SYSTEM AND METHOD FOR NAVIGATION
FIELD
[0001] The subject disclosure is related generally to a tracking and navigation system, and particularly to tracking using one or more tracking systems and determining a relationship therebetween.
BACKGROUND
[0002] This section provides background information related to the present disclosure which is not necessarily prior art.
[0003] An instrument can be navigated relative to a subject for performing various procedures. For example, the subject can include a patient on which a surgical procedure is being performed. During a surgical procedure, an instrument can be tracked in a physical space which may also be referred to as an object or subject space. In various embodiments, the subject space can be a patient space defined by a patient. A pose of the instrument that is tracked can be displayed on a display device relative to an image of the patient or a view of the patient.
[0004] The position of the patient can be determined with a tracking system. Generally, a patient is registered to the image, via tracking an instrument relative to the patient to generate a transformation (e.g., translational and rotational) map between the subject or object space (e.g., patient space) and the image space. This often requires time during a surgical procedure for a user, such as a surgeon, to identify one or more points in the subject space and correlating, often identical points, in the image space.
[0005] After registration, the position of the instrument can be appropriately displayed on the display device while tracking the instrument. The position of the instrument relative to the subject can be displayed as a graphical representation, sometimes referred to as an icon on the display device.
SUMMARY
[0006] This section provides a general summary of the disclosure and is not a comprehensive disclosure of its full scope or all of its features.
[0007] According to various embodiments, an imaging system may be used to acquire image data of a subject. The imaging system may include an ultrasound (US) imaging system that includes an US probe that generally includes an ultrasound transducer to emit and receive ultrasound frequencies. An imaging system may include other appropriate imaging systems, such as x-ray imaging systems and magnetic resonance imaging systems.
[0008] A tracking or navigation system may include one or more tracking systems. The two tracking systems may operate individually and in concert to ensure a selected accuracy of a navigation of a selected tracking device. The tracking systems may include one ore more localizers that are configured to tracking a tracking device. The navigation system may include the tracking system to assist in tracking the tracking device and illustrating a pose of an instrument relative to an image.
[0009] In various embodiments, the tracking device may be mounted to an item or object to be tracked, such as a patient, with a mounting portion. The tracking device may have a tracking portion positioned or able to be positioned relative to the mounting portion. Thus, the tracking device may be mounted to the subject and the tracking portion may be moved and/or fixed relative to the mounting portion. The system may be configured to determine movement of the tracking portion relative to the mounting portion. [0010] Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
DRAWINGS
[0011] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.
[0012] Fig. 1 is a diagrammatic view illustrating an overview of a robotic system and a navigation system, according to various embodiments;
[0013] Fig. 2 is diagrammatic view illustrating a tracking device, according to various embodiments;
[0014] Fig. 3 is a diagrammatic view illustrating a tracking device, according to various embodiments;
[0015] Fig. 4 is a diagrammatic view illustrating a tracking device, according to various embodiments;
[0016] Fig. 5 is a diagrammatic view illustrating a display of navigated instrument, according to various embodiments; and
[0017] Fig. 6 is a flow chart of a process for confirming a pose of a tracking device.
[0018] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. DETAILED DESCRIPTION
[0019] Example embodiments will now be described more fully with reference to the accompanying drawings.
[0020] The subject disclosure is directed to an exemplary embodiment of a surgical procedure on a subject, such as a human patient. It is understood, however, that the system and methods described herein are merely exemplary and not intended to limit the scope of the claims included herein. In various embodiments, it is understood, that the systems and methods may be incorporated into and/or used on non-animate objects. The systems may be used to, for example, to register two or more coordinate systems for use on manufacturing systems, maintenance systems, and the like. For example, automotive assembly may use one or more robotic systems including individual coordinate systems that may be registered together for coordinated or concerted actions. Accordingly, the exemplary illustration of a surgical procedure herein is not intended to limit the scope of the appended claims.
