System and method to maintain a connection with a surgical navigation system

Abstract

A method and system are disclosed for assisting in performing a procedure. The system and method may allow for a continuous connection to an input system. The connection may be maintained regardless of movement of the input system.

Description

Attorney Docket No. A0011562 SYSTEM AND METHOD TO MAINTAIN A CONNECTION WITH A SURGICAL NAVIGATION SYSTEM

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 740,607, filed 31 December 2024, the entire content of which is incorporated herein by reference.FIELD

[0002] The present disclosure relates to maintaining a connection, and particularly to maintain a wireless connection during operation of a surgical navigation system.BACKGROUND

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

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

[0005] A surgeon can perform the procedure on the subject with images of the subject that are based on projections of the subject. The images may be generated with imaging systems such as a magnetic resonance imaging (MRI) system, computed tomography (CT) system, fluoroscopy (e.g. C-Arm imaging systems), or other appropriate imaging systems.

[0006] A surgical procedure may be performed or assisted with a surgical navigation system. The surgical navigation system includes a transmission antenna andAttorney Docket No. A0011562 various receiver antennas. The receiver antennas are physically connected, such as by a wire, to a processing system. A display may display the images and may also be physically connected to a processing system. The surgical navigation system, therefore, may have limited range or hinderances to movement.SUMMARY

[0007] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

[0008] The subject disclosure relates to a system that allows communication between various components in a system. The components may be included in a surgical navigation system. The components may be spaced apart from one another and not require a physical connection for communication between the various components. The communication may be a wireless over the air communication via a selected signal. The communication, therefore, may be unhindered and / or without a physical connection such as a wire, a memory medium, or the like. The communication, however, may be substantially real time such as including a lag and / or latency of less than about 0.01 seconds to about 1 second, including less than about 0.5 seconds.

[0009] The surgical navigation system may include a processing system that processes signals received from a tracking device and signals received from an imaging device or images to allow for illustration of a pose of a tracked instrument relative to an image based upon a determined pose of the instrument in a navigation space.

[0010] A display device may be provided to display the image and the determined pose thereof based upon a determined navigated pose of the instrument. The display device may be provided a distance from a processor system and also may not include or have a physical connection between the display device and the processing system. Thus, the display device may have a communication that is also unhindered and / or without aAttorney Docket No. A0011562 physical connection such as a wire, a memory medium, or the like such that they are wireless including an over the air signal transmission.

[0011] A server system may be positioned away from other components of the surgical navigation system. In various embodiments, a server system may be provided or positioned in a room separate from a surgical theater. The server system may also be provided within the surgical theater, but spaced apart from the other components, such as the display device, the tracking system, the imaging system, and the like. The server system may provide information to be acquired or recalled for tracking a pose of an instrument, providing or generating images of the subject, and other data. The server system, however, may be provided to be spaced apart from the other components of the surgical navigation system.

[0012] In various embodiments, the lack or elimination of a physical connection between various components allows for an efficient use of space in a surgical operating theater and ease of movements of various components. The surgical navigation system may be used without requiring an individual or physical connection of various components, thus minimizing components that may obstruct a use of a portion of the system or operation of the system or various other components, such as components of the surgical navigation system or other components used during a procedure.

[0013] 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. A0011562 BRIEF DECSRIPTION OF THE DRAWINGS

[0014] 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.

[0015] Fig. 1 is an environmental view of an operating theatre with various systems, according to various embodiments;

[0016] Fig. 2 is a detail elevational environmental view of an operating theatre with various systems including a wireless communication protocol, according to various embodiments;

[0017] Fig. 3 is a detail top environmental view of an operating theatre with various systems including the wireless communication protocol, according to various embodiments; and

[0018] Fig. 4 is a schematic view of various components of a surgical navigation system including the wireless communication protocol, according to various embodiments.

[0019] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.DETAILED 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.Attorney Docket No. A0011562 The systems may be used to, for example, image and 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 consorted actions. Accordingly, the exemplary illustration of a surgical procedure herein is not intended to limit the scope of the appended claims.

[0022] Various members or portions thereof may also 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. The subject may also be tracked. 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 pose of the tracking device in a navigation system coordinate system. The pose may include any number of degrees of freedom, such as a three-dimensional location (e.g., x, y, z) and an orientation (e.g., yaw, pitch, and roll). Techniques, systems, or processes to determine 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 navigation volume, in which a device may be tracked, may include or be referred to as the navigation coordinate system or navigation space. A determination or correlation between two coordinate systems may allow for or also be referred to as a registration between two coordinate systems.Attorney Docket No. A0011562

[0023] Image data may be acquired for use and / or to generate images, which may also be referred to as image visualizations, of selected portions of a subject. The images may be displayed for viewing by a user, such as a surgeon. In various embodiments, superimposed on at least a portion of the image may be a graphical representation of a tracked portion or member, such as an instrument. The graphical representation may be generated (e.g., by a processor module executing instructions) entirely as a graphic that represents the instrument. According to various embodiments, the graphical representation may be superimposed on the image at an appropriate pose due to registration of an image space (also referred to as an image coordinate system) to a subject space. Image space is the coordinate system defined relative to the image (such as on the display) and the subject space is the coordinate system of the volume around or near the subject. In various embodiments, the subject space and navigation space may at least partially overlap. The various spaces and / or one or more methods 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.

[0024] During a selected procedure, a first coordinate system may be registered to a subject coordinate system (also referred to as a subject space) due to a selected procedure, such as imaging of the subject. In various embodiments, the first coordinate system may be registered to the subject by imaging the subject with a fiducial portion that is fixed relative to the first member or system, such as a robotic system or other instrument. The known position of the fiducial relative to any portion, such as the robotic system or the subject, may be used to register the subject space relative to any coordinate system in which the fiducial may be determined (e.g., by imaging or detecting (e.g., touching)). A registration of a second coordinate system may allow for tracking ofAttorney Docket No. A0011562 additional elements not fixed to a first portion, such as a robot that has a known coordinate system.

