Guidance device for a surgical tool

Abstract

In some aspects, a system may include a surgical tool and a navigation system configured to determine navigational information for the surgical tool, navigational information being associated with navigation of the surgical tool for a procedure. The system may include guidance device configured to be removably attached to an element within a field of view associated with a patient of the procedure. The guidance device may be configured to obtain, from the navigation system, an indication of the navigational information. The guidance device may be configured to provide an output that is indicative of the navigational information.

Description

Docket No. A001179WO01GUIDANCE DEVICE FOR A SURGICAL TOOL

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 709,232, filed 18 October 2024, the entire content of which is incorporated herein by reference.BACKGROUND

[0002] In some surgical ecosystems, the convergence of connected technology and intelligent implants has enabled a shift toward more predictable procedures and improved patient outcomes in medical interventions. Through interconnected systems, surgical devices and instruments may communicate seamlessly, offering real-time data exchange and precise control over surgical procedures. The convergence of, and connectivity between, multiple components in a connected surgical ecosystem enables precise navigation and imaging, providing surgeons with improved insight into anatomical structures and facilitating improved planning and execution of surgical steps. This connected technology may enhance surgical precision and enable a more proactive approach to patient care, allowing for early detection of complications and personalized medical interventions. The integrated surgical ecosystem enables safer, more efficient procedures while providing surgeons with improved insights into patient physiology.

[0003] The use of navigational systems in surgery may enable surgeons to visualize anatomical structures and plan procedures with greater accuracy. Tracking surgical tools during procedures may enable improved patient safety and operational efficiency. Tracking technologies, such as radio-frequency identification (RFID), optical tracking systems, and / or electromagnetic navigation, among other examples, may enable precise location monitoring of instruments (e.g., surgical tools or other instruments) within a surgical field. By integrating these technologies, surgeries can be performed with increased precision and improved outcomes.SUMMARY

[0004] In some implementations, a system includes a surgical tool; a navigation system configured to determine navigational information for the surgical tool, the navigational information being associated with navigation of the surgical tool for a procedure; and a guidance device configured to be removably attached to an element configured within an operational area of the procedure, the guidance device being configured to: obtain, from theDocket No. A001179WO01 navigation system, an indication of the navigational information; and provide an output that is indicative of the navigational information.

[0005] In some implementations, a guidance device includes an attachment component configured to removably attach the guidance device to an element within a field of view associated with a patient of a procedure; a communication component configured to: receive, from a navigation system, navigational information for a surgical tool, the navigational information being indicative of a trajectory of the surgical tool during the procedure; and an output component configured to output a guidance indicator that is based on the navigational information.

[0006] In some implementations, a system includes a surgical tool; and a guidance device configured to be removably attached to the surgical tool, the guidance device being configured to: obtain, from a navigation system, an indication of navigational information for the surgical tool, the navigational information being associated with navigation of the surgical tool for a procedure; and provide an output that is indicative of the navigational information.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figs. 1 A-1B are diagrams of an example associated with a guidance device for a surgical tool.

[0008] Fig. 2 is a diagram of an example associated with a guidance device for a surgical tool.

[0009] Figs. 3 A-3C are diagrams of examples associated with the guidance device for the surgical tool.

[0010] Fig. 4 is a diagram of an example environment in which systems and / or methods described herein may be implemented.

[0011] Fig. 5 is a diagram of an example environment in which systems and / or methods described herein may be implemented.

[0012] Fig. 6 is a diagram of example components of a device associated with a guidance device for a surgical tool.Docket No. A001179WO01DETAILED DESCRIPTION

[0013] The following detailed description of example aspects refers to the accompanying drawings. The same reference numbers in different drawings may identify the same or similar elements.

[0014] In some examples, an ecosystem (e.g., for a surgery or other procedure) may include interconnected systems, surgical devices, and / or instruments that are configured to communicate with each other. In some examples, a system (e.g., a navigation system) may be configured to obtain positional information for one or more tools or instruments within a surgical field. For example, the system may be configured to track the position of the one or more tools or instruments within the surgical field. The system may be configured to display the positional information (e.g., indicating the position of the one or more tools or instruments) via one or more display devices. For example, the system may include one or more display devices (e.g., one or more screens) where the positional information, along with other information (such as anatomical information of the patient, one or more tracked anatomical elements of the patient, and / or other information), is displayed.

[0015] As a result, to view the positional information of a given surgical tool (e.g., an implement, a tool, or an imaging device), a user (e.g., a surgeon or a clinician) must look toward a display screen (e.g., and away from a field of view of a surgical site or procedural site on the patient) to view the positional information displayed via the display screen (e.g., resulting in a context switch for the user, from a task associated with the procedure for the patient, to viewing the display screen). For example, a context switch may refer to a scenario when a user shifts their focus from one task to another, which can negatively impact efficiency and / or cognitive load, among other examples. In a surgical scenario, a user may be examining a patient during a procedure, such as closely monitoring vital signs and anatomical details. This requires concentration and spatial awareness to mitigate the risk of undesired outcomes for the patient.

[0016] When the user looks at a display device, such as a monitor showing real-time positional information for a surgical tool, the user may mentally shift their focus. This may involve breaking their concentration on the patient and adjusting to the new information presented via the display device. The transition may require the user to refocus their attention, reorient their spatial awareness, and / or integrate the new information into their ongoing decision-making process. Such context switches can lead to brief moments of distraction, which could negatively impact the precision of the procedure. This negative impact can be especially detrimental in scenarios associated with small margins for error.Docket No. A001179WO01Further, frequently performing such context switches may increase the risk of physical ailments for the user (e.g., caused by frequently changing the direction in which the user is looking, potentially resulting in neck ailments or other issues).

[0017] Additionally, the display device(s) associated with a navigation system in a surgical ecosystem may display a significant amount of information. For example, the display device(s) may display a comprehensive array of information during a procedure, such as the real-time position and orientation of surgical tools, patient vital signs, the spatial relationships of anatomical elements, and / or real-time position and / or orientation of one or more anatomical elements, among other examples. This multi-faceted data visualization enables a user to make informed decisions and enhances situational awareness during the procedure. However, the large amount of information displayed may increase the difficulty for the user to quickly and easily identify desired information, such as positional information of a surgical tool. This may increase the amount of time that a user spends looking at the display device (e.g., and away from the patient) during the procedure, increasing the risk of distraction and missed detection of issues associated with the patient.

[0018] The context switching may result in the user being less likely to look to the display device for the information. As described herein, such information may be beneficial for improving the precision, accuracy, and / or outcome, among other example, of a procedure. However, because of the negative impact(s) associated with the context switching associated with viewing such information, the user may instead keep their focus on the patient (e.g., on a surgical site or procedural site of the patient) and may not view the information displayed via the display device(s). As a result, the user may not obtain the information that is beneficial for the procedure, potentially resulting in degraded outcomes for the procedure (e.g., as compared to if the user had viewed and / or obtained the information displayed via the display device(s)). In some examples, a wearable device (e.g., an augmented reality (AR) headset or smart glasses, among other examples) may be worn by the user to provide some information to the user without requiring the user to look away from the patient (e.g., on a surgical site or procedural site of the patient). However, such wearable devices may be bulky and / or may restrict the field of view of the user, thereby increasing the risk for missed detection of issues and / or undesired outcomes of the procedure. Further, some procedures may be performed in sterile environments in which the user is wearing protective equipment. The protective equipment may inhibit the user from wearing such wearable devices.

