US 12,343,092 B2
System and method for monitoring offset during navigation-assisted surgery
James G. Walen, Portage, MI (US); and Zachary Bolthouse, Kalamazoo, MI (US)
Assigned to Stryker Corporation, Portage, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on May 29, 2023, as Appl. No. 18/325,107.
Application 18/325,107 is a continuation of application No. 17/147,599, filed on Jan. 13, 2021, granted, now 11,660,148.
Claims priority of provisional application 63/054,811, filed on Jul. 22, 2020.
Claims priority of provisional application 62/960,218, filed on Jan. 13, 2020.
Prior Publication US 2023/0293246 A1, Sep. 21, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 17/15 (2006.01); A61B 17/17 (2006.01); A61B 34/10 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/15 (2013.01); A61B 17/1703 (2013.01); A61B 17/1757 (2013.01); A61B 34/10 (2016.02); A61B 2017/00039 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/00123 (2013.01); A61B 2017/00199 (2013.01); A61B 2017/00398 (2013.01); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2072 (2016.02); A61B 2217/005 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a surgical instrument having an actuator and a tool tip;
a controller for providing power to the surgical instrument, the controller operable to monitor an actuator operation of the instrument during a medical procedure;
an instrument tracker coupled to the surgical instrument;
a patient tracker to be coupled to a tissue; and
a navigation system including a localizer having a localizer coordinate system, the localizer operable to register the patient tracker in the localizer coordinate system, defining a location of the tissue relative to the localizer coordinate system, and to register the instrument tracker in the localizer coordinate system, defining a location of the instrument tool tip relative to the localizer coordinate system,
wherein the navigation system is operable to monitor a position of the instrument tool tip relative to the tissue to determine when the instrument tool tip is in contact with the tissue in the localizer coordinate system, and
wherein the controller and the navigation system are in electronic communication and configured to cooperate to:
define an actuator operation for the instrument when the instrument tool tip is not in contact with the tissue;
compare the monitored actuator operation to the monitored position of the instrument tool tip;
determine an error condition when the monitored position of the instrument tool tip is in contact with the tissue in the localizer coordinate system and the monitored actuator operation equals the defined actuator operation for the instrument when the instrument tool tip is not in contact with the tissue; and
trigger an action when an error condition is determined.