[0025] The tracking of an instrument during a procedure, such as a surgical or operative procedure, allows for navigation of a procedure. The navigation may be used to determine a pose of one or more portions, such as an instrument. The pose may include any number of degrees of freedom, such as a three-dimensional location (e.g., x, y, z) and an orientation (e.g., yaw, pitch, and roll). 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. According to various embodiments, therefore, the patient defines the 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.

[0026] Registration may occur according to various embodiments, as discussed above, and briefly noted below and included in the various references incorporated herein. For example, in various embodiments the registration may occur with navigation system tracking both the imaging device and the patient reference frame placed in the patient anatomy. In various embodiments, instruments are tracked by the navigation system in the patient space. A relevant pointset data is collected by tracking the instrument and touching or tracing the tracked instrument on patient anatomy. The relevant pointset is matched to anatomical features extracted from image data to establish the registration between image space and patient physical space.

[0027] Fig. 1 is a diagrammatic view illustrating an overview of a procedure room or arena 18. In various embodiments, the procedure room may include a surgical suite in which may be placed a robotic system 20 and a navigation system 26 (includingAttorney Docket No. A0011562 examples referred to herein) that can be used for various procedures. The robotic system 20 may include a MazorX™ robotic guidance system, sold by Mazor Robotics Ltd. having a place of business in Israel and / or Medtronic, Inc. having a place of business in Minnesota, USA and / or as disclosed in U.S. Pat. No. 11,135,025, incorporated herein by reference. The robotic system 20 may be used to assist in guiding a selected instrument, such as drills, screws, be an ultrasound (US) probe 33, etc. relative to a subject 30.

[0028] 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 system 20 may include one or more arms 40 that are moveable or pivotable relative to the subject 30, such as including an end effector 44. The end effector 44 may be any appropriate portion, such as a tube, guide, or passage member. Affixed to and / or in place of the end effector may be the imaging system that may be the US probe 33. A robotic processor module 53 may be used to control (e.g., execute instructions) to move and determine a pose of the end effector, such as relative to the base 34. The pose of the base 34 may be known in a coordinate system, such as the patient space of the patient 30 and / or the image coordinate system due to a registration as discussed above and exemplary disclosed in U.S. Pat. No. 11,135,025, incorporated herein by reference.

[0029] The navigation system 26 can be used to navigate the various portions due to the tracked pose of one or more tracking devices, tracking devices may include a robot tracking device 54, a subject tracking device 58, an imaging system tracking device 62, a tool tracking device 66, and / or an US probe tracking device 81. Each of the tracking devices may be used to track one or more portions, including those illustrated as being attached to the respective tracking devices.

[0030] An imaging device or 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 dataAttorney Docket No. A0011562 of a subject, such as the subject 30, and may be tracked with the image system tracking device 62. It will be understood, however, that any appropriate subject can be imaged and any appropriate procedure may be performed relative to the subject. In the example shown, the imaging device 80 comprises an 0-arm® imaging device sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado, USA. The imaging device 80 may have a generally annular gantry housing 82 in which an image capturing portion is moveably placed. The imaging device 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 device 80 may include in addition or alternatively a fluoroscopic C-arm. Other exemplary imaging devices may include 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 MRI, CT, ultrasound, etc. The various imaging systems may include or use one or more imaging modalities, such as x-ray, magnetic resonance, ultrasound, Positron emission tomography (PET) scans, combinations thereof, etc.

[0031] 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 device 33, 80. Also, the respective tracking devices may be used to track one or more portions of the respective imaging systems. The precise positioning and / or tracking can allow the imaging system 33, 80 and / or the navigation system 26 to know its position relative to the patient 30 or other references. 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 capturingAttorney Docket No. A0011562 portion and the image data relative to the tracked subject, such as the patient 30. The pose (e.g., distance from a selected portion of the Ultrasound (US) probe 33 and / or the tracking device 81) may be determined or predetermined and saved for recall with a calibration process and / or jig, such as that disclosed in U.S. Pat. Nos. 7,831,082; 8,320,653; and 9,138,204, all incorporated herein by reference.

[0032] The imaging device 80 may be controlled with a controller that may include one or more processor modules 97. Thus, the portions of the imaging system 80 relative to other portions, such as the gantry may be at known and / or controlled poses. Further, the imaging system 80 may be tracked with a tracking device 62. As discussed herein, this may allow the pose of one or more portions of the imaging system 80 to be known at a selected time, such as while acquiring image data of the subject 30 by the navigation system 26. Moreover, the pose of the imaging system or portion thereof may be planned and moved to a planned pose relative to the subject 30. Also, the tracking device 81 can be associated directly with the US probe 33. The US probe 33 may, therefore, be directly tracked with a navigation system as discussed herein. In addition or alternatively, the US probe 33 may be positioned and tracked with the robotic system 20. Regardless, image data defining an image space acquired of the patient 30 can, according to various embodiments, be registered (e.g., manually, inherently, or automatically) relative to an object space. The object space can be the space defined by a patient 30 in the navigation system 26.

[0033] The patient 30 can also be tracked as the patient moves with a patient tracking device, Dynamic Reference Frame (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 registration. As discussed further herein, registration of the image space to the patient space or subject space allows for navigation of theAttorney Docket No. A0011562 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. An additional and / or alternative display device 84’ may also be present to display an image. Various tracking systems, such as one including an optical localizer 88 or an electromagnetic (EM) localizer 92 can be used to track the instrument 68. The localizer, such as the optical localizer may be connected to a moveable (e.g., flexible) stand 89 that may be floor mounted and / or connected to the subject support 104. The EM localizer 94 may be similarly held or positioned.

[0034] One or more tracking system can be used to track the instrument 68, and / or any other tracking device, in the navigation system 26. According to various embodiments, these tracking systems can include an electromagnetic tracking (EM) system having the EM localizer 94, an optical tracking system having the optical localizer 88 and / or other appropriate tracking systems, not illustrated, such as an ultrasound tracking system, or other appropriate tracking systems. One or more of the tracking systems can be used to track selected tracking devices, as discussed herein, sequentially or simultaneously. 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.

