool 100, and a network 172. The control system 170 and the imaging devices 146 are communicatively coupled via the network 172. Accordingly, the network 172 can take any suitable form. For example, the network 172 can be and / or include an ad-hoc (i.e., peer-to-peer) network, a local area network (LAN), a wide area network (WAN), a wireless wide area network (WWAN), etc. and can include wired and / or wireless links.

[0113] The tool 100 include a first pattern 108 and a second pattern 112. The second pattern 112 is configured to be movable relative to the first pattern 108.

[0114] The imagining devices 146 are generally configured to capture image data associated with the tool 100. The image data include at least the first pattern 108 and the second pattern 112. That is, at least a portion of the first pattern 108 and at least a portion of the second pattern 112 are within the field of view of the imaging devices 146 when the image data are captured. The imaging devices 146 transmit the image data to the control system 170 for processing.

[0115] The control system 170 can comprise a fixed-purpose hard-wired hardware platform (including but not limited to an application-specific integrated circuit (ASIC) (which is an integrated circuit that is customized by design for a particular use, rather than intended for general-purpose use), a field-programmable gate array (FPGA), and the like) or can comprise a partially or wholly-programmable hardware platform (including but not limited tomicrocontrollers, microprocessors, and the like). These architectural options for such structures are well known and understood in the art and require no further description here. The control system 170 is configured (for example, by using corresponding programming as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and / or functions described herein.

[0116] By one optional approach the control system 170 operably couples to a memory. The memory may be integral to the control system 170 or can be physically discrete (in whole or in part) from the control system 170 as desired. This memory can also be local with respect to the control system 170 (where, for example, both share a common circuit board, chassis, power supply, and / or housing) or can be partially or wholly remote with respect to the control system 170 (where, for example, the memory is physically located in another facility, metropolitan area, or even country as compared to the control system 170).

[0117] This memory can serve, for example, to non-transitorily store the computer instructions that, when executed by the control system 170, cause the control system 170 to behave as described herein. As used herein, this reference to “non-transitorily” will be understood to refer to a non-ephemeral state for the stored contents (and hence excludes when the stored contents merely constitute signals or waves) rather than volatility of the storage media itself and hence includes both non-volatile memory (such as read-only memory (ROM) as well as volatile memory (such as an erasable programmable read-only memory (EPROM).

[0118] The control system 170 is generally configured to process the image data to identify the first pattern 108 and the second pattern 112. The control system 170 processes the image data using any suitable computer vision technique. After identifying the first pattern 108 and the second pattern 112, the control system 170 determines their locations, orientations, positions, etc. relative to one another. When the second pattern 112 is moved to the second position relative to the first pattern 108, it signals to the control system 170 that a landmark should be captured. Accordingly, the control system 170 monitors the location, orientation, position, etc. of the second pattern 112 relative to the first pattern 108 (or vice versa). When the control system 170 determines that the second pattern 112 is in the second position relative to the first pattern 108, the control system 170 causes a landmark to be captured.

[0119] It should be noted that, in some implementations, the image data may include additional patterns. For example, in use, a user may pin or otherwise affix a third pattern to a patient’s anatomy. In such implementations, the control system 170 can monitor the location of the first pattern 108 and / or the second pattern 112 with respect to the third pattern. Further, the control system 170 can use the third pattern to determine a location of the first patter 108, secondpattem 112, and / or an attachment member or tool 100 in space (e.g., relative to the third pattern).

[0120] FIG. 17 is a flow chart depicting example operations for registering landmarks, according to some implementations. The flow begins at block 1002.

[0121] At block 1002, a registration tool is provided. At a high level, the registration tool comprises a body, and a movable component. The body includes a first pattern and the movable component includes a second pattern. The movable component is movable relative to the body. Accordingly, the first pattern is movable relative to the second pattern. The flow continues at block 1004.

[0122] At block 1004, image data are captured. For example, the image data can be captured via one or more imagining devices. The image data are generally associated with the tool. Specifically, the image data include at least the first pattern and the second pattern. That is, at least a portion of the first pattern and at least a portion of the second pattern are within the field of view of the imaging device(s) when the image data are captured. The imaging data can be captured in one or more of the visible light spectrum, near-visible light spectrum, infrared (IR) light spectrum, ultraviolet (UV) light spectrum, etc. For example, with the visible light spectrum, and possibly with the near-visible light spectrum, the first and second patterns can include patterns that are visible in the visible light spectrum, or near-visible light spectrum. As another example, in the IR spectrum, the patterns can include disks or other features that are highly reflective in the IR light spectrum. Further, in some implementations, the imaging devices can include IR pass filters (i.e., filters that allow light in the IR spectrum to pass through) and light in the IR spectrum can be introduced into the environment in which the imaging devices operate (e.g., via lamps, lights, etc.). In such implementations, the light in IR spectrum can be utilized for tracking, decreasing the reliance on existing light in the environment (e.g., overhead lights, lamps, natural light, etc.). The flow continues at block 1006.

[0123] At block 1006, it is determined that the second pattern has moved relative to the first pattern. For example, a control system can determine that the second has moved relative to the first pattern. As previously discussed, the movable component is movable relative to the body of the tool. The body includes the first pattern and the moveable component includes the second pattern. Thus, movement of the movable component relative to the body causes the second pattern to move relative to the first pattern. The control system determines that the second pattern has moved relative to the first pattern by determining that the movable component, and thus the second pattern, are in the second position. The second pattern is inthe second position when the second pattern and the first pattern are aligned. Additionally, or alternatively, the control system can determine that the second pattern has moved to an intermediate position between the first position and the second position. The flow continues at block 1008.

[0124] At block 1008, a landmark is caused to be registered. For example, the control system can cause the landmark to be registered. The control system causes the landmark to be registered responsive to the determination that the second pattern is in the second position. In implementations in which the control system determines that the second pattern is in an intermediate position, the control circuit can cause a landmark to be registered, or cause some other action to be taken.

[0125] While the discussion of FIGS. 1 - 17 describes a tool for use in an AR-guided surgical procedure, the discussion of FIGS. 18 - 30 describes use of the tool during the AR-guided surgical procedure.

[0126] FIG. 18 is a perspective view of a user 402 and a patient 404 during a surgical procedure. As depicted in FIG. 18, the user 402 is a medical professional, such as a surgeon. The user 402 is performing a surgical procedure on the patient 404. Specifically, the surgical site 446 is adjacent to the patient’s 404 shoulder.

[0127] The user 402 is conducting the surgical procedure using an AR-guided surgical system 400. In the example depicted in FIG. 18, the AR-guided surgical system 100 generally includes a user device 412, a tool 410, and a marker 408. In the example depicted in FIG. 18, the user device 412 includes a head mounted display 414 and a imaging device 416. The user device 412 is configured to present an interface 448 to the user 402 via the head mounted display 414. The interface includes a menu 418 and an interactive model 420 (e.g., as depicted in FIG. 18). The tool 410 can be the same as, or similar to, the tool depicted in and described with respect to FIGS. 1 - 14. Additionally, the marker 408 can be the same as, or similar to, the marker depicted in and described with respect to FIGS. 1 - 14. Generally, the tool 410 can be used to manipulate the interface. For example, the user 402 can manipulate the tool 410 to rotate or otherwise move portions of the interface (as described with respect to FIGS. 19 - 25) and / or modify a component presented in the interface (as described with respect to FIGS. 26 - 27C). In one implementation, the user 402 indicates how they would like to interact with the system based on the orientation of the tool 404. For example, when the user 402 holds the tool 404 in a first orientation, the user 402 can rotate or otherwise move the model 420. When the user 402 holds the tool 404 in a second orientation, the user 402 can modify a component presented in the interface 448. In the example depicted with respect to FIGS. 19 - 25, the user 402 causesthe system to enter an interactive model rotation mode (i.e., a mode in which the user 402 can cause the interactive model to rotate / move based on rotation / movement of the tool 404) by holding the tool 404 in the first orientation. Similarly, in the example depicted with respect to FIGS. 26 and 27, the user 402 causes the system to enter a fastener length selection mode (i.e., a mode in which the user 402 can cause the length of the fasteners in the interactive model to change via the tool 404) by holding the tool 404 in the second orientation. It should be noted that, in some implementations, the orientation of the tool 404 may not be used to trigger a mode for the system. For example, in such implementations, the user 402 can indicate that they would like the system to enter a specific mode based on verbal commands, gaze commands, haptic commands, interaction with the system via a user input device (e.g., a mouse, joystick, trackpad, etc.).