[0019] Some aspects described herein provide a guidance device for a surgical tool. The guidance device may be configured to provide (e.g., output) an indication of navigationalDocket No. A001179WO01 information for the surgical tool. For example, the guidance device may be attached (e.g., removably attached) to an element configured within an operational area of a procedure. The operational area may be a surgical site or a procedural site associated with the procedure. For example, the operational area may be within a field of view associated with a patient of the procedure. The field of view may be the field of view of a user (e.g., a surgeon or clinician) performing the procedure. The field of view may be in the direction (e.g., relative to a viewpoint of the user) of a surgical site or procedural site on the patient for the procedure. In some examples, the element may be the surgical tool (e.g., the guidance device may be removably attached to the surgical tool). In other examples, the element may be a surgical table, and / or a wearable element of the user (e.g., a cuff of a sleeve), among other examples.

[0020] In some examples, a navigation system may be configured to determine navigational information for the surgical tool. The navigational information may be associated with navigation of the surgical tool for a procedure. For example, the navigational information may be indicative of a movement, position, orientation, and / or pose, among other examples, of the surgical tool. The guidance device may be configured to obtain, from the navigation system, an indication of the navigational information. The guidance device may be configured to provide an output (e.g., a guidance indicator) that is indicative of the navigational information. In some examples, the output may include a visual output (e.g., via one or more light-emitting diodes (LEDs)), an audio output, and / or a haptic output, among other examples. For example, the guidance device may output a guidance indicator that is indicative of the navigational information obtained via the navigation system.

[0021] As a result, the guidance device may be a non-intrusive device to enable a user (e.g., a surgeon or clinician) to obtain navigational information for a surgical tool without having to perform a context switch to view a display device (e.g., a screen or monitor). For example, the guidance device may enable “heads-down” guidance for a surgical tool in which the user can obtain navigational information for the surgical tool without looking away from the surgical site or procedural site associated with the patient. By the guidance device outputting the guidance indicator, the user can obtain an indication of navigational information for the surgical tool without performing a context switch during the procedure. This enables the user to obtain the benefit of the navigational information without the risk(s) or negative impact(s) of performing the context switch.

[0022] Additionally, the guidance indicator may be a simple indication of the navigational information providing a cue or prompt indicative of the navigational information, thereby enabling the user to navigate the surgical tool with less cognitive load as compared toDocket No. A001179WO01 obtaining the full navigational information. Additionally, by enabling the user to maintain focus on the patient during the procedure, there may be a reduced risk of negative patient outcomes (e.g., that may otherwise occur due to the context switching and / or distraction associated with viewing the navigational information via a display device (a screen or monitor) of the navigation system). Further, a risk of physical ailments of the user may be reduced because the user may not have to perform frequent changes in the direction that the user is looking during the procedure to obtain the navigational information.

[0023] Figs. 1A-1B are diagrams of an example 100 associated with a guidance device for a surgical tool. As shown in Figs. 1 A-1B, example 100 includes the guidance device, a navigation system, and an element. These devices are described in more detail in connection with Figs. 2-6.

[0024] The element may be configured within an operational area of a procedure (e.g., a surgery or other procedure). The operational area may be associated with (e.g., included in or proximate to) a surgical site or procedural site associated with a patient. For example, the operational area may include an area around a patient where a procedure is to be performed. The operational area may include an anatomical region of the patient that is to be accessed, altered, and / or otherwise interacted with during the procedure. The operational area may be within a field of view associated with a patient of the procedure. The field of view may be the field of view of a user (e.g., a surgeon or clinician) performing the procedure. The field of view may be in the direction (e.g., relative to a viewpoint of the user) of a surgical site or procedural site on the patient for the procedure.

[0025] In some examples, the element may be the surgical tool. For example, the surgical tool may be configured to be within the operational area (e.g., within the field of view associated with the patient) because the user may be using the surgical tool (e.g., in the operational area) as part of the procedure. As another example, the element may be a wearable element configured to be worn by the user. For example, the element may be a cuff of a sleeve of a gown, surgical scrubs, or other clothing to be worn by the user during the procedure. The wearable element may be configured to be within the operational area because the user may be working within the operational area as part of the procedure, resulting in the wearable element being placed within the operational area. As another example, the element may be a component of an ecosystem associated with the procedure, such as a surgical table (e.g., that the patient is to be placed on during the procedure) or other fixture configured within the operational area.Docket No. A001179WO01

[0026] The guidance device may be attached to the element. For example, the guidance device may be removably attached to the element. By the guidance device being removably attached to the element, the guidance device may be used (or re-used) for different surgical tools, different procedures, and / or different surgical environments, thereby increasing the flexibility of the use of the guidance device. In other examples, the guidance device may be permanently attached to the element and / or fixed to the element. This reduces the risk of the guidance device being detached from the element during the procedure. By attaching the guidance device to the element, the guidance device may be configured within the operational area during the procedure in a non-invasive manner. As described in more detail elsewhere herein, this enables the user (e.g., a surgeon or clinician) to obtain (e.g., view, see, hear, feel, or otherwise obtain) a guidance indicator output via the guidance device during the procedure without looking away from (or removing attention from) the operational area. This reduces the amount of context switching performed by the user during the procedure, thereby improving the likelihood of improved patient outcomes for the procedure, as described elsewhere herein.

[0027] As shown in Fig. 1A, and by reference number 105, the navigation system may generate navigational information for the surgical tool. In some implementations, the element depicted in Figs. 1 A and IB may be the surgical tool. In other implementations, the element depicted in Figs. 1 A and IB may another element. The surgical tool may be any implement or tool used as part of the procedure. For example, the surgical tool may include an implement, a surgical instrument, a cutting tool, a grasper, scissors, an electrocautery tool, a suction tool, a probe (e.g., an optical coherence tomography (OCT) probe, a sonography probe (e.g., an ultrasound transducer), an endocavitary probe, or another type of probe), an imaging device, a Doppler device, an electrocardiogram device, a spectrometer, an X-ray device, a handheld magnetic resonance imaging (MRI) device, a retractor, a stapler, a dissector (e.g., an ultrasonic dissector), a camera (e.g., a thermal imaging camera or an infrared thermography device), an endoscope, a drill, a cutter, a laser, an aspirator (e.g., an ultrasonic aspirator), a trocar, and / or a cannula, among other examples.

[0028] The navigation system may be configured to determine navigational information for the surgical tool. The navigational information may be associated with navigation of the surgical tool for the procedure. For example, the navigational information may indicate a position, orientation, and / or pose, among other examples, of the surgical tool within the operational area. Additionally, or alternatively, the navigational information may indicate a direction of movement, a speed, and / or a depth (e.g., relative to a reference point), amongDocket No. A001179WO01 other examples, of the surgical tool. Additionally, or alternatively, the navigational information may indicate a position, orientation, and / or movement, among other examples, relative to one or more other elements or structures, such as one or more anatomical elements or anatomical areas. For example, the navigational information may indicate a distance between the surgical tool and one or more anatomical elements or anatomical areas (e.g., on the patient).