[0035] Image data acquired from the imaging system 33, 80 or any appropriate imaging system, can be acquired at and / or forwarded from an image device controller 96, that may include the processor module 97, to a navigation computer and / or processor system 102 that can be a part of a controller or work station 98 having the display 84 and a user interface 106. The processor system 102 may be a processor module, as discussed herein, including integral memory or a communication system to accessAttorney Docket No. A0011562 external memory for executing instructions and / or operated as a specific integrated circuit (e.g., ASIC). 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, 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 one or more representative two-dimensional and three-dimensional image data that may be used to generate two-dimensional, three-dimensional, or a more than of either or both images.

[0036] With continuing reference to FIG. 1 , the navigation system 26 can further include any one or more tracking systems, such as 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 Colorado; or can be the EM tracking system described in U.S. Pat. No.7,751,865; U.S. Pat. No. 5,983,126; U.S. Pat. No. 5,913,820; or U.S. Pat. No. 5,592,939; 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® or S7TMor S8TMtracking systems having an opticalAttorney Docket No. A0011562 localizer, which may be used as the optical localizer 88, and sold by Medtronic Navigation, Inc. of Louisville, Colorado. Other tracking systems include an acoustic, radiation, radar, etc. The navigation system 26 and / or tracking system may be a hybrid system that includes components from multiple tracking systems. 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.

[0037] 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 can also include more than one type or modality of tracking device 66, such as an EM tracking device and / or an optical tracking device. According to various embodiments, the navigation system 26 can be used to track the instrument 68 relative to 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, which may include one or more image data or images, may be registered to the patient 30. The image data defines an 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.

[0038] Generally, registration allows a translation map to be generated of the physical location of the instrument 68 relative to the image space of the image data. The translation map allows the tracked position of the instrument 68 to be displayed on the display device 84 relative to the image 108. A 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.Attorney Docket No. A0011562

[0039] With continuing reference to Fig. 1 , a subject registration system or method can use the tracking device 58. The tracking device 58 may include portions or members 120 that may be trackable, but may also act as or be operable as a fiducial assembly. A clamp or other fixation portion 124 may be connected to the imageable fiducial portions 120. The fiducial portions 120 may include one or more individual or discrete member (e.g., spheres) or may include an interconnected web of imageable portions (e.g., wires). It is understood, however, that the fiducial portions 120 may be separate from the tracking device 58. The fixation portion 124 can be provided to fix any appropriate portion, such as a portion of the anatomy. As illustrated in Fig. 1, the fiducial portions 120 can be interconnected with a vertebra 126 and / or a portion of the vertebra 126 which may form a spine. In various embodiments, the connection may be to a spinous process. The fiducial portions 120, however, may be connected to any appropriate portion such as a skull, pelvis, etc.

[0040] In various embodiments, the imaging system 80 may move, as a whole or in part, relative to the subject 30. For example, within the gantry 82 may be a source and a detector that can move in a 360° motion around the patient 30. The movement of the source and the detector as a source / detector unit within the gantry 82 may allow the source to remain generally 180° opposed (such as with a fixed inner gantry or rotor or moving system) to the detector. Thus, the detector may be referred to as moving around (e.g., in a circle or spiral) around or about the subject 30 and it is understood that the source remains opposed thereto, unless disclosed otherwise. As discussed herein, however, the detector may more relative to the source in a small or minimal amount, such as an arc length of about one degree (°) to about 30°, 5° to about 20°, 5° to about 15°, etc., and increments therebetween.Attorney Docket No. A0011562

[0041] Also, the gantry 82 can move isometrically (also referred to as “wag”) relative to the subject 30 generally in the direction of arrow 180 around an axis 181 , such as through a cart 160, as illustrated in Fig. 1. The gantry 82 can also tilt relative to a long axis 31 of the patient 30 illustrated by arrows 182. In tilting, a plane of the gantry 82 may tilt or form a non-orthogonal angle with the axis 181 of the subject 30.

[0042] The gantry 82 may also move longitudinally in the direction of arrows 184 along the line 181 relative to the subject 30 and / or the cart 160. Also, the cart 160 may move to move the gantry 82. Further, the gantry 82 can move up and down generally in the direction of arrows 186 relative to the cart 160 and / or the subject 30, generally transverse to the axis 181 and parallel with the axis 181.

[0043] The movement of the imaging system 80, in whole or in part is to allow for positioning of the source / detector unit (SDU) relative to the subject 30. The imaging device 80 can be precisely controlled to move the SDU relative to the subject 30 to generate precise image data of the 30.

[0044] The source, as discussed herein, may include one or more sources of x-rays for imaging the subject 30. In various embodiments, the source may include a single source that may be powered by more than one power source to generate and / or emit x-rays at different energy characteristics. In various embodiments, the source may emit x-rays in at least two different powers, such with varying voltages. Further, more than one x-ray source may be the source that may be powered to emit x-rays with differing energy characteristics at selected times.

[0045] With continuing reference to Fig. 1 , the surgical navigation system 26 may include various components such as the optical local localizer 88 and the EM localizer 94. As illustrated in Fig. 1, the surgical navigation system may further include the controller 110 and the workstation or processing assembly 98. In various embodiments,Attorney Docket No. A0011562 however, a separate or separated component 200 may be provided that includes a processor or processing assembly 210 and a memory or memory component 214. Further, the separate component 200 may include a transmission, receiver, and / or transceiver components 218. The separate component 200 may be referred to as a server or surgical navigation system server 200.

[0046] The processing assembly 210 may allow for processing of various information or data, such as tracking information, image data, correlation or registration algorithms (e.g., for surgical navigation), or the like. The memory component or module 214 may store image data of the subject 30, models of the instrument (e.g., the instrument 68), algorithms or systems for performing registration, or determining a current pose of a tracked component in the navigation space, or the like.