[0128] FIGS. 19 - 25 depict various stages as the user 402 interacts with the tool 410 to rotate a model 420 of the interface 448. FIGS. 19 - 27C depict images presented by the head mounted display 414 of the user device 412. The images presented by the head mounted display 414 include the interface 448 and a view of reality 460 (i.e., the real world). The view of reality 460 can be a video feed of reality and / or the user’s 402 view of reality through the headmounted display. It should also be noted that, in some implementations, the images presented by the head mounted-display 414 may not include the view of reality 460 (i.e., the image would simply include the interface 448.

[0129] The interface 448 includes a menu 418 and an interactive model 420. The interactive model 420 is a three-dimensional (3D) model of a portion of the patient’s 406 anatomy. As depicted in FIG. 12, the model 420 is a model of the patient’s 406 bone. Additionally, in the example depicted in FIGS. 12 - 20, the interactive model 420 includes a 3D model of an implant component 452, a 3D model of a first fastener 438, a 3D model of a second fastener 440, a 3D model of a third fastener 442, and a 3D model of a fourth fastener 450. The fasteners are used to secure the implant component 452 to the patient’s 406 bone. In some implementations, and as depicted in FIG. 19, the menu 418 includes a legend 462 associating color-coding with fastener length. Further, in some implementations, the interface 448 can use color-coding to indicate positions of the fasteners. It should be noted that, in some implementations, the menu 418 may include different information, such as a fastener length selection menu, as depicted in FIG. 20. The user 420 can manipulate the tool 410 to manipulate (e.g., rotate or otherwise move) the interactive model 420 in the interface 448.

[0130] FIG. 19 depicts an image as presented by the user device 412. The image includes a portion of the patient 406 including the patient’s 406 bone, a tracker 408 attached the to thebone, the user’s 402 hands, and the interface 448. In FIG. 19, the user 402 is holding the tool in neither the first orientation nor the second orientation. For example, the user 402 is holding the tool 404 in a third orientation. When the tool 404 is not in the first orientation or the second orientation (i.e., the tool is in the third orientation), movement of the tool 404 does not impact what is being presented on the interface.

[0131] As depicted in FIG. 20, the user 402 has moved the tool 404 to the first orientation. In the first orientation, the tool 404 is generally upright. For example, when in the first orientation, a pitch angle of the tool 404 is between about 70 degrees and about 110 degrees with respect to a horizontal reference plane. In some implementations, when in the first orientation, a roll angle of the tool 404 is between about -45 degrees and about 45 degrees with respect to a vertical reference plane, and a pitch angle of the tool 404 is between about -45 degrees and about 45 degrees with respect to a vertical reference plane. When the tool 404 is in the first orientation, it causes the system 400 to enter an interactive model rotation mode. In the interactive model rotation mode, the user 402 can rotate or otherwise move the interactive model 420 in the interface by rotating or otherwise moving the tool 404. As depicted in FIG. 20, the movable component of the tool is in the first position (i.e., a “deactivated” position). In an implementation in which the tool 404 is the same or similar to the tool 100, the movable component is in the first position when the movable component is not depressed against the body of the tool 404, as depicted in FIGS. 3A - 3C. It should be noted that, in some implementations, the orientation of the tool 404 may not trigger activation of the interactive model rotation mode. In such implementations, the system enters the interactive model rotation mode based on another command provided by the user (e.g., verbal commands, gaze commands, haptic commands, interaction with the system via a user input device (e.g., a mousejoystick, trackpad, etc.)).

[0132] While the system 400 has entered the interactive model rotation mode in FIG. 20, in the embodiment depicted in FIGS. 19 - 25, the user 402 cannot yet rotate or otherwise move the interactive model 420 via movement of the tool 404. Instead, once in the interactive model rotation mode, the user 402 indicates that they would like to rotate or otherwise move the interactive model 420 by moving the movable component to the second position. That is, the user 402 is able to rotate or otherwise move the interactive model 420 once the movable component 422 of the tool 404 is in the “activated position.” It should be noted that, in some implementations, once the system is in the interactive tool rotation mode, the user 402 can cause the interactive model 420 rotate or otherwise move via movement of the tool 404. That is, in such implementations, the user need not move the movable component of the tool 404 tocause the interactive model 420 to rotate or otherwise move, and the interactive model 420 will rotate or otherwise move so long as 1) the system is in the interactive model rotation mode and 2) the tool 404 is within the field of view of the system. In such implementations, when the tool 404 leaves the field of view of the system, the orientation of the interactive model 420 is maintained.

[0133] As depicted in FIG. 21, the user 402 has moved the movable component 422 to the second position. Continuing the example provided above in which the tool 404 is the same or similar to the tool 100, the movable component 422 is in the second position when the movable component 422 is depressed against the body of the tool 404, as depicted in FIGS.4A - 4C. Once the user 402 has moved the movable component 422 to the second position, the user 402 can then rotate or otherwise move the interactive model 420 by moving the tool 404. As depicted in FIGS. 22 - FIG. 24, the user 402 is rotating the tool 404, as indicated by a first arrow 424. As the user 402 rotates the tool 404 as indicated by the first arrow 424, the interactive model 420 likewise rotates as indicated by a second arrow 426. When the user 402 moves the tool 404, the interface 448 is updated such that the interactive model 420 moves in a corresponding fashion. For example, if the user 402 rotates the tool 404 45 degrees clockwise, the system 400 updates the interface 448 such that the interactive model 420 rotates 45 degrees clockwise. Similarly, if the user 402 moves the tool 404 upward, the system 400 updates the interface 448 such that the interactive model 420 moves upward. In some implementations, movement of the tool 404 can be scaled. For example, movement of the interactive model 420 can move in a fashion corresponding to that of the tool 404 to a greater or lesser extent than the actual movement of the tool 404. Such scaling can be 1 : 1, 1 :2, 1 :3, 1 :5, etc. or 2: 1, 3: 1, 5: 1, etc. As an example of 1 :5 scaling, rotation of the tool 10 degrees can cause the interactive model 420 to rotate 50 degrees. In some implementations, the user 402 can cause the interface 448 to be updated such that one, some , or all of the vertical position, horizontal position, magnification, pitch angle, yaw angle, and roll angle of the interactive model 420 are altered via movement of the tool 404.

[0134] The user 402 can continue moving the tool 404 to move the interactive model 420 until the user 402 is satisfied with the orientation of the interactive model 420 in the interface 448. For example, the user 402 can move the interactive model 420 until a component of the interactive model 420, for example a fastener, is visible to the user 402 in the head mounted display. Once the user 402 is satisfied with the orientation of the interactive model 420, the user 402 moves the movable component 422 from the second position to the first position, as depicted in FIG. 25. When the movable component 422 is in the second position and the tool402 is in the second orientation, the system 400 is in the interactive model rotation mode, but the system 400 will not change the orientation of the interactive model 420. That is, when the user 402 moves the movable component 422 to the first position, the orientation of the interactive model 420 is maintained.

[0135] While the discussion of FIGS. 19 - 25 provides additional detail regarding an interactive model rotation mode, the discussion of FIGS. 26 - 27C provides additional detail regarding a fastener length selection mode. The fastener for which the length will be changed can be selected in any suitable manner. For example, in one implementation, the system 400 may automatically select the fastener that is most visible in the interface 448. Additionally, or alternatively, the suer 402 can select the fastener for which the length is to be adjusted by manually selecting the fastener (e.g., via gaze commands, auditory commands, selection with the tool, etc.).

[0136] Once the interactive model 420 is an orientation that is suitable to the user 402, the user 402 an modify the components of the interactive model 420. For example, the user 420 can adjust the length of fasteners used to secure the implant component 452 to the patient’s 406 bone.

[0137] As depicted in FIG. 26, the user 402 has moved the tool 404 to a second orientation, as indicated by a third arrow 428. In the implementation depicted in FIGS. 26 - 27C, the tool 404 is in the second orientation when the pitch angle of the tool 404 is between about -20 degrees and about 20 degrees with respect to a horizontal reference plane. In some implementations, when in the second orientation, the roll angle of the tool 404 is between about -45 degrees and about 45 degrees with respect to a vertical reference plane, and the pitch angle of the tool 404 is between about -45 degrees and about 45 degrees with respect to a vertical reference plane. Once in the fastener length selection mode, the menu 418 includes a list of components and modifications to those components. As depicted in FIGS. 20 - 21, the menu 418 includes a list of the fasteners (i.e., a superior fastener, an inferior fastener, an anterior fastener, and a posterior fastener) as well a decrement selection 432 and an increment selection 434.

