System and method for assisting in navigating an instrument

Abstract

Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as a living or non-living subject or inanimate object and / or an animate object. The system includes a localizer operable to automatically move relative to the subject.

Description

Attorney Docket No. A0012163W001SYSTEM AND METHOD FOR ASSISTING IN NAVIGATING AN INSTRUMENTThis application claims the benefit of U.S. Provisional Application No. 63 / 697,326, filed September 20, 2024, the disclosure of which is incorporated by reference herein in its entirety.FIELD

[0001] The subject disclosure is related generally to a navigation system, and particularly to a surgical navigation system including a processor system to assist in positioning a tracking system.BACKGROUND

[0002] This section provides background information related to the present disclosure which is not necessarily prior art.

[0003] An instrument can be navigated relative to a subject for performing various procedures. For example, the subject can include a patient on which a surgical procedure is being performed. During a surgical procedure, an instrument can be tracked in an object or subject space. In various embodiments, the subject space can be a patient space defined by a patient. The location of the instrument that is tracked can be displayed on a display device relative to an image of the patient.

[0004] The position of the patient can be determined with a tracking system. Generally, a patient is registered to the image, via tracking an instrument relative to the patient to generate a translation map between the subject or object space (e.g., patient space) and the image space. This may occur by identifying one or more points in the subject space and correlating points (e.g., identical points) in the image space.Attorney Docket No. A0012163W001

[0005] After registration, the position of the instrument can be appropriately displayed on the display device while tracking the instrument. The position of the instrument relative to the subject can be displayed as a graphical representation, sometimes referred to as an icon on the display device.SUMMARY

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

[0007] A surgical system or suite may include one or more tools, which may include instruments, robotic systems, guides, etc. The suite may further include other systems that may be used to collect the data during a procedure.

[0008] In a surgical navigation system, there is generally at least one tracking system that includes one or more localizers. The localizer for the tracking system is generally operable or configured to track one or more tracked or tracking devices in a navigation space. The localizer may track the tracking device in an appropriate manner such as by generating or receiving an electromagnetic field, viewing a navigation space with one or more cameras (e.g., infrared or visible wavelengths), sensing or transmitting sound (e.g., ultrasound), radio frequency, or other tracking modalities.

[0009] To appropriately or precisely track a tracking device, the localizer may be positioned in a selected orientation relative to the navigation space. The navigation space may include the surgical field. Therefore, for example, the cameras of an optical tracking system may be positioned to have an optimal view of the navigation space including the tracking devices. An EM localizer may be positioned to have an optimal undistorted sensing volume of the navigation space.Attorney Docket No. A0012163W001

[0010] The localizers may be positioned to achieve an optimal volume, which may be a greatest, precision for the navigation volume. The position of the localizer may, however, change during a procedure in light of various movements within the navigation space, such as the user, the subject, the instruments being tracked, or the other movements. Thus, the localizer may also be moved to achieve or maintain the optimal tracking precision position. A processor system may be used to determine an appropriate position that is the optimal position for the localizer. A robotic system may then move the localizer to the calculated or determined position for the localizer. The position for the localizer may be determined to be an optimal position which may be optimal based upon a greatest ability for precision tracking while minimizing parameters that may affect negatively the tracking, such as distortion, blocking of line of sight, impeding of the procedure based upon a positioning of the localizer, or the like. For example, it may be selected to position the localizer away from the subject to allow for ease of the procedure but allowing for maintaining a selected view (including EM field generation) within the navigation space.

[0011] Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.Attorney Docket No. A0012163W001DRAWINGS

[0012] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0013] Fig 1 is diagrammatic view illustrating an overview of a robotic system and a navigation system, according to various embodiments;

[0014] Fig 2A is a diagrammatic view illustrating an overview of a robotic system with a localizer of a tracking system in a first position with the navigation system, according to various embodiments;

[0015] Fig 2B is a diagrammatic view illustrating an overview of a robotic system with a localizer of a tracking system in a second position with the navigation system, according to various embodiments;

[0016] Fig 3A is a diagrammatic view illustrating an overview of a robotic system with a localizer of a tracking system in a first position with the navigation system, according to various embodiments;

[0017] Fig 3B is a diagrammatic view illustrating an overview of a robotic system with a localizer of a tracking system in a second position with the navigation system, according to various embodiments; and

[0018] Fig 4 is a flowchart of a process of automatically moving a localizer, according to various embodiments.

[0019] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.Attorney Docket No. A0012163W001DETAILED DESCRIPTION

[0020] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0021] The subject disclosure is directed to an exemplary embodiment of a surgical procedure on a subject, such as a human patient. It is understood, however, that the system and methods described herein are merely exemplary and not intended to limit the scope of the claims included herein. In various embodiments, it is understood that the systems and methods may be incorporated into and / or used on non-animate objects. The systems may be used to, for example, to register coordinate systems between two systems for use on manufacturing systems, maintenance systems, and the like. For example, automotive assembly may use one or more robotic systems including individual coordinate systems that may be registered together for coordinated or concerted actions. Accordingly, the exemplary illustration of a surgical procedure herein is not intended to limit the scope of the appended claims.

[0022] Discussed herein, according to various embodiments, is a tracking system that may be used to track a selected tracking device. The tracking system may operate, according to various embodiments, by emitting an electromagnetic (EM) field from a localizer, also referred to as an EM localizer. The EM field may be emitted from one or more coils that may be oriented relative to an origin point. The coils may emit the field. The field may be a largely magnetic field. The field may be constant or varying in time. A tracking device may include one or more coils of conductive material that operate as sensors to sense the field. The field may generate a voltage or current within the coil of the tracking device. A determination of a position and orientation (also referred to collectivelyAttorney Docket No. A0012163W001 as a “pose”) of the tracking device may be made based on a determination of the induced voltage or current from the field. It is further understood that an EM, or any appropriate tracking system, may operate by emitting a signal (e.g., EM fields) from the tracking device and receiving signals at the localizer.

[0023] Various materials are conductive or conductive and magnetic, such as conductive polymers, metal or metal alloys, or other materials. Objects or items may be formed with these materials. If an item formed with these materials is also in or near the field generated by the EM localizer, a current may be formed or induced or magnetization coerced in the object. In this instance, the object may be referred to as an interfering or target object. When a current is induced or a magnetization coerced in the interfering object, a field may also be produced. A field produced due to the induced current or coerced magnetization in the interfering object may also be referred to as an interfering field. These interfering fields may alter the field sensed by the tracking device such that it is not always sensing only the EM field generated by the EM localizer. The tracking device may sense both the EM field from the localizer and the EM field that is the interfering field. According to various theories, the sensed field may be a combination of both and / or the EM field from the EM localizer that is altered by the interfering field.

[0024] Various portions may be tracked relative to the subject. For example, a tracking system may be incorporated into a navigation system to allow tracking and navigation of one or more instruments (which may be the members) that may be tracked relative to the subject, each other, other tracked objects, or combinations thereof. Thus, the subject may be tracked as may any selected member.Attorney Docket No. A0012163W001

[0025] The navigation system may include one or more tracking systems that track various portions, such as tracking devices, associated with instruments. The tracking system may include a localizer that is configured to determine the position of the tracking device in a navigation system coordinate system. Determination of the navigation system coordinate system may include those described at various references including U.S. Pat. No. 8,737,708; U.S. Pat. No. 9,737,235; U.S. Pat. No. 8,503,745; U.S. Pat. No. 8,175,681; and U.S. Pat. No. 11,135,025, all incorporated herein by reference. In particular, a localizer may be able to track an object within a volume relative to the subject. The volume in which the device may be tracked may include or be referred to as a navigation coordinate system or a navigation space or volume. A determination or correlation between two coordinate systems may allow for or also be referred to as a registration between two coordinate systems.

