Surgical Tracker System Utilizing A Digital Display Screen
Systems, methods, non-transitory computer-readable mediums, and techniques involve a tracker system including a tracker device and a controller. The tracker device is attached or attachable to a surgical object. The tracker device includes a digital display screen. The controller is coupled to the tracker device and is configured to present, on the digital display screen, a computer-generated content, such as surgical information and/or a trackable graphic that is detectable by a tracking system to facilitate tracking of a pose of the surgical object.
1 . A surgical system comprising:
a tracking system;
a robotic manipulator configured to support and move an end effector to perform a surgical procedure on a patient;
a tracker device being attached or attachable to the robotic manipulator, wherein the tracker device comprises a digital display screen; and
a controller in communication with the tracker device, wherein the controller is configured to instruct the digital display screen to present a computer-generated trackable graphic that is detectable by the tracking system to facilitate tracking of a pose of the robotic manipulator during the surgical procedure.
2 . The surgical system of claim 1 , wherein:
the robotic manipulator comprises a base, and a robotic arm coupled to the base; and
the tracker device is attached or attachable to one of: the base, the robotic arm, or the end effector.
3 . The surgical system of claim 1 , wherein the controller is configured to dynamically change a pose and/or configuration of the computer-generated trackable graphic on the digital display screen based on one or more of:
a relative spatial relationship between the tracker device and the tracking system; and/or
an absence or presence of line-of-sight between the tracker device and the tracking system.
4 . The surgical system of claim 1 , wherein the controller is configured to:
receive surgical information, wherein the surgical information comprises one or more of: information about the robotic manipulator, information about the surgical procedure or step of the surgical procedure, patient information, surgical plan information, surgeon preferences, a tracking status of the tracker device, an operation status of the tracking system, and a location or the tracking system; and
generate the computer-generated trackable graphic based on the surgical information.
5 . The surgical system of claim 1 , wherein the controller is configured to encode the computer-generated trackable graphic with time stamps to facilitate synchronization with the tracking system.
6 . The surgical system of claim 1 , wherein the computer-generated trackable graphic comprises a QR code or dynamic QR code.
7 . The surgical system of claim 1 , wherein the controller is configured to further instruct the digital display screen to present one or more of:
a tracking status of the tracker device;
an operation status of the tracking system; and/or
a status, step, notification or alert related to the surgical procedure.
8 . The surgical system of claim 1 , wherein the controller is configured to instruct the digital display screen to present a graphical user interface enabling a user to provide input to modify settings or operation of the tracker device or the robotic manipulator.
9 . The surgical system of claim 1 , wherein the controller is configured to further instruct the digital display screen to present graphical information, wherein the graphical information comprises one or more of;
information of, or related to, the robotic manipulator;
video data from a camera; and/or
a video stream provided from a software application of a device in an operating room.
10 . The surgical system of claim 1 , wherein the digital display screen is curved and the computer-generated trackable graphic is presented in a curved manner on the digital display screen.
11 . The surgical system of claim 10 , wherein;
the robotic manipulator comprises a base, and a robotic arm coupled to the base, wherein the robotic arm is formed of links; and
the digital display screen is wrapped partially or fully about one of the links of the robotic arm.
12 . The surgical system of claim 1 , wherein the digital display screen is a first digital display screen, and wherein the tracker device comprises a second digital display screen arranged to face a different direction from the first digital display screen.
13 . The surgical system of claim 1 , wherein the controller is further configured to instruct the digital display screen to present a video stream obtained by a camera source.
14 . The surgical system of claim 1 , wherein the tracker device further comprises an inertial sensor, and wherein the controller is configured to utilize measurements from the inertial sensor to perform one or more of the following:
change an orientation of the computer-generated trackable graphic on the digital display screen; and/or
detect an undesired motion of the tracker device.
15 . The surgical system of claim 1 , wherein the tracker device further comprises a camera configured to capture image or video data, and wherein the controller is configured to utilize the image or video data to perform one or more of the following:
detect an event and modify the computer-generated trackable graphic in response;
detect presence or absence of the robotic manipulator or the patient;
detect presence or absence of the tracking system;
present the image or video data on the digital display screen; and/or
detect a face of a user to authenticate use of the tracker device.
16 . The surgical system of claim 1 , wherein the tracker device further comprises an infrared or radio frequency transceiver, and wherein the controller is configured to utilize the transceiver to communicate to a transceiver of the tracking system.
17 . The surgical system of claim 1 , wherein the tracker device further comprises a proximity sensor, and wherein the controller is configured to utilize measurements from the proximity sensor to perform one or more of the following:
detect absence of environmental activity and in response place the tracker device or the digital display screen in a sleep mode to conserve energy; and/or
detect presence of environmental activity to ensure the tracker device or the digital display screen is active.
18 . The surgical system of claim 1 , wherein a drape is configured to cover the robotic manipulator and the digital display screen, wherein the drape comprises a transparent region to enable visibility of the digital display screen.
19 . A surgical robotic system comprising:
a robotic manipulator comprising a robotic arm configured to support and move an end effector to perform a surgical procedure on a patient;
a tracker device being attached or attachable to the robotic manipulator, wherein the tracker device comprises a digital display screen; and
a controller in communication with the tracker device, wherein the controller is configured to instruct the digital display screen to present a computer-generated trackable graphic that is detectable by a tracking system to facilitate tracking of a pose of the robotic manipulator during the surgical procedure.
20 . A tracker device for use with surgical system that includes a tracking system and a robotic manipulator, the tracker device comprising:
a body;
an attachment interface to facilitate coupling of the body to the robotic manipulator;
a digital display screen coupled to the body; and
a controller housed within the body and configured to instruct the digital display screen to present a computer-generated trackable graphic that is detectable by the tracking system to facilitate tracking of a pose of the robotic manipulator.