[0138] When the tool 404 is in the second orientation, it causes the system to enter a fastener length selection mode. In the fastener length selection mode, the user 402 can modify the components of the interactive model 420 via the tool 404. For example, the user 402 may be able to change a type of the implant component 452, change a position of the implant component 452, change a size of the implant component 452, change a type of one or more of the fasteners, change a position of one or more of the fasteners, change a length of one or more of the fasteners, etc. As depicted in the example provided in FIGS. 20 - 21, the user 402 ismodifying the length of one or more of the fasteners in the fastener length selection mode. It should be noted that, in some implementations, the orientation of the tool 404 may not trigger activation of the fastener length selection mode. In such implementations, the system enters the fastener length selection mode based on another command provided by the user (e.g., verbal commands, gaze commands, haptic commands, interaction with the system via a user input device (e.g., a mouse joystick, trackpad, etc.)).

[0139] FIGS. 27A - 27C depict the user changing the length of the second fastener 440. When in the fastener length selection mode, the user 402 can change the length of the fasteners by manipulating the movable portion 422 of the tool 404 between the first position and the second position. As depicted in FIGS. 26 - 27C, the second fastener 440 is a first length. As indicated in the menu 418 in FIGS. 26 - 27C, the length of the second fastener 440 (i.e., the anterior fastener) is 16 mm. That is, the interface 448 illustrates the second fastener as having a length of 16 mm. In some implementations, the fasteners can be color-coded, similarly to the menu 418 as discussed with respect to FIG. 19. Additionally, the interactive model 420 is transparent or translucent to allow the fasteners and / or the trajectory of the fasteners to be viewed within the interactive model 420.

[0140] In FIG. 27B, the user 402 has manipulated the movable component 422 of the tool 404 from the first position to the second position. Such manipulation of the movable component 422 causes the length of the second fastener 440 to be incremented by one step. That is, the length of the 3D model of the second fastener 440 is increased in response to manipulation of the movable component 422 of the tool 404 from the first position to the second position. As indicated in the menu 418 of FIG. 26B, the length of the second fastener is now 18 mm. That is, the interface 448 illustrates the second fastener 440 as having a length of 18 mm based on the movement of the movable component 422 of the tool 404 moving from the first position to the second position while the tool 404 is in the second orientation and the second fastener 440 is selected.

[0141] Similarly, in FIG. 27C, the user 402 has again manipulated the movable component 422 of the tool 404 from the first position to the second position. Such manipulation causes the length of the 3D model of the second fastener 440 to be incremented another step. As indicated in the menu 418 of FIG. 27C, the length of the second fastener is now 20 mm. That is, the interface 448 illustrates the second fastener as having a length of 20 mm.

[0142] Once the user 402 is satisfied with the length of the second fastener 440, the user 402 can move the tool back to the first orientation to again rotate the interactive model 420 suchthat another fastener is visible and or selected. The user 402 can then, again, move the tool 404 to the second orientation to adjust the length of the newly visible fastener.

[0143] In some implementations, the second orientation can have two sub-orientations: 1) second orientation A; and 2) second orientation B. Both the second orientation A and the second orientation B allow to the user 402 to manipulate the length of the fasteners via the tool 404. In such implementations, the difference between the second orientation A and the second orientation B is the pitch angle. For example, when the tool 404 is in the second orientation A, the pitch angle of the tool is between about 0 degrees and about 20 degrees with respect to the horizontal reference plan. Continuing this example, when the tool 404 is in the second orientation B, the pitch angle of the tool is between about -20 degrees and 0 degrees with respect to the horizontal reference plane. The differing orientations between the second orientation A and the second orientation B can indicate whether the fastener length should be incremented or decremented. For example, when the tool 404 is in the second orientation A, it allows the user to increment the length of the fastener. That is, when the tool 404 is in the second orientation A, the user 402 manipulates the movable component 422 of the tool 404 from the first position to the second position to increase the length of the fastener by one step. When the tool 404 is in the second orientation B, it allows the user 402 to decrement the length of the fastener. That is, when the tool 404 is in the second orientation B, the user 402 manipulates the movable component 422 of the tool 404 from the first position to the second position to decrease the length of the fastener by one step.

[0144] While the discussion of FIGS. 18 - 27C describes surgical systems and interacting with surgical systems via a tool, the discussion of FIGS. 28 - 30 provides additional detail regarding using a surgical system.

[0145] FIG. 28 is a flowchart depicting example operations for using a surgical system with a tool in which an orientation of the tool dictates a mode for the surgical system, according to some implementations. The flow begins at block 2102.

[0146] At block 2102, a display device is caused to present an interface. For example, a control system can cause the display device to present the interface. The display device is part of a surgical system, and the interface includes an interactive model of a patient’s anatomy. The interface is presented in an augmented reality (AR) and / or virtual reality (VR) environment. In addition to the interface, the display device presentation can also include a view of reality. Further, in some implementations, the display device presentation includes a menu. The flow continues at block 2104.

[0147] At block 2104, a imaging device is caused to generate data. For example, the control system can cause the imaging device to generate the data. The data is associated with a field of view of the imaging device. For example, the data can be image data, stereotaxic data, structured light data, etc. The imaging device is part of the surgical system. For example, in one implementation, the surgical system includes a head-mounted display device and the imaging device. The flow continues at block 2106.

[0148] At block 2106, the data is analyzed. For example, the control system can analyze the data. The control system analyzes the data to determine if a tool is present within the field of view of the imaging device. Such a determination can be performed in any suitable manner. For example, the control system can determine that the tool is present within the field of view of the imaging device via image recognition, identification a specific feature associated with the tool, identification of a visually / optically readable pattern on the tool, identification of a predetermined pattern, identification of a group of points, etc. The flow continues at block 2108.

[0149] At block 2108, it is determined if the tool is in a first orientation or a second orientation. For example, the control system can determine if the tool is in the first orientation of the second orientation based on the analysis of the data. The flow continues at block 2110.

[0150] At block 2110, the surgical system is caused to enter a first input mode. For example, the control system can cause the surgical system to enter the first input mode based on a determination that the tool is in the first orientation. In this example, the first input mode is an interactive model rotation mode. Similarly, if the control system determines that the tool is in the second orientation, the control system can cause the surgical system to enter a second input mode. In this example, the second input mode is a fastener length selection mode. In the example described with respect to FIG. 28, the mode into which the surgical system enters is based on the orientation of the tool.

[0151] While the discussion of FIG. 28 provides additional detail regarding using a surgical system by entering a mode based on the orientation of the tool, the discussion of FIGS. 29 and 30 describe use of a surgical system in which the mode into which the surgical system enters is not necessarily based on the orientation of the tool.

[0152] FIG. 29 is a flow chart depicting example operations for using a surgical system to rotate or otherwise move an interactive model, according to some implementations. The flow beings at block 2202.

[0153] At block 2202, a display device is caused to present an interface. For example, a control system can cause the display device to present the interface. The display device is part of asurgical system, and the interface includes an interactive model of a patient’s anatomy. The interface is presented in an augmented reality (AR) and / or virtual reality (VR) environment. In addition to the interface, the display device presentation can also include a view of reality. Further, in some implementations, the display device presentation includes a menu. The flow continues at block 2204.

[0154] At block 2204, a imaging device is caused to generate data. For example, the control system can cause the imaging device to generate the data. The data is associated with a field of view of the imaging device. For example, the data can be image data, stereotaxic data, structured light data, etc. The imaging device is part of the surgical system. For example, in one implementation, the surgical system includes a head-mounted display device and the imaging device. The flow continues at block 2206.

[0155] At block 2206, the data is analyzed. For example, the control system can analyze the data. The control system analyzes the data to determine if a tool is present within a field of view of the imaging device. Such a determination can be performed in any suitable manner. For example, the control system can determine that the tool is present within the field of view of the imaging device via image recognition, identification a specific feature associated with the tool, identification of a visually / optically readable pattern on the tool, identification of a predetermined pattern, identification of a group of points, etc. The flow continues at block 2208.