[0026] In various embodiments, a first coordinate system, which may be a robotic coordinate system, may be registered to a second coordinate system, which may be a navigation coordinate system of the navigation space. The two coordinate systems may be coordinate systems for any two systems, however. With registration, coordinates in one coordinate system may then be transformed to a different or second coordinate system. Registration may allow for the use of two coordinate systems and / or the switching between two coordinate systems. For example, during a procedure, a first coordinate system may be used for a first portion or a selected portion of a procedure and a second coordinate system may be used during a second portion of a procedure. Further, two coordinate systems may be used to perform or track a single portion of a procedure, such as for verification and / or collection of additional information.Attorney Docket No. A0012163W001

[0027] Images may be acquired of selected portions of a subject. The images may be displayed for viewing by a user, such as a surgeon. The images may have superimposed thereon one or more additional images such as a graphical representation of a tracked portion or member, such as an instrument. The images may have a coordinate system and define an image space. According to various embodiments, the graphical representation may be superimposed on the image at an appropriate position due to registration of an image space (also referred to as an image coordinate system) to a subject space. A method to register a subject space defined by a subject to an image space may include those disclosed in U.S. Pat. Nos. U.S. Pat. No. 8,737,708; U.S. Pat. No. 9,737,235; U.S. Pat. No. 8,503,745; and U.S. Pat. No. 8,175,681; all incorporated herein by reference. In various embodiments, however, the imaging device may be tracked so its images may be tracked in a navigation space. In such a system a display of tracked instruments relative to tracked images without a tracked or registered patient may occur.

[0028] The tracking of an instrument during a procedure, such as a surgical or operative procedure, allows for navigation of a procedure. When image data is used to define an image space it can be correlated or registered to a physical space defined by a subject, such as a patient as discussed herein. According to various embodiments, therefore, the patient defines a patient space in which an instrument can be tracked and navigated. The image space defined by the image data can be registered to the patient space defined by the patient. The registration can occur with the use of fiducials that can be identified in the image data and in the patient space.

[0029] Fig 1 is a diagrammatic view illustrating an overview of a procedure room or arena. In various embodiments, the procedure room may include a surgical suite 18 inAttorney Docket No. A0012163W001 which may be placed a robotic system 20 and a navigation system 26 that can be used for various procedures. The robotic system 20 may include a Mazor X™ robotic guidance system, sold by Medtronic, Inc. The robotic system 20 may be used to assist in guiding a selected instrument, such as drills, screws, etc. relative to a subject 30. In addition, or alternatively, the robotic system 20 may hold and / or move an imaging system, such as an ultrasound (US) probe 33. The robotic system 20 may also or alternatively be used to hold and / or move one or more components of the navigation system 26.

[0030] The robotic system 20 may include a mount 34 that fixes a portion, such as a robotic base 38, relative to the subject 30. The robotic base 38 may be set on a floor near the subject 30 and / or connected to a patient support 39. Regardless of the support, the robotic system 20 may be fixed relative to the subject and / or tracked relative to the subject 30.

[0031] The robotic system 20 may include one or more arms 40 that are moveable or pivotable relative to the subject 30. At least one of the arms 40 may include an end effector 44. The end effector 44 may also be referred to as an engagement system or portion, as discussed herein. The engagement portion 44 may engage one or move localizers of a tracking system. The robotic arm 40 may be controlled by a selected robotic control module, which may be included with the navigation system or processor, as discussed herein, or a separate robotic control module 45. The robotic control module 45 may include one or more processors or memory that may communicate, execute instructions, or store instructions for operation of the robotic arm 40. The end effector 44 may be any appropriate portion, such as a tube, guide, or passage member. The end effector 44 may be moved relative to the base 38 with one or more motors. The position of the endAttorney Docket No. A0012163W001 effector 44 may be known or determined relative to the base 38 with one or more encoders at one or more joints, such as a wrist joint 48 and / or an elbowjoint 52 of the robotic system 20. One or more portions of the robotic system 20 may be formed of conductive materials.

[0032] In various embodiments, affixed to and / or in place of the end effector 44 may be the imaging system that may be the US probe 33. In various embodiments, one or more portions of the navigation system 26 may be affixed to the robotic system 20 with the end effector 44 or in place thereof. For example, an electromagnetic localizer 94 may be placed or fixed to the robotic system 20. Additionally, or alternatively, an optical localizer 88 may also be placed or fixed to the robotic system 20. Alternatively, either or both of the electromagnetic localizer 94 or the optical localizer 88 may be moved with another or different robotic system 21. The robotic system 21 may be similar to the robotic system 20, save it is connected to a different localizer, such as the optical localizer 88. Thus, movement of the robotic system 21 may be controlled in a similar manner and may have a similar range of motion as the robotic system 20.

[0033] The robotic systems 20, 21 may also include various other configurations. For example, the robotic systems 20, 21 may include a snake robotic system. The snake robotic system may include redundant robotic components that may move relative to one another. Thus, the robotic system 20, 21 may move as a snake or similar organisms similar to the robotic system disclosed in Byron Spice, “Snakes and Snake- Like Robots Show How Sidewinders Conquer Sandy Slopes”, Carnegie Mellon University, News, October 9, 2014, incorporated herein by reference (i.e., the Snake Robotic System of the Carnegie Mellon University Robotics Institute). The robotic systems 20, 21 may also be or be referred to as moveable systems, the moveable systems may be automatically moved,Attorney Docket No. A0012163W001 manually moved, or combinations thereof. For example, in automatic movement an input may be received and a processor system may execute instructions to move the robotic systems 20, 21 without further user input.

[0034] The navigation system 26 can be used to track the location of one or more tracking devices and / or determine and / or illustrate a pose thereof. Tracking devices may include a robot tracking device 54, a subject tracking device 58, an imaging system tracking device 62, an imaging system or second imaging system tracking device 81, and / or an instrument or tool tracking device 66. A tool or moveable member 68 may be any appropriate tool such as a drill, forceps, catheter, or other tool operated by a user 72. The tool 68 may also be and / or an implant, such as a spinal implant or orthopedic implant. Further, the tool 68 may include one or more moveable portions, such as deployable portions. For example, a heart valve replacement and related inserter tool that may insert the instrument 68 or selected portion, such as an implant, into a heart 127 of the subject 30 and / or any other appropriate portion of any appropriate subject. It should further be noted that the navigation system 26 may be used to navigate any type of instrument, implant, or delivery system, including: guide wires, arthroscopic systems, orthopedic implants, spinal implants, deep brain stimulation (DBS) probes, etc. Moreover, the instruments may be used to navigate or map any region of the body. The navigation system 26 and the various instruments may be used in any appropriate procedure, such as one that is generally minimally invasive or an open procedure.