[0047] The transceiver system 218 may allow for transmitting and receiving data, such as data from other components in the navigation system 26. In various embodiments, the server assembly or system 200 may communicate via the transceiver 218 with one or more components. The Transceiver may allow for a non-physical connection and communication with other components, such as any of the navigation system and further including other system such as the imaging system 80, display devices (84, 84’) optical localizer 88, and electromagnetic (EM) localizer 92. Wireless or over the air transmission may also include transmission of image data from various sources, such as the imaging system 80 and / or a storage system such as a facility Picture Archiving and Communications Systems (PACS). The image data may be transmitted for use in navigation and / or display only on one or more of the display devices. The nonphysical connection may include a communication that is wireless including an over the air communication, as discussed herein.Attorney Docket No. A0011562

[0048] The transceiver 218 may operate in a wireless manner that does not require a physical connection to other components or module, such as a wire or physical memory medium. The transceiver 218 may, therefore, in a wireless manner transmit data or receive data. Further, the transceiver 218 may receive the data as instructions or inputs, such as from the user 72 or the other components, such as the navigation system including the localizers 88, 92. The transceiver 218 may operate in any appropriate protocol, such as one or more Bluetooth® wireless communication protocols, one or more Wi-Fi protocols (e.g. IEEE 802.11 at seq.), mobile communication standards such as 5G New Radio, near field communications, or other known or to be developed wireless communication protocols. Generally, the wireless communication protocol may be selected to transfer data at an appropriate rate to allow for the determination of the tracking and illustration of various images and features.

[0049] As further illustrated in Fig. 1 , the instrument 68 may be moved by the user 72. The instrument 68 may have the tracking device 66 associated therewith. The subject 30 may have the DRF 58 connected thereto to assist in tracking at least a portion of the subject 30. The tracking devices 66, 58 may be tracked by one or more of the tracking system localizers, such as the localizer 88. The localizer 88 may be positioned relative to the subject 30 in a navigation space, but generally require a view of the navigation space to capture images of the navigation space to track the tracking devices 58, 66. The display, such as the display 84', may be positioned relative to the subject 30 and the user 72. The display device 84’ may be held with a stand, such as a stand 222 which may be associated with a robotic base 34 or with the patient support 30 independent or separate from the robotic base 34. Additionally or alternatively, the display 84’ may be held by a secondary user 230 and / or absent, and the display 84 may be the only display.Attorney Docket No. A0011562

[0050] With additional reference to Fig. 2, for example, the subject 30 may be held or supported by the patient support 104. The user 72 may be near or adjacent to the patient support 104. The second user 230 may also be near or adjacent to the patient support 104. The user 72 may hold the instrument 68 relative to the subject 30. All of the subject support 104, the user 72, and the user assistant 230 may be within a region or volume 240. The region 240 may be the region or volume defined relative to the subject 30. The region 240 may efficiently or selectively be clear or free of various cables and components, or at least as limited as possible. Therefore, a wire or cable connection from the instrument 68 to the localizer 88, in various embodiments, may be selected to be absent. Further, the workstation 98 or surgical navigation server 200 may be selected to be maintained out of the region or volume 240. Reference to the localizer 88 is understood herein to refer to any appropriate localizer, such as the EM localizer 94 both, or other appropriate localizer. The localizer 88 including various wireless features and / or related features discussed herein is understood to relate or be applicable to any appropriate localizer and the absence of a specific reference to another localizer is not intended to limit the scope of the disclosure or the appended claims.

[0051] A wireless communication may be provided between one or more of the localizer 88, the instrument 68, and the server 200. For example, as illustrated in Fig. 2, the server 200 may communicate, via a wireless signal 244, with the localizer 88, via a wireless signal 248. The wireless signals 244, 248 may be understood to be receiving and transmitting signals such that the localizer 88 may transmit the signal 248 that is received by the server 200. The server 200 may transmit the signal 244 to be received by the localizer 88. The reverse may also occur so that communication may be bidirectional or two-way between the components.Attorney Docket No. A0011562

[0052] As discussed above, the server 200 may include the transceiver 218. In a similar manner, the localizer 88 may include a transceiver 252. Each may be operated in a similar manner, such as with various wireless or over the air protocols as noted above. Thus, a transmission of data, via the wireless signals 248, 244, may be made between the localizer 88 and the server 200. The wireless communications may be made via signals that are transmitted over the air without a physical connection, such as a conductive member (e.g., a wire). Thus, the positioning of the various components so communicating are not limited by lengths, types, positioning, or the like of a physical connection.

[0053] The server 200 may operate and include the processing module 210 and memory module 214, as discussed above. As also discussed above, the workstation or processing system 98 may include the processing module 102b and the memory module 102m. The server system 200, therefore, may operate or replace the workstation or processing module 98, 102 discussed above. Therefore, the operating theater 18 need not include the workstation 98 even if the user input 106 on the display 84 are maintained for use by the user 72. The server 200 may be provided at a space away from or out of the operating theater 18 and may communicate via the wireless protocols, as discussed above. Thus, the navigation system need not include both the server system 200 and the workstation 98. Each may be used separately and / or interchangeably. Further, the server 200 may be placed outside of the operating theater 18 to further enhance space usage and freedom of positioning of procedure systems.

[0054] In various embodiments, the server system 200 may also provide processing for several navigation systems, such as the first operating theater and a second operating theater. In other words, the server system 200 may be used to provide processing for two or more simultaneous procedures in two of more operating theaters.Attorney Docket No. A0011562 A first procedure may be a deep brain stimulation probe placement in the first operating theater and a second procedure may be a spinal fusion in the second operating theater. Each operating theater may be an entirely separate room that are spaced apart by any appropriate distance. Also, each procedure may include a different subject with different and distinct image data, tracking information, registration data, etc. The wireless communication may be provided to allow for the communication to the server 200 and the server 200 may be a central server system for several operating theaters rather than including the necessary hardware or hardware for the processing in each of the operating theaters.