[0156] At block 2208, it is determined that the surgical system is in an interactive model rotation mode. For example, the control system can determine that the surgical system is in an interactive model rotation mode. The control system can determine that the surgical system is in the interactive model rotation mode in any suitable manner. For example, as discussed with respect to FIG. 28, the control system can determine that the surgical system is in the interactive model rotation mode based on an orientation of the tool. Additionally, or alternatively, the control system can determine that the surgical system is in the interactive rotation mode based on a command provided by a user (e.g., an operator of the surgical system, such as a surgeon). For example, the command can be a verbal command (e.g., a spoken command), a gaze command (e.g., the user can control a cursor or otherwise make selections via their gaze), haptic commands, interaction with the system via a user input device, etc. The flow continues at block 2210.

[0157] At block 2210, the display device is caused to illustrate the interactive model moving in a corresponding fashion as the tool. For example, the control system can cause the display device to illustrate the interactive model in a corresponding fashion as the tool. While the toolis within the field of view of the imaging device, when the user moves the tool, the interactive model is updated to illustrate the tool moving in a fashion that corresponds to that of the tool. For example, if the user rotates the tool clockwise, the display device illustrates the interactive model as rotating clockwise. The amount that the interactive model moves relative to the tool can be based on any ratio and / or scaling factor. Additionally, in some implementations, when the tool is outside of the field of view of the imaging device (e.g., the user moves such that the tool is no longer in the field of view of the imaging device), the orientation of the interactive model is maintained (i.e., interactive model stays in the same orientation as when the tool was last within the field of view of the imaging device).

[0158] FIG. 30 is a flowchart depicting example operations for using a surgical system to modify a length of a fastener in an interactive model, according to some implementations. The flow begins at block 2302.

[0159] At block 2302, a display device is caused to present an interface. For example, a control system can cause the display device to present the interface. The display device is part of a surgical system, and the interface includes an interactive model of a patient’s anatomy. The interface is presented in an augmented reality (AR) and / or virtual reality (VR) environment. In addition to the interface, the display device presentation can also include a view of reality. Further, in some implementations, the display device presentation includes a menu. The flow continues at block 2304.

[0160] At block 2304, a imaging device is caused to generate data. For example, the control system can cause the imaging device to generate the data. The data is associated with a field of view of the imaging device. For example, the data can be image data, stereotaxic data, structured light data, etc. The imaging device is part of the surgical system. For example, in one implementation, the surgical system includes a head-mounted display device and the imaging device. The flow continues at block 2306.

[0161] At block 2306, the data is analyzed. For example, the control system can analyze the data. The control system analyzes the data to determine if a tool is present within a field of view of the imaging device. Such a determination can be performed in any suitable manner. For example, the control system can determine that the tool is present within the field of view of the imaging device via image recognition, identification a specific feature associated with the tool, identification of a visually / optically readable pattern on the tool, identification of a predetermined pattern, identification of a group of points, etc. The flow continues at block 2308.

[0162] At block 2308, it is determined that the surgical system is in a fastener length selection mode. For example, the control system can determine that the surgical system is in the fastener length selection mode. The control system can determine that the surgical system is in the fastener length selection mode in any suitable manner. For example, as discussed with respect to FIGS. 19 - 20, the control system can determine that the surgical system is in the fastener length selection mode based on an orientation of the tool. Additionally, or alternatively, the control system can determine that the surgical system is in the fastener length selection mode based on a command provided by a user (e.g., an operator of the surgical system, such as a surgeon). For example, the command can be a verbal command (e.g., a spoken command), a gaze command (e.g., the user can control a cursor or otherwise make selections via their gaze), haptic commands, interaction with the system via a user input device, etc. The flow continues at block 2310.

[0163] At block 2310, it is determined that a movable component of the tool is moved from a deactivated position to an activated position. For example, the control system can determine, based on analyzing the data, that the movable component of the tool has moved from the deactivated position to the activated position. In some implementations, the tool is the same as, or similar to, the tool depicted in FIGS. 1 - 5, FIG. 6, FIG. 7, or FIGS. 8 - 14. In such implementations, the tool includes a body and a movable component. The movable component is movably coupled to the body. The flow continues at block 2312.

[0164] At block 2312, the display device is caused to illustrate a change in length of a 3D model of a fastener. For example, the control system can cause the display device to illustrate a change in length of the 3D model of the fastener based on the determination that the movable component of the tool has been moved from the deactivated position to the activated position. For example, each movement of the movable component from the deactivated (e.g., first position) to the activated position (e.g., second position) can cause the length of the fastener to be incremented or decremented by one step. In such implementations, subsequent movement of the movable component from the deactivated position to the activated position causes the length of the fastener to be incremented or decremented by additional steps.

[0165] While the discussion of FIGS. 28 - 30 describes example operations for using a surgical system, the discussion of FIGS. 31A - 36C provide additional detail tool regarding another implementation of a tool.

[0166] Referring generally to FIGS. 31A - 34C, a tool 600 for registering landmarks in a guided surgical procedure is shown according to some implementations of the present disclosure. The guided surgical procedure can be of any suitable type, such as an AR guidedsurgical procedure, a visually guided surgical procedure, etc. As best shown in FIGS. 3 IB and 32B, the tool 600 generally includes a body 602, a movable component 610, and an attachment member 624. Referring to FIG. 31 A, the movable component 610 is movably coupled to the body 602 and is movable between a first position (FIGS. 31A - 31B and 33 A - 33C) and a second position (FIGS. 32A - 32B and 34A - 34B).

[0167] The body 602 includes a handle 636 and an array body 634. As depicted in the figures, the array body 634 is affixed to the handle 636 via one or more array body fasteners 650. However, it should be noted that, in some implementations, the handle 636 and array body 624 can be a single structure (e.g., monolithically formed). The array body 634 includes at least one first portion 618. The at least one first portion 618 includes a first pattern 612. The first pattern 612 is an optically readable pattern and can take any suitable form. For example, the first pattern 612 can include one or more of reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patters, shapes, lighting elements, etc. For example, the first pattern 612 can be the same or similar to the first pattern 108, 108’ depicted in FIG. 1A. The first pattern 612 is integrated into the first portion 618. The first pattern 612 can be integrated into the first portion 618 in that the first pattern 612 is etched into the first portion 618.

[0168] Although the tool 600 is depicted in FIGS. 31A - 36C as includes four first portions 618, each with a first pattern 612, such is not required. For example, in some implementations, the tool 600 includes less than, or greater than, four first portions 618. Further, although the first pattern 612 is described as being integrated with the first portion 618, such is not required. For example, in some alternative implementations, the first pattern 612 can be coupled to the first portion 618 (e.g., the first pattern 612 can be affixed, adhered, attached, applied, etc. to the first portion 618). As one example, the first portion 618 can includes receptacles that receive the first pattern 612 (e.g., a component that includes the first pattern 612). As depicted in the example provided in the figures, in some implementations, the first patterns 612 can be located both in front of the movable component 610 and behind the movable component, though such is not required.

[0169] As best shown in FIGS. 3 IB, 32B, 33B, and 34B, the movable component 610 is coupled, indirectly, to an actuator 611. At a high level, movement of the actuator 611 causes movement of the movable component 610 (e.g., as indicated by arrows 646 and 648 in FIGS. 33B and 34B). Movement of the actuator 611 causes linear movement of the movable component 610 with respect to the body 602. The actuator 611 is configured to move between an unactuated position (FIG. 33B) and an actuated position (FIG. 34B). When the actuator 611is in the unactuated position (FIG. 33B), the movable component 610 is in the first position (FIG. 33B). When the actuator 611 is in the actuated position (FIG. 34B), the movable component 610 is in the second position (FIG. 34B).

[0170] In the example depicted in FIGS. 31 A - 36C (and best shown in FIGS. 3 IB, 32B, 33B, and 34B), the actuator 611 acts on a lever 638. The lever 638 is pivotably coupled to the handle 636 such that the lever 638 pivots within the handle 636. Accordingly, when the actuator 611 acts on the lever 638, the actuator 611 causes the lever 638 to pivot within the handle 636. Further, in the example depicted in the figures, slide pins 632 are coupled to the lever 638. The movable component 610 includes bores 640. The slide pins 632 seat in the bores 640 such that the movable component 610 rides on the slide pins 632. As the slide pins 632 are coupled to the lever 638, when the lever 638 pivots within the handle 636, the lever 638 causes the slide pins to move relative to the body 602. Such movement of the slide pins 632 relative to the body 602 causes movement of the movable component 610 relative to the body, as indicated by arrow 646 in FIGS. 33B and 34B.

