Abstract: A navigation system includes a first and second tracker supports independently affixed to a rigid object and separated by a distance. A first plurality of trackable elements are secured to the first tracker support and a second plurality of trackable elements are secured to the second tracker support. A localizer tracks the trackable elements and controller(s) define 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 is registered relative to the rigid object and the controller(s) track the rigid object by detecting the registered geometry. The controller(s) identify a condition wherein at least one trackable element has been displaced relative to the registered geometry, and in response, generate an instruction to a manipulator controller to interrupt operation of a robotic manipulator.

Abstract: A physical model configured to be physically altered by a surgical instrument for providing feedback related to a surgical plan specific to an anatomy of a patient. The physical model has a body including a physical volume representative of the anatomy of the patient and a geometrical feature embedded within the physical volume wherein the geometrical feature is visually distinct from a remainder of the physical volume and wherein the geometrical feature has parameters that are based on the surgical plan. The physical volume is configured to be at least partially removed by the surgical instrument such that the geometrical feature is configured to be exposed for providing visual feedback about an accuracy of the surgical plan and/or an accuracy of the surgical instrument in carrying out the surgical plan.

Abstract: Systems, methods and computer-program products are provided for aiding in positioning between a surgical object and a machine vision camera in a surgical environment. The machine vision camera senses a position and orientation of a surgical object in its field of view. Controller(s) virtually define a zone within the field of view that indicates a range of acceptable positions for the surgical object relative to a position of the machine vision camera. The controller(s) obtain an acceptable orientation range for the surgical object relative to an orientation of the machine vision camera. The controller(s) execute a GUI to simultaneously present, on the display device, representations of: the field of view; the zone within the field of view; the position of the surgical object relative to the zone; and a current angle difference between the surgical object and the machine vision camera.

Abstract: Surgical systems and methods involve a tracker having at least one trackable component and a localizer configured to track states of the at least one trackable component. An illumination assembly is located remote from the tracker and is operable to direct a visible light. A controller is coupled to the localizer and to the illumination assembly. The controller is configured to detect a condition and control the illumination assembly to remotely direct the visible light at the tracker such that the visible light is reflected by the tracker to communicate the detected condition.

Abstract: A navigation system is disclosed which comprises a tracker having a trackable feature, a localizer configured to track states of the trackable feature within a field of view, an illumination assembly operable to direct light within the field of view, and a controller coupled to the localizer and to the illumination assembly. The controller is configured to receive the tracked states from the localizer, to determine a status condition of the tracker based on the tracked states received from the localizer, and to control the illumination assembly to direct light at the tracker such that light reflected by the tracker from the illumination assembly is visible to a user of the navigation system to communicate the status condition of the tracker.

Abstract: A surgical tracker assembly for use with a navigation system. The tracker assembly includes a tracker body defining a chamber configured to receive a printed circuit board (PCB) including a plurality of markers that are actively energizable through the PCB. A plurality of openings formed in the tracker body and at least one channel formed in the tracker body extending between the chamber and one of the defined by the tracker body. Each of the markers are visible through one of the plurality of openings of the tracker body. The tracker body is configured to be sterilizable, with the PCB being located within the chamber of the tracker body, and the at least one channel is configured to enable sterilization fluid to enter into and drain from the chamber of the tracker body during sterilization. The PCB may also include a sterilization resistant protective coating.

Abstract: Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.

Abstract: Navigation systems, methods and software for assisting in determining whether a tool is properly installed on a surgical device. A protective packaging retains the tool and has a trackable feature. The trackable feature has a predetermined state defined relative to the tool and the trackable feature is detectable by a localizer. One or more controllers acquire the actual state of the tool based on the detected trackable feature and compare the actual state of the tool with an expected state of the tool, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.