[0055] In various embodiments, the server 200 may be positioned entirely away from the operating theater while a wireless communication module or node 260 may be provided near the components, such as the localizer 88, to provide for communication to the server 200. For example, the wireless node 260 may be positioned to receive a transmission 248 from the localizer 88. The wireless node 260 may also communicate with a transmission 264 from the server 200. Thus, a wireless communication between the components of the navigation system 26 may be maintained. The wireless node 260, however, may also communicate wirelessly with a transmission 266 with the server 200 and / or a wired or physical connection 270. Thus, a wireless communication may be provided between the server 200 and the components of the surgical navigation system 18 but not directly from the server 200 to the various components, such as the localizer 88.

[0056] Regardless, the wireless communication system may be provided to allow for transmission of data between the various components, such as the server 200 and the components of the surgical navigation system such as the localizer 88, the display 84, 84', or other components such as the tracking device 66 associated with theAttorney Docket No. A0011562 instrument 68. This allows for efficient movement and placement of one or more components or surgical navigation system, as discussed herein. The lack or nonexistence of physical connections (e.g., wires) allows for efficient movement and placement. This allows for efficient procedures and reduces procedure time. Further, the server that may be provided to interact with multiple operating theaters reduced capital investments required for each operating theater that includes a navigation system.

[0057] Various components of the navigation system 26 may be provided in a substantially self-contained or self-movable configuration. The self-contained configuration allows for movement or placement of the selected component without consideration of placement of other components of the subject navigation system 26. For example, with reference to Fig. 4, the localizer 88 may include various components such as a first camera or optical imaging component 290 and a second camera or optical imaging component 294. Each of the cameras 290, 294 may be enclosed or contained within a casing or housing 298. Thus, the housing 298 may enclose and contain all of the components of the localizer 88 and allow the localizer 88 to be moved in any appropriate manner to any appropriate position as a single item or member. In various embodiments, for example, the localizer 88 may be positioned relative to the subject 30 and held by the secondary user 230 or other portion, such as a stand or support 89. The support 89 may be held or connected to the subject support 104. The housing 298 having all of the components of the localizer 88, nevertheless, may be moved without moving other portions, such as a wired connection, and the localizer may continue to operate with the navigation system 26.

[0058] The housing 298 may allow for the stand 89 to connect to physically hold the housing 298 in a selected position. However, the stand 89 may be an infinitely moveable stand (e.g., rotation or angle) given that the only connection is to the stand toAttorney Docket No. A0011562 position or hold the housing 298. Additionally or alternatively, the housing 298 may allow the user 230 to grasp the localizer 88 or move the localizer 88 to any appropriate position, such as at an end of the support 104, on an alternative support, or the like. Thus, the housing 298 may fully enclose the localizer 88 and allow for movement of the entire localizer assembly 88 such that positioning of the housing 298 in any appropriate position allows for the localizer 88 to operate to track a tracking device, such as the tracking device 66. The housing 298 including all of the components, as discussed herein, therefore allows for positioning of the localizer where is most convenient or appropriate in the room 18. The user 72 need not be hindered by a required or limited position of the localizer 88 given the housing 298 and the other components, such as the wireless communication systems.

[0059] The localizer 88 may include various components such as a processor module 302, a memory module 304, and a transceiver module 306. The processor module 302 may process various data, as discussed further herein. The memory module 304 may save or store data and / or instructions that may be processed or executed by the processor module 302. The transceiver module 306 may allow for the communication 248 to and from the localizer 88. One skilled in the art will understand any localizer according to various embodiments (such as the localizer 94) may include the various components (such as a power source and a processor) that allow for the localizer to be housed as a unit and moved as a housed unit. Thus, discussion herein of the localizer 88 is understood not to limit the disclosure to only the localizer 88.

[0060] Additionally, the localizer 88 may include a power source 310. The power source 310 may be any appropriate power source such as a battery (e.g. lithium ion, lithium metal matrix, alkaline, etc.). The power source 310 may be enclosed within the housing 88 to allow for the inclusion of power for operating various components such asAttorney Docket No. A0011562 the cameras 290, 294 or the various other portions such as the processor module 302 or the transceiver 306. Thus, the power source 310 may be moved with the housing 298 to any appropriate position and may allow for the localizer assembly 88 to be substantially self-contained and not need a physical connection for any feature, such as the provision of power or for transmitting or receiving data. In other words, the localizer 88 may be moved as a unit to any appropriate position, whether mounted to a stand, such as the stand 89, or individually and alone.

[0061] Various other components that are also able to communicate wirelessly may include various portions of modules such as a transceiver portion or assemble 320 that may be associated with a tracking device of 66', such as an EM tracking device. A power source 324, such as a battery or other power sources discussed above, may be associated with the tracking device 66' or with the instrument 68. Thus, the tracking device 66' may send or receive a signal for the tracking system or within the navigation system. The instrument 68 and / or the tracking device 66' may also include various other portions or modules such as a memory module of the like.

[0062] The display device 84' may be a self-contained display device, such as a tablet device including a display or screen portion 330 that may be contained within a housing 334. The housing 334 may substantially contain all of the components of the display device 84'. Therefore, the housing 334 may include or encase a processing module 336 and a memory module 338. The processing module 336 may process instructions, such as those discussed above and further herein. The processing module 336 may also process data received or input from a user, such as tracking information, image information, input from the user 72 (e.g. from a touch screen), or other data. The memory module 338 may store various data or instructions, such as those for execution by the processor module 336. Further, the display device 84' may include one or moreAttorney Docket No. A0011562 transceiver portions 342. The transceiver portion 342 may send and receive, or only one thereof, a signal 344 to various portions, such as the server 200. The server 200 may include images for display on the display device 84', data to be used for navigating or displaying a pose of an instrument or other tracked portion, or the like. Thus, the display screen 330 may display the image 108 in other portions or features, such as the representation of the instrument 68a.