[0171] In some implementations, the tool 600 includes a biasing mechanism. The biasing mechanism biases the moveable component 610 in the first position. The biasing mechanism can take any suitable form such as a coil spring, a leaf spring, a weight, an interference portion of the body 602, etc. For example, in the example depicted in the figures and best shown in FIGS. 3 IB, 32B, 33B, and 34B, the biasing mechanism is a spring 628. In the example depicted herein, the spring 628 seats on the slide pin 632, biasing the lever 638 and thus the movable component 610.

[0172] The movable component 610 includes at least one second portion 614. The at least one second portion 614 includes a second pattern 608. The second pattern 608 is an optically readable pattern and can take any suitable form. For example, the second pattern 608 can include one or more of reflective elements, colors, lines, curves, alphabetic characters, numeric characters, alphanumeric characters, patters, shapes, lighting elements, etc. For example, the second pattern 608 can be the same or similar to the second pattern 112 depicted in FIG. 1 A. The second pattern 608 is integrated into the second portion 614. The second pattern 608 can be integrated into the second portion 614 in that the second pattern 608 is etched into the second portion 614. It should be noted, however, that the second pattern 608 need not be integrated second portion 614. For example, the second pattern 608 can be coupled to the second portion 614 of the movable component 610 (e.g., the second pattern 608 can be affixed, adhered, attached, applied, etc. to the second portion 614 of the movable component 610). Additionally,though the figures only depict one second pattern 608, implementations are not so limited. For example, the tool 600 can include more than one second pattern 608.

[0173] The tool 600 is generally configured to be placed against an object. For example, a user may wish to register a landmark on an object (as discussed in more detail with respect to FIG. 16). To do so, the user would place the tool 600 against the object. As depicted in FIGS. 33A - 34C, the tool 600 includes an attachment member 624. The user places the attachment member 624 (e.g., a tip, end, side, surface, etc. of the attachment member 624) against the object. As shown in FIGS. 33A - 34C, the attachment member 624 is a stylus. However, implementations are not so limited. That is, the attachment member 624 can take any suitable form. For example, the attachment member 624 can be a stylus (as depicted in FIGS. 33A - 34B), a blunt-edged attachment (as depicted in FIG. 6), or any other suitable design. Further, the attachment member 624 can be fixed to the body 602, integrated with the body 602, or removably coupled to the body 602.

[0174] While the discussion of FIGS. 31A - 32B provides an overview of the tool 600, the discussion of FIGS. 33A - 34C provides additional detail regarding movement of the patterns of the tool 600 relative to one another.

[0175] FIGS. 33 A - 33C depict various views of the tool 600 in a first position, whereas FIGS. 34A - 34C depict various views of the tool 600 in a second position, according to some implementations. As depicted in FIGS. 33A - 33C, the movable component 610 is in the first position relative to the body 602. The movable component 610, and thus the second pattern 612, can be moved, as indicated by arrow 646 between the first position (FIGS. 33A - 33C) and the second position (FIGS. 34A - 34C). Because the first patterns 612 are affixed to the body 602, the second pattern 608 moves relative to the first patterns 612 when the moveable component 610 is moved between the first position and the second position. As with the other tools discussed herein, in some implementations, movement of the second pattern 608 relative to the first pattern 612 causes an AR surgical system to register a landmark.

[0176] While the example implementation provided in FIGS. 33 A - 34C depicts movement of the second pattern 608 translationally (e.g., slidably) with respect to the first pattern 612, implementations are not so limited. For example, in some implementations, the second pattern 608 may change planes relative to the first pattern 612 (e.g., similar to the tool 100 depicted in FIGS. 1 A - 5). As another example, in some implementations, the second pattern 608 may by fixed relative to the first pattern 612. In such implementations, the tool 600 may include a shutter or other structure that covers or otherwise obstructs a view of the second pattern 608. The tool 600 may also include a mechanism (e.g., the actuator 611, a lever, button, slider, etc.)that moves the shutter or other structure relative to the second pattern 608 such that the second pattern 608 is no longer covered or otherwise obstructed (e.g., similar to what is shown in the example provided in FIGS. 7 A and 7B). Regardless of the specific implementation, when the movable component 610 is in the second position relative to the body 602, the second pattern 612 is said to be “aligned” with the first pattern 608. When the second pattern 608 and the first pattern 612 are aligned, it indicates to the guided surgical system that the guided surgical system should register a landmark. Additionally, or alternatively, movement of the second pattern 608 to an intermediate position (e.g., between the first position and the second position) may indicate that a landmark should be registered, or some other action be performed.

[0177] While the discussion of FIGS. 31A - 34C describes the movement of the movable component to indicate that a landmark should be registered, the discussion of FIGS. 35A - 36C additional movement of the movable component, according to some implementations.

[0178] As depicted between FIGS. 35A - 36C, and 33A - 33C, the movable component 610 is configured to rotate relative to the body 602. For example, the movable component 610 rotates relative to the body 602 as indicated by arrow 648. FIGS. 33 A - 33C (best seen in FIG. 33C) depict the movable component 610 in a first rotational position (i.e., a “neutral” rotational position) relative to the body 602. FIGS. 35A - 35C (best seen in FIG. 35C) depict the movable component 610 in a second rotational position relative to the body 602. In the second rotational position, the movable component 610 has been rotated clockwise with respect to the body 602. FIGS. 36A - 36C (best seen in FIG. 36C) depict the movable component 610 in a third rotational position with respect to the body 602. In the third rotational position, the movable component 610 has been rotated counterclockwise with respect to the body 602. In some implementations, the movable component 610 includes a protrusion 644. The protrusion 644 may aid the user in rotating the movable component 610 with respect to the body 602.

[0179] As best seen in FIGS. 3 IB and 32B, the movable component 610 is rotatably mounted to the body 602. In some implementations, such as those depicted in FIGS. 3 IB and 32B, the tool 600 includes a rotational biasing mechanism. The rotational biasing mechanism biases the movable component 610 in the first rotational position (i.e., the neutral rotational position). The biasing mechanism can take any suitable form such as a coil spring, a leaf spring, a weight, an interference portion of the body 602, etc. In the example depicted in in the Figures, the biasing mechanism is a spring 630. The spring 630 can include one or more springs. The spring 630 acts against the movable component 610 and the body 602 to bias the movable component 610.

[0180] As previously noted, the body 602 includes one or more first patterns 612 and the movable component includes one or more second patterns 608. Accordingly, rotational motion of the movable component 610 causes movement of the second pattern 608 relative to the first pattern 612. Just as movement of the patterns relative to one another via movement of the movable component 610 from the first position to the second position can cause an AR surgical system to register a landmark, rotational movement of the movable component 610 can provide input to the AR surgical system. As one example, rotational movement of the movable component 610 can be used as input with respect to a surgical plan. In one implementation, rotational movement of the movable component 610 from the first rotational position to the second rotational position (i.e., clockwise movement) can cause the AR surgical system to proceed to the next step in the surgical plan. Similarly, rotational movement of the movable component 610 from the first rotational position to the third rotational position (i.e., counterclockwise movement) can cause the AR surgical system to proceed to the previous step in the surgical plan.

[0181] Those skilled in the art will recognize that a wide variety of other modifications, alterations, and combinations can also be made with respect to the above described implementations without departing from the scope of the present disclosure, and that such modifications, alterations, and combinations are to be viewed as being within the ambit of the inventive concept.

Claims

CLAIMSWhat is claimed is:

1. A tool comprising: a body having a first portion and a second portion, the second portion of the body including a first pattern; and a movable component movably coupled with the first portion of the body and configured to move between a first position and a second position, the movable component including a second pattern such that the second pattern is configured to be moved relative to the first pattern.

2. The tool of claim 1, wherein the first portion of the body is an elongated handle portion and wherein the second portion of the body is a first body winged-portion having a main surface.

3. The tool of claim 2, wherein the first pattern is etched into at least a portion of the main surface of the first body winged-portion.

4. The tool of claim 2, wherein the first pattern is coupled to at least a portion of the main surface of the first body winged-portion.

5. The tool of claim 2, wherein the main surface of the first body winged-portion is generally flat.

6. The tool of claim 2, wherein the movable component includes a lever portion and a lever winged-portion having a main surface, wherein movement of the lever portion of the movable component relative to the body causes the second pattern to be moved relative to the first pattern.

