A system for tracking at least one object in computer-assisted surgery may include a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining orientation data from at least one inertial sensor unit on at least one object; concurrently obtaining position and orientation data for a robot arm relative to a frame of reference; registering the at least one object with the robot arm to determine a position of the at least one object in the frame of reference; and continuously tracking and outputting the position and orientation of the at least one object in the frame of reference, using the orientation data from the at least one inertial sensor unit on the at least one object and the position and orientation data for the robot arm.

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.

Patient-specific guides for the Latarjet procedure, as well as surgical systems and methods of performing the Latarjet procedure to treat glenohumeral instability using such patient-specific guides are disclosed. A patient-specific coracoid guide and a patient-specific glenoid guide may be configured based on preoperatively generated three-dimensional models of the patient's shoulder anatomy. Guides may be configured for coracoid graft preparation and glenoid decortication. The coracoid graft may be placed in the desired position based on three-dimensional (3D) preoperative planning.

The present invention relates to robotic device positioning. By extending the robotic arm into the surgical field, a system is provided that automatically aligns an instrument following a plan, e.g., surgical plan, using only instrument tracking feedback. No tracking markers on the robot are required.

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.

A surgical system includes: an endoscope capable of acquiring an endoscopic image of a surface of target tissue; an ultrasonic probe capable of acquiring an ultrasonic tomographic image of the target tissue; a treatment instrument; a display; and a controller including a memory and a processor. In response to the ultrasonic probe being inserted into the body cavity and the ultrasonic tomographic image being acquired, the processor is configured to: detect a position of the ultrasonic probe with respect to the endoscope; store the ultrasonic tomographic image associated with the position of the ultrasonic probe; and in a state in which the treatment instrument remains inserted in the body cavity, detect a position of the treatment instrument, read out the stored ultrasonic tomographic image on a basis of the detected position of the treatment instrument, and command the display to display the read-out ultrasonic tomographic image.

A medical object for arrangement in an object under examination includes an optical fiber. The optical fiber is configured to contact at least one light source optically. The medical object further includes multiple photoacoustic absorbers that are arranged in sections along a direction of longitudinal extension of the optical fiber and/or along a periphery of the medical object. The multiple photoacoustic absorbers are configured to be arranged at least in part in the object under examination. The optical fiber is configured to conduct an excitation light emitted by the at least one light source to the multiple photoacoustic absorbers. The multiple photoacoustic absorbers are configured to be excited by the excitation light for the photoacoustic emission of ultrasound.

The position and orientation of an ultrasound probe is tracked in three dimensions to provide highly-accurate three-dimensional bone surface images that can be used for anatomical assessment and/or procedure guidance. The position and orientation of a therapy applicator can be tracked in three dimensions to provide feedback to align the projected path of the therapy applicator with a desired path for the therapy applicator or to provide feedback to align the potential therapy field of a therapy applicator with a target anatomical site. The three-dimensional bone surface images can be fit to a three-dimensional model of the anatomical site to provide or display additional information to the user to improve the accuracy of the anatomical assessment and/or procedure guidance.

A medical procedure system, including a medical instrument to be inserted into a body part, and including position-tracking transducers to provide position signals, a distal end, and at least one radiopaque marker, a position tracking sub-system to compute a position including at least one location and orientation of the distal end in a position-tracking sub-system coordinate frame responsively to the position signals, a fluoroscope to capture fluoroscopic images of an interior of the body part and the radiopaque marker(s), and a registration sub-system to render, to a display, the captured fluoroscopic images including at least one marker-image of the radiopaque marker(s), and at least one graphical representation indicative of the computed position of the distal end, receive user-alignment input aligning the graphical representation(s) with the marker-image(s), and register the position-tracking sub-system coordinate frame with a coordinate frame of the fluoroscope responsively to the received user-alignment input.

Certain aspects relate to systems and techniques for luminal network navigation. Some aspects relate to incorporating respiratory frequency and/or magnitude into a navigation system to implement patient safety measures. Some aspects relate to identifying, and compensating for, motion caused by patient respiration in order to provide a more accurate identification of the position of an instrument within a luminal network.