Navigation Systems For Communicating Tracker Status Conditions

{
  "publication_number": "US2021007809A1",
  "country": "US",
  "kind": "A1",
  "title": "Navigation Systems For Communicating Tracker Status Conditions",
  "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.",
  "claims": [
    "1. A navigation system comprising: 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 and the controller being configured to: receive the tracked states from the localizer; determine a status condition of the tracker based on the tracked states received from the localizer; and 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. 2. The navigation system of claim 1, wherein: the tracker comprises a reflective feature, separate from the trackable feature, configured to reflect light toward the user; and the controller is further configured to control the illumination assembly to direct light at the reflective feature such that light reflected by the reflective feature from the illumination assembly is visible to a user of the navigation system to communicate the status condition of the tracker. 3. The navigation system of claim 1, wherein: the illumination assembly comprises a light module operable to emit light; the illumination assembly is operable between a first illumination mode to emit light, and a second illumination mode different from the first illumination mode; and wherein the controller is further configured to: operate the illumination assembly in the first illumination mode in response to determining that the status condition indicates visibility between the localizer and the trackable feature; and operate the illumination assembly in the second illumination mode in response to determining that the status condition indicates obstruction between the localizer and the trackable feature. 4. The navigation system of claim 3, wherein the second illumination mode comprises an illumination state defined by an absence of light emission. 5. The navigation system of claim 3, wherein: the first illumination mode comprises an illumination state defined by light emission at a first wavelength; and the second illumination mode comprises an illumination state defined by light emission at a second wavelength different from the first wavelength. 6. The navigation system of claim 1, wherein the tracker is further defined as a first tracker having a first trackable feature; and further comprising a second tracker having a second trackable feature; wherein the localizer is further configured to track states of the second trackable feature within the field of view; and wherein the controller is further configured to: determine a status condition of the second tracker based on the tracked states received from the localizer; control the illumination assembly to direct light at the first tracker such that light reflected by the first tracker from the illumination assembly is visible to the user to communicate the status condition of the first tracker; and control the illumination assembly to direct light at the second tracker such that light reflected by the second tracker from the illumination assembly is visible to the user to communicate the status condition of the second tracker. 7. The navigation system of claim 6, wherein the controller is further configured to control the illumination assembly to scan light sequentially between the first tracker and the second tracker. 8. The navigation system of claim 6, wherein: the illumination assembly comprises a light module operable between a first illumination mode to emit light at a first wavelength, and a second illumination mode to emit light at a second wavelength different from the first wavelength; and the controller is further configured to control the illumination assembly to direct light emitted by the light module in the first illumination mode at one or more of the first tracker and the second tracker such that light at the first wavelength reflected by one or more of the first tracker and the second tracker is visible to the user to communicate the status condition of one or more of the first tracker and the second tracker. 9. The navigation system of claim 1, wherein the controller is further configured to: determine a system condition of the navigation system based on the tracked states received from the localizer; and 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 system condition of the navigation system. 10. The navigation system of claim 1, wherein the illumination assembly comprises: a light module operable to emit light; and an aiming unit arranged to direct light emitted by the light module within the field of view. 11. The navigation system of claim 10, wherein the aiming unit comprises: a first actuator assembly operable to direct light emitted by the light module in a first direction within the field of view, and a second actuator assembly operable to direct light emitted by the light module in a second direction within the field of view, with the second direction being different from the first direction. 12. The navigation system of claim 11, wherein: the first actuator assembly comprises a first rotary actuator with a first shaft arranged for movement about a first axis; the second actuator assembly comprises a second rotary actuator with a second shaft arranged for movement about a second axis different from the first axis; and the aiming unit further comprises a mirror operatively attached to the first shaft of the first rotary actuator for movement about the first axis relative to the light module to direct light emitted by the light module in the first direction within the field of view. 13. The navigation system of claim 12, wherein: the mirror is further defined as a first mirror; and the aiming unit further comprises a second mirror operatively attached to the second shaft of the second rotary actuator for movement about the second axis relative to the light module to direct light emitted by the light module in the second direction within the field of view; and the second mirror is arranged between the first mirror and the light module such that light emitted by the light module is reflected from the second mirror to the first mirror. 14. The navigation system of claim 1, wherein: the illumination assembly is spaced apart from and separated from the localizer; and the illumination assembly further comprises an illumination assembly tracker with a trackable feature; and wherein the localizer is further configured to track states of the trackable feature of the illumination assembly tracker. 15. The navigation system of claim 1, wherein the trackable feature of the tracker is further defined as a passive marker configured to be monitored by the localizer without a power source coupled to the tracker. 16. A surgical system comprising: 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 and the controller being configured to: receive the tracked states from the localizer; determine a system condition of the surgical system based on the tracked states received from the localizer; and 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 surgical system to communicate the system condition. 17. A method of operating a navigation system comprising 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 and the controller being configured to perform the steps of: receiving the tracked states from the localizer; determining a status condition of the tracker based on the tracked states received from the localizer; and controlling the illumination assembly for directing light at the tracker such that light reflected by the tracker from the illumination assembly is visible to a user of the navigation system for communicating the status condition of the tracker. 18. The method of claim 17, wherein: the tracker comprises a reflective feature, separate from the trackable feature, for reflecting light toward the user; and comprising the controller controlling the illumination assembly for directing light at the reflective feature such that light reflected by the reflective feature from the illumination assembly is visible to a user of the navigation system to communicate the status condition of the tracker. 19. The method of claim 17, wherein: the illumination assembly comprises a light module operable to emit light; the illumination assembly is operable between a first illumination mode to emit light, and a second illumination mode different from the first illumination mode; and and comprising the controller: operating the illumination assembly in the first illumination mode in response to determining that the status condition indicates visibility between the localizer and the trackable feature; and operating the illumination assembly in the second illumination mode in response to determining that the status condition indicates obstruction between the localizer and the trackable feature. 20. The method of claim 17, comprising the controller: determining a system condition of the navigation system based on the tracked states received from the localizer; and controlling 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 system condition of the navigation system."
  ],
  "cpc": [
    "A61B 34/20",
    "A61B 2034/2051",
    "A61B 2034/2055",
    "A61B 34/10",
    "A61B 34/30",
    "F21Y 2115/10"
  ],
  "assignees": [
    "MAKO SURGICAL CORP"
  ],
  "filing_date": "2020-07-09",
  "publication_date": "2021-01-14",
  "priority_date": "2019-07-10",
  "application_number": "US-202016924643-A",
  "family_id": "74101872",
  "citations": [
    "US2017245945A1",
    "US2020329226A1"
  ]
}