7. The tool of claim 6, wherein the second pattern is etched into at least a portion of the main surface of the lever winged-portion.

8. The tool of claim 6, wherein the second pattern is coupled to at least a portion of the main surface of the lever winged-portion.

9. The tool of claim 6, wherein responsive to the movable component being in the second position, the main surface of the lever winged-portion is generally coplanar with the main surface of the first body winged-portion.

10. The tool of claim 2, wherein the second portion of the body further includes a second body winged-portion 120 having a main surface, the second body winged-portion being spaced from the first body -winged portion.

11. The tool of claim 10, wherein the first pattern is etched into (i) at least a portion of the main surface of the first body winged-portion and (ii) at least a portion of the main surface of the second body winged-portion.

12. The tool of claim 10, wherein the first pattern is coupled to (i) at least a portion of the main surface of the first body winged-portion and (ii) at least a portion of the main surface of the second body winged-portion.

13. The tool of claim 10, wherein the movable component is positioned generally between the first body winged-portion and the second body winged-portion.

14. The tool of claim 1, further comprising: an attachment member extending from the body.

15. The tool of claim 14, wherein the attachment member is a stylus.

16. The tool of claim 14, wherein the attachment member is a blunt-edged attachment having a distal edge portion that is configured to abut a bone surface of interest.

17. The tool of claim 14, wherein the attachment member is fixed to the body.

18. The tool of claim 14, wherein the attachment member is removably coupled to the body.

19. The tool of claim 1, wherein the body includes a third portion having a distal edge that is configured to be positioned adjacent to a bone surface of interest.

20. The tool of claim 1, further comprising a biasing mechanism configured to bias the movable component in the first position.

21. The tool of claim 1, wherein the movable component is coupled to the body in a slidable fashion, a pivoting fashion, a rotating fashion, or any combination thereof.

22. The tool of claim 1, wherein the first pattern and the second pattern include multicolored markers.

23. The tool of claim 1, wherein the first portion of the body includes one or more through channels 130.

24. A tool comprising: a body having a first portion and a second portion, the second portion of the body including a pattern; and a movable component movably coupled to the first portion of the body and configured to move between a first position and a second position, and responsive to the movable component being in the first position, the movable component is configured to obstruct a portion of the pattern, and responsive to the movable component being in the second position, the movable component is configured to not obstruct the pattern.

25. The tool of claim 24, wherein the movable component is coupled to the first portion of the body in a slidable fashion, a pivoting fashion, a rotating fashion, or any combination thereof.

26. The tool of claim 24, wherein the pattern is etched into at least a portion of the second body portion.

27. The tool of claim 24, wherein the pattern is coupled to at least a portion of the second body portion.

28. The tool of claim 24, further comprising: an attachment member extending from the body.

29. The tool of claim 28, wherein the attachment member is a stylus.

30. The tool of claim 28, wherein the attachment member is a blunt-edged attachment having a distal edge portion that is configured to abut a bone surface of interest.

31. The tool of claim 28, wherein the attachment member is fixed to the body.

32. The tool of claims 28, wherein the attachment member is removably coupled to the body.

33. The tool of claim 24, wherein the body includes a third portion having a distal edge that is configured to be positioned adjacent to a bone surface of interest.

34. The tool of claim 24, further comprising: a biasing mechanism configured to bias the movable component in the first position.

35. The tool of claim 24, wherein the first portion of the body includes one or more through channels.

36. A method for registering landmarks via a tool, the method comprising: providing the tool, wherein the tool comprises: a body having a first portion and a second portion, the second portion of the body including a first pattern; and a movable component movably coupled with the first portion of the body and configured to move between a first position and a second position, the moveable component including a second pattern such that the second pattern is configured to be moved relative to the first pattern; andin response to determining that the second pattern has moved relative to the first pattern, causing a landmark to be registered.

37. The method of claim 36, further comprising: capturing, via an imaging device, image data associated with the tool, wherein the image data includes at least the first pattern and the second pattern; and determining, via a control system based on the image data, that the second pattern has moved relative to the first pattern.

38. The method of claim 36, wherein the first portion of the body is an elongated handle portion and wherein the second portion of the body is a first body winged-portion having a main surface.

39. The method of claim 38, wherein the first pattern is etched into at least a portion of the main surface of the first body winged-portion.

40. The method of claim 38, wherein the first pattern is coupled to at least a portion of the main surface of the first body winged-portion.

41. The method of claim 38, wherein the main surface of the first body winged-portion is generally flat.

42. The method of claim 38, wherein the movable component includes a lever portion and a lever winged-portion having a main surface, wherein movement of the lever portion of the movable component relative to the body causes the second pattern to be moved relative to the first pattern.

43. The method of claim 42, wherein the second pattern is etched into at least a portion of the main surface of the lever winged-portion.

44. The method of claim 42, wherein the second pattern is coupled to at least a portion of the main surface of the lever winged-portion.

45. The method of claim 42, wherein responsive to the movable component being in the second position, the main surface of the lever winged-portion is generally coplanar with the main surface of the first body winged-portion.

46. The method of claim 36, wherein the second portion of the body further includes a second body winged-portion having a main surface, the second body winged-portion being spaced from the first body-winged portion.

47. The method of claim 46, wherein the first pattern is etched into (i) at least a portion of the main surface of the first body winged-portion and (ii) at least a portion of the main surface of the second body winged-portion.

48. The method of claim 46, wherein the first pattern is coupled to (i) at least a portion of the main surface of the first body winged-portion and (ii) at least a portion of the main surface of the second body winged-portion.

49. The method of claim 42, wherein the movable component is positioned generally between the first body winged-portion and the second body winged-portion.

50. The method of claim 36, wherein the tool further comprises: an attachment member extending from the body.

51. The method of claim 50, wherein the attachment member is a stylus.

52. The method of claim 50, wherein the attachment member is a blunt-edged attachment having a distal edge portion that is configured to abut a bone surface of interest.

53. The method of claim 50, wherein the attachment member is fixed to the body.

54. The method of claim 50, wherein the attachment member is removably coupled to the body.

55. The method of claim 36, wherein the body includes a third portion having a distal edge that is configured to be positioned adjacent to a bone surface of interest.

56. The method of claim 36, wherein the tool further comprises: a biasing mechanism configured to bias the movable component in the first position.

57. The method of claim 36, wherein the movable component is coupled to the body in a slidable fashion, a pivoting fashion, a rotating fashion, or any combination thereof.

58. The method of claim 36, wherein the first pattern and the second pattern include multicolored markers.

59. The method of claim 36, wherein the first portion of the body includes one or more through channels.

60. A method of using a surgical system, the method comprising: causing a display device of the surgical system to display an interface including an interactive model; causing a imaging device of the surgical system to generate data that is associated with a field of view of the imaging device; analyzing at least a portion of the data to determine if a tool is present within the field of view of the imaging device; responsive to a determination that the tool is present within the field of view of the imaging device, determining, based at least in part on the data, if the tool is in a first orientation or a second orientation; and responsive to a determination that the tool is in the first orientation, causing the surgical system to enter a first input mode.

61. The method of claim 60, wherein the first input mode is an interactive model rotation mode.

62. The method of claim 60 or claim 61, further comprising responsive to a determination that the tool is in the second orientation, causing the surgical system to enter a second mode.

63. The method of claim 62, wherein the second input mode is a fastener length selection mode.

64. The method of claim 62, further comprising: determining, based at least in part on the data, that the tool is in a third orientation, wherein the third orientation is neither the first orientation nor the second orientation; and responsive to the determination that the tool is in the third orientation, not causing the system to enter the interactive model rotation mode or the fastener length selection mode.

65. The method of any one of claims 60 - 64, further comprising in the interactive model rotation mode, determining, based at least in part on the data, that a movable component of the tool is in an activated position.

66. The method of claim 65, further comprising, wherein while (i) the surgical system is in the interactive model rotation mode and (ii) the movable component of the tool is in the activated position, causing the display device to illustrate the interactive model moving in a corresponding fashion as the tool.

67. The method of claim 66, further comprising, wherein when the movable component of the tool is in a deactivated position, causing an orientation of the interactive model to be maintained.

68. The method of claim 66 or claim 67, wherein the interactive model is moved such that a 3D model of a fastener is visible on the interface.