Abstract: Protective packaging, surgical kits, systems, and methods are described herein for assisting in determining whether a tool is properly installed on a surgical device. The protective packaging retains the tool and has trackable features defined relative to a tool center point of the tool. The trackable features have a predetermined state defined relative to the tool center point and the trackable features are configured to be detectable by a localizer to locate the tool center point. One or more controllers can compare the actual state of the tool center point with an expected state of the tool center point, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.

Abstract: A tracker for a navigation system. A tracker body defines an opening, and a lens is positionable to seal the opening. A plug is configured to be coupled to the tracker body to secure the lens. A tracking element may be disposed between the lens and the plug so as to be visible through the lens. The tracking element may be disposed within a sealed enclosure defined by the lens and the plug. The plug may define a counterbore in fluid communication with the opening, and the plug may be at least partially disposed within the counterbore. The plug may further define a groove, and the tracker may include a sealing element disposed within the groove. The plug may include a shoulder configured to in sealing engagement with the tracker body. Methods of assembling the tracker for use with the navigation system are also disclosed.

Abstract: A navigation system includes a first and second tracker supports independently affixed to a rigid object and separated by a distance. A first plurality of trackable elements are secured to the first tracker support and a second plurality of trackable elements are secured to the second tracker support. A localizer tracks the trackable elements and controller(s) define 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 is registered relative to the rigid object and the controller(s) track the rigid object by detecting the registered geometry. The controller(s) identify a condition wherein at least one trackable element has been displaced relative to the registered geometry, and in response, generate an instruction to a manipulator controller to interrupt operation of a robotic manipulator.

Abstract: The invention relates to an apparatus with magnets of a unique configuration to secure devices to non-ferromagnetic material, such as the windshield of a car. The invention permits the perimeter structure of the non-ferrous material to optionally be used to provide additional stability to secured devices. At least two magnets clamp opposite sides of the non-ferromagnetic material, magnetically associating the two magnets. The magnets are of a shape conducive to avoiding collision with windshield wipers, when mounted onto a car windshield, while maintaining sufficient volume to provide acceptable magnetic force to support devices mechanically attached to magnets. Example attached devices include a phone, GPS, camera, or tablet.

Abstract: A navigation system is disclosed which comprises a tracker having a trackable feature, a localizer configured to track states of the trackable feature within a field of view, an illumination assembly operable to direct light within the field of view, and a controller coupled to the localizer and to the illumination assembly. The controller is configured to receive the tracked states from the localizer, to determine a status condition of the tracker based on the tracked states received from the localizer, and to control the illumination assembly to direct light at the tracker such that light reflected by the tracker from the illumination assembly is visible to a user of the navigation system to communicate the status condition of the tracker.

Abstract: Protective packaging, surgical kits, systems, and methods are described herein for assisting in determining whether a tool is properly installed on a surgical device. The protective packaging retains the tool and has trackable features defined relative to a tool center point of the tool. The trackable features have a predetermined state defined relative to the tool center point and the trackable features are configured to be detectable by a localizer to locate the tool center point. One or more controllers can compare the actual state of the tool center point with an expected state of the tool center point, which is based on an expected condition in which the tool is properly mounted to the surgical device. Based on the comparison, the one or more controllers can determine whether the tool is properly mounted to the surgical device.

Abstract: One embodiment of an inherently unstable vase with a magnet (3) attached to the base of the vase container (1). One pole of the magnet (3) allows the vase to be magnetically attracted to any metal object, including a ferrous metal base (4) plate. A ferrous block (2) near the opposite magnet pole augments the force provided by the magnet. The center of gravity of the vase would not allow the vase to remain upright without the use of the magnetic forces. A non-ferrous material can be placed between the vase magnet (3) and base (4), hiding the method by which the inherently unstable vase remains upright. Vases can be magnetically attached to one another, creating multi-tier vase arrangements. Magnetic forces allow the vases to be easily arranged and reconfigured to the desired angle, height, and shape. Also, the magnetic forces inhibit the vase from toppling due to perturbations.