New patent application published for: Alert System Behavior Based On Localization Awareness

Alert System Behavior Based On Localization Awareness

Claims

1. A hand-held surgical system comprising: an instrument configured to be held in a hand of a user, the instrument including a drive motor; a tracking device coupled to the instrument; a tracking unit configured to cooperate with the tracking device to generate tracking data indicative of a pose of the instrument in a known coordinate system; an alert module for indicating a position of the instrument relative to a region of interest in a surgical procedure; and a control system in communication with the tracking unit, the alert module, and the instrument, the control system configured to: track the pose of the instrument in the known coordinate system based on the tracking data, determine a boundary in the known coordinate system, the boundary being associated with the region of interest, control the alert module based on the boundary and the tracked pose of the instrument in the known coordinate system, determine that an occlusion event has occurred for the tracking device, and disable the drive motor based on the occlusion event, the boundary, and the tracked pose of the instrument.
2. The hand-held surgical system of claim 1, wherein the control system is further configured to: determine a duration of the occlusion event, and disable the drive motor based on the duration of the occlusion event, the boundary, and the tracked pose of the instrument.
3. The hand-held surgical system of claim 2, wherein the control system is further configured to: determine a duration threshold based on the boundary and the tracked pose of the instrument; and disable the drive motor based on the duration of the occlusion event and the duration threshold.
4. The hand-held surgical system of claim 3, wherein the boundary is defined as a first boundary, and the control system is further configured to: determine a second boundary in the known coordinate system, the second boundary being located farther from the region of interest than the first boundary in the known coordinate system; determine a position of an end effector of the instrument relative to the first and second boundaries in the known coordinate system based on the tracked pose of the instrument; responsive to determining that the end effector is outside the first and second boundaries in the known coordinate system, set the duration threshold to a first duration; and responsive to determining that the end effector is between the first and second boundaries in the known coordinate system, set the duration threshold to a second duration, the second duration being less than the first duration.
5. The hand-held surgical system of claim 3, wherein the control system is further configured to: determine a positional relationship between the instrument and the region of interest based on the boundary and the tracked pose of the instrument in the known coordinate system; and determine the duration threshold based on the positional relationship.
6. The hand-held surgical system of claim 3, wherein control system is further configured to: determine a distance between the instrument and the region of interest based on the boundary and the tracked pose of the instrument in the known coordinate system; and determine the duration threshold based on the distance.
7. The hand-held surgical system of claim 6, wherein the instrument includes an end effector and the control system is configured to determine the distance between the instrument and the region of interest by being configured to determine a distance between the end effector and the boundary in the known coordinate system.
8. The hand-held surgical system of claim 7, wherein the control system is configured to determine the distance between the end effector and the boundary in the known coordinate system based on a length of a line between the end effector and a point on the boundary that is closest to the end effector in the known coordinate system.
9. (canceled)
10. The hand-held surgical system of claim 8, wherein the end effector is a burr including a burr head and the line is between a center of the burr head and the boundary.
11. The hand-held surgical system of claim 8, wherein the end effector is a drill bit including a tip and the line is between the tip of the drill bit and the boundary.
12. The hand-held surgical system of claim 7, wherein the end effector is a driver including a tip and the control system is configured to determine the distance between the end effector and the boundary based on a length of a line between the tip of the driver and a center of a planned position of a screw in the known coordinate system.
13. The hand-held surgical system of claim 7, wherein the end effector is a screw including a tip and the control system is configured to determine the distance between the end effector and the boundary based on a length of a line between the tip of the screw and a center of a planned position of the screw in the known coordinate system.
14. The hand-held surgical system of claim 12, wherein: the boundary is realized as a spherical virtual boundary centered on and surrounding the planned screw position, the planned screw position having a length; the spherical virtual boundary has a diameter equal to the length of the planned screw position; and the line is between the tip of the screw and a center of the spherical virtual boundary.
15. The hand-held surgical system of claim 14, wherein the control system is configured to: determine an adjusted distance between the tip of the screw and an edge of the spherical virtual boundary as the length of the line minus a radius of the spherical virtual boundary; and determine the distance between the end effector and the boundary in the known coordinate system based on the adjusted distance.
16. The hand-held surgical system of claim 12, wherein the planned screw position is defined as a first planned screw position, the spherical virtual boundary is defined as a first spherical virtual boundary centered on and surrounding the first planned screw position, the line is defined as a first line, the control system is configured to: determine a second spherical virtual boundary in the known coordinate system centered on and surrounding a second planned screw position, the second spherical virtual boundary having a diameter equal to the length of the second planned screw position; determine a second line between the end effector and the center of the second spherical virtual boundary; determine that the length of the first line is less than the length of the second line; and determine the distance between the end effector and the first spherical virtual boundary in the known coordinate system responsive to determining that the length of the first line is less than the length of the second line.
17. The hand-held surgical system of claim 6, wherein the control system is further configured to: determine whether the distance between the instrument and the region of interest is greater than a threshold distance; and determine the duration threshold based on the determination of whether the distance between the instrument and the region of interest is greater than the threshold distance.
18. The hand-held surgical system of claim 17, wherein the control system is further configured to: responsive to determining that the distance between the instrument and the region of interest is greater than the threshold distance, set the duration threshold to a first duration; and responsive to determining that the distance between the instrument and the region of interest is less than the threshold distance, set the duration threshold to a second duration, the second duration being less than the first duration.
19. The hand-held surgical system of claim 4, wherein the control system is further configured to: determine whether an end effector of the instrument is positioned in the region of interest based on the boundary and the tracked pose of the instrument in the known coordinate system; and responsive to determining that the end effector of the instrument is positioned in the region of interest, set the duration threshold to a third duration, the third duration being greater than the second duration.
20-64. (canceled)
65. A navigation system for use with an instrument configured to be held in a hand of a user and an alert module for indicating a position of the instrument relative to a region of interest in a surgical procedure, the instrument including a drive motor, the system comprising: a tracking unit configured to cooperate with a tracking device coupled to the instrument to generate tracking data indicative of a pose of the instrument in a known coordinate system; and a control system in communication with the tracking unit, the alert module, and the instrument, the control system configured to: track the pose of the instrument in the known coordinate system based on the tracking data, determine a boundary in the known coordinate system, the boundary being associated with the region of interest, control the alert module based on the boundary and the tracked pose of the instrument in the known coordinate system, determine that an occlusion event has occurred for the tracking device, and disable the drive motor based on the occlusion event, the boundary, and the tracked pose of the instrument.
66. A method for navigating a surgical instrument configured to be held in a hand of a user and including a drive motor, the method comprising:: tracking, by a control system in communication with the instrument, a tracking unit, and an alert module for indicating a position of the instrument relative to a region of interest in a surgical procedure, a pose of the instrument in a known coordinate system based on tracking data that is generated by the tracking unit cooperating with a tracking device coupled to the instrument; determining, by the control system, a boundary in the known coordinate system, the boundary being associated with a region of interest in a surgical procedure; controlling, by the control system, the alert module based on the boundary and the tracked pose of the instrument in the known coordinate system; determining, by the control system, that an occlusion event has occurred for the tracking device; and disabling, by the control system, the drive motor based on the occlusion event, the boundary, and the tracked pose of the instrument.