[0029] For example, the navigation system may track the surgical tool to determine, generate, and / or otherwise obtain the navigational information. For example, the navigation system may use one or more sensors and / or imaging devices to track the surgical tool. As an example, the navigation system may use optical, electromagnetic, and / or inertial tracking operations to track the surgical tool. For example, optical tracking may include the navigation system using one or more imaging devices to detect markers on the surgical tool to detect the position of the markers in a three-dimensional space. Electromagnetic tracking may include the navigation system using electromagnetic fields generated by a transmitter to determine the position of a sensor attached to the surgical too. Inertial tracking may include the navigation system using data from one or more sensors (e.g., accelerometers and / or gyroscopes) to calculate the movement of the surgical tool based on an initial position. These tracking operation are provided as examples and the navigation system may use other suitable tracking operations to track the position and / or movement of the surgical tool during the procedure.

[0030] The navigation system may obtain tracking data, such as via optical tracking, electromagnetic tracking, and / or inertial tracking, among other examples. The navigation system may process the tacking data to determine or generate the navigational information. For example, the navigation system may overlay the tracking data onto preoperative imaging data (e.g., depicting one or more anatomical elements of the patient). This integration allows the navigation system to provide navigational feedback (e.g., the navigational information), such as navigation information that indicates whether the surgical tool is on the correct path (e.g., as indicated by preoperative surgical plan data), approaching critical anatomical structures (e.g., sensitive structures), and / or reaching designated step points in a surgical plan, among other examples.

[0031] The navigational information may indicate a current position, orientation, movement direction, and / or trajectory, among other examples, of the surgical tool. For example, the navigational information may indicate whether the trajectory or path (e.g., movement) of the surgical tool aligns with a planned trajectory or path of the surgical tool forDocket No. A001179WO01 the procedure. Additionally, or alternatively, the navigational information may indicate guidance information indicating a direction of movement and / or trajectory that the surgical tool should follow to reach an intended anatomical area or anatomical element of the patient.

[0032] For example, the navigation system may obtain anatomical information of the patient. The anatomical information may include information for one or more anatomical elements. The anatomical information may be based on medical imaging data of the patient. The anatomical information may include location information of respective anatomical elements within the anatomy of the patient. The location information may indicate a position, size, shape, and / or orientation, among other examples, of the anatomical elements. The one or more anatomical elements may include bone, tissue, vertebrae, ligaments, muscles, tendons, cartilagejoints, organs, blood vessels, and / or other anatomical elements. In some aspects, the anatomical information may include a bone density, a body mass index, a muscle mass, a body composition, an organ size and / or shape, vascular anatomy information, and / or neural anatomy information.

[0033] In some aspects, the anatomical information may include information for one or more sensitive structures of the patient. The one or more sensitive structures may be structures or elements in the anatomy of the patient that are vulnerable to damage or disruption and / or which may result in functional impairment or negative outcomes for the patient if damaged. For example, sensitive structures may have a delicate structure, a high degree of innervation, and / or critical physiological functions, among other examples. The one or more sensitive structures may include nerves, blood vessels, organs, tissue, and / or sensory receptors, among other examples. The anatomical information may include location information of the one or more sensitive structures. In some aspects, the location information of the one or more sensitive structures relative to one or more anatomical elements that are to be interacted with or removed during the procedure. For example, sensitive structure locations may indicate one or more areas in the anatomy of the patient in which the surgical tool should not travel (e.g., “no-fly” zones in the anatomy of the patient).

[0034] The navigation system may determine that navigational information based on the anatomical information of the patient. For example, the navigational information may indicate a distance from an intended anatomical element (e.g., an anatomical element that is the target for the procedure). Additionally, or alternatively, the navigational information may indicate a distance from one or more sensitive structures of the patient.

[0035] As shown by reference number 110, the navigation system may transmit or provide, and the guidance device may receive or obtain, the navigational information. In someDocket No. A001179WO01 examples, the navigation system may periodically transmit the navigational information to the guidance device. Additionally, or alternatively, the navigation system may transmit the navigational information based on detecting an event. For example, the event may include the navigational information indicating that one or more distances satisfy one or more thresholds. As an example, the event may include a distance between a current position or orientation of the surgical tool and a planned position or orientation of the surgical tool satisfying a threshold (e.g., indicating that the surgical tool is not following a planned trajectory for the procedure). As another example, the event may include the distance between a current position of the surgical tool and an anatomical element or area (e.g., an intended anatomical element for the procedure or a sensitive structure) of the patient satisfying a threshold (e.g., indicating that the surgical tool is moving closer to, or further away from, the anatomical element or area of the patient).

[0036] As shown by reference number 115, the guidance device may output a guidance indicator based on the navigational information. For example, the guidance device may provide an output (e.g., the guidance indicator) that is indicative of the navigational information. The output may be a visual output (e.g., via one or more LEDs or another visual interface), an audio output (e.g., a sound), and / or a haptic output (e.g., a vibration), among other examples. For example, the guidance indicator may be a visual indicator, an audio indicator, and / or a haptic indicator, among other examples. For example, the guidance device may include a visual interface configured to provide the output. The visual interface may include one or more LEDs, a liquid crystal display, and / or one or more organic LEDs, among other examples.

[0037] The output (e.g., the guidance indicator) may be a simple indication that is indicative of the navigational information (e.g., rather than presenting our outputting all of the navigational information). For example, the guidance indicator may quick and / or binary feedback indicative of the navigational information. For example, the guidance indicator may be output via one or more LED lights (e.g., a visual indicator), one or more sounds (e.g., a beep or other sound), and / or one or more vibrations (e.g., a haptic indicator), among other examples. For example, the guidance indicator may be output via one or more LED lights that turn a first color (e.g., green) when the surgical tool is moving in an intended or expected direction (e.g., and is not near any sensitive structures) and a second color (e.g., red) when the navigational information indicates that there is an error (e.g., when the surgical tool is moving in an unintended or unexpected direction and / or is near a sensitive structure). In contrast, a more complex indication, such as an image on a display screen, can conveyDocket No. A001179WO01 detailed information. However, this additional information requires more attention and interpretation from the user, which can be overwhelming or slower to process (e.g., the full navigational information may be comprehensive and / or nuanced information that may require more time and focus to interpret from the user).

[0038] Therefore, the guidance indicator may be a simple indication that provides quick and easy to understand indications of the navigational information. As a result, the guidance indicator may enable immediate comprehension, allowing the user to quickly grasp the status or condition of movement of the surgical tool without the need for complex analysis or interpretation. The guidance indicator may improve the precision or accuracy of the movement of the surgical tool, such as in situations where rapid feedback is needed, ensuring that the user can make informed decisions quickly without performing a context switch and exerting a higher cognitive load to process and / or understand the navigational information display via a display device of the navigation system.

[0039] In some examples, the navigation device may display the navigational information via one or more display devices (e.g., that are not in the operational area). For example, the navigation system may still display the more complex and nuanced information via the one or more display devices. This may enable the user to perform the context switch to obtain the more detailed information, such as if the guidance indicator indicates a problem or error associated with the navigation or movement of the surgical tool. This reduces the quantity of context switches to be performed by the user while still making more detailed or nuanced navigational information available for the user in scenarios where the more detailed or nuanced navigational information is beneficial.