[0021] Discussed herein, according to various embodiments, one or more tracking systems may be used to track a selected tracking device. According to various embodiment, at least one tracking system may operate by emitting an electromagnetic (EM) field from a localizer, also referred to as an EM localizer. The EM field may be emitted from one or more coils that may be oriented relative to an origin point. The field may be a largely magnetic field. The field may be constant or varying in time and/or frequency. In an EM tracking system, a tracking device may include one or more coils that operate as sensors to sense the field. The field may generate a current within the coil of the tracking device. A determination of a position and orientation (also referred to collectively as a “pose”) of the tracking device may be made. It is understood that the localizer or the tracking device or member may emit or receive the EM field.
[0022] According to various embodiment, at least one tracking system may operate by an optical system, which may emitting or receiving selected radiation, such as a with optical sensors. The optical sensors may sense visible or other types of light, such as infrared (IR). For example, two or more sensors may be positioned to triangulate an optical or visual sensor. As discussed herein, a visual sensor may be sensed with visible wavelengths of light (e.g., about 350 to about 800 nanometers) and optical sensors may sense non-visible wavelengths (e.g., IR at about 700 nanometers to about 1 millimeter). In the optical tracking system, either or both of the localizer and the tracking device may emit and/or reflect such wavelengths.
[0023] According to various embodiment, at least one tracking system may operate by sensing motion, such as an accelerometer measuring a component or vector acceleration, or a gyroscope measure an component or vector orientation. According to various embodiments, these sensors may be referred to as inertial sensors. Exemplary sensors may include a MPU-9250 Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking™ Device sold by InvenSense. Such sensors may sense motion in at least three degrees of freedom. Thus, two or more sensors may be used to sense motion in at least six degrees of freedom, including translation and rotation. Further, various sensors may include sensors to sense a selected degree of freedom.
[0024] Regardless, various portions may be tracked relative to the subject. For example, a tracking system may be incorporated into a navigation system that includes one or more instruments that may be tracked relative to the subject. The navigation system may include one or more tracking systems that track various portions, such as tracking devices, associated with instruments. The tracking system may include a localizer that is configured to, alone or in combination with a processor, determine the pose of a tracking device or member in a navigation system coordinate system or space. Determination of the navigation system coordinate system may include those described at various references including US Pat. No. 8,737,708; US Pat. No. 9,737,235; US Pat. No. 8,503,745; US Pat. No. 8,175,681 ; and US Pat. No. 1 1 ,135,025; all incorporated herein by reference. In particular, a localizer may be able to track an object within a volume relative to the subject. The navigation volume, in which a device may be tracked may include or be referred to as the navigation coordinate system or navigation space. A determination or correlation between two coordinate systems may allow for or also be referred to as a registration between two coordinate systems.
[0025] Furthermore, images may be acquired of selected portions of a subject. The images may be displayed for viewing by a user, such as a surgeon. The images may have superimposed on at least a portion of the image a graphical representation (e.g., icon) of a tracked portion or member, such as an instrument. The images may have a coordinate system and define an image space. According to various embodiments, the graphical representation may be superimposed on the image at an appropriate position due to registration of an image space (also referred to as an image coordinate system) to a subject space (also referred to as an subject or physical coordinate system). A method to register a subject space defined by a subject (including a physical space relative thereto and/or inclusive of) to an image space may include those disclosed in US Pat. No. 8,737,708; US Pat. No. 9,737,235; US Pat. No. 8,503,745; US Pat. No. 8,175,681 ; US Pat. No. 7,925,328; US Pat. No. 10,531 ,814; and US Pat. No. 1 1 ,135,025; all incorporated herein by reference. [0026] As discussed herein, image space to subject space registration may not be required. An imaging system (e.g., a US probe) may be tracked as may an instrument that is separate or moveable relative to the imaging system. Thus, the image coordinate space is tracked with the imaging system and the tracked pose of the instrument may be tracked with the same or correlated tracking system. Thus, a pose of the instrument within the image may be known based on the correlated or registered tracking systems and their relative tracking spaces and coordinate systems.