[0063] The housing 334 may also house a power source 350 that may provide powers to all of the components of the display device 84’ in an appropriate manner, such as simultaneously. The power source 350 may be provided in any appropriate manner, such as that discussed above, including a battery of an appropriate type, or other power storage member or assembly. Thus, the display device 84’ may be moved at any appropriate position within the operating theater, such as relative to the subject 30 and / or for the user 72. Again, the display device 84' may be held by the user 230 or by another appropriate portion, such as the stand arm 222 that may be associated with the patient support 104 or other appropriate portion. Nevertheless, the display device 84' may be substantially self-contained and include the transceiver portion 342 that may send or receive the signal 344 that allows the display device 84’ to be integrated and / or work in concert with the navigation system 26 at least as discussed above. Nevertheless, the self-containment of the various components of the displayed device 84’, such as within the housing 334, allows the displayed device 84’ to be moved and manipulated without requiring a physical connection to various other components, such as the server system 200.

[0064] The display device 84’ may also communicate wirelessly with other portions of the navigation system 26, such as the server 200. This allows the display device 84’ to be placed at any selected position and orientation. The user 72, accordingly, need notAttorney Docket No. A0011562 orient themselves to best view the display device 84’. Rather, the display device 84’ may be moved to any appropriate pose relative to the user 72.

[0065] Accordingly, the ability to include only a wireless communication connection that is not wired and / or not a physical connection between the server 200 and all the components of the navigation system and / or between other components of the navigation system may allow for ease of movement of components of the navigation system and selected placement within the operating theatre 18. The wireless communication allows for over the air communication of signals that may not be limited by position or length of physical cables or conductive members. Thus, components may be placed in different and varied positions that are not limited by cables and wired connections.

[0066] Accordingly, as illustrated in Figs. 1, 2, and 3 the various components of the navigation system 26 may be positioned exterior to the region or area 240. It may be selected to include various components within the region or area 240, such as the localizer 88, but other components may be positioned further away, such as the server 200 or other processing portions. Various navigation tasks, such as evaluating a data or receiving a signal including regarding a tracked pose of the instrument, determining a pose of the instrument relative to the subject 30, determining a proper graphical representation of the instrument relative to the image 108 (e.g., the graphic representation 68a), and the like may be performed with a processing system that is out of the surgical field relative to the subject 30. This may allow the region relative to the subject 30 to be free of navigation features or components and allow for a less congested region around the subject while still allowing for navigation of selected components, such as the instrument 68 with the tracking device 66.Attorney Docket No. A0011562

[0067] The processing that may be performed with the processor system 102 of the workstation 98 may be moved away from the operating theater 26, and according to various embodiments. This may be entirely out of the operating room 18 to assist in allowing for a greater openness of the operating theater 18. Further, the lack of the physical connection between the various components may allow for a greater variety and customization of positioning of the various components of the navigation system 26. Thus, the localizer 88 need not be maintained in a selected pose or location relative to other components, such as with the stand 89. The localizer 88 may be moved substantially at will and at any time selected by the user 72 or other appropriate user such as the user 230 to assist in performing the procedure. The wireless communication components of the various systems allow for the lack or reduced limitation of spatial positioning requirements of the various component and / or allowing for ease of movement and speed of movement by not requiring movement of connected components relative to the selected component to be moved, such as the localizer 88, or other considerations.

[0068] While the server 200 may include various processing modules, such as the processing module 210 that may process various information, such as the subject image data, tracking information regarding the pose of the instrument 66, or other instructions that may be executed to assist in the navigation, at least a part or all of the processing or executing a selected instructions may also be performed with the various components. As discussed above, for example, the localizer 88 may include the processor module 302. Similarly or additionally, the display device 84' may include the processor module 336. These various components may also be selectively operated to execute instructions regarding various portions of the navigation. For example, the processor module 302 at the localizer 88 may be operated to determine a pose in the navigation space of the tracked device to assist in tracking. Therefore, the pose may be the informationAttorney Docket No. A0011562 transferred with the signal 248 from the localizer 88. The processing module 336 of the display device 84’ may execute instructions to generate and illustrate the graphical representation 68a relative to the image 108. The display device 84’ may receive the determined pose from the processor module 302 via the signal 248 and may perform the illustration of the graphical representation based upon the registration of the image 108 to the navigation space. Again, the registration may be transferred from a selected component, such as the server 200, and / or may be performed with any appropriate processing module. In various embodiments, the display device 84’ may receive the registration via the transceiver 342 from the signal from the server 200. In this regard, one skilled in the art will understand that the wireless communication may be between any of the component of the navigation system and not only between the server and / or through the sever 200 to the various components. That is, the localizer 88 may communicate directly with the display device 84’.

[0069] Therefore, the various processing may be distributed with the various processing modules of the navigation system 26.

[0070] Additionally, multiple portions may be provided. As discussed above, the display device 84 and / or the display device 84’ may be provided with the navigation system 26. Both may display the same or different images and / or navigation information. Nevertheless, both may be in wireless communication with selected portions, such as each other, the server 200, or other portions of the navigation system. Additionally, the localizer 88 may be provided as one of many localizers that may all track one or more of the various features and be individually selected or work concert to track various components, such as the tracking device 66 or only a limited number of the devices. Other components may also be provided in multiple or many, such as the EM localizerAttorney Docket No. A0011562 94. Again, the localizer 94 may also communicate wirelessly with a various transceiver system similar to those discussed above.

[0071] Regardless of the number of components or placement, the navigation system 26 may be efficiently positioned relative to various components in the operating theater 18, such as the patient support 104, the subject 30, or other considerations. Further, the components may be easily and efficiently moved due to a lack of a physical restraint to the movement allowed by the wireless connection, including data transmission. The various components may be substantially self-contained within selected housing such that all of the components and the power source therefore may be moved as a single system for various purposes.

