New and innovative systems and methods for auto-navigation in an integrated surgical navigation and visualization system are disclosed. An example system comprises: a single cart providing motility; a stereoscopic digital surgical microscope comprising a surgical visualization camera and a localizer; one or more computing devices (e.g., a single computing device powered by a single power connection) housing and jointly executing a surgical navigation module and a surgical visualization module, wherein the localizer is associated with the surgical navigation module, and wherein the surgical visualization camera is associated with the surgical visualization module; a single unified display; a processor; and memory. The system may generate a transformation of patient data associated with a patient to the surgical visualization camera; calibrate the surgical visualization camera and the localizer; provide visualization of the surgical site via the single unified display; and provide navigation of the surgical site responsive to user input.

The invention relates to a device for connecting a medical instrument to a position-detecting system, the device having a localization element. The medical instrument has an instrument shaft, an instrument tip and an operating point. At least one localization element for determining position information for the device within a coordinate system of the position-detecting system can be provided on the device, the device having at least one retaining means for attaching the localization element to the medical instrument.

There is provided a tracing platform configured to rigidly attach to an anatomy of a patient that has at least one surface configured to provide a defined path (represented by path definition data) for tracing by a surgical instrument. An intra-operative computing unit receives pose data for the instrument when tracing the path and calculates a location of the defined path using the pose data and the path definition data. A change in location may be determined from pose data of different traces. Tracing the defined path generates a plurality of pose data which may increase accuracy of the location calculations. Redundant trace data may be received to eliminate bias. A geometric feature (e.g. V-groove), shape and/or magnetic properties of the platform may assist with tracing. The platform may rigidly attach to a bone using at least one of spikes, a bone screw, a cerclage wire, and a bone clamp.

A microscope is provided which includes an optical module, an OCT module, and a control device. The optical module is configured to generate optical image representations. The OCT module is configured to generate tomographic recordings. The control device is configured to determine the relative spatial position of a marking element, in each case from an optical image representation of the marking element and from a tomographic recording of the same marking element.

Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system. Example methods are also provided to detect whether or not a tracking marker support structure has moved from its initial position during a procedure.

A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first fluoroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker.

A method of operating a surgical device having a surgical tool includes allowing manual movement of the surgical tool along at least one direction, controlling the surgical device to align the surgical tool with a target using a control object having a planned geometric relationship with an anatomic feature, tracking movement of the anatomic feature during a surgical procedure, moving the control object to compensate for the movement of the anatomic feature during the surgical procedure, and controlling the surgical device to realign the surgical tool with the target using the moved control object.

A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.

Embodiments of a system and method for surgical tracking and control are generally described herein. A system may include a robotic arm configured to allow interactive movement and controlled autonomous movement of an end effector, a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane, a tracking system to determine a position and an orientation of the cut guide, and a control system to permit or prevent interactive movement or autonomous movement of the end effector.

Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system. Example methods are also provided to detect whether or not a tracking marker support structure has moved from its initial position during a procedure.