[0027] Nevertheless, image to subject registration may occur. For example, during a selected procedure, a coordinate system may be registered to the subject space or subject coordinate system due to a selected procedure, such as imaging of the subject. In various embodiments, the first coordinate system may be registered to the subject by imaging the subject with a fiducial portion that is fixed relative to the first member or system, such as the robotic system. The known position of the fiducial relative to the robotic system may be used to register the subject space relative to the robotic system due to the image of the subject including the fiducial portion. Thus, the position of the robotic system or a portion thereof, such as the end effector, may be known or determined relative to the subject. Due to registration of a second coordinate system to the robotic coordinate system may allow for tracking of additional elements not fixed to the robot relative to a position determined or tracked by the robot.
[0028] The tracking of the instrument during a procedure, such as a surgical or operative procedure, allows for navigation of the instrument during the procedure and may allow a navigated procedure. When image data is used to define an image space it can be correlated or registered to a physical space defined by a subject, such as a patient as discussed herein. According to various embodiments, therefore, the patient defines a patient space in which an instrument can be tracked and navigated. The image space defined by the image data can be registered to the patient space defined by the patient. The registration can occur according to various techniques, such as with the use of fiducials that can be identified in the image data and in the patient space.
[0029] Fig. 1 is a diagrammatic view illustrating an overview of a procedure room or arena 18. In various embodiments, the procedure room may include a surgical suite in which may be placed a robotic system 20 and a navigation system 26 that can be used for various procedures. The robotic system 20 may include a Mazor X™ robotic guidance system, sold by Medtronic, Inc. The robotic system 20 may be used to assist in guiding a selected instrument, such as drills, screws, etc. relative to a subject 30. Additionally or alternatively, the robotic system 20 may hold and/or move an imaging system, such as an ultrasound (US) probe 33. A user 72 may also hold and/or more the US probe 33. The robotic system 20 may include a mount 34 that fixes a portion, such as a robotic base 38, relative to the subject 30. The robotic system 20 may include one or more arms 40 that are moveable or pivotable relative to the subject 30, such as including an end effector 44. The end effector 44 may be a guide or other portion. The robotic system 20 may further include a controller 22 that may include one or more of a processor and/or memory system. The controller 22 may be inclusive with the robotic system 20 and/or in communication therewith. The controller 22 may access and/or receiving instructions that are executed to move the end effector 44 and/or other portions of the arm 40. Thus, the robotic system 20 may be controlled manually by the user 72 and/or automatically such as by executing the instructions with the controller 22 and/or combinations thereof. [0030] The end effector 44 may be any appropriate portion, such as a tube, guide, or passage member. Affixed to and/or in place of the end effector may be the imaging system. The end effector 44 may be moved relative to the base 38 with one or more motors. The position of the end effector 44 may be known or determined relative to the base 38 with one or more encoders at one or more joints, such as a wrist joint 48 and/or an elbow joint 52 of the robotic system 20. One or more portions of the robotic system 20 may be formed of conductive materials.
[0031] The navigation system 26 can be used to track the location of one or more tracking devices and/or determine and/or illustrate a pose thereof. Tracking devices may include a robot tracking device 54, a subject tracking device 58, an imaging system tracking device 62, an imaging system or second imaging system tracking device 81 , and/or an instrument or tool tracking device 66. A tool or instrument 68 may be any appropriate moveable member such as a drill, forceps, catheter, tube, scalpel, or other tool moved or controlled by the user 72. The tool 68 may also or alternatively include an implant, such as a spinal implant or orthopedic implant. It should further be noted that the navigation system 26 may be used to navigate any type of instrument, implant, or delivery system, including: guide wires, arthroscopic systems, orthopedic implants, spinal implants, deep brain stimulation (DBS) probes, etc. Moreover, the instruments may be used to navigate or map any region of the body. The navigation system 26 and the various instruments may be used in any appropriate procedure, such as one that is generally minimally invasive or an open procedure.