[0040] In some examples, the output of the guidance device (e.g., the guidance indicator) may indicate directional guidance for a movement of the surgical tool based on the navigational information. For example, the guidance indicator may indicate whether the movement of the surgical tool aligns with a planned movement or trajectory of the surgical tool for the procedure. As an example, if a distance between the surgical tool and a position on a planned trajectory of the surgical tool satisfies a threshold (e.g., indicating that the surgical tool is close to the position on the planned trajectory), then the guidance indicator may be an output of a first color (e.g., green) via a visual interface (e.g., one or more LEDs). If the distance between the surgical tool and a position on a planned trajectory of the surgical tool does not satisfy a threshold (e.g., indicating that the surgical tool is not near the position on the planned trajectory), then the guidance indicator may be an output of a second color (e.g., red) via a visual interface (e.g., one or more LEDs). Additionally, or alternatively, ifDocket No. A001179WO01 the distance between the surgical tool and a position on a planned trajectory of the surgical tool does not satisfy the threshold, then the guidance indicator may include a sound (e.g., a beep or other audio indicator) or a haptic indicator (e.g., a vibration) to indicate that the navigation, movement, or trajectory of the surgical tool is varying from the planned trajectory.

[0041] As another example, the guidance indictor may indicate a direction or trajectory that the surgical tool is to move (e.g., to stay on a planned trajectory or path or to reach a certain anatomical element or area on the patient). For example, the guidance indicator may be an arrow or other directional indicator that is visually output via a visual interface. The guidance device may determine the direction or trajectory that the surgical tool is to move based on the navigational information received from the navigation system. The guidance device may output the directional indicator (e.g., an arrow or other directional indicator) to indicate a direction the surgical tool is to move.

[0042] As another example, the guidance indicator may include a depth indication of the surgical tool. For example, the depth indication may indicate a depth of the surgical tool in an anatomy of the patient. For example, the guidance device may include four LEDs to indicate a depth of the surgical tool. The guidance indicator may include a first depth indication (e.g., illuminating a first LED) if the distance between the surgical tool and a planned depth satisfies a first threshold, a second depth indication (e.g., illuminating the first LED and a second LED) if the distance between the surgical tool and a planned depth satisfies a second threshold (e.g., to indicate that the surgical tool has moved deeper), a third depth indication (e.g., illuminating the first LED, the second LED, and a third LED) if the distance between the surgical tool and a planned depth satisfies a third threshold (e.g., to indicate that the surgical tool has moved deeper), or a fourth depth indication (e.g., illuminating the first LED, the second LED, the third LED, and a fourth LED) if the distance between the surgical tool and the planned depth satisfies a fourth threshold (e.g., to indicate that the surgical tool has reached, or is near, the planned depth). Four LEDs are provided as an example and the depth indication may be indicated via another quantity of LEDs or via another type of guidance indicator.

[0043] As another example, the guidance indicator may include a sensitive structure alert. For example, if the guidance device determines that the navigational information indicates that a distance between the surgical tool and a sensitive structure of the patient satisfies a threshold (e.g., indicating that the surgical tool is too close to the sensitive structure), then the guidance device may output a sensitive structure alert. The sensitive structure alert mayDocket No. A001179WO01 include a visual interface outputting a color indicative of a problem or error (e.g., red), an audio indicator (e.g., a beep or other sound), and / or a haptic indicator (e.g., a vibration), among other examples. This enables the user to quickly identify that the surgical tool is too close to a sensitive structure of the patient, enabling the user to quickly adjust the position and / or trajectory of the surgical tool to reduce the risk of damage to the sensitive structure (e.g., without having to perform a context switch to view the navigational information indicating that the surgical tool is too close to the sensitive structure).

[0044] Values of the thresholds described herein may be based on a procedure type of the procedure being performed, and / or profile information of a user performing the procedure, among other examples. For example, the navigation system and / or the guidance device may obtain a profile of the user. The profile may indicate one or more values of one or more of the thresholds described herein. For example, the output (e.g., the guidance indicator) may be based on profile information of a user who is to perform the procedure. The output may be based on the profile information in that the value of one or more thresholds described herein (or a no-fly zone location) may be indicated by the profile information. The profile information may be based on previously performed procedures and / or based on user input. Additionally, or alternatively, the navigation system and / or the guidance device may obtain information input by the user indicating one or more values of one or more of the thresholds. Additionally, or alternatively, the navigation system and / or the guidance device may obtain information input by the user indicating sensitive structure locations and / or area(s) in the anatomy in which the surgical tool should not travel (e.g., “no-fly” zones in the anatomy of the patient). The navigation system may use the information provided by the user to determine the navigational information (e.g., to determine if the surgical tool is in, or near, a “no-fly” zone on the anatomy of the patient).

[0045] The guidance indicators described herein are provided as examples. In other examples, the guidance indicator may be another indicator that is indicative of the navigational information associated with the surgical tool.

[0046] As shown in Fig. IB, and by reference number 120, the navigation system may generate updated navigational information (e.g., for the surgical tool) based on a movement of the surgical tool. For example, as described above, the navigation system may be configured to track the movement and / or trajectory of the surgical tool during the procedure. The navigation system may determine and / or generate the updated navigational information based on determining that the surgical tool has moved from a position of the surgical tool at the time the navigational information was generated (e.g., as described in connection withDocket No. A001179WO01 reference number 105). The navigation system may determine or generate the updated navigational information in a similar manner as described elsewhere herein, such as in connection with reference number 105.

[0047] As shown by reference number 125, the navigation system may transmit or provide, and the guidance device may receive or obtain, the updated navigational information. In some examples, the navigation system may periodically transmit navigational information (e.g., the updated navigational information) to the guidance device. Additionally, or alternatively, the navigation system may transmit the updated navigational information based on detecting an event. For example, the event may include the updated navigational information indicating that one or more distances satisfy one or more thresholds. As an example, the event may include a distance between a current position or orientation of the surgical tool and a planned position or orientation of the surgical tool satisfying a threshold (e.g., indicating that the surgical tool is not following a planned trajectory for the procedure). As another example, the event may include the distance between a current position of the surgical tool and an anatomical element or area (e.g., an intended anatomical element for the procedure or a sensitive structure) of the patient satisfying a threshold (e.g., indicating that the surgical tool is moving closer to, or further away from, the anatomical element or area of the patient).

[0048] As shown by reference number 130, the guidance device may output a guidance indicator based on the updated navigational information. The guidance indicator output by the guidance device as described in connection with reference number 115 may be a first guidance indicator and the guidance indicator output by the guidance device as described in connection with reference number 130 may be a second guidance indicator. For example, the guidance device may determine the second guidance indicator based on the updated navigational information. For example, the second guidance indicator may indicate the movement, position, or trajectory of the surgical tool relative the movement, position, or trajectory of the surgical tool at the time that the first guidance indicator was output.

[0049] For example, the first guidance indicator (e.g., a first output) may be associated with a first location of the surgical tool relative to an area of interest of the patient (e.g., an anatomical area on the patient to be cut, resected, manipulated, imaged, scanned, and / or otherwise interacted with via the surgical tool). The updated navigational information may indicate a second location of the surgical tool relative to the area of interest. The guidance device may provide a second output (e.g., the second guidance indicator) indicating that theDocket No. A001179WO01 surgical tool is at the second location. For example, the second guidance indicator may be different than the first guidance indicator.

[0050] As an example, the second guidance indicator may indicate that the position of the surgical tool is closer too, or further from, the area of interest (e.g., relative to the position at the time that the first guidance indictor was output), such as by illuminating more or fewer visual indicators (e.g., LEDs), illuminating a different color of a visual indictor, outputting a different sound, and / or providing a different type or intensity of haptic feedback, among other examples. As another example, the second guidance indicator may include an updated depth indicator and / or a sensitive structure alert based on the updated navigational information, in a similar manner as described elsewhere herein.

