Aspects of the present disclosure relate to systems, devices and methods for performing a surgical step or surgical procedure with visual guidance using a head mounted display. A computer processor can be configured to adjust or select the focal plane and/or focal point of the display of the virtual data by the head mounted display using a measured or determined distance of the head mounted display to an anatomic structure or a physical surgical tool, instrument, implant and/or device.

A method for verifying the positional accuracy of a tracking reference device is provided that includes a tracking reference device attached to a bone. The bone is then registered with respect to a coordinate frame of the tracking reference device. A verification mark on the bone is then created where the position of the verification mark is recorded, by way of a tracking system, with respect to the tracking reference device. The positional accuracy of the tracking reference device is verified by instructing an end-effector of a robotic-assisted surgical device to align with the verification mark on the bone, and wherein if the end-effector does not align with the verification mark, the positional accuracy of the tracking reference device is compromised. A surgical system for performing the computerized method is also provided.

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.

In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument's position relative to a patient's anatomy. Additionally, by revising pre-operatively defined data such as operative volumes, patient-robot orientation relationships, and anatomical models of the patient, a higher degree of precision and lower risk of complications and serious medical error can be achieved.

A surgical system includes a first tracker configured to be affixed to a first object, a detection device configured to determine a change in position of the first tracker, and circuitry communicable with the detection device. The circuitry is configured to compare the change in the position of the first tracker to a condition and generate a fault signal in response to a determination that the change in the position of the first tracker violates the condition.

A method is provided for registration of images obtained of a patient in real time with respect to a tracking device. The method is not based on internal or external fiducial markers attached to the patient, but rather the registration is done relative to a reference plate of a guiding system affixed to a table that supports the patient.

A surgical implant planning computer for intra-operative CT workflow, pre-operative CT imaging workflow, and fluoroscopic imaging workflow. A network interface is connectable to a CT image scanner and a robot surgical platform having a robot base coupled to a robot arm that is movable by motors. A CT image of a bone is received from the CT image scanner and displayed. A user's selection is received of a surgical screw from among a set of defined surgical screws. A graphical screw representing the selected surgical screw is displayed as an overlay on the CT image of the bone. Angular orientation and location of the displayed graphical screw relative to the bone in the CT image is controlled responsive to receipt of user inputs. An indication of the selected surgical screw and an angular orientation and a location of the displayed graphical screw are stored in a surgical plan data structure.

A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

A computer implemented medical method of calibrating a medical instrument is provided. The method calculates a position of the instrument tip model within the indentation model, associated with an estimated position of the instrument tip within the indentation and calibrates the medical instrument, thereby using the determined position of the instrument tip model. The position of any arbitrary medical instrument tip, such as an indentation of a calibration device, can be estimated. This is an improvement of accuracy in view of the generic approach of using the same reference point of the indentation of the calibration device for any arbitrary medical instrument tip. A virtual model of a shape of a medical instrument, such as the instrument tip, is matched onto a virtual model of a shape of a calibration device, such as an indentation of the calibration device.

A device and method for a trackable suction tool in surgical use. A trackable suction tool involves a tubular handle with a main tube and an entrance tube extending from the main tube, a flattened section of the main tube with a suction-regulating orifice, a tip coupled with the main tube distal end and a tracking mechanism coupled with a handle proximal end. A method of tracking position of a trackable suction device involves attaching a tip to a handle in one of a plurality of fixed positions, attaching a tracking mechanism to the handle in one of a plurality of fixed positions, calibrating the position of the tip with a positional tracking system using the tracking mechanism, positioning the tracking markers in view of the positional tracking system, and tracking a position of the distal end of the tip of the suction device.