Gravitationally oriented tracking frame for steriotatic tool tracking
Inventors
Assignees
Smith and Nephew Orthopaedics AG • Smith and Nephew Asia Pacific Pte Ltd • Smith and Nephew Inc
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Publication Number
US-12419691-B1
Publication Date
2025-09-23
Expiration Date
Abstract
Disclosed are surgical tools including tracking assemblies and tracking assemblies that are usable in connection with surgical tools, wherein the tracking assemblies are configured to be maintained in a defined orientation despite movement by the surgical tool. A tracking assembly can include a counterbalancing mass configured to maintain the tracking assembly in a particular orientation. A tracking assembly can also include various control assemblies configured to maintain the tracking assembly in a particular orientation.
Core Innovation
The invention relates to a gravitationally oriented stereotactic surgical tracking approach within a computer-assisted surgical system, where a tracking assembly maintains an orientation relative to a gravitational reference frame. The described goal is to keep the tracking assembly aligned to the direction of gravity so that it remains in view of a tracking camera despite rotation of a surgical tool during use.
A surgical tool is described for use with a surgical tracking system, including a support, a rotatably positioned tool body within the support, and a housing rotatably attached to the support. The tool further includes a tracking assembly that is rotatably disposed about the tool body, and a ball bearing and race disposed about the support to constrain movement of the ball bearing and allow the tracking assembly to rotate about the support and the tool body.
To maintain the tracking assembly orientation relative to the gravitational reference frame as the tool body is moved, a balancing mass is coupled to the tracking assembly and configured to rotate the tracking assembly about the tool body. The disclosure also describes active variants that use an orientation assembly to sense orientation, a control assembly to actuate the tracking assembly, and controller logic that compares sensed orientation to a defined orientation and rotates/actuates the tracking assembly accordingly.
Claims Coverage
The independent claim coverage is directed to a surgical tool used with a surgical tracking system that includes a constrained rotatable tracking assembly and a balancing mass that maintains tracking assembly orientation relative to a gravitational reference frame. The main inventive features are supported by dependent claim refinements that specify tool types, optical tracker plurality and identification, removability, and further orientation/axis relationships.
Gravitational reference frame orientation maintenance with coupled balancing mass
A balancing mass that is coupled to the tracking assembly and configured to rotate the tracking assembly about the tool body as the tool body is moved to maintain the tracking assembly in an orientation relative to a gravitational reference frame.
Constrained rotatable tracking assembly about a rotatably positioned tool body
A tracking assembly configured to be identified by the surgical tracking system for determining a pose of the surgical tool, wherein the tracking assembly is rotatably disposed about the tool body; and a race disposed about the support, wherein the race is configured to constrain movement of the ball bearing to allow the tracking assembly to rotate about the support and the tool body.
Ball bearing and race constraining rotation about the support
A ball bearing; and a race disposed about the support, wherein the race is configured to constrain movement of the ball bearing to allow the tracking assembly to rotate about the support and the tool body.
Rotatably mounted tool body within support and rotatably attached housing
A tool body that is rotatably positioned within the support; and a housing that is rotatably attached to the support, around an outer perimeter of the support.
Overall, the claims define a surgical tool where a tracking assembly is rotatably mounted around a rotatable tool body using ball bearing and race constraints, and where a balancing mass maintains the tracking assembly orientation relative to a gravitational reference frame during tool movement.
Stated Advantages
Maintains the tracking assembly in an orientation relative to a gravitational reference frame during movement of the tool body.
Enables tracking assembly orientation to be maintained despite rotation of the tool body so that the tracking assembly remains aligned to a gravitational reference (and in view of a camera, as described in the provided summary context).
Documented Applications
Tracking during computer-assisted surgical use, including maintaining orientation of a tracking assembly relative to gravity in a stereotactic/parallax-based tracking context.
Use with surgical tools including an orthoscopic shaver, a drill, a burring device, resection equipment, and a point probe.
Orientation-maintenance process embodiments referenced in connection with FIGs. 8-10 for balancing-mass and active orientation maintenance control assemblies.
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