[0051] As another example, the second guidance indicator may include the guidance device ceasing or stopping the output of the first guidance indicator. For example, the second guidance indicator may be output or provided via stopping the output of the first guidance indicator. In other examples, the guidance device may stop outputting the first guidance indicator (e.g., without outputting a second guidance indicator) based on the updated navigational information.

[0052] This enables the user to quickly and easily identify whether the movement of the surgical tool is correct without having to perform a context switch to obtain or view the navigational information (e.g., may enable the user to navigate the surgical tool in a headsdown manner (e.g., while keeping focus on the patient) with the assistance of the navigational information). Additionally, this reduces the cognitive load associated with the user obtaining the navigational information enabling the user to keep their focus on the patient, thereby reducing the risk of unintended outcomes for the patient that may otherwise be caused by a distraction of the user associated with obtaining or viewing the navigational information.

[0053] As indicated above, Figs. 1A-1B are provided as an example. Other examples may differ from what is described with regard to Figs. 1 A-1B.

[0054] Fig. 2 is a diagram of an example 200 associated with a guidance device 205 for a surgical tool 210. The surgical tool 210 is depicted in Fig. 2 as a probe as an example.

[0055] As shown in Fig. 2, the guidance device 205 may include a visual interface 215. The guidance device 205 may be configured to output a guidance indicator (e.g., a visual indicator) via the visual interface 215. For example, the visual interface 215 may include one or more visual elements 220 (e.g., one or more LEDs), such as four visual elements 220 shown in Fig. 2 as an example. In other examples, the visual interface 215 may include a different quantity of visual elements 220, differently arranged visual elements 220, and / or aDocket No. A001179WO01 different type of visual interface 215. For example, the guidance indicator may include one or more visual elements 220 being illuminated (e.g., in one or more colors). For example, the guidance indicator may include a certain quantity of visual elements 220 being illuminated and / or the visual element(s) 220 being illuminated in a certain color. The quantity of visual elements 220 being illuminated and / or the color of the visual element(s) 220 being illuminated may be indicative of the navigational information, as described in more detail elsewhere herein. Additionally, or alternatively, the guidance device 205 may include other types of output components (e.g., instead of, or in addition to, the visual interface 215), such as an audio output component and / or a haptic output component, among other examples.

[0056] As shown in Fig. 2, the guidance device 205 may be attached to the surgical tool 210. For example, in the example 200, the surgical tool 210 may be the element to which the guidance device 205 is attached, as described in more detail elsewhere herein. As a result, as a user is manipulating or otherwise using the surgical tool during a procedure, the guidance device 205 will be visible to the user without the user having to look away from an area in which the surgical tool 210 is being used. Therefore, the user can keep their attention on the surgical tool and the patient while also viewing the guidance device 205 which can provide the guidance indicator that is indicative of the navigational information for the surgical tool 210.

[0057] In some examples, the guidance device 205 may be removably attached to the surgical tool 210. This enables guidance device 205 to be removed from the surgical tool 210 and to be re-used for other surgical tools. For example, the surgical tool 210 may include a shaft 225. The guidance device 205 may be removably attached to the shaft 225 (e.g., the shaft 225 may be the element to which the guidance device 205 is attached). For example, the guidance device 205 may include an annular body that enables the guidance device 205 to be slid over the shaft 225 and removably attached to the shaft 225. For example, the annular body may be an attachment component of the guidance device 205 by which the guidance device 205 is removably attached to the surgical tool 210. In other examples, the guidance device 205 may include other types of attachment components, as described in more detail elsewhere herein.

[0058] As indicated above, Fig. 2 is provided as an example. Other examples may differ from what is described with regard to Fig. 2.

[0059] Figs. 3A-3C are diagrams of examples associated with the guidance device 205 for the surgical tool 210.Docket No. A001179WO01

[0060] Fig. 3 A depicts an example 300 of a guidance indicator that is output via the guidance device 205. As shown in Fig. 3A, the visual interface 215 may include a visual element 220 configured as an arrow. The guidance device 205 may cause the visual element 220 to be illuminated (e.g., in a first color, such as green) to indicate that the surgical tool is to continue to move in a given direction (e.g., based on the navigational information received from the navigation system, as described elsewhere herein). The guidance device 205 may cause the visual element 220 to be unilluminated or illuminated in a second color, such as red, to indicate that the surgical tool is to stop moving in a given direction (e.g., based on the navigational information received from the navigation system, as described elsewhere herein).

[0061] As another example, as shown in Figs. 3B and 3C, the visual interface 215 may include multiple visual elements 220. The guidance device 205 may be configured to illuminate one or more of the visual elements 220 to indicate guidance based on the navigational information. For example, the multiple visual elements 220 may be configured as a depth indicator (e.g., indicating a depth of the surgical tool 210 relative to a patient anatomy). As shown in Fig. 3B and example 305, none of the visual elements 220 may be illuminated. This may indicate that the surgical tool 210 has not yet begun operation for the procedure (e.g., is not in a position to perform the procedure) and / or may indicate that the surgical tool 210 has not been inserted into the patient anatomy. As shown in Fig. 3C and example 310, one or more of the visual elements 220 may be illuminated to indicate guidance based on the navigational information. For example, as shown in Fig. 3C, a first one or more visual elements 220a may be illuminated in a first color (or may not be illuminated) and a second one or more visual elements 220b may be illuminated in a second color. The quantity of the first one or more visual elements 220a and the quantity of the second one or more visual elements 220b may be indicative of a position or depth of the surgical tool 210 relative to the patient anatomy. For example, as the surgical tool 210 moves relative to the patient anatomy (e.g., as indicated by the navigational information received from the navigation system), the guidance device 205 may cause more or fewer visual elements 220 to be illuminated in the first color or the second color. As another example, the guidance device 205 may cause more or fewer visual elements 220 to be illuminated or unilluminated. This change may be indicative of the change in movement or position of the surgical tool 210 as indicated by the navigational information.

[0062] As indicated above, Figs. 3A-3C are provided as an example. Other examples may differ from what is described with regard to Figs. 3A-3C.Docket No. A001179WO01

[0063] Fig. 4 is a diagram of an example environment 400 in which systems and / or methods described herein may be implemented. As shown in Fig. 4, environment 400 may include a guidance device 410, a navigation system 420, a surgical tool 430, and a network 440. Devices of environment 400 may interconnect via wired connections, wireless connections, or a combination of wired and wireless connections. The guidance device 410 may be, or may be similar to, the guidance device 205. The surgical tool 430 may be, or may be similar to, the surgical tool 210.

[0064] The guidance device 410 may include one or more devices capable of receiving, generating, storing, processing, and / or providing information associated with navigational information for the surgical tool 430. The guidance device 410 may include a communication device and / or a computing device. The guidance device 410 may be any device capable of, or configured to, provide, display, or otherwise output (e.g., via a visual output and / or an audio output) information. For example, the guidance device 410 may be configured to communicate with the navigation system 420, such as via the network 440. As described elsewhere herein, the guidance device 410 may be attached to (e.g., removably) and / or included as part of the surgical tool 430.