69. The method of claim 63, further comprising, wherein while the surgical system is in the fastener length selection mode, in response to determining, based at least in part on the data, that a movable component of the tool moved from a deactivated position to an activated position, causing the display device to illustrate a change in length of a 3D model of a first fastener of the interactive model.

70. The method of claim 60, wherein the tool has a body and a movable component coupled to the body such that the movable component is movable from a deactivated position to an activated position.

71. The method of claim 60, wherein the movable component of the tool includes a pattern thereon.

72. The method of claim 60, wherein the interactive model includes: a 3D model of at least a portion of a bone of a patient; a 3D model of an implant component; a 3D model of a first fastener; and a 3D model of a second fastener.

73. The method of any one of claims 60 - 72, wherein the tool is in the first orientation when a pitch angle of the tool is between about 70 degrees and about 110 degrees with respect to a horizontal reference plane.

74. The method of claim 73, wherein the tool is in the first orientation when a roll angle of the tool is between about -45 degrees and about 45 degrees with respect to a vertical reference plane, and when a yaw angle of the tool is between about -45 degrees and about 45 degrees with respect to the vertical reference plane.

75. The method of any one of claims 60 - 74, wherein the tool is in the second orientation when a pitch angle of the tool is between about -20 degrees and about 20 degrees with respect to a horizontal reference plane.

76. The method of claim 75, wherein the tool is in the second orientation when a roll angle of the tool is between about -45 degrees and about 45 degrees with respect to a vertical reference plane, and when a yaw angle of the tool is between about -45 degrees and about 45 degrees with respect to the vertical reference plane.

77. A method of using a surgical system, the method comprising: causing a display device of the surgical system to display an interface including an interactive model including: a 3D model of at least a portion of a bone of a patient, a 3D model of an implant component, a 3D model of a first fastener,causing a imaging device of the surgical system to capture data that is associated with a field of view of the imaging device; analyzing at least a portion of the data to determine if a tool is present within the field of view of the imaging device, wherein the tool includes a body and a movable component coupled to the body, the movable component being movable with respect to the body between a first position and a second position; responsive to a determination that the tool is present within the field of view of the imaging device, determining, based at least in part on the data, if the tool is in a first orientation or a second orientation; responsive to a determination that the tool is in the first orientation, causing the surgical system to enter an interactive model rotation mode; in the interactive model rotation mode, determining, based at least in part on the data, that the movable component of the tool is in the second position; while (i) the surgical system is in the interactive model rotation mode and (ii) the movable component of the tool is in the second position, causing the display device to illustrate the interactive model moving in a corresponding fashion as the tool; responsive to a determination that the tool is in the second orientation, causing the surgical system to enter a fastener length selection mode; while the surgical system is in the fastener length selection mode, in response to determining, based at least in part on the data, that the movable component of the tool is moved from the first position to the second position, causing the display device to illustrate a change in length of the 3D model of the first fastener.

78. The method of claim 77, wherein the tool is in the first orientation when a pitch angle of the tool is between about 70 degrees and about 110 degrees with respect to a horizontal reference plane, and wherein the tool is in the second orientation when a pitch angle of the tool is between about -20 degrees and about 20 degrees with respect to the horizontal reference plane.

79. The method of claim 77 or claim 78, further comprising:determining, while in the interactive model rotation mode based at least in part on the data, that the movable component of the tool is in the first position; and responsive to determining that the movable component of the tool is in the first position, causing a current orientation of the interactive model to be maintained.

80. A method of using a surgical system, the method comprising: causing a display device of the surgical system to display an interface including an interactive model; causing a imaging device of the surgical system to capture data that is associated with a field of view of the imaging device; analyzing at least a portion of the data to determine if a tool is present within the field of view of the imaging device; determining that the surgical system in an interactive model rotation mode; and causing, based on the determination that the system is in the interactive model rotation mode and the tool is present within the field of view of the imaging device, the display device to illustrate the interactive model moving in a corresponding fashion as the tool.

81. The method of claim 80, further comprising: analyzing at least a portion of the data to determine that the tool is no longer present within the field of view of the imaging device; and in response to determining that the tool is no longer present within the field of view of the imaging device, causing an orientation of the interactive model to be maintained.

82. The method of claim 80 or claim 81, wherein the interactive model includes: a 3D model of at least a portion of a bone of a patient; a 3D model of an implant component; a 3D model of a first fastener; and a 3D model of a second fastener.

83. The method of any one of claims 80 - 82, wherein the determination that the system is in the interactive model rotation mode is based on a determination that the tool is in a first orientation.

84. The method of claim 83, wherein the tool is in the first orientation when a pitch angle of the tool is between about 70 degrees and about 110 degrees with respect to a horizontal reference plane.

85. The method of claim 83 or claim 84, wherein the tool is in the first orientation when a roll angle of the tool is between about -45 degrees and about 45 degrees with respect to a vertical reference plane, and when a yaw angle of the tool is between about -45 degrees and about 45 degrees with respect to the vertical reference plane.

86. A method of using a surgical system, the method comprising: causing a display device of the surgical system to display an interface including an interactive model; causing a imaging device of the surgical system to generate data that is associated with a field of view of the imaging device; analyzing at least a portion of the data to determine if a tool is present within the field of view of the imaging device; determining that the surgical system in fastener length selection mode; and determining, while the surgical system is in the fastener length selection mode, that a moveable component of the tool moved from a deactivated position to an activated position; causing, based on the determination that the system is in the fastener length selection mode and the movable component has been moved from the deactivated position to the activated position, the display device to illustrate a change in length of a 3D model of a first fastener of the interactive model.

87. The method of claim 86, wherein the tool has a body and the movable component is coupled to the body such that the movable component is movable from the deactivated position to the activated position.

88. The method of claim 86 or claim 87, wherein the movable component of the tool includes a pattern thereon.

89. The method of any one of claims 86 - 88, wherein the movable component of the tool includes a pattern thereon.

90. The method of any one of claims 86 - 89, wherein the interactive model includes: a 3D model of at least a portion of a bone of a patient; a 3D model of an implant component; a 3D model of a first fastener; and a 3D model of a second fastener.

91. The method of claim 86, wherein the determination that the system is in the fastener length selection mode based on a determination that the tool is in a second orientation.

92. The method of claim 91 , wherein the tool is in the second orientation when a pitch angle of the tool is between about -20 degrees and about 20 degrees with respect to a horizontal reference plane.

93. The method of claim 91 or claim 92, wherein the tool is in the second orientation when a roll angle of the tool is between about -45 degrees and about 45 degrees with respect to a vertical reference plane, and when a yaw angle of the tool is between about -45 degrees and about 45 degrees with respect to the vertical reference plane.

94. A tool comprising: a body having a first portion and a second portion, wherein the second portion of the body includes a first planar portion, wherein the first planar portion includes an opening, and wherein the first planar portion includes a first pattern; a movable component movably coupled with the first portion of the body and configured to move between a first position and a second position, the movable component including a second planar portion, wherein the second planar portion is located within the opening of the first planar portion when the movable component is in the second position, and wherein the second planar portion includes a second pattern.

95. The tool of claim 94, wherein at least a portion of the movable component extends through the opening of the first planar portion.

96. The tool of claim 94 or claim 95, wherein the first portion of the body is an elongated handle portion.

97. The tool of any one of claims 94 - 96 , further comprising: an attachment member extending from the first portion of the body.

98. The tool of claim 96 or 97, wherein the attachment member is one of a stylus and a blunt-edged attachment.

99. The tool of any one of claims 96 - 98, wherein the attachment member is removably connected to the first portion of the body.

100. The tool of any one of claims 96 - 99, wherein the attachment member is fixed to the first portion of the body.

101. The tool of any one of claims 94 - 100, wherein the second portion includes a handle extending opposite the first end of the body.

102. The tool of any one of claims 94 - 101, wherein the first portion of the body has a first central axis and the handle has a second central axis, wherein the first central axis and the second central axis are offset and parallel.

103. The tool of any one of claims 94 - 102, wherein the movable component is a lever, and wherein the lever is hingedly connected to the first portion of the body.

104. The tool of any one of claims 94 - 103, wherein the first pattern is etched into at least a portion of the first planar portion and the second pattern is etched into the second planar portion.

105. The tool of any one of claims 94 - 104, wherein the first planar portion includes a recess, and wherein second planar portion is configured to seat in the recess.

