A navigation system is disclosed comprising a first and a second tracker support separately affixed to the same rigid object by a distance. A first and a second plurality of trackable elements are secured to the first and second tracker supports, respectively. The navigation system defines a tracking arrangement to be tracked based on a combination of the first and second plurality of trackable elements. A geometry of the tracking arrangement relative to the rigid object is registered. The navigation system has a localizer configured to track the rigid object by detecting the registered geometry of the tracking arrangement. The navigation system identifies a condition wherein at least one trackable element has been displaced relative to the registered geometry, and in response, generates a response to address the condition.

Disclosed is a fixation system and method. The system and method may fix a selected member to a subject during a procedure. The selected member may include a tracking device or registration member.

A system for working biological tissue, the system comprising: a tool comprising a laser operable to perform at least one action of work; positioning means for positioning the tool relative to the biological tissue to perform the at least one action of work; a controller; storage storing electronic program instructions for controlling the controller; and an input means; wherein the controller is operable, under control of the electronic program instructions, to: receive input via the input means; process the input and, on the basis of the processing, control the positioning means and the tool to work the biological tissue.

A CT apparatus is a so-called CT scanning apparatus that captures a tomographic image of the whole or a part of the area from the upper jaw to the lower jaw of a patient, and outputs CT data (captured image data). An oral cavity scanner is an apparatus that obtains a stereoscopic image by optically capturing an image of the inside of an oral cavity in a state that a plate is fixed to teeth, and outputs the stereoscopic image as three-dimensional shape data. A processing apparatus computes a positional relationship between the teeth and fiducial frame markers on the basis of the CT data and three-dimensional shape data that are obtained by image-capturing performed in a state that the plate is put on the teeth, and a positional relationship between plate markers and the fiducial frame markers.

A surgical system includes a first trackable marker configured to be coupled to a first bone of a joint, a second trackable marker configured to be coupled to a second bone of the joint, and a tracking system configured to track a position of the first trackable marker and a position of the second trackable marker. A controller is configured to receive an input from a user specifying a user-input native deformity of the joint and determine, based on the position of the first trackable marker and the position of the second trackable marker, a detected native deformity of the joint. The controller is further configured to compare the detected native deformity of the joint to the user-input native deformity of the joint and generate an alert in response to a disagreement between the detected native deformity of the joint and the user-input native deformity of the joint.

Systems and methods are provided for planning a procedure. A display device is configured to display a first virtual element. A controller device having a processor is configured to be in communication with the display device, and the controller device is further configured to direct the display device to display the first virtual element. A physical control element is in communication with the controller device, and is configured to correspond to the first virtual element such that an actual manipulation of the control element is displayed, via the processor of the controller device and on the display device, as a corresponding response of the first virtual element to the actual manipulation of the control element. Associated systems, methods, and computer program products are also provided.

In an embodiment, a system attaches a patient reference array of a computer-assisted surgery system to a patient. The system includes a fixation post having a shaft having proximal and distal ends that are offset from. A threaded fastener is coupled to the shaft at the distal end that rotates relative to the shaft so as to engage internal threads of a pedicle screw, thereby causing the distal end of the shaft to translate in the anchor seat and urge the pedicle screw to transition from an unlocked configuration to a locked configuration. The attachment assembly has an arm that supports the patient reference array, and a coupler supported by the arm. The coupler has a fixation body that defines a recess that receives at least a portion of the fixation post, and an actuator that secures the attachment assembly to the fixation post.

Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.

Methods of measuring a force using a tracking system are disclosed. A first vector is determined between a first tracking array and a second tracking array on a tool. The tool has a flexible portion that has a known modulus of elasticity and moment of inertia. A force is applied to the tool, and a second vector is determined between the first tracking array and the second tracking array. An amount of deflection is determined for the tool, and the magnitude and direction of the applied force are determined based on at least the amount of deflection, the modulus of elasticity and the moment of inertia. Information pertaining to the magnitude and direction of the applied force is provided to a user.

A system for alerting a medical provider of a possible displacement of a beacon includes the beacon, a control device, and a transceiver. The beacon includes sensors (for example, but not limited to, an IMU and a frequency shifter) and at least one antenna that exchanges signals with the transceiver. The IMU and the frequency shifter are used in a coordinated way to alert the medical provider if the beacon has been displaced in a way that might impact the medical procedure. As the beacon moves, when an anomalous correlation between the change over time of the IMU position data (of the beacon) and the frequency shifter position data (of the beacon) is detected, and the beacon has undergone a gravity/inertial moment (according to the IMU data) that exceeds a pre-selected threshold, the medical provider is alerted that the beacon's position might have shifted enough to impact the medical procedure.