[0032] An additional or alternative, imaging system 80 may be used to acquire pre-, intra-, or post-operative or real-time image data of a subject, such as the subject 30. It will be understood, however, that any appropriate subject can be imaged and any appropriate procedure may be performed relative to the subject. In the example shown, the imaging system 80 comprises an O-arm® imaging device sold by Medtronic Navigation, Inc. having a place of business in Colorado, USA. The imaging system 80 may have a generally annular gantry housing 82 in which an image capturing portion is moveably placed and/or enclosed. The imaging system 80 can include those disclosed in US Pat. Nos. 7,188,998; 7,108,421 ; 7,106,825; 7,001 ,045; and 6,940,941 ; all of which are incorporated herein by reference, or any appropriate portions thereof. It is further appreciated that the imaging system 80 may include in addition or alternatively a fluoroscopic C-arm. Other exemplary imaging devices may include fluoroscopes such as bi-plane fluoroscopic systems, ceiling mounted fluoroscopic systems, cath-lab fluoroscopic systems, fixed C-arm fluoroscopic systems, isocentric C-arm fluoroscopic systems, 3D fluoroscopic systems, etc. Other appropriate imaging devices can also include MRI, CT, ultrasound, etc. A pose of the tracking device 81 relative to an imaging plane of the US imaging system 33 may be determined and/or known. Various systems and methods are disclosed in US Patent Nos. 6,379,302; 6,669,635; 6,968,224; 7,085,400; 7,831 ,082; 8,320,653; 8,811 ,662; and 9,138,204 all of which are incorporated herein by reference.
[0033] The position of the imaging system 33, 80, and/or portions therein such as the image capturing portion, can be known (e.g., precisely such as within about 0.1 millimeters (mm) to about 5 mm) relative to any other portion of the imaging device 33, 80 and or within the navigable domain. The navigable domain or navigation space may be the physical space in which any one or more tracking system may track a tracking device. The imaging system 33, 80, according to various embodiments, can know and/or recall precise coordinates relative to a fixed or selected coordinate system. For example, the robotic system 20 may know or determine its position and position the US probe 33 at a selected pose. Similarly, the imaging system 80 may also position the imaging portions at a selected pose. This can allow the imaging system 80 to know its position relative to the patient 30 or other references. In addition, as discussed herein, the precise knowledge of the position of the image capturing portion can be used in conjunction with a tracking system to determine the position of the image capturing portion and the image data relative to the tracked subject, such as the patient 30. In other words, the imaging system tracking device 62, 81 may be used and/or operable to determine a pose of the imaging system 33, 80 at a selected time such as during image data acquisition.
[0034] Herein, reference to the imaging system 33, 80 may refer to any appropriate imaging system, unless stated otherwise. Thus, discussion of any one imaging system is merely exemplary regarding the subject disclosure unless stated otherwise.
[0035] The imaging device 80 can be tracked with the tracking device 62. Also, the tracking device 81 can be associated directly with the US probe 33. The US probe 33 may, therefore, be directly tracked with a navigation system 26 as discussed herein. In addition or alternatively, the US probe 33 may be positioned and tracked with the robotic system 20. Regardless, image data defining an image space acquired of the patient 30 can, according to various embodiments, be registered (e.g., manually, inherently, or automatically) relative to an object space. The object space can be the space defined by a patient 30 in the navigation system 26.
[0036] The patient 30 can also be tracked as the patient moves with a patient tracking device, DRF, or tracker 58. Alternatively, or in addition thereto, the patient 30 may be fixed within navigation space defined by the navigation system 26 to allow for and/or maintain registration such as to the image space of the image 108. The fixation system, however, may also be tracked and operate as the patient DRF. Various tracking devices that may be operable or configured as patient trackers may include those disclosed in US Pat. No. 10,531 ,814 and US Pat. No. 7,925,328; both incorporated herein by reference.