[0065] The navigation system 420 may include one or more devices capable of receiving, generating, storing, processing, and / or providing information associated with generating protocols for segmented body image data interpolation, as described elsewhere herein. The navigation system 420 may include a communication device and / or a computing device. The navigation system 420 may provide navigation for a surgeon and / or a surgical robot during a surgical procedure. The navigation system 420 may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the environment 400 is located. The one or more cameras may be optical cameras, endoscopic cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 420 may include one or more electromagnetic sensors. In some examples, the navigation system 420 may be used to track a position and orientation (e.g., a pose) of an imaging device, a retraction assembly, an end unit, a robot, a robotic arm, and / or one or more surgical tools 430 (e.g., to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the examples described above). The navigation system 420 may include a display for displaying one or more images from an external source or for displaying an image and / or video stream from the one or more cameras or other sensors of the navigation system 420. The navigation system 420 may be configured to provide guidance to a surgeon or other userDocket No. A001179WO01 in the environment 400, to a robot, or to any other device or component of the environment 400. The guidance provided by the navigation system 420 may include a pose of one or more anatomical elements, whether or not the surgical tool 430 is in the proper trajectory, and / or how to move a tool into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan, among other examples. For example, the navigation system 420 may be configured to generate and / or provide the navigational information of the surgical tool 430, as described in more detail elsewhere herein.

[0066] The surgical tool 430 may be an implement or tool used as part of a procedure or surgery. For example, the surgical tool 430 may include an implement, a surgical instrument, a cutting tool, a grasper, scissors, an electrocautery tool, a suction tool, a probe (e.g., an OCT probe, a sonography probe (e.g., an ultrasound transducer), an endocavitary probe, or another type of probe), an imaging device, a Doppler device, an electrocardiogram device, a spectrometer, an X-ray device, a handheld MRI device, a retractor, a stapler, a dissector (e.g., an ultrasonic dissector), a camera (e.g., a thermal imaging camera or an infrared thermography device), an endoscope, a drill, a cutter, a laser, an aspirator (e.g., an ultrasonic aspirator), a trocar, and / or a cannula, among other examples. In some examples, the surgical tool 430 may include one or more markers to enable tracking by the navigation system 420. In some examples, the surgical tool 430 may include one or more components (e.g., a radiofrequency identification (RFID) component or another component) configured to transmit signal(s) to the navigation system 420 to enable tracking by the navigation system 420.

[0067] The network 440 may include one or more wired and / or wireless networks. For example, the network 440 may include a wireless wide area network (e.g., a cellular network or a public land mobile network), a local area network (e.g., a wired local area network or a wireless local area network (WLAN), such as a Wi-Fi network), a personal area network (e.g., a Bluetooth network), a near-field communication network, a telephone network, a private network, the Internet, and / or a combination of these or other types of networks. The network 440 enables communication among the devices of environment 400.

[0068] The number and arrangement of devices and networks shown in Fig. 4 are provided as an example. In practice, there may be additional devices and / or networks, fewer devices and / or networks, different devices and / or networks, or differently arranged devices and / or networks than those shown in Fig. 4. Furthermore, two or more devices shown in Fig. 4 may be implemented within a single device, or a single device shown in Fig. 4 may be implemented as multiple, distributed devices. Additionally, or alternatively, a set of devicesDocket No. A001179WO01(e.g., one or more devices) of environment 400 may perform one or more functions described as being performed by another set of devices of environment 400.

[0069] Fig. 5 is a diagram of an example environment 500 in which systems and / or methods described herein may be implemented. As shown in Fig. 5, the environment 500 may include the guidance device 410, the navigation system 420, and an element 505. The guidance device 410 may include an attachment component 510, a communication component 515, a processing component 520, and an output component 525.

[0070] The element 505 may be any element configured to be located within an operational area associated with a procedure. In some examples, the element 505 may be a surgical tool (e.g., the surgical tool 430) that is being tracked by the navigation system 420. In other examples, the element 505 may include a wearable element of a user (e.g., a surgeon or clinician), such as a sleeve, a collar, and / or a glove, among other examples. In other examples, the element 505 may be a component or fixture in an environment of the procedure, such as a surgical table, a post, a lighting fixture or arm, and / or another fixture.

[0071] The attachment component 510 may include one or more components or other means configured to attach the guidance device 410 to the element 505. In some examples, the attachment component 510 may be configured to removably attach the guidance device 410 to the element 505. The attachment component 510 may include a body of the guidance device 410. For example, the body may have a shape or configuration that enables the guidance device 410 to be removably attached to the element 505, such as by placing the body on, or around, the element 505. As an example, the element 505 may be a shaft (e.g., of the surgical tool) and the body may have an annular configuration that is configured to be placed around the shaft. In some examples, the attachment component 510 may include includes a fastener configured to removably attach the guidance device 410 to the element 505, such as a clip, a hook and loop component (e.g., a Velcro ® component), a pin, a strap, and / or a band, among other examples. In some examples, the attachment component 510 may include a bracket, one or more magnets, a tie, a snap fitting, an adhesive pad, a latch, a pin, a suction cup, a mounting plate, a threaded insert, a clamp, and / or a swivel hook, among other examples.

[0072] The communication component 515 may include one or more components configured to enable the guidance device 410 to communicate with one or more other devices or systems, such as the navigation system 420. The communication component 515 may include a communication interface. The communication component 515 may be, or may include, the communication component 660 described in connection with Fig. 6. TheDocket No. A001179WO01 communication component 515 may include a transceiver, a Bluetooth component, a WLAN (e.g., Wi-Fi) component, a near field communication (NFC) component, a long range communication component, a radio frequency (RF) communication component, an Internet of things (loT) communication component, a cellular modem, a controller area network (CAN) component, a serial communication component, an inter-integrated circuit (I2C), a serial peripheral interface (SPI), and / or an infrared communication component, among other examples configured to enable communication with one or more other devices. The communication component 515 may be configured to enable wireless communication and / or wired communication between the communication component 515 and one or more devices, such as the navigation system 420. As shown in Fig. 5, the guidance device 410 may be configured to receive or obtain navigational information 530 from the navigation system 420 via the communication component 515.

[0073] The processing component 520 may include one or more components configure to process, generate, analyze, and / or determine information. The processing component 520 may include one or more processors and / or one or more memories, such as the processor 620 and / or the memory 630 described in connection with Fig. 6. For example, the processing component 520 may be configured to determine a guidance indicator 535 based on the navigational information 530 (e.g., obtained via the communication component 515).

[0074] The output component 525 may be configured to output information and / or signals, such as the guidance indicator 535. The output component 525 may include, or be similar to, the output component 650 described in connection with Fig. 6. For example, the processing component 520 may be configured to cause the output component 525 to provide or output the guidance indicator 535. The output component 525 may include a visual interface, an audio interface, and / or a haptic interface, among other examples. For example, the output component 525 may include one or more LEDs, a display, a speaker, and / or a vibration component (e.g., a piezoelectric actuator, a linear resonant actuator, or another component configured to cause the guidance device 410 to vibrate), among other examples.

[0075] As indicated above, Fig. 5 is provided as an example. Other examples may differ from what is described with regard to Fig. 5. In practice, there may be additional devices and / or networks, fewer devices and / or networks, different devices and / or networks, or differently arranged devices and / or networks than those shown in Fig. 5. Furthermore, two or more devices shown in Fig. 5 may be implemented within a single device, or a single device shown in Fig. 5may be implemented as multiple, distributed devices. Additionally, or alternatively, a set of devices (e.g., one or more devices) of environment 500 may performDocket No. A001179WO01 one or more functions described as being performed by another set of devices of environment 500.