[0035] An imaging system 80 may be an additional or alternative imaging system that may be used to acquire pre-, intra-, or post-operative or real-time image data of a subject 30. It will be understood, however, that any appropriate subject can be imaged andAttorney Docket No. A0012163W001 any appropriate procedure may be performed relative to the subject. In the example shown, the imaging system 80 comprises an 0-arm® imaging device sold by Medtronic, Inc. having a place of business in Minnesota, USA. The imaging system 80 may have a generally annular gantry housing 82 in which an image capturing portion is moveably placed and / or enclosed. The imaging system 80 can include those disclosed in U.S. Pat. Nos. 7,188,998; 7,108,421; 7,106,825; 7,001,045; and 6,940,941; all of which are incorporated herein by reference, or any appropriate portions thereof. It is further appreciated that the imaging system 80 may include any other appropriate imaging system such as fluoroscopes such as bi-plane fluoroscopic systems, ceiling mounted fluoroscopic systems, cath-lab fluoroscopic systems, fixed C-arm fluoroscopic systems, isocentric C- arm fluoroscopic systems, 3D fluoroscopic systems, etc. Other appropriate imaging devices can also include magnetic resonance imaging (MRI), computed tomography (CT), ultrasound, etc.

[0036] The position of the imaging system 33, 80, and / or portions therein such as the image capturing portion, can be precisely known relative to any other portion of the imaging system 33, 80. The imaging system 33, 80, according to various embodiments, can know and / or recall precise coordinates relative to a fixed or selected coordinate system. For example, the robotic system 20 may know or determine its position and, when positioning the US probe 33, its pose. The image data acquired with one or more ultrasound arrays of the US probe 33 may be registered in the navigation system 26 such as disclosed in the U.S. Patent No. 7,085,400 and U.S. Patent No. 9,138,204, both incorporated herein by reference. Similarly, the imaging system 80 may also position the imaging portions at a selected pose. This can allow the imaging system 80 to know its position relative to theAttorney Docket No. A0012163W001 patient 30 or other portions. In addition, as discussed herein, the precise knowledge of the position of the image capturing portion can be used in conjunction with a tracking system to determine the position of the image capturing portion and the image data relative to the tracked subject, such as the patient 30. In other words, the imaging system tracking device 62, 81 may be used and / or operable to determine a pose of the imaging system 33, 80 at a selected time such as during image data acquisition. Herein, reference to the imaging system may refer to any appropriate imaging system 33, 80, unless stated otherwise. The position of the imaging system, according to various embodiments, may be used for registration of an image space or coordinate system to a patient space or coordinate space. The robotic system 20, 21 may also be registered to one or more spaces or coordinate systems such as by the system and method as disclosed in U.S. Pat. No. 11,135,025, incorporated herein by reference.

[0037] The patient 30 can also be tracked as the patient moves with a patient tracking device, DRF, or tracker 58. Alternatively, or in addition thereto, the patient 30 may be fixed within navigation space defined by the navigation system 26 to allow for and / or maintain registration such as to the image space of an image 108. As discussed further herein, registration of the image space to the patient space or subject space allows for navigation of the instrument 68 with the image data. When navigating the instrument 68, a position of the instrument 68 can be illustrated relative to image data acquired of the patient 30 on a display device 84 such as with a graphical representation 68i, 68i’. Alternatively, the patient 30 may not be tracked or fixed and the system may track the instrument 68 relative to imaging device 33 and their associated images. An additional and / or alternative display device 84’ may also be present to display an image. VariousAttorney Docket No. A0012163W001 tracking systems, such as one including an optical localizer 88 or an electromagnetic (EM) localizer 94 can be used to track the instrument 68.

[0038] More than one tracking system can be used to track the instrument 68 or other portion, such as the US probe 33 with the tracking device 81 in the navigation system 26. According to various embodiments, these can include an electromagnetic tracking (EM) system having the EM localizer 94 and / or an optical tracking system having the optical localizer 88. In various embodiments, an ultrasound tracking system may be used for tracking. Thus, a US localizer, as discussed herein, may be used with the navigation system 26 to determine at least one degree of freedom of a pose of a portion associated with a US tracking device. Other suitable tracking systems can include localizers having at least one of a proximity sensor, touch sensor, infrared sensor, time-of-flight sensor, stereo vision camera, LiDAR device, or ultrasonic sensor. Any one or more of the tracking systems can be used to track selected tracking devices, as discussed herein. It will be understood, unless discussed otherwise, that a tracking device can be a portion trackable with a selected tracking system. A tracking device need not refer to the entire member or structure to which the tracking device is affixed or associated.

[0039] The position of the patient 30 relative to the imaging system 33 can be determined by the navigation system 26. The position of the imaging system 33 may be determined, as discussed herein. The patient 30 can be tracked with the dynamic reference frame 58, as discussed further herein. Accordingly, the position of the patient 30 relative to the imaging system 33 can be determined.

[0040] Image data acquired from the imaging system 33, or any appropriate imaging system, can be acquired at and / or forwarded from an image device controller 96,Attorney Docket No. A0012163W001 that may include a processor module, to a navigation computer and / or processor module (also referred to as a processor) 102 that can be a part of a controller or work station 98 having the display 84 and a user interface 106. Further, a memory system or module 103, of any appropriate type, may be accessed by the processor 102. It will also be understood that the image data is not necessarily first retained in the controller 96, but may also be directly transmitted to the work station 98. The work station 98 can provide facilities for displaying the image data as an image 108 on the display 84, saving, digitally manipulating, or printing a hard copy image of the received image data. The user interface 106, which may be a keyboard, mouse, touch pen, touch screen or other suitable device, allows the user 72 to provide inputs to control the imaging device 80, 33, via the image device controller 96, or adjust the display settings of the display 84. The work station 98 may also direct the image device controller 96 to adjust the image capturing portion of the imaging device 80 to obtain various two-dimensional images along different planes in order to generate representative two-dimensional and three-dimensional image data.

[0041] With continuing reference to FIG. 1, the navigation system 26 can further include the tracking system including either or both of the electromagnetic (EM) localizer 94 and / or the optical localizer 88. The tracking systems may include a controller and interface portion 110. The controller 110 can be connected to the processor portion 102, which can include a processor included within a computer. The EM tracking system may include the STEALTHSTATION® AXIEM™ Navigation System, sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado; or can be the EM tracking system described in U.S. Patent Application Serial No. 10 / 941,782, filed Sept. 15, 2004, and entitled "METHOD AND APPARATUS FOR SURGICAL NAVIGATION";Attorney Docket No. A0012163W001U.S. Patent No. 5,913,820, entitled “Position Location System,” issued June 22, 1999; and U.S. Patent No. 5,592,939, entitled “Method and System for Navigating a Catheter Probe,” issued January 14, 1997; all of which are herein incorporated by reference. It will be understood that the navigation system 26 may also be or include any appropriate tracking system, including a STEALTHSTATION® TREON®, S7™, S8™ tracking systems having an optical localizer, which may be used as the optical localizer 88, and sold by Medtronic Navigation, Inc. of Colorado. With the optical localizer 88, a camera or optical sensor 89 may sense a reflected or actively emitted optical signal, such as an infrared signal or a visible light signal such as from a selected object. Other tracking systems include acoustic, radiation, radar, etc. The tracking systems can be used according to generally known or described techniques in the above incorporated references. Details will not be included herein except when to clarify selected operation of the subject disclosure.

[0042] Wired or physical connections can interconnect the tracking systems, imaging device 80, etc. Alternatively, various portions, such as the instrument 68 may employ a wireless communications channel, such as that disclosed in U.S. Patent No. 6,474,341, entitled “Surgical Communication Power System,” issued November 5, 2002, herein incorporated by reference, as opposed to being coupled directly to the controller 110. Also, the tracking devices 62, 66, 54 can generate a field and / or signal that is sensed by the localizer(s) 88, 94.