[0037] According to various embodiments, registration of the image space to the patient space or subject space may allow for navigation of any appropriate portion, such as the instrument 68 with the image data. According to various embodiments, navigation of the instrument need not required image to subject registration, as discussed herein. When navigating the instrument 68, a position of the instrument 68 can be illustrated relative to image data acquired of the patient 30 on a display device 84 such as with a graphical representation 68i, 68i’. An additional and/or alternative display device 84’ may also be present to display an image. Various tracking systems, such as one including an optical localizer 88, a visual localizer 91 , or an electromagnetic (EM) localizer 94, or other appropriate tracking system (e.g., inertial) can be used to track the instrument 68.
[0038] More than one tracking system can be used to track the instrument 68 or other portion, such as the US probe 33 with the tracking device 81 in the navigation system 26. According to various embodiments, these can include an electromagnetic tracking (EM) system having the EM localizer 94 and/or an optical tracking system having the optical localizer 88. Either or both of the tracking systems can be used to track selected tracking devices, as discussed herein. It will be understood, unless discussed otherwise, that a tracking device can be a portion trackable with a selected tracking system. A tracking device need not refer to the entire member or structure to which the tracking device is affixed or associated. [0039] The position of the patient 30 relative to the imaging device 33 can be determined by the navigation system 26. The position of the imaging system 33 may be determined, as discussed herein. The patient 30 can be tracked with the dynamic reference frame (or DRF) 58, as discussed further herein. Accordingly, the position of the patient 30 relative to the imaging device 33 can be determined.
[0040] Image data acquired from the imaging system 33, or any appropriate imaging system, can be acquired at and/or forwarded from an image device controller 96, that may include a processor module, to a navigation computer and/or processor module (also referred to as a processor) 102 that can be a part of a controller or work station 98 having the display 84 and a user interface 106. Further, a memory 103, of any appropriate type, may be accessed by the processor 102. It will also be understood that the image data is not necessarily first retained in the controller 96, but may also be directly transmitted to the work station 98. The work station 98, which may be any appropriate computing system, can provide facilities for displaying the image data as an image 108 on the display 84, saving, digitally manipulating, or printing a hard copy image of the received image data. The user interface 106, which may be a keyboard, mouse, touch pen, touch screen, virtual interfaces, or other suitable device, allows the user 72 to provide inputs to control the imaging device 80, 33, via the image device controller 96, or adjust the display settings of the display 84. The work station 98 may also direct the image device controller 96 to adjust the image capturing portion of the imaging device 80 to obtain various two-dimensional images along different planes in order to generate representative two-dimensional and three-dimensional image data.
[0041] With continuing reference to FIG. 1 , the navigation system 26 can further include one or more tracking systems, including either or both of the electromagnetic (EM) localizer 94 and/or the optical localizer 88. The tracking systems may include a controller and interface portion 1 10. The controller 1 10 can be connected to the processor portion 102, which can include a processor included within a computer. The EM tracking system may include the STEALTHSTATION® AXIEM™ Navigation System, sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado; or can be the EM tracking system described in US Pat. No. 7,751 ,865 entitled "METHOD AND APPARATUS FOR SURGICAL NAVIGATION"; US Pat. No. 5,913,820, entitled “Position Location System,”; and US Pat. No. 5,592,939, entitled “Method and System for Navigating a Catheter Probe”; all of which are herein incorporated by reference. It will be understood that the navigation system 26 may also be or include any appropriate tracking system, including a STEALTHSTATION® TREON® or S7™ tracking systems having an optical localizer, that may be used as the optical localizer 88, and sold by Medtronic Navigation, Inc. of Colorado. Other tracking systems include an acoustic, radiation, radar, etc. The tracking systems can be used according to generally known or described techniques in the above incorporated references. Details will not be included herein except when to clarify selected operation of the subject disclosure.