[0076] Fig. 6 is a diagram of example components of a device 600 associated with a guidance device for a surgical tool. The device 600 may correspond to the guidance device (e.g., the guidance device 205 or the guidance device 410), the navigation system (e.g., the navigation system 420), and / or a surgical tool (e.g., the surgical tool 430). In some implementations, the guidance device (e.g., the guidance device 205 or the guidance device 410), the navigation system (e.g., the navigation system 420), and / or a surgical tool (e.g., the surgical tool 430) may include one or more devices 600 and / or one or more components of the device 600. As shown in Fig. 6, the device 600 may include a bus 610, a processor 620, a memory 630, an input component 640, an output component 650, and / or a communication component 660.

[0077] The bus 610 may include one or more components that enable wired and / or wireless communication among the components of the device 600. The bus 610 may couple together two or more components of Fig. 6, such as via operative coupling, communicative coupling, electronic coupling, and / or electric coupling. For example, the bus 610 may include an electrical connection (e.g., a wire, a trace, and / or a lead) and / or a wireless bus. The processor 620 may include a central processing unit, a graphics processing unit, a microprocessor, a controller, a microcontroller, a digital signal processor, a field-programmable gate array, an application-specific integrated circuit, and / or another type of processing component. The processor 620 may be implemented in hardware, firmware, or a combination of hardware and software. In some implementations, the processor 620 may include one or more processors capable of being programmed to perform one or more operations or processes described elsewhere herein.

[0078] The memory 630 may include volatile and / or nonvolatile memory. For example, the memory 630 may include random access memory (RAM), read only memory (ROM), a hard disk drive, and / or another type of memory (e.g., a flash memory, a magnetic memory, and / or an optical memory). The memory 630 may include internal memory (e.g., RAM, ROM, or a hard disk drive) and / or removable memory (e.g., removable via a universal serial bus connection). The memory 630 may be a non-transitory computer-readable medium. The memory 630 may store information, one or more instructions, and / or software (e.g., one or more software applications) related to the operation of the device 600. In some implementations, the memory 630 may include one or more memories that are coupled (e.g., communicatively coupled) to one or more processors (e.g., processor 620), such as via theDocket No. A001179WO01 bus 610. Communicative coupling between a processor 620 and a memory 630 may enable the processor 620 to read and / or process information stored in the memory 630 and / or to store information in the memory 630.

[0079] The input component 640 may enable the device 600 to receive input, such as user input and / or sensed input. For example, the input component 640 may include a touch screen, a keyboard, a keypad, a mouse, a button, a microphone, a switch, a sensor, a global positioning system sensor, a global navigation satellite system sensor, an accelerometer, a gyroscope, and / or an actuator. The output component 650 may enable the device 600 to provide output, such as via a display, a speaker, and / or a light-emitting diode. The communication component 660 may enable the device 600 to communicate with other devices via a wired connection and / or a wireless connection. For example, the communication component 660 may include a receiver, a transmitter, a transceiver, a modem, a network interface card, and / or an antenna.

[0080] The device 600 may perform one or more operations or processes described herein. For example, a non-transitory computer-readable medium (e.g., memory 630) may store a set of instructions (e.g., one or more instructions or code) for execution by the processor 620. The processor 620 may execute the set of instructions to perform one or more operations or processes described herein. In some implementations, execution of the set of instructions, by one or more processors 620, causes the one or more processors 620 and / or the device 600 to perform one or more operations or processes described herein. In some implementations, hardwired circuitry may be used instead of or in combination with the instructions to perform one or more operations or processes described herein. Additionally, or alternatively, the processor 620 may be configured to perform one or more operations or processes described herein. Thus, implementations described herein are not limited to any specific combination of hardware circuitry and software.

[0081] The number and arrangement of components shown in Fig. 6 are provided as an example. The device 600 may include additional components, fewer components, different components, or differently arranged components than those shown in Fig. 6. Additionally, or alternatively, a set of components (e.g., one or more components) of the device 600 may perform one or more functions described as being performed by another set of components of the device 600.

[0082] The techniques of this disclosure may also be described in the following examples:

[0083] Example 1 : A system, comprising: a surgical tool; a navigation system configured to determine navigational information for the surgical tool, the navigational information beingDocket No. A001179WO01 associated with navigation of the surgical tool for a procedure; and a guidance device configured to be removably attached to an element configured within an operational area of the procedure, the guidance device being configured to: obtain, from the navigation system, an indication of the navigational information; and provide an output that is indicative of the navigational information.

[0084] Example 2: The system of Example 1, wherein the element is the surgical tool.

[0085] Example 3: The system of any of Examples 1-2, wherein the guidance device includes a fastener configured to removably attach the guidance device to the element.

[0086] Example 4: The system of any of Examples 1-3, wherein the output indicates directional guidance for a movement of the surgical tool based on the navigational information.

[0087] Example 5: The system of any of Examples 1-4, wherein the output includes at least one of: a visual output, an audio output, or a haptic output.

[0088] Example 6: The system of any of Examples 1-5, wherein the output is a first output associated with a first location of the surgical tool relative to an area of interest of the patient, wherein the guidance device is further configured to: obtain, from the navigation system, an indication of a second location of the surgical tool relative to the area of interest; and provide a second output indicating that the surgical tool is at the second location, wherein the first output is different than the second output.

[0089] Example 7: The system of any of Examples 1-6, wherein the guidance device includes a visual interface configured to provide the output.

[0090] Example 8: The system of Example 7, wherein the visual interface includes one or more light-emitting diodes.

[0091] Example 9: The system of any of Examples 1-8, wherein the surgical tool includes a shaft, and wherein the element is the shaft.

[0092] Example 10: A guidance device, comprising: an attachment component configured to removably attach the guidance device to an element within a field of view associated with a patient of a procedure; a communication component configured to: receive, from a navigation system, navigational information for a surgical tool, the navigational information being indicative of a trajectory of the surgical tool during the procedure; and an output component configured to output a guidance indicator that is based on the navigational information.Docket No. A001179WO01

[0093] Example 11 : The guidance device of Example 10, wherein the guidance indicator indicates directional guidance for a movement of the surgical tool based on the navigational information.

[0094] Example 12: The guidance device of any of Examples 10-11, wherein the guidance indicator includes at least one of: a visual indicator, an audio indicator, or a haptic indicator.

[0095] Example 13: The guidance device of any of Examples 10-12, wherein the guidance indicator is a first indicator associated with a first location of the surgical tool relative to an area of interest of the patient, wherein the communication component is further configured to: obtain, from the navigation system, an indication of a second location of the surgical tool relative to the area of interest; and wherein the output component is further configured to: output a second indicator indicating that the surgical tool is at the second location, wherein the first indicator is different than the second indicator.

[0096] Example 14: The guidance device of any of Examples 10-13, wherein the output component includes a visual interface configured to output the guidance indicator.

[0097] Example 15: The guidance device of any of Examples 10-14, wherein the element is the surgical tool.

[0098] Example 16: A system, comprising: a surgical tool; and a guidance device configured to be removably attached to the surgical tool, the guidance device being configured to: obtain, from a navigation system, an indication of navigational information for the surgical tool, the navigational information being associated with navigation of the surgical tool for a procedure; and provide an output that is indicative of the navigational information.

[0099] Example 17: The system of Example 16, wherein the output indicates directional guidance for a movement of the surgical tool based on the navigational information.

[0100] Example 18: The system of any of Examples 16-17, wherein the output includes a visual output.

[0101] Example 19: The system of any of Examples 16-18, wherein the output is a first output associated with a first location of the surgical tool relative to an area of interest of a patient, wherein the guidance device is further configured to: obtain, from the navigation system, an indication of a second location of the surgical tool relative to the area of interest; and provide a second output indicating that the surgical tool is at the second location, wherein the first output is different than the second output.

