Abstract: Systems, methods, and devices are disclosed for navigational arrays for attaching to surgical tools, the arrays comprising a frame comprising fiducials for detection by an optical navigation system, and a body having a first end for supporting the frame and a second end defining an opening, wherein the opening is aligned with a first axis of the surgical tool, wherein the opening engages a stationary surface adjacent to the surgical tool, and wherein the opening engages features disposed at predetermined even intervals on the stationary surface adapted to allow repositioning of the array from a first position to a second position, wherein the second position is at least one of a rotational offset or an axial offset from the first position. The stationary surface may be a step disposed on an adapter inserted into the surgical tool. The stationary surface may be a sheath covering a rotatable shaft inserted into the surgical tool. The stationary surface may be a sleeve disposed on the surgical tool.

Abstract: The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).

Abstract: The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).

Abstract: The invention relates to a system for positioning a surgical device, said surgical device comprising: a base (1) designed to be held in a user's hand, an end-effector (2) for mounting a surgical tool, respectively a guide (20) for guiding a surgical tool (3), said surgical tool being designed to treat a planned volume of a part (P1) of a patient's body, an actuation unit (4) connected to said base (1) and said end-effector (2) for moving said surgical tool (3), respectively tool guide (20), with respect to the base (1) in order to treat said planned volume, said positioning system comprising: (i) a tracking unit (200) configured to determine in real time the pose of at least one of the tool (3), the end-effector (2) and the base (1) with respect to the part to be treated, (ii) a control unit (300) configured to: (a) compute in real time the working space of the surgical tool for said determined pose, (b) compute in real time the volume that remains to be treated to achieve the treatment of the planned v

Abstract: The invention relates to a system for positioning a surgical device, said surgical device comprising: a base (1) designed to be held in a user's hand, an end-effector (2) for mounting a surgical tool, respectively a guide (20) for guiding a surgical tool (3), said surgical tool being designed to treat a planned volume of a part (P1) of a patient's body, an actuation unit (4) connected to said base (1) and said end-effector (2) for moving said surgical tool (3), respectively tool guide (20), with respect to the base (1) in order to treat said planned volume, said positioning system comprising: (i) a tracking unit (200) configured to determine in real time the pose of at least one of the tool (3), the end-effector (2) and the base (1) with respect to the part to be treated, (ii) a control unit (300) configured to: (a) compute in real time the working space of the surgical tool for said determined pose, (b) compute in real time the volume that remains to be treated to achieve the treatment of the planned v

Abstract: The invention relates to a surgical system comprising: (i) a handheld device (100) comprising: a base (1), an end-effector (2) for mounting a surgical tool or tool guide, an actuation unit (4) connected to said base (1) and end-effector (2), a support unit (5) designed to make contact with the treated part to be treated or an adjacent region to provide a partial mechanical link between the base (1) or end-effector (2), and the part to be treated, (ii) a tracking unit (200), (iii) a control unit (300) configured to: (a) compute in real time an optimized path of the end-effector, (b) detect whether said computed path of the tool or end-effector can be achieved without changing the pose of the base, and, if not, determine a possible repositioning of the base with respect to the part to be treated, (c) configure the actuation unit so as to move the end-effector according to said computed path, and (d) iterate steps (a) to (c) until the planned volume has been treated, (iv) a user interface (400).