[0042] Wired or physical connections can interconnect the tracking systems, imaging device 80, etc. Alternatively, various portions, such as the instrument 68 may employ a wireless communications channel, such as that disclosed in US Pat. No. 6,474,341 , entitled “Surgical Communication Power System”, herein incorporated by reference, as opposed to being coupled directly to the controller 1 10. Also, the tracking devices such as 54, 58, 62, 66, 81 can generate a field and/or signal that is sensed by the localizer(s) 88, 94. [0043] Various portions of the navigation system 26, such as the instrument 68, and others as will be described in detail below, can be equipped with at least one, and generally multiple, of the tracking devices 66. The instrument can also include more than one type or modality of tracking device 66, such as an EM tracking device and/or an optical tracking device. The instrument 68 can include a graspable or manipulable portion at a proximal end and the tracking devices may be fixed near the manipulable portion of the instrument 68.
[0044] Additional representative or alternative localization and tracking system is set forth in US Pat. No. 5,983,126, entitled “Catheter Location System and Method”, which is hereby incorporated by reference. The navigation system 26 may be a hybrid system that includes components from various tracking systems.
[0045] According to various embodiments, the navigation system 26 can be used to track any appropriate portion such as the imaging system 33 and/or the instrument 68 relative to the patient 30. The instrument 68 can be tracked with the tracking system, as discussed above. Image data of the patient 30, or an appropriate subject, can be used to assist the user 72 in guiding the instrument 68. The image data may or may not be registered to the patient 30. For example, as discussed herein, the US probe 33 may be tracked and generates the image data. Thus, the image data need not be registered to the subject to display a pose of the tracked instrument 68 relative to the image data generator with the tracked US probe 33. The image data defines the image space that is registered to the patient space defined by the patient 30. The registration can be performed as discussed herein, automatically, manually, or combinations thereof. The registration can include the process and the final transformation (including a translation and rotation) map. Generally, registration includes determining points in the image data and the subject space and determining a transformation map therebetween. Once done, the image space are registered to the subject space, or any two or more coordinate spaces.
[0046] Generally, registration also allows a transformation map to be generated of a tracked physical pose of the instrument 68 relative to the image space of the image data. The transformation map allows the tracked position of the instrument 68 to be displayed on the display device 84 relative to the image data 108. The graphical representation 68i, also referred to as an icon, can be used to illustrate the location of the instrument 68 relative to the image data 108.
[0047] With continuing reference to Fig. 1 , a subject registration system or method can use the tracking device 58. The tracking device 58 may include portions or members 120 that may be trackable, but may also act as or be operable as a fiducial assembly. The trackable portion or portions 120 can include a clamp, post, screw, or other fixation portion 124 and the trackable portion 120. It is understood, however, that the members 120 may be separate from the tracking device 58. The fixation portion 124 can be provided to fix any appropriate portion, such as a portion of the anatomy. As illustrated in Fig. 1 , the trackable portion 120 can be interconnected with a portion of a spine or vertebra 126 such as a spinous process 130. The fixation portion 124 can be interconnected with a spinous process or body 130 in any appropriate manner. For example, a pin or a screw can be driven into the spinous process 130. Further, the tracking device 58 may be operable to track with one or more tracking systems or modalities, such as EM tracking system or optical tracking system.
[0048] With continuing reference to Fig. 1 , and additional reference to Fig. 2, the DRF 58 may be interconnected with the subject 30 in any appropriate manner. For example, as discussed above, the fixation number 124 may be fixed to the vertebra 126. The DRF 58 includes the tracking portion or tracking portions 120. The tracking portions may be any appropriate tracking portions, such as those trackable with the optical localizer 88. It is understood, however, that any appropriate tracking portions may be associated with the DRF 58. Generally, the tracking portions 120 may be positioned to be tracked with a selected tracking localizer, such as the optical localizer 88. Therefore, the tracking portions 120 may be movable relative to the fixation member or post 124. Thus, the tracking portion 120 may be fixed to the fixation member 124 with an appropriate adjustment or adjustable portion 200. The adjustment portion 200 may allow for a selected positioning of the tracking portion 120 relative to the fixation member 124. The adjustment portion 200 may also allow for locking or fixing the tracking portion 120 relative to the fixation or mounting portion 124. Thus, the tracking portion 120 may be moved to a selected position relative to the fixation member 124 and fixed relative thereto with the adjustment portion 200.