[0072] During a surgical procedure, or other appropriate procedure, cleanliness protocols may also be used or enhanced. For example, the housed localizer may be placed within a sterile bag. The localizer 88, 94 may then be moved anywhere in the sterile field relative to the subject 30 without concern of breaking the sterile field. The localizer 88, 94 may, therefore, have placement even further enhanced for ease of use, c appropriate line of site, or other considerations. Also, the display device 84’ may be placed in a sterile bag for efficient and quick movement that may not be allowed if it is connected to another device or portions, such as through a data cable. Thus, the housed components having no communication connections may enhance efficient maintaining of a sterile field.

[0073] The techniques of this disclosure may also be described in the following examples.

[0074] Example 1 - A surgical navigation system operable to navigate a procedure relative to a subject, comprising: a localizer system having a localizer housing that houses a tracking assembly and a localizer wireless transmission module; and aAttorney Docket No. A0011562 navigation processor system having a navigation wireless transmission module and a navigation processor module; wherein the navigation wireless transmission module and the localizer wireless transmission module are configured to communicate wirelessly via over the air signals; wherein the navigation processor module is configured to execute instructions to: evaluate a received localizer signal from the localizer wireless transmission module; determine a pose of a tracked device based on the evaluated received localizer signal; and output the determined pose of the tracking device.

[0075] Example 2 - The surgical navigation system of Example 1, further comprising: a display system having a display housing that houses a display screen and a display wireless transmission module; wherein the navigation wireless transmission module and the display wireless transmission module are configured to communicate wirelessly via over the air signals; wherein the output determined pose of the tracking device is configured to be displayed with the display screen as a graphical representation of the tracked device.

[0076] Example 3 - The surgical navigation system of Example 2, wherein the localizer system comprises a first localizer system and a second localizer system; wherein the display system comprises a first display system and a second display system; wherein each of the first localizer system, the second localizer system, the first display system, and the second display system communicate separately with the navigation processor system wirelessly via over the air signals.

[0077] Example 4 - The surgical navigation system of Example 3, wherein the separate communication with the navigation processor system by the first localizer system, the second localizer system, the first display system, and the second display system is operable for a first procedure with the first localizer system and the first displayAttorney Docket No. A0011562 system independent of but simultaneous with a second procedure with the second localizer system and the second display system.

[0078] Example 5 - The surgical navigation system of Example 2, wherein the display housing of the display system further houses a display processor module and a power source; wherein the display processor module is configured to execute instructions to display an image of the subject; wherein the display system is configured to be moved relative to the navigation processor system without physical connection.

[0079] Example 6 - The surgical navigation system of Example 2, further comprising: a tracking device configured to be tracked with the localizer system; wherein the tracking device is associated with the tracked device.

[0080] Example 7 - The surgical navigation system of Example 1, wherein the localizer system is operable to define a navigation space; wherein the localizer system is configured to be moved relative to the navigation processor system without physical connection.

[0081] Example 8 - The surgical navigation system of Example 7, wherein the housing of the localizer system further houses and contains a power source; wherein the power source is operable to move with the housing.

[0082] Example 9 - The surgical navigation system of Example 1, wherein the tracking assembly includes a camera assembly.

[0083] Example 10 - The surgical navigation system of Example 1, wherein the tracking assembly includes a magnetic field emitting assembly.

[0084] Example 11 - The surgical navigation system of Example 1, further comprising: a wireless communication hub positioned in a first room with the subject and the navigation processor system is positioned in a second room separate from the first room.Attorney Docket No. A0011562

[0085] Example 12 - A method for performing a procedure with a surgical navigation system relative to a subject, comprising: providing a localizer system housing within a localizer housing a tracking assembly and a localizer wireless transmission module; and providing a navigation processor system having a navigation wireless transmission module and a navigation processor module; configuring the navigation wireless transmission module and the localizer wireless transmission module to communicate wirelessly via over the air signals; executing instructions with the navigation processor module to: evaluate a received localizer signal from the localizer wireless transmission module; determine a pose of a tracked device based on the evaluated received localizer signal; and output the determined pose of the tracking device.

[0086] Example 13 - The method of Example 12, further comprising: providing a display housing that houses a display system having a display screen and a display wireless transmission module; configuring the navigation wireless transmission module and the display wireless transmission module to communicate wirelessly via over the air signals; displaying a graphical representation of the tracked device based on the output of the determined pose of the tracking device.

[0087] Example 14 - The method of Example 13, further comprising: providing the localizer system as a first localizer system and a second localizer system; providing the display system as a first display system and a second display system; configuring each of the first localizer system, the second localizer system, the first display system, and the second display system to communicate separately with the navigation processor system wirelessly via over the air signals.

[0088] Example 15 - The method of Example 14, wherein the separate communication with the navigation processor system by the first localizer system, the second localizer system, the first display system, and the second display system isAttorney Docket No. A0011562 configured for performing a first procedure with the first localizer system and the first display system independent of but simultaneous with performing a second procedure with the second localizer system and the second display system.

[0089] Example 16 - The method of Example 13, further comprising: providing within the display housing a display processor module and a power source; executing instructions with the display processor module to display an image of the subject; and configuring the display system to be moved relative to the navigation processor system without a physical connection.

[0090] Example 17 - The method of Example 13, further comprising: configuring a tracking device to be tracked with the localizer system; providing the tracking device to be associated with the tracked device.

[0091] Example 18 - The method of Example 13, further comprising: configuring the localizer system to define a navigation space; configuring the localizer system to be moved relative to the navigation processor system without physical connection.

[0092] Example 19 - The method of Example 18, further comprising: providing within localizer system housing a power source for operation of the localizer system; configuring the localizer system with the localizer system housing to move the power source with the localizer system housing.

[0093] Example 20 - The method of Example 18, further comprising: providing the tracking assembly as at least one of a camera assembly or a magnetic field emitting assembly.

[0094] 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 beAttorney Docket No. A0011562 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.

