Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.

An optical marker for positioning a medical device outside a body and the medical device are disclosed. The optical marker comprises: a base having a concave or a convex, the concave or the convex being provided with a non-coplanar optical mark(s), and the optical mark(s) being visible on the entire surface of the concave or the convex; and a connecting portion connected to the base and used for connecting with the medical device. In the optical marker, the base provided with the optical mark(s) has a non-planar structure, being able to increase the recognizable angle of the medical device and improve the recognition accuracy and stability.

A surgical system is configured to augment the visualization environment presented to the surgeon by merging, in real-time, video feed and ultrasound imaging; tracking anatomy and instruments; identifying critical structures; generating and displaying 3-dimensional models of relevant anatomy; providing actionable guidance to the user; and enabling data collection and processing. The surgical system may include a tissue-marking surgical instrument configured to simultaneously identify critical structures beneath an organ surface and mark the organ surface at a location overlapping the identified critical structures.

An optical tracking system is provided. The optical tracking system comprises an autoclavable fiducial marker assembly including an opaque housing, a light source, a window panel configured to refract light rays from the light source therethrough, and a metallized coating forming a hermetic seal at an interface of the window panel and the opaque housing. The fiducial marker assembly is configured to shield a peripheral edge of the window panel from the light rays. The system further comprises a tracking device comprising at least two optical sensors configured to detect a position of a light ray emitted by the light source. The system further comprises a processor configured to receive the position of the light rays from the optical sensors, shift the position of each light ray based on a calculated refraction deviation, and triangulate the location of the light source based on the shifted position of each light ray.

Systems and methods are provided for performing intraoperative fusion of two or more volumetric image datasets via surface-based image registration. The volumetric image datasets are separately registered with intraoperatively acquired surface data, thereby fusing the two volumetric image datasets into a common frame of reference while avoiding the need for complex and time-consuming preoperative volumetric-to-volumetric image registration and fusion. The resulting fused image data may be processed to generate one or more images for use during surgical navigation.

A system (100) and device (300) for mounting and tracking a tracker array during a surgical procedure are described. For example, the system includes a surgical navigation system (700) including a position tracking system (702) configured to track one or more tracker arrays, and a device (300) for mounting a tracker array (306) onto a patient during the surgical procedure. The device includes an intramedullary (IM) canal component (304) configured to be inserted into an IM canal (310) within a bone (312). The device further includes a tracker pin (308) configured to penetrate at least a portion of the bone and engage an inserted end (411, 413) of the IM canal component, and a tracker array (306) affixed to the tracker pin. The IM canal component is configured to engage the IM canal of the bone to stabilize the tracker array during the surgical procedure.

A method for performing a surgical procedure includes generating, by a computing device, an anatomical map of a patient from a plurality of images; positioning a trocar obturator adjacent to the patient; calculating, by the computing device, a projected path of the trocar obturator; overlaying, by the computing device, the projected path of the trocar obturator with the anatomical map of the patient; and displaying the projected path of the trocar obturator and the anatomical map of the patient on a display device to define an augmented image.

A positioning system includes a group of positioning devices including a first device comprising a first positioning source associated with a first positioning modality, the first positioning source being configured to view a first field, a second device comprising a second positioning source associated with a second positioning modality that is of a different type than the first positioning modality, the second positioning source being configured to view a second field, a third device comprising one or more first markers detectable within the first field using the first positioning modality, and a fourth device comprising one or more second markers detectable within the second field using the second positioning modality. A linking structure physically links two of the group of positioning devices to one another in a fixed, rigid relative position and orientation.

A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient. The surgical instrument navigation system includes: a surgical instrument; an imaging device which is operable to capture scan data representative of an internal region of interest within a given patient; a tracking subsystem that employs electro-magnetic sensing to capture in real-time position data indicative of the position of the surgical instrument; a data processor which is operable to render a volumetric, perspective image of the internal region of interest from a point of view of the surgical instrument; and a display which is operable to display the volumetric perspective image of the patient.

Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.