Methods, non-transitory computer readable media, interface adapter devices, and surgical computing devices and systems that detect and analyze connectivity of an end effector to a robotic arm are disclosed. With this technology, an interface adapter device of a robotic arm includes a connectivity sensor that determines when an end effector is disconnected from the robotic arm to be used as a handpiece by a surgeon to carry out particular surgical task(s) associated with a surgical procedure. The interface adapter device can instruct the robotic arm to automatically enter an inactive state defined in a surgical plan for the surgical procedure upon detection of the disconnection. Upon reconnection of the handpiece, or installation of a different handpiece, the interface adapter device automatically facilitates readjustment of the robotic arm based on an active state (e.g., automated resumption of the surgical procedure) defined in a surgical plan for the surgical procedure.

The present disclosure relates to systems and methods to magnetically influence the position, orientation, movement, and/or activation of a medical device within an operating region within the body using a magnetic guidance system introduced into a target location of a body. More specifically, the present disclosure relates to magnetic navigation systems for applying a magnetic field to an operating region within the body, the system comprising a first magnet assembly configured for introduction into a target location of a body and a second magnet assembly disposed opposite the first magnet assembly, wherein the first and second magnet assemblies are configured for applying a magnetic field to an operating region between the magnet assemblies.

A medical apparatus includes a registration tool, which includes a position sensor, A position-tracking system is configured to acquire position coordinates of the sensor in a first frame of reference defined by the position-tracking system. A processing unit is configured to receive 3D image data with respect to the body of the patient in a second frame of reference, to generate a 2D image of the surface of the patient based on the 3D image data, to render the 2D image to a display screen, and to superimpose onto the 2D image icons indicating locations of respective landmarks. The processing unit receives the position coordinates acquired by the position-tracking system while the registration tool contacts the locations on the patient corresponding to the icons on the display, and registers the first and second frames of reference by comparing the position coordinates to the three-dimensional image data.

A coupling system for securing and positioning a reflective marker in a navigation array is disclosed. The coupling system can include a carrier configured to hold the marker with a reflective element for detection by a surgical tracking system in a socket of the array. The carrier can include a body with an exterior for interfacing with the socket and an open end with engagement features for holding a body of the marker. The carrier is configured to visibly present the reflective element of the marker in the socket when the carrier is disposed in the socket. The carrier can be configured to securely hold the marker to the array when the marker is disposed in the carrier and the carrier is disposed in the array such that the marker cannot be removed from the carrier unless the carrier is removed from the socket.

A flexible marker system for use with a computer-assisted surgical (CAS) tracking system is disclosed. The system includes a rigid frame or instrument having a plurality of coupling locations each configured to position a navigation marker in a predetermined position and a flexible array configured to be coupled with the rigid frame or instrument. The flexible array can include an elastically deformable body and a plurality of navigation markers, where the flexible array is configured to be coupled to the rigid frame or instrument by stretching the elastically deformable body over the rigid frame or instrument such that each of the plurality of navigation markers is positioned at one of the plurality of coupling locations of the rigid frame or instrument.

Systems, methods, and instruments for tracking localized movement of an anatomic structure at a surgical site are provided that can, for example, detect and identify movement of the anatomic structure not otherwise tracked by a global navigation system. One embodiment can include a cannula with a localized navigation sensor coupled to a distal end thereof. The cannula can be coupled to a robot arm and the localized navigation sensor can detect movement of an anatomic structure relative to the cannula. The localized navigation sensor can include one or more tines that selectively extend from the cannula to contact the anatomic structure. A controller can receive data from the localized navigation sensor and a global navigation system, and determine if movement detected by the localized navigation sensor is tracked by the global navigation system. Systems, methods, and instruments of the present disclosure can be used independently of a global navigation system.

The present invention is advantageous in that the shape of the catheter can be sensed by detecting the position of bending of the catheter body, the direction thereof, the angle thereof, and the curvature thereof through a triplet calculation of information regarding three wavelengths that have undergone a transition along respective FBGs provided on three optical cores.

A system includes a medical probe and a position-tracking system. The medical probe includes a distal end, and one or more distal magnetic position sensors. The medical probe further includes a proximal-end assembly, and one or more proximal magnetic position sensors. The position-tracking system includes a memory, which is configured to hold values indicative of known relative positions between the distal magnetic position sensors and the proximal magnetic position sensors. The position-tracking system includes a processor, which is configured to receive one or more signals indicative of estimated positions of the proximal magnetic position sensors and of the distal magnetic position sensors, as measured by the position-tracking system, and to initiate a responsive action in response to detecting a discrepancy between the known relative positions and the estimated positions.

A set of pre-operative images may be captured of an anatomical structure using an endoscopic camera. Each captured image is associated with a position and orientation of the camera at the moment of capture using image guided surgery (IGS) techniques. This image data and position data may be used to create a navigation map of captured images. During a surgical procedure on the anatomical structure, a real-time endoscopic view may be captured and displayed to a surgeon. The IGS navigation system may determine the position and orientation of the real-time image; and select an appropriate pre-operative image from the navigation map to display to the surgeon in addition to the real-time image.

A surgical system includes an XR headset and an XR headset controller. The XR headset is configured to be worn by a user during a surgical procedure and includes a see-through display screen configured to display an XR image for viewing by the user. The XR headset controller is configured to receive a plurality of two-dimensional (“2D”) image data associated with an anatomical structure of a patient. The XR headset controller is further configured to generate a first 2D image from the plurality of 2D image data based on a pose of the XR headset. The XR headset controller is further configured to generate a second 2D image from the plurality of 2D image data based on the pose of the XR headset. The XR headset controller is further configured to generate the XR image by displaying the first 2D image in a field of view of a first eye of the user and displaying the second 2D image in a field of view of a second eye of the user.