[0043] Various portions of the navigation system 26, such as the instrument 68, and others as will be described in detail below, can be equipped with at least one, and generally multiple, of the tracking devices 66. The instrument 68 can also include more than one type or modality of tracking device 66, such as an EM tracking device and / or anAttorney Docket No. A0012163W001 optical tracking device. The instrument 68 can include a graspable or manipulate portion at a proximal end and the tracking devices may be fixed near the manipulate portion of the instrument 68.

[0044] Additional representative or alternative localization and tracking system is set forth in U.S. Patent No. 5,983,126, entitled “Catheter Location System and Method,” issued November 9, 1999, which is hereby incorporated by reference. The navigation system 26 may be a hybrid system that includes components from various tracking systems.

[0045] According to various embodiments, the navigation system 26 can be used to track any appropriate portion such as the US probe 33 and / or the instrument 68 relative to each other or the patient 30. The instrument 68 can be tracked with the tracking system, as discussed above. Image data of the patient 30, or an appropriate subject, can be used to assist the user 72 in guiding the instrument 68. The image data may or may not be registered to the patient 30. For example, as discussed herein, the US probe 33 is tracked and generates the image data. Thus, as discussed above, the image data need not be registered to the subject 30 to display a pose of the tracked instrument 68 relative to the image data generated with the tracked US probe 33. The image data defines the image space that is registered to the patient space defined by the patient 30. The registration can be performed as discussed herein, automatically, manually, or combinations thereof. The registration can include the process and the final transformation (including a translation and rotation) map. Generally, registration includes determining points in the image data and the subject space and determining a transformation map therebetween. Once done, the image space is registered to the subject space, or any two or more coordinate spaces.Attorney Docket No. A0012163W001

[0046] Generally, registration also allows a transformation map to be generated of a tracked physical pose of the instrument 68 relative to the image space of the image data. The transformation map allows the tracked position of the instrument 68 to be displayed on the display device 84 relative to the image data 108. The graphical representation 68i, also referred to as an icon, can be used to illustrate the location of the instrument 68 relative to the image data 108.

[0047] Various members may be positioned within the surgical suite 18. The members may include one or more features or objects such as the user 72, the imaging system 80, the workstation 84, or other features. Other features may include features or objects such as the instrument 68, the robotic system 20, or other objects. The member may be positioned relative to the subject 30 such that a portion of the navigation system 26, including the optical localizer 88 or the EM localizer 94, becomes obstructed or has interference when attempting to locate or track one or more of the tracking devices, such as the tracking device 81 or the tracking device 66. If the tracking device, such as the instrument tracking device 66, is obstructed from the optical localizer 88 or near an interfering member (e.g., an object that produces irreconcilable or unknown interference of the EM field) navigation may become in error or untrustworthy.

[0048] With reference to Fig. 2A and Fig. 2B, the optical localizer 88 may be positioned relative to a support surface, such as a floor 144. The support surface 144 may allow the localizer 88 to be movable relative to a selected portion, such as the subject 30. In various embodiments, the localizer 88 may be mounted on a selected mount or support portion 150 by a configurable or movable system 21. The configurable system 21 may include an automated and / or controllable arm that may include one or more joints such asAttorney Docket No. A0012163W001 a first joint 154 and a second joint 156. Connected to the joints 154, 156 may be linkages such as a first linkage 160 and a second linkage 164. The optical localizer 88 may include the one or more cameras 89 that may be on a head 166 that is also movable relative to the second linkage 164, such as by a joint (not directly illustrated).

[0049] In various embodiments, for example, the head 166 and each of the joints 154, 156 may allow a selected degree of freedom of movement relative to the support 150 and / or the support surface 144. The freedom of movement may be an appropriate amount, such as two degrees of freedom, three, four, five, and / or six degrees of freedom. Thus, the localizer head 166 may move an appropriate amount or range of motion relative to the subject 30.

[0050] Further, the support 150 may have a selected drive or mobility mechanism 170. The mobility mechanism 170 may allow the support 150 to move relative to the subject 30. The mobility mechanism 170 may include one or more wheels, tracks, etc. The mobility mechanism 170 may include a motor that is controlled to drive a portion to move the support 150. Thus, the entire localizer 88 may be moved relative to the subject 30 and / or the localizer head 166 alone may move.

[0051] As illustrated in Fig. 2A the localizer head 166 may have the field of view 180 that may be a volume or region exemplary bounded by a first boundary 184 and a second boundary 186. The field of view 180 may view a selected portion of the subject 30 including a region for a procedure also referred to as a region of interest (ROI). The ROI may include the instrument 68 and the instrument tracker 66. The instrument tracker 66 may be within the field of view 180 of the localizer 88. In the first configuration of theAttorney Docket No. A0012163W001 localizer 88, the localizer head 166 may be positioned along an axis 188. The localizer head 166 may also be a distance 190 above a surface 192 of the support 150.

[0052] During a procedure, however, the user 72 may move within the field of view 180 and block the instrument tracker 66 from the field of view of the localizer head 166. Therefore, a dark or blocked region 194 may encompass or cover the instrument tracker 66 in the ROI. When the instrument tracker 66 is blocked in the field of view 180 of the localizer 88, the instrument 68 may not be effectively tracked with the navigation system 26. When this occurs, the navigation may be stopped or impeded. Stopping navigation may include various factors such as indicating on the display device 84 that navigation is blocked or stopped, removing the image 108 from the display 84, or other features.

[0053] When the field of view 180 is blocked such that the tracker 66 is in the blocked region 194 the navigation system 26 may identify or determine that the instrument tracker 66 is not within the field of view. Understanding or determining that the instrument tracker 66 is not in the field of view may be based upon a lack of identification of the instrument tracking device 66. Accordingly, the navigation system 26 may determine that the localizer head 66 may be moved relative to the subject 30 and / or the localizer 88 may be moved, such as with the mobility system 170 of the localizer 88.

[0054] As illustrated in Fig. 2A, the field of view 180 with the localizer 88 may become obstructed, such as due to the positioning of the user 72 relative to the instrument tracker 66 and the localizer head 166. Once the determination is made that the tracking device 66 is not in the field of view 180 (such as it being in the blocked region 194), the navigation system 26 may determine a movement and / or direct movement of the localizer head 166. With reference to Fig. 2B, the robotic assembly 21 may be operated to move theAttorney Docket No. A0012163W001 localizer head 166 to an alternative or different position, relative to the tracking device 66. The tracking device 66 and the user 72 may be maintained at the same position relative to the subject 30, but the localizer head 166 may move to attempt to alter or change the field of view. The changed or alternative field of view may include a first boundary 204 and a second boundary 206. In various embodiments, the field of view 200 may be any appropriate shape or geometry, such as a cone. The boundaries 204, 206 are merely two- dimensional representations illustrated in Fig. 2B. The field of view 200 may include the tracking device 66 to allow the navigation system 26 to navigate to the instrument 68. As the tracking device 66 is within the field of view 200, the tracking device in 66 may be tracked using the localizer 88 when the localizer head 166 is in the alternative or second position 200 as illustrated in Fig. 2B. The second position may be generated or achieved after the first position illustrated in Fig. 2 A.

[0055] The robotic assembly 21 may move the localizer head 166 by moving the linkages 160, 164 via the respective joints 154, 156. Further, the head 166 may move relative to any of the linkages or other portions, such as the second linkage 164. The robotic assembly 21 may be moved by control of one or more processor systems. The processor system may generate instructions for movement of the robotic assembly 21 and / or may output a determined position and the robotic assembly 21 may determine the movement directions.