[0049] During use, therefore, the localizer 88, or any appropriate localizer, may track the location of the tracking portions 120. As discussed above, registration may allow for a determination of registration of the subject 30 relative to or within the tracking system coordinate space. The position of the tracking portion 120 is generally fixed relative to a selected portion of the subject 30, such as the vertebrae 126 and is tracked to maintain the registration. For example, once registered, a tracked movement of the DRF 58 may be used to determine an amount of movement that has occurred of the subject 30 to ensure that the transformation map for the registration is updated. If the tracking portion 120 moves during a usage relative to the subject 30 and/or the mount 124, however, the determined or fixed position of the tracking portion 120 changes relative to the subject 30.
Therefore, the registration may be inappropriate or not accurate after this movement.
[0050] The adjustment member 200, for example, may include a bolt 204 that is connected with a threaded portion, such as a portion of the adjustment portion 200 and/or a nut 206. A clamping force may be provided by tightening the bolt 204 and/or the nut 206 relative to one another. Further, a starburst or toothed connection may be provided between the tracking position 120 and the post 124 such as at the adjustment portion 200. During use, however, the adjustment portion 200 (e.g., the nut or bolt) may loosen, a jarring force may be applied to the tracking portion 120, or the like. Therefore, the tracking portion 120 may move relative to the subject 30 and/or the mount 124.
[0051] According to various embodiments, however, the fixation member post 124 may be substantially fixed relative to the subject 30. As discussed above, the fixation member 124 may be clamped to the vertebrae 126 and/or threaded into the vertebrae 126. Therefore, movement of the fixation member 124 may be determined to be zero or substantially impossible. Therefore, movement of the DRF 58 may be determined to be entirely within the tracking portion 120 relative to the fixation member post 124.
[0052] Accordingly, a post or fixation tracking portion 212 may be connected to the fixation member 124. The post or fixation tracking portion 212 may also be referred to as a confirmation tracking portion 212 and may include a trackable portion 216 and a mounting portion 218. The mounting portion 218 may mount the tracking portion 216 to the fixation member 124. In various embodiments, the tracking portion 216 may be fixed or embedded within the fixation portion 124. In various embodiments, however, the tracking portion 216 may be spaced away from the fixation portion 124. [0053] Regardless of the configuration, however, the tracking portion 216 may be tracked with a selected tracking system. The tracking portion 216 may be tracked with the same tracking system or localizer as the tracking device 120 and/or may be tracked with a different tracking device. Regardless, the position of the tracking device 120 may be tracked relative to the tracking position 216. Therefore, a determination of a movement between the tracking device 120 and the confirmation tracking portion 216 may be made. Further, an amount and/or type of movement may be made.
[0054] For example, the tracking portion 120 may include a plurality of the tracking portions such as four tracking portions 120a, 120b, 120c, 120d. In a first or initial registered configuration, the confirmation tracking portion 216 may have a first orientation relative to the tracking device 120, such as a first pose. The initial pose may include a rotational and translational position such as defined by a first distant 220 between the confirmation tracking device 216 and the tracking portion 120a and a second distance 222 between the confirmation tracking device 216 and the fourth tracking portion 120d.