[0095] Instructions may be executed by a processor and may include software, firmware, and / or microcode, and may referto programs, routines, functions, classes, data structures, and / or objects. The term shared processor circuit encompasses a single processor circuit that executes some or all code from multiple modules. The term group processor circuit encompasses a processor circuit that, in combination with additional processor circuits, executes some or all code from one or more modules. References to multiple processor circuits encompass multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all code from multiple modules. The term group memory circuit encompasses a memory circuit that, in combination with additional memories, stores some or all code from one or more modules.

[0096] 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 mayAttorney Docket No. A0011562 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.

[0097] The computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time compiler, (v) descriptive text for parsing, such as HTML (hypertext markup language) or XML (extensible markup language), etc. As examples only, source code may be written in C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, Java®, ASP, Perl, Javascript®, HTML5, Ada, ASP (active server pages), Perl, Scala, Erlang, Ruby, Flash®, Visual Basic®, Lua, or Python®.

[0098] 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 802.11ac, draft IEEE standard 802.11 ad, and / or draft IEEE standard 802.11 ah.

[0099] 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 hardwareAttorney Docket No. A0011562 components that provide the described functionality; or a combination of some or all of the above, such as in a system-on-chip.

[0100] Instructions may be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” or “processor module” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0101] 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 disclosure. 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 disclosure, and all such modifications are intended to be included within the scope of the disclosure.

Claims

1. Attorney Docket No. A0011562CLAIMSWhat is claimed is:

1. A surgical navigation system operable to navigate a procedure relative to a subject, comprising:a localizer system having a localizer housing that houses a tracking assembly and a localizer wireless transmission module; anda navigation processor system having a navigation wireless transmission module and a navigation processor module;wherein the navigation wireless transmission module and the localizer wireless transmission module are configured to communicate wirelessly via over the air signals; wherein the navigation processor module is configured to execute instructions to:evaluate a received localizer signal from the localizer wireless transmission module;determine a pose of a tracked device based on the evaluated received localizer signal; andoutput the determined pose of the tracking device.

2. The surgical navigation system of Claim 1 , further comprising:a display system having a display housing that houses a display screen and a display wireless transmission module;wherein the navigation wireless transmission module and the display wireless transmission module are configured to communicate wirelessly via over the air signals;wherein image data is operable to be wirelessly received by the navigation wireless transmission module of the navigation processor system to be processed thereby;Attorney Docket No. A0011562 wherein the output determined pose of the tracking device is configured to be displayed with the display screen as a graphical representation of the tracked device.

3. The surgical navigation system of Claim 2, wherein the localizer system comprises a first localizer system and a second localizer system;wherein the display system comprises a first display system and a second display system;wherein each of the first localizer system, the second localizer system, the first display system, and the second display system communicate separately with the navigation processor system wirelessly via over the air signals;wherein the separate communication with the navigation processor system by the first localizer system, the second localizer system, the first display system, and the second display system is operable for a first procedure with the first localizer system and the first display system independent of but simultaneous with a second procedure with the second localizer system and the second display system.

4. The surgical navigation system of Claim 2, wherein the display housing of the display system further houses a display processor module and a power source;wherein the display processor module is configured to execute instructions to display an image of the subject;wherein the display system is configured to be moved relative to the navigation processor system without physical connection.

5. The surgical navigation system of Claim 1, wherein the localizer system is operable to define a navigation space;Attorney Docket No. A0011562 wherein the localizer system is configured to be moved relative to the navigation processor system without physical connection.

6. The surgical navigation system of Claim 5, wherein the housing of the localizer system further houses and contains a power source;wherein the power source is operable to move with the housing.

7. The surgical navigation system of Claim 1 , wherein the tracking assembly includes at least one of a camera assembly or a magnetic field emitting assembly.

8. The surgical navigation system of Claim 1 , further comprising:a wireless communication hub positioned in a first room with the subject and the navigation processor system is positioned in a second room separate from the first room.

9. A method for performing a procedure with a surgical navigation system relative to a subject, comprising:providing a localizer system housing within a localizer housing a tracking assembly and a localizer wireless transmission module; andproviding a navigation processor system having a navigation wireless transmission module and a navigation processor module;configuring the navigation wireless transmission module and the localizer wireless transmission module to communicate wirelessly via over the air signals;executing instructions with the navigation processor module to:evaluate a received localizer signal from the localizer wireless transmission module;Attorney Docket No. A0011562 determine a pose of a tracked device based on the evaluated received localizer signal; andoutput the determined pose of the tracking device.

10. The method of Claim 9, further comprising:providing a display housing that houses a display system having a display screen and a display wireless transmission module;configuring the navigation wireless transmission module and the display wireless transmission module to communicate wirelessly via over the air signals;displaying a graphical representation of the tracked device based on the output of the determined pose of the tracking device.

11. The method of Claim 10, further comprising:providing the localizer system as a first localizer system and a second localizer system;providing the display system as a first display system and a second display system;configuring each of the first localizer system, the second localizer system, the first display system, and the second display system to communicate separately with the navigation processor system wirelessly via over the air signals;wherein the separate communication with the navigation processor system by the first localizer system, the second localizer system, the first display system, and the second display system is configured for performing a first procedure with the first localizer system and the first display system independent of but simultaneous with performing a second procedure with the second localizer system and the second display system.Attorney Docket No. A001156212. The method of Claim 11 , further comprising:providing within the display housing a display processor module and a power source;executing instructions with the display processor module to display an image of the subject; andconfiguring the display system to be moved relative to the navigation processor system without a physical connection.

13. The method of Claim 11 , further comprising:configuring the localizer system to define a navigation space;configuring the localizer system to be moved relative to the navigation processor system without physical connection.

14. The method of Claim 13, further comprising:providing within localizer system housing a power source for operation of the localizer system;configuring the localizer system with the localizer system housing to move the power source with the localizer system housing.

15. The method of Claim 14, further comprising:providing the tracking assembly as at least one of a camera assembly or a magnetic field emitting assembly.

Images