[0056] Movement of the localizer head 166 may move it relative to the axis 188, such as transversely or any other appropriate movement a distance 210. The distance 210 may allow movements of the localizer head 166, including the cameras 89 to achieve the field of view 200. Additionally, the localizer head 166 may move relative to the base orAttorney Docket No. A0012163W001 support 150 such as raising the height or distance of the head 166 from the surface 192 of the support 150 to a distance 212. The distance 212 may differ from the distance 190, such as being greater than the distance 190. Thus, the localizer head 166 may also be at a different or second position relative to the base or floor surface 144 in the second position as illustrated in Fig. 2B.

[0057] Additionally, the mobility system 170 may be used to move the localizer 88 relative to the subject 30. Moving the support 150 relative to the subject 30 may include moving the support 150 in any appropriate movement position, such as in at least two degrees of freedom on the surface 144. The localizer 88, therefore, may allow for movement of the localizer head 166 to maintain or achieve the second field of view 200 to allow for maintaining or continuing of a navigation of a procedure on the subject 30.

[0058] As discussed further herein, the movement of the localizer 88 may be to achieve the second field of view 200 to maintain or achieve a field of view of the tracking device 66. The movement may be automatic movement and may occur when a determination is made by the navigation system 26 that the tracking device 66 is no longer in the field of view, such as the field of view 180 as discussed above. The movements of the localizer 88 may then be substantially automatic to move the localizer head 166 in an appropriate manner, such as with the robotic assembly 21, the mobility assembly 170, or other appropriate mechanisms.

[0059] Movement of the localizer head 166 may also be informed by various sensors, such as an environmental sensor or sensors. The environmental sensor can include any suitable sensor, e.g., at least one of a proximity sensor, touch sensor, infrared sensor, time-of-flight sensor, stereo vision camera, LiDAR device, or ultrasonic sensor. ForAttorney Docket No. A0012163W001 example, an environmental sensor such as proximity or touch sensor 216 may provide a signal to the navigation system 26 that the localizer head 166 is near, adjacent, and / or in contact with a member other than the localizer head 166. The proximity sensor 216 may include any appropriate sensor such as a physical contact sensor (e.g. a physical switch), non-contact sensors (e.g. inductive, magnetic, optical, radar / lidar, hall effect, etc.), or combinations thereof. With the sensor input, a contact determination and / or proximity determination may be made. Thus, the movement of the localizer head 166 may be informed of its proximity relative to other members when moving to achieve the second field of view 200.

[0060] Further, one skilled art will understand that the second field of view of 200 that includes the tracking device 66 may include one or more field of views and the localizer 88 maybe be moved to any appropriate position to achieve the field of view that includes the tracking device 66. The selected field of view may be the fastest to be achieved, shortest distance of movement, optimal position (e.g. a selected or appropriate distance from the subject 30 to assist in allowing free movement of the user subject to relative to the subject 30 for a procedure), or other appropriate parameters. Regardless the navigation system 26 may automatically instruct or control movement of the localizer 88 based upon the determination that the tracking device 66 is not within the field of view 180 to attempt to reacquire or maintain the tracking device 66 within the field of view.

[0061] Turning reference to Fig. 3A, the subject 30 may be supported on the bed 39 and the instrument 68 may be navigated with the navigation system 26 with the tracking device 66. As illustrated in Fig. 3A, the tracking device 66 may be an electromagnetic tracking device. As discussed above, the electromagnetic tracking device may emit a fieldAttorney Docket No. A0012163W001 sensed by the localizer 94 or sense a field emitted by the localizer 94. Therefore, the tracking device 66 may provide a signal based upon a sensed field or the localizer 94 may generate a signal based upon a sensed field. The field may include an electromagnetic field that is generated relative to the subject 30 to define the navigation space or subject space, as discussed above. Therefore, the navigation system 26 may be used to track the position of the tracking device 66 and the instrument 68 to which the tracking device 66 is associated.

[0062] According to various embodiments, and as exemplary discussed herein, the localizer 94 may generate an electromagnetic field that is sensed by the tracking device 66. The tracking device 66 may include one or more conductive coils of material that may have a current induced to therein due to the field emitted by the localizer 94. As illustrated in Fig. 3A, the localizer 94 may emit a field that may be generated or emitted relative to the subject 30 with no interfering objects in the field or affecting the field. The field emitted, therefore, may be known based upon a configuration of the localizer 94 and / or components known relative to the localizer such as a robotic system 230.

[0063] The robotic system 230 may be any appropriate robotic system but may include a selected number, including two or more segments such as a first segment 234, a second segment 236, and a third segment 238. The robotic system 230 may engage or couple with the localizer 94. The robotic system 230 may be similar to those discussed above, or alternative as discussed herein. As exemplary illustrated in Fig. 3A, for example, the robotic system 230 may include many of the segments in the three segments 234, 236, 238 are merely exemplary. The robotic system 230 may be fixed to a support structure or portion 250. The support portion 250 may provide a base or support for the robotic systemAttorney Docket No. A0012163W001230 and the localizer 94 relative to the subject 30. In various embodiments, the support structure 250 may be fixed to the table 39. Thus, the robotic system 230 may move relative to the support structure 250 and / or with the table 39.

[0064] The robotic system 230 including the selected number of segments 234, 236, 238 may allow for a selected freedom of movement and movement volume for the localizer 94. The robotic system 230 may include any appropriate robotic system such as generally known "snake" robotic systems. Various snake robotic systems may include those such as the robotic system developed by Carnegie Mellon University Robotics Institute. Generally, each of the robotic segments, such as the segments 234, 236, 238 are movably interconnected with one another. The interconnections may allow for a selected range of motion between the various segments, which may be a limited range of motion. However, with the several segments interconnected the range of motion between the support 250 and the localizer 94 may be greater than a range of motion, including a distance and degree of freedom, between any two of the segments.

[0065] During a first portion of a procedure, the localizer 94 may be positioned in a first position that is relative to the support 250, the subject 30, and / or the instrument 68 with the tracking device 66. For example, relative to a center origin 254 of the support 250 the localizer 94, such as the center thereof, may be at a distance 258 below the center origin. Further, the localizer 94 may be a distance 262 from the support 250. In the position, as illustrated in Fig. 3A, the field generated by the localizer 94 may not be interfered with by any objects in the navigation space relative to the subject 30, such as the tracking device 66.Attorney Docket No. A0012163W001

[0066] During a procedure, however, the imaging system 80 may be moved relative to the subject 30, as illustrated in Fig. 3B. According to various embodiments, for example, the imaging system 80 may be used to acquire image data of the subject 30 to generate images for various purposes. The purposes may include confirmation of the procedure, further planning of the procedure, or the like. Nevertheless, the imaging system 80 may be an interfering object. An interfering object may interfere with the field produced or generated by the localizer 94. For example, an eddy current may be generated or induced in the imaging system 80 due to the field generated by the localizer 94. The eddy current may, in turn, generate interfering fields.

[0067] Due to the presence of the interfering object, such as the imaging system 80, the localizer 94 may be moved relative to the tracking device 66 and, therefore, the support 250. Particularly, when the support 250 is fixed relative to the table 39 upon which the subject 30 is positioned the localizer 94 alone may move relative to the support 250 rather than the support 250 being moved.