106. The tool of any one of claims 94 - 105, wherein the first pattern is generally coplanar with the second pattern when the movable component is in the second position.

107. The tool of any one of claims 94 - 106, wherein the first pattern surrounds the second pattern when the movable component is in the second position.

108. The tool of any one of claims 94 - 107, further comprising: a biasing mechanism configured to bias the movable component in the first position.

109. The tool of any one of claims 94 - 108, wherein the first portion of the body includes a recess, and wherein at least a portion of the movable component is configured to seat in the recess when the movable component is in the second position.

110. The tool of any one of claims 94 - 109, wherein the first portion of the body includes one or more through channels.

111. The tool of any one of claims 94 - 110, wherein the first pattern is coupled to at least a portion of the first planar portion, and wherein the second pattern is coupled to at least a portion of the second planar portion.

112. A method for registering landmarks via a tool, the method comprising: providing the tool, wherein the tool comprises: a body having a first portion and a second portion, wherein the second portion of the body includes a first planar portion, wherein the first planar portion includes an opening, and wherein the first planar portion includes a first pattern; and a movable component movably coupled with the first portion of the body and configured to move between a first position and a second position, the movable component including a second planar portion, wherein the second planar portion is located within the opening of the first planar portion when the movable component is in the second position, and wherein the second planar portion includes a second pattern; and in response to determining that the second pattern has moved relative to the first pattern, causing a landmark to be registered.

113. The method of claim 112, further comprising: capturing, via ana imaging device, image data associated with the tool, wherein the image data includes at least the first pattern and the second pattern; and determining, via a control system based on the image data, that the second pattern has moved relative to the first pattern.

114. The method of claim 112 or 113, wherein at least a portion of the movable component extends through the opening of the first planar portion.

115. The method of any one of claims 112 - 114, wherein the first portion of the body is an elongated handle portion.

116. The method of any one of claims 112 - 115, the tool further comprising: an attachment member extending from the first portion of the body.

117. The method of claim 116, wherein the attachment member is one of a stylus and a blunt- edged attachment.

118. The method of claim 116 or claim 117, wherein the attachment member is removably connected to the first portion of the body.

119. The method of any one of claims 116 - 118, wherein the attachment member is fixed to the first portion of the body.

120. The method of any one of claims 112 - 119, wherein the second portion includes a handle extending opposite the first end of the body.

121. The method of any one of claims 112 - 120, wherein the first portion of the body has a first central axis and the handle has a second central axis, wherein the first central axis and the second central axis are offset and parallel.

122. The method of any one of claims 112 - 121, wherein the movable component is a lever, and wherein the lever is hingedly connected to the first portion of the body.

123. The method of any one of claims 112 - 122, wherein the first pattern is etched into at least a portion of the first planar portion and the second pattern is etched into the second planar portion.

124. The method of any one of claims 112 - 123, wherein the first planar portion includes a recess, and wherein second planar portion is configured to seat in the recess.

125. The method of any one of claims 112 - 124, wherein the first pattern is generally coplanar with the second pattern when the movable component is in the second position.

126. The method of any one of claims 112 - 125, wherein the first pattern surrounds the second pattern when the movable component is in the second position.

127. The method of any one of claims 112 - 126, further comprising: a biasing mechanism configured to bias the movable component in the first position.

128. The method of any one of claims 112 - 127, wherein the first portion of the body includes a recess, and wherein at least a portion of the movable component is configured to seat in the recess when the movable component is in the second position.

129. The method of any one of claims 112 - 128, wherein the first portion of the body includes one or more through channels.

130. The method of any one of claims 112 - 129, wherein the first pattern is coupled to at least a portion of the first planar portion, and wherein the second pattern is coupled to at least a portion of the second planar portion.

131. A tool comprising: a body including a first optically readable pattern; a movable component coupled to the body, wherein the movable component includes a second optically readable pattern; an actuator coupled to the body, wherein the actuator is configured to move between an unactuated position and an actuated position relative to the body, and whereinthe actuator is configured to cause the movable component to move between a first position to a second position relative to the first optically readable pattern when the actuator is moved between the unactuated position and the actuated position.

132. The tool of claim 131, wherein the movable component moves linearly relative to the body between the first position and the second position.

133. The tool of claim 131, wherein movable component is rotatably coupled to the body, and wherein the movable component is configured to rotate relative to the body in addition to moving between the first position and the second position.

134. The tool of claim 133, further comprising a rotational biasing mechanism configured to rotationally bias the movable component to return to a neutral rotational orientation.

135. The tool of claim 131, further comprising a biasing mechanism configured to bias the movable component in the first position.

136. The tool of claim 131, further comprising: an attachment member extending from the body.

137. The tool of claim 136, wherein the attachment member is a stylus.

138. The tool of claim 136, wherein the attachment member is a blunt-edged attachment having a distal edge portion that is configured to abut a bone surface of interest.

139. The tool of claim 136, wherein the attachment member is fixed to the body.

140. The tool of claim 136, wherein the attachment member is removably coupled to the body.

141. The tool of claim 131, wherein the body includes a handle and an array body, wherein the array body includes the first optically readable pattern, and wherein the array body is coupled to the handle.

142. The tool of claim 141, wherein the actuator is movably coupled to the handle.

143. The tool of claim 142, wherein the actuator is pivotably coupled the handle.

144. The tool of claim 141, further comprising: a lever movably coupled to the handle and contacting the movable component, wherein movement of the actuator causes movement of the lever; at least one slide pin, wherein the at least one slide pin is coupled to the lever; wherein the movable component rides on the at least one slide pin when the movable component moves between the first position and the second position.

145. The tool of claim 131, wherein the first optically readable pattern is one of coupled to the body and integral to the body.

146. The tool of claim 131, wherein the second optically readable pattern is one of coupled to the body and integral to the body.

147. The tool of claim 131, wherein the first optically readable pattern includes multiple optically readable patterns.

148. The tool of claim 147, wherein at least one of multiple optically readable patterns is located in front of the movable component, and wherein at least one of the multiple optically readable patterns is located behind the movable component.

149. The tool of claim 131, wherein one or both of the first optically readable pattern and the second optically readable pattern include reflective elements.

150. A tool compri sing : a handle including a generally hollow interior; an array body coupled to the handle, wherein the array body includes a first optically readable pattern; a movable component movably coupled to one or both of the handle and the array body, wherein the movable component includes a second optically readable pattern,and wherein the movable component is movable between a first position and a second position relative to the array body; a lever movable coupled to the handle and in contact with the movable component; at least one slide pin, wherein the movable component is configured to ride on the at least one slide pin between the first position and the second position; an actuator movably coupled to the handle and in contact with the lever such that movement of the actuator from an unactuated position to an actuated position causes movement of the lever to induce movement of the movable component from the first position to the second position.

151. The tool of claim 150, wherein the handle includes an actuator aperture, and wherein the actuator extends from the handle via the actuator aperture.

152. The tool of claim 150, further comprising: a biasing mechanism configured to bias the movable component in the first position.

153. The tool of claim 152, wherein the biasing mechanism is a spring located on the at least one slide pin.

154. The tool of claim 150, wherein the movable component moves linearly relative to the body between the first position and the second position.

155. The tool of claim 120, wherein movable component is rotatably coupled to one or both of handle and the array body, and wherein the movable component is configured to rotate relative to the array body in addition to moving between the first position and the second position.

156. The tool of claim 155, further comprising a rotational biasing mechanism configured to rotationally bias the movable component to return to a default orientation.

157. The tool of claim 150, further comprising: an attachment member extending from the body.

158. The tool of claim 157, wherein the attachment member is a stylus.

159. The tool of claim 157, wherein the attachment member is a blunt-edged attachment having a distal edge portion that is configured to abut a bone surface of interest.

160. The tool claims 157, wherein the attachment member is fixed to the body.

161. The tool of claim 157, wherein the attachment member is removably coupled to the body.

162. The tool of claim 150, wherein the first optically readable pattern is one of coupled to the body and integral to the body.

163. The tool of claim 150, wherein the second optically readable pattern is one of coupled to the body and integral to the body.

164. The tool of claim 150, wherein the first optically readable pattern includes multiple optically readable patterns.

165. The tool of claim 164, wherein at least one of multiple optically readable patterns is located in front of the movable component, and wherein at least one of the multiple optically readable patterns is located behind the movable component.

166. The tool of claim 150, wherein one or both of the first optically readable pattern and the second optically readable pattern include reflective elements.

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