[0102] Example 20: The system of any of Examples 16-19, wherein the surgical tool includes a shaft, and wherein the guidance device is removably attached to the shaft.Docket No. A001179WO01

[0103] Example 21 : The system of any of Examples 16-20, wherein the output is based on profile information of a user who is to perform the procedure.

[0104] Example 21 : A system configured to perform one or more operations recited in one or more of Aspects 1-21.

[0105] Example 22: An apparatus comprising means for performing one or more operations recited in one or more of Aspects 1-21.

[0106] Example 23: A non-transitory computer-readable medium storing a set of instructions, the set of instructions comprising one or more instructions that, when executed by a device, cause the device to perform one or more operations recited in one or more of Examples 1-21.

[0107] Example 24: A computer program product comprising instructions or code for executing one or more operations recited in one or more of Examples 1-21.

[0108] Example 25: A method comprising one or more operations recited in one or more of Examples 1-21.

[0109] The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the aspects described herein to the precise forms that are described. Modifications and variations may be made in light of the above description or may be acquired from practice of the aspects described herein.

[0110] As used herein, the term “component” is intended to be broadly construed as hardware, firmware, and / or a combination of hardware and software. It will be apparent that systems and / or methods described herein may be implemented in different forms of hardware, firmware, or a combination of hardware and software. The actual specialized control hardware or software code used to implement these systems and / or methods is not limiting of the aspects described herein. Thus, the operation and behavior of the systems and / or methods are described herein without reference to specific software code — it being understood that software and hardware can be designed to implement the systems and / or methods based on the description herein.[oni] As used herein, satisfying a threshold may, depending on the context, refer to a value being greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, not equal to the threshold, or the like.

[0112] Even though particular combinations of features are recited in the claims and / or described in the specification, these combinations are not intended to limit the aspects described herein. In fact, many of these features may be combined in ways not specificallyDocket No. A001179WO01 recited in the claims and / or described in the specification. Although each dependent claim listed below may directly depend on only one claim, the description includes each dependent claim in combination with every other claim in the claim set. As used herein, a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of a, b, or c” is intended to cover a, b, c, a-b, a-c, b-c, and a-b-c, as well as any combination with multiple of the same item.

[0113] When “a component” or “one or more components” (or another element, such as “a controller” or “one or more controllers”) is described or claimed (within a single claim or across multiple claims) as performing multiple operations or being configured to perform multiple operations, this language is intended to broadly cover a variety of architectures and environments. For example, unless explicitly claimed otherwise (e.g., via the use of “first component” and “second component” or other language that differentiates components in the claims), this language is intended to cover a single component performing or being configured to perform all of the operations, a group of components collectively performing or being configured to perform all of the operations, a first component performing or being configured to perform a first operation and a second component performing or being configured to perform a second operation, or any combination of components performing or being configured to perform the operations. For example, when a claim has the form “one or more components configured to: perform X; perform Y; and perform Z,” that claim should be interpreted to mean “one or more components configured to perform X; one or more (possibly different) components configured to perform Y; and one or more (also possibly different) components configured to perform Z.”

[0114] No element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such. Also, as used herein, the articles “a” and “an” are intended to include one or more items, and may be used interchangeably with “one or more.” Further, as used herein, the article “the” is intended to include one or more items referenced in connection with the article “the” and may be used interchangeably with “the one or more.” Furthermore, as used herein, the term “set” is intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items,), and may be used interchangeably with “one or more.” Where only one item is intended, the phrase “only one” or similar language is used. Also, as used herein, the terms “has,” “have,” “having,” or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based, at least in part, on” unless explicitly stated otherwise. Also, as used herein, the term “or” is intended to be inclusive when used in a series and may be usedDocket No. A001179WO01 interchangeably with “and / or,” unless explicitly stated otherwise (e.g., if used in combination with “either” or “only one of’). Further, spatially relative terms, such as “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature’s relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the apparatus, device, and / or element in use or operation in addition to the orientation depicted in the figures. The apparatus may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may likewise be interpreted accordingly.

Claims

Docket No. A001179WO01WHAT IS CLAIMED IS:

1. A system, comprising: a surgical tool (210, 430); a navigation system (420) configured to determine navigational information for the surgical tool (210, 430), the navigational information being associated with navigation of the surgical tool (210, 430) for a procedure; and a guidance device (205, 410) configured to be removably attached to an element (505) configured within an operational area of the procedure, the guidance device (205, 410) being configured to: obtain, from the navigation system (420), an indication of the navigational information; and provide an output that is indicative of the navigational information.

2. The system of claim 1, wherein the element (505) is the surgical tool (210, 430).

3. The system of any of claims 1-2, wherein the guidance device (205, 410) includes a fastener configured to removably attach the guidance device (205, 410) to the element (505).

4. The system of any of claims 1-3, wherein the output indicates directional guidance for a movement of the surgical tool (210, 430) based on the navigational information.

5. The system of any of claims 1-4, wherein the output includes at least one of: a visual output, an audio output, or a haptic output.

6. The system of any of claims 1-5, wherein the output is a first output associated with a first location of the surgical tool (210, 430) relative to an area of interest of a patient of the procedure, wherein the guidance device (205, 410) is further configured to: obtain, from the navigation system (420), an indication of a second location of the surgical tool (210, 430) relative to the area of interest; and provide a second output indicating that the surgical tool (210, 430) is at the second location, wherein the first output is different than the second output.Docket No. A001179WO017. The system of any of claims 1-6, wherein the guidance device (205, 410) includes a visual interface (215) configured to provide the output.

8. The system of claim 7, wherein the visual interface (215) includes one or more lightemitting diodes.

9. The system of any of claims 1-8, wherein the surgical tool (210, 430) includes a shaft (225), and wherein the element (505) is the shaft (225).

10. A guidance device (205, 410), comprising: an attachment component (510) configured to removably attach the guidance device (205, 410) to an element (505) within a field of view associated with a patient of a procedure; a communication component (515) configured to: receive, from a navigation system (420), navigational information for a surgical tool (210, 430), the navigational information being indicative of a trajectory of the surgical tool (210, 430) during the procedure; and an output component (525) configured to output a guidance indicator (535) that is based on the navigational information.

11. The guidance device (205, 410) of claim 10, wherein the guidance indicator (535) indicates directional guidance for a movement of the surgical tool (210, 430) based on the navigational information.

12. The guidance device (205, 410) of any of claims 10-11, wherein the guidance indicator (535) includes at least one of: a visual indicator, an audio indicator, or a haptic indicator.

13. The guidance device (205, 410) of any of claims 10-12, wherein the guidance indicator (535) is a first indicator associated with a first location of the surgical tool (210,Docket No. A001179WO01430) relative to an area of interest of the patient, wherein the communication component (515) is further configured to: obtain, from the navigation system (420), an indication of a second location of the surgical tool (210, 430) relative to the area of interest; and wherein the output component (525) is further configured to: output a second indicator indicating that the surgical tool (210, 430) is at the second location, wherein the first indicator is different than the second indicator.

14. The guidance device (205, 410) of any of claims 10-13, wherein the output component includes a visual interface (215) configured to output the guidance indicator (535).

15. The guidance device (205, 410) of any of claims 10-14, wherein the guidance indicator (535) is based on profile information of a user who is to perform the procedure.

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