[0068] A determination that the localizer should be moved may be based upon various parameters, such as its determination that an interference is present in the navigation space. The determination that an interference is present may be based upon various parameters, such as those generally known. In various embodiments, for example, the navigation system 26 may know a configuration (e.g., geometry) of two or more coils in the tracking device 66. If the sensed geometry of the two coils in the tracking device 66 changes or is altered from the known geometry, regardless of the tracked pose of the tracking device 66, a possibility of interference may be determined. Further, the configuration of the coils in the localizer 94 may also be known. Again, if the sensed orAttorney Docket No. A0012163W001 determined tracked pose of the coils in the localizer 94 changes, a determination of interference being present may also be made.

[0069] The navigation system 26, therefore, may generally monitor one or more parameters that may be used to determine whether interference is present. For example, if the geometry is determined to have been altered by a threshold amount or is not within a threshold amount of a known or recalled geometry. The threshold may be any appropriate amount, such as 0.5% change, 1% change, 2% change. The threshold may also be a distance, such as 0.1 millimeters (mm) or more. It is understood that any discrete change may be selected as the threshold.

[0070] If interference is determined to be present, the localizer 94 may be moved with the robotic system 230. By moving the robotic system 230, the localizer 94 may be moved such that the field generated therewith may not be interfered with by an interfering object, such as the imaging system 80. The movement of the localizer 94 may be made with the robotic system 230 from a first position to a second position, as illustrated in Fig. 3B. In the moved or second position, the localizer 94 may be positioned a distance 270 from an axis 254y and a second distance 274 from the second axis 254x. The second position of the localizer 94 may allow the localizer 94 to generate a field that may be used to track the tracking device 66, but is not interfered with by an object, such as the imager 80. Thus, the localizer 94 may be moved to a second non-interfered position to ensure that a proper navigation of the instrument 68 occurs by reducing or eliminating interference with the field that is generated by the localizer 94.

[0071] Again, the localizer 94 may be moved by the navigation system 26, substantially automatically. Movement of the localizer 94 may be substantially automaticAttorney Docket No. A0012163W001 based upon the determination that presence of an interfering object as measured or determined. The determination may be based upon measuring various parameters, such as those discussed above.

[0072] Additionally, the localizer 94 may have a proximity sensor 280 associated therewith to assist in determining a proximity of the localizer 94 to other objects, such as the table 39. The localizer 94 may be moved by operation of the robotic system 230 when the navigation system 26 determines that interference is detected. The robotic system 230 may move the localizer 94 in an appropriate manner, which may be a random movement, predetermined movement, or the like based upon a determination by the navigation system 26. In various embodiments, the localizer 94 may move relative to various members, while ensuring a non-collision with an environmental member, a determination of movement away from the interfering object, or while maintaining the field within a region of interest of operation on the subject 30. Any suitable technique can be utilized to map an environment of the navigation system 26 so that one or more environmental members can be determined. In one or more embodiments, one or more environmental sensors (e.g., proximity sensors 216, 280) can be disposed in any suitable location or locations to map the environment of the navigation system 26. Such suitable environmental sensor can include at least one of a proximity sensor, touch sensor, infrared sensor, time-of-flight sensor, stereo vision camera, LiDAR device, or ultrasonic sensor. Thus, the movement of the localizer 94 may be limited and / or controlled to ensure that navigation may occur while reducing or eliminating the interference. Thus, the navigation system 26 may determine the presence of the interference and may thereafter automatically move the localizer 94Attorney Docket No. A0012163W001 until the interference is determined to be reduced or eliminated to allow for a selected accurate tracking of the tracking device 66.

[0073] As discussed above, the localizers, such as the localizer 88, the localizer 94, or any other appropriate localizer may be moved with a selected system, such as powered robotic system. The localizers may be moved according to a process 300, as illustrated in Fig. 4. The process 300 may be included in instructions or an algorithm that may be executed as a program by one or more processors, such as the processor 102.

[0074] The process 300 may begin in start block 304. The start block 304 may include moving the procedure systems into the operating arena or theater 18, as discussed above and illustrated in Fig. 1. For example, the support 150 may be operated to move the localizer system 88 relative to the subject 30. The localizer 88 may be moved in an appropriate manner, such as automatically or manually.

[0075] The system may then be initiated to receive a signal in block 308. For example, the user 72 may initiate operation of the navigation system 26. In various embodiments, one or more tracking devices, such as the instrument tracking device 66 and / or the patient tracking device 58, may be positioned in the operating theater 18 to be tracked by one or more of the tracking systems. Therefore, the tracking system included with the navigation system 26 may be initiated to receive a signal or detect the one or more tracking devices, including the instrument tracking device 66. Then a detection and receiving of a signal detecting a tracking device may be made in block 312. The detection of the tracking device may be in any appropriate manner, including those as discussed above.Attorney Docket No. A0012163W001

[0076] Detecting the tracking device in block 312 may include viewing the tracking device, such as the tracking device 66. As discussed above, the localizer 88 may include the one or more cameras 89 that may optically detect or view the tracking device. Alternatively, or additionally, the tracking device may be sensed with the EM localizer 94. Nevertheless, the detection of the tracking device may be made in any appropriate manner, including those discussed above and as generally understood by one skill in the art.

[0077] Once the tracking device is detected, or in attempting to detect a tracking device, a determination of whether a tracking device error is present or collecting data relative to thereto may be made in block 316. A determination of whether a tracking device error is occurring may be based upon whether a tracking device is detected or sensed. For example, as discussed above, if the tracking device 66 is blocked from a field of view of the localizer head 166, a determination that no detection of the tracking device may be made. In various embodiments, a geometry of the tracking device may be determined. For example, if the tracking device 66 includes a selected geometric configuration of optical members the detected or sensed tracking device may be compared to a database of known geometries. For example, it may be predetermined or input that the tracking device 66 has a triangular geometry of the tracking member with a known side length. Therefore, the geometry of the detected tracking device may be compared to a known geometry. In a similar manner, a tracking device that is an EM tracking device may have two or more coils that are at a known geometry relative to one another. The sensed geometry of the coils may also be compared to a known geometry of coils. If the known geometry of coils does not match the detected geometry of coils, a determination that interference is present may be made. Further, a detected location or a lack of a detection of a tracking device in aAttorney Docket No. A0012163W001 predetermined location may also be used as input regarding a determination of whether an error in detecting the tracking device is made.

[0078] With the inputs, therefore, a determination of whether an error is present is made in block 320. Determining whether an error is present in block 320 may be based upon the determination of the tracking device error in block 316. For example, if the predetermined geometry of the tracking device does not match within a selected threshold of error of the detected tracking device, a determination that an error is present may be made in block 320. As discussed above, a threshold deviation from a known or predetermined geometry may be used to determine if the localizer should be moved. The threshold may be selected based on various parameters. For example, consideration might be what procedure or surgery is being deployed. Some procedures have higher demand for accuracy, but a threshold may be selected by a user and / or automatically depending on the magnitude of error metric. Other appropriate determinations based upon inputs may be made to determine whether or not an error is present in block 320.

[0079] If no error is determined to be present, such as the geometry is within the threshold, a NO path 324 may be followed. The NO path 324 may follow to navigating a procedure for a selected of time or until an additional input is received in block 328. Navigating the procedure may include tracking the tracking devices, such as the instrument tracking device 66. As discussed above, registration may be made to the image 108 such that the graphical representation 68i may be displayed or superimposed on the image 108. This allows the user 72 to understand a position of the instrument 68 even if not viewable exterior to the subject 30. The navigation may occur for a selected time or until an additional input is received based upon the determination that no error is present.Attorney Docket No. A0012163W001

[0080] A recheck of a tracking device may be selected in block 330. For example, as discussed above, a recheck may occur after a selected period of time (e.g., 0.5 seconds, one second, or any appropriate segment of time). The determination of when to recheck may be based upon the user input, a selected portion of the procedure, or other parameters. For example, when tracking the device near a sensitive region, such as a nerve, a recheck may occur more often than when not in a region of a sensitive nature.

[0081] When a recheck is determined, a YES path 394 may be followed to detect the tracking device in block 312. The process 300, therefore, may iterate to ensure that the tracking device is detected properly during a procedure. If a recheck of tracking device is not determined to occur, then a NO path 336 may be followed to an end 340. The process 300 ending in in block 340, however, may not end a procedure on the subject 30. For example, the procedure may continue to validate a portion of a procedure that has occurred by acquiring additional image data, moving additional instrumentation, or the like.

[0082] If an error is determined to have occurred or is present in block 320, a YES path 350 may be followed. In following the YES path 350, the localizer may be moved in block 354. Moving the localizer in block 354 may occur in any appropriate manner, including with the systems as discussed above.

[0083] Moving the localizer in block 354 may include moving the localizer, such as the localizer head 168, the localizer 94, or any portion thereof within any predetermined or pre-selected volume. For example, a volume relative to the subject 30 may be predetermined or pre-planned. In various embodiments, the localizer may be determined to move within a selected volume and / or a selected distance from the patient tracking device 58, within a predetermined position of the support 150, 250, or other appropriateAttorney Docket No. A0012163W001 manner. Further, the localizer may be kept at a selected distance from other objects using any suitable technique and can be based, e.g., upon the inputs from one or more environmental sensors such as the proximity sensors 216 or 280. Accordingly, the localizer may move in any appropriate manner in block 354.

[0084] Further movement of the localizer in block 354 may be based upon an input regarding the detection of the tracking device in block 312. For example, the determination in block 316 may be of a detected geometry of the tracking device detected in block 312. The detected geometry or determined geometry may provide information regarding a possible movement of the localizer to achieve or reduce a geometric error. For example, based upon a predetermined geometry of the tracking device, the localizer head 166 may move if it determined a portion of the tracking device, such as the tracking device 66, is not within the field of view 180 of the localizer 88. For example, if it is determined that one of three tracking members are not within the field of view, an understanding of the position of the tracking member that is not viewable may be determined based upon the detected other two tracking numbers. Therefore, the movement of the localizer in block 354 may also be based upon a selected probable position to reduce the detected or determined error from block 316 and 320. This may be based with hardware movement, such as robotic system 20, as discussed above. Also, or alternatively, a process may be implemented with a software / algorithm that may detail the movement of the localizer such that it is moved via an optimization method whereby perturbing and searching in a defined search space occurs. Such potential best position is determined via methods such as Hooke- Jeeves method.Attorney Docket No. A0012163W001

[0085] Once the localizer is moved to block 354, the process 300 may again iterate to determine whether the movement has achieved a reduction or elimination of error in the detection of the tracking device. Therefore, the process 300 may iterate to detect the tracking device in block 312 once the localizer is moved in block 354. The process 300 may then continue as discussed above. Thus, the process 300 may allow for more than one movement of the localizer to achieve a reduction or elimination of an error in the detected tracking device.

[0086] The process 300 may allow for movement to the localizer substantially automatically to achieve an appropriate detection of the tracking device to allow for navigation of the selected procedure. As discussed above, the various localizer assemblies of the navigation system 26 may be moved with selected systems. The systems may include robotic systems or robotic arms to assist in moving the localizer portions. The movement of the localizer portions may be performed to detect the tracking device and / or reduce or eliminate error and the detection of the tracking device.

[0087] The robotic systems may be moved substantially automatically according to the process 300. Thus, the localizers may be moved substantially without intervention of the user or any other manual intervention to achieve a selected or appropriate detection of a tracking device for navigation procedure. For example, during a procedure the localizer may be in a position that is tracking or detecting a tracking device. The process 300 may be used to determine if an error occurs in detecting the tracking device and thus the localizer may automatically move to reduce or eliminate the error.Attorney Docket No. A0012163W001

[0088] Therefore, the process 300 with the systems as exemplary discussed above may allow for an automatic movement of the localizer to achieve a reduction or elimination error of the tracking device to allow for a selected navigation of a procedure.

[0089] Examples

[0090] Example 1 - A system to move a localizer of a tracking system, comprising: a robotic movement system having a support portion, a movement portion, an engaging system, and an environmental sensor; a processor system configured to execute instructions to: receive an input regarding a detection of a tracking device, determine whether the tracking device detection is in error, determine whether movement of the engaging system is required based on the determination of whether the tracking device detection is in error, determine a movement of the engaging system to reduce tracking device detection is in error, and output the determined movement of the engaging system.

[0091] Example 2 - The system of Example 1, wherein at least the movement portion moves based on the output the determined movement of the engaging system.

[0092] Example 3 - The system of Example 1, wherein the engaging system engages the localizer.

[0093] Example 4 - The system of Example 3, wherein the localizer includes at least one of an optical localizer or an electromagnetic localizer.

[0094] Example 5 - The system of Example 1, wherein the support portion is positioned on a floor surface.

[0095] Example 6 - The system of Example 1, wherein the robotic movement system further comprises a mobility system; wherein the mobility system is configured to allow movement of the support portion relative to the floor surface.Attorney Docket No. A0012163W001

[0096] Example 7 - The system of Example 1 , wherein the processor system is further configured to execute instructions to receive the input regarding detection of the tracking device includes receiving at least one of an optical input regarding an optical tracking device or a sensed field regarding an EM tracking device.

[0097] Example 8 - The system of Example 1 , wherein the processor system is further configured to execute instructions to receive the input regarding detection of the tracking device includes receiving a signal regarding a sensed geometry of the tracking device.

[0098] Example 9 - The system of Example 8, wherein the processor system is further configured to execute instructions to: recall a predetermined geometry of the tracking device, compare the sensed geometry to the recalled predetermined geometry, wherein determine whether the tracking device detection is in error includes determining that a difference between the recalled predetermined geometry and the sensed geometry is greater than a threshold difference.

[0099] Example 10 - The system of Example 1, wherein output the determined movement of the engaging system includes outputting movement instructions for the robotic movement system.

[0100] Example 11 - The system of Example 10, further comprising: a robotic system processor configured to execute the output movement instructions to cause movement of the robotic movement system.

[0101] Example 12- The system of Example 11, further comprising: a proximity sensor to sense an environment exterior to the robotic movement system to inform a movement of the robotic system.Attorney Docket No. A0012163W001

[0102] Example 13 - A method to move a localizer of a tracking system, comprising: providing a robotic movement system having a support portion, a movement portion, an engaging system, and an environmental sensor; executing instructions with a processor system to: receive an input regarding a detection of a tracking device, determine whether the tracking device detection is in error, determine whether movement of the engaging system is required based on the determination of whether the tracking device detection is in error, determine a movement of the engaging system to reduce tracking device detection is in error, and output the determined movement of the engaging system.

[0103] Example 14 - The method of Claim 13, further comprising engaging the localizer with the engaging system.

[0104] Example 15 - The method of Claim 13, further comprising: providing the robotic system with a mobility system; operating the mobility system to allow movement of the support portion relative to a floor surface.

[0105] Example 16 - The method of Claim 13, further comprising: executing further instructions with the processor system to receive the input regarding detection of the tracking device includes receiving at least one of an optical input regarding an optical tracking device or a sensed field regarding an EM tracking device.

[0106] Example 17 - The method of Claim 13, further comprising: executing further instructions with the processor system to receive the input regarding detection of the tracking device includes receiving a signal regarding a sensed geometry of the tracking device.

[0107] Example 18 - The method of Claim 13, further comprising: executing further instructions with the processor system to: recall a predetermined geometry of theAttorney Docket No. A0012163W001 tracking device, compare the sensed geometry to the recalled predetermined geometry, wherein determine whether the tracking device detection is in error includes determining that a difference between the recalled predetermined geometry and the sensed geometry is greater than a threshold difference.

[0108] Example 19 - The method of Claim 13, further comprising: executing further instructions with the processor system to output movement instructions for the robotic movement system.

[0109] Example 20 - The method of Claim 13, further comprising: executing further instructions with the processor system to: receiving a proximity sensor signal regarding an environment exterior to the robotic movement system; and limiting movement of the robotic system based on the proximity sensor signal.

[0110] Example embodiments are provided so that this disclosure will be thorough and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well- known processes, well-known device structures, and well-known technologies are not described in detail.

[0111] Instructions (e.g., algorithm or heuristics) may be executed by a processor and may include software, firmware, and / or microcode, and may refer to programs, routines, functions, classes, data structures, and / or objects. The term sharedAttorney Docket No. A0012163W001 processor circuit encompasses a single processor circuit that executes some or all code from multiple modules. The term group processor circuit encompasses a processor circuit that, in combination with additional processor circuits, executes some or all code from one or more modules. References to multiple processor circuits encompass multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all code from multiple modules. The term group memory circuit encompasses a memory circuit that, in combination with additional memories, stores some or all code from one or more modules.

[0112] The apparatuses and methods described in this application may be partially or fully implemented by a processor (also referred to as a processor module) that may include a special purpose computer (i.e., created by configuring a processor) and / or a general purpose computer to execute one or more particular functions embodied in computer programs. The computer programs include processor-executable instructions that are stored on at least one non-transitory, tangible computer-readable medium. The computer programs may also include or rely on stored data. The computer programs may include a basic input / output system (BIOS) that interacts with hardware of the special purpose computer, device drivers that interact with particular devices of the special purpose computer, one or more operating systems, user applications, background services and applications, etc.

[0113] The computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter;Attorney Docket No. A0012163W001(iv) source code for compilation and execution by a just-in-time compiler, (v) descriptive text for parsing, such as HTML (hypertext markup language) or XML (extensible markup language), etc. As examples only, source code may be written in C, C++, C#, Objective- C, Haskell, Go, SQL, Lisp, Java®, ASP, Perl, Javascript®, HTML5, Ada, ASP (active server pages), Perl, Scala, Erlang, Ruby, Flash®, Visual Basic®, Lua, or Python®.

[0114] Communications may include wireless communications described in the present disclosure can be conducted in full or partial compliance with IEEE standard 802.11-2012, IEEE standard 802.16-2009, and / or IEEE standard 802.20-2008. In various implementations, IEEE 802.11-2012 may be supplemented by draft IEEE standard 802.1 lac, draft IEEE standard 802.1 lad, and / or draft IEEE standard 802.1 lah.

[0115] A processor, processor module, module or ‘controller’ may be used interchangeably herein (unless specifically noted otherwise) and each may be replaced with the term ‘circuit.’ Any of these terms may refer to, be part of, or include: an Application Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system- on-chip.

[0116] Instructions may be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmableAttorney Docket No. A0012163W001 logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” or “processor module” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements. The processor or processors may operate entirely automatically and / or substantially automatically. In automatic operation the processor may execute instructions based on received input and execute instructions in light thereof. Thus, various outputs may be made without further or any manual (e.g., user) input.

[0117] The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the invention, and all such modifications are intended to be included within the scope of the invention.

Claims

Attorney Docket No. A0012163W001CLAIMSWhat is claimed is:

1. A system to move a localizer of a tracking system, comprising: a robotic movement system having a support portion, a movement portion, an engaging system, and an environmental sensor; a processor system configured to execute instructions to: receive an input regarding a detection of a tracking device, determine whether the tracking device detection is in error, determine whether movement of the engaging system is required based on the determination of whether the tracking device detection is in error, determine a movement of the engaging system to reduce tracking device detection is in error, and output the determined movement of the engaging system.

2. The system of Claim 1 , wherein at least the movement portion moves based on the output the determined movement of the engaging system.

3. The system of Claim 1, wherein the engaging system engages the localizer, wherein the localizer includes at least one of an optical localizer or an electromagnetic localizer.

4. The system of Claim 1, wherein the robotic movement system further comprises a mobility system;Attorney Docket No. A0012163W001 wherein the mobility system is configured to allow movement of the support portion relative to the floor surface.

5. The system of Claim 1, wherein the processor system is further configured to execute instructions to receive the input regarding detection of the tracking device includes receiving at least one of an optical input regarding an optical tracking device or a sensed field regarding an EM tracking device.

6. The system of Claim 1, wherein the processor system is further configured to execute instructions to receive the input regarding detection of the tracking device includes receiving a signal regarding a sensed geometry of the tracking device.

7. The system of Claim 6, wherein the processor system is further configured to execute instructions to: recall a predetermined geometry of the tracking device, compare the sensed geometry to the recalled predetermined geometry, wherein determine whether the tracking device detection is in error includes determining that a difference between the recalled predetermined geometry and the sensed geometry is greater than a threshold difference.

8. The system of Claim 1, wherein output the determined movement of the engaging system includes outputting movement instructions for the robotic movement system.Attorney Docket No. A0012163W0019. The system of Claim 8, further comprising: a robotic system processor configured to execute the output movement instructions to cause movement of the robotic movement system.

10. The system of Claim 9, further comprising: a proximity sensor to sense an environment exterior to the robotic movement system to inform a movement of the robotic system.

11. A method to move a localizer of a tracking system, comprising: providing a robotic movement system having a support portion, a movement portion, an engaging system, and an environmental sensor; executing instructions with a processor system to: receive an input regarding a detection of a tracking device, determine whether the tracking device detection is in error, determine whether movement of the engaging system is required based on the determination of whether the tracking device detection is in error, determine a movement of the engaging system to reduce tracking device detection is in error, and output the determined movement of the engaging system.

12. The method of Claim 11, further comprising: providing the robotic system with a mobility system;Attorney Docket No. A0012163W001 operating the mobility system to allow movement of the support portion relative to a floor surface.

13. The method of Claim 12, further comprising: executing further instructions with the processor system to receive the input regarding detection of the tracking device includes receiving at least one of an optical input regarding an optical tracking device or a sensed field regarding an EM tracking device.

14. The method of Claim 11, further comprising: executing further instructions with the processor system to: recall a predetermined geometry of the tracking device, compare the sensed geometry to the recalled predetermined geometry, wherein determine whether the tracking device detection is in error includes determining that a difference between the recalled predetermined geometry and the sensed geometry is greater than a threshold difference.

15. The method of Claim 11, further comprising: executing further instructions with the processor system to: receiving a proximity sensor signal regarding an environment exterior to the robotic movement system; and limiting movement of the robotic system based on the proximity sensor signal.

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