[0055] If the tracking portion 120 moves, the position (i.e., pose) of the tracking portions 120 relative to the confirmation tracking device 216 may change. Therefore, after a movement, as illustrated in phantom in Fig. 2, the confirmation tracking device 216 may have a changed first dimension 220' between the confirmation tracking device 216 and the moved or augmented position 120a' and an augmented or changed second dimension 222' between the confirmation tracking device 216 and the changed position 120d' of the tracking portion 120d. Therefore, the navigation system 26 may determine the first pose during an initial or first registration and a second pose if the tracking device 120 moves relative to the confirmation tracking portion 216. [0056] In light of the second pose, for example compared to the first pose, according to various embodiments, the navigation system may determine whether the registration is maintained, must be performed again or confirmed, or whether registration must be re-done or re-registration occurs. The amount and position of movement may be determined with the tracking system, such as discussed above. If the second pose has changed from the first pose an output may also be made, as discussed herein, for the navigation system 26 to the user 72.
[0057] If registration is maintained or needs to be re-performed, may be based upon various parameters. The parameters may be selected parameters and may be predetermined or determined during a procedure. The parameters may define a threshold. The parameters may include any appropriate movement such as a translation, rotation, combinations thereof, etc. For example, the selected parameters may include a movement of less than a selected distance, such as less than about 0.1 mm to about 0.5 mm is measured in any particular dimension, a registration may be maintained or not be required to be re-registered. The parameter may also be relative amount, such as a 5%, 10%, or any appropriate relative amount. However, if movement greater than the selected parameter is measured, a re-registration may be required. If re-registration is indicated to be performed, an output or an indication may be provided to the user, such as registration stopping, an audible indication, haptic feedback, warning on the screen or removal of an image or track portions from the screen, may be provided as indications that registration needs to be reperformed.
[0058] Therefore, a determination may be made if the initial registration is appropriate and/or needs to re-registered. Determining that the tracking portion 120 is moved may be based upon a tracked position of the tracking device 120 relative to the confirmation tracking portion 216. The amount of movement including relative movement, if any, may be continuously tracked with the selected tracking system to determine whether the current or initial registration is appropriate and confirmed and/or if reregistration should be performed to ensure an appropriate accuracy of a tracking and navigation. The navigation system 26, therefore, may be used to track and navigate a selected instrument and/or confirm and perform registration.
[0059] With continued reference to Fig. 1 and additional reference Fig. 3, the robotic system 20 may include the end effector 44 that may be used as a guide for the instrument 68. The instrument 68 may be any appropriate instrument, such as a drill as illustrated in Fig. 3. Extending from the drill may be a selected tool or tool bit, such as a reamer or driver 240. The reamer or driver 240 may be driven or moved into the subject 30. The tool or instrument tracking device 66 may be tracked within an appropriate tracking system, as discussed above. Further, the robot system tracking 20 may also be tracked with the robot tracking device 54. The robot tracking device 54 may include trackable portions or tracking portions 250 that may include one or a plurality of tracking members 250a, 250b, 250c, 250d. As discussed above, each of the tracking portions 250 may be in the appropriate tracking portion, such as an optical tracking portion, an EM tracking portion, or the like. Accordingly, the tracking portions 250 may be similar to the tracking portions 120 as discussed above. The robotic system tracking device 54 may be used to track the robotic system or portion of the robotic system 20. As discussed above, the robotic system 20 may be used for various purposes, such as the end effector 44 guiding the instrument 68. Since the instrument 68 may be performing a procedure that is to be navigated, the pose of the robotic system 20, including the end effector 44, may be selected to be known to assist and perform the procedure. [0060] As discussed above, the trackable portions 250 may be tracked with the selected localizer. The tracking device 54 including the tracking portions 250 may be fixed to the robotic system, such as a portion of the arm, with a fixture or mounting portion 254. The mounting portion 254 may be fixed to the robotic arm 40 in an appropriate manner such that it is selectively and substantially immovable. In other words, the pose of the tracking device 54, including at least the mounting portion 254, relative to the robotic system 20, such as the base 34, may be selectively fixed, as discussed herein.
[0061] The tracking portion 250 may be adjustably fixed to the mounting portion 254 with an adjustment portion 256. The adjustment portion 256 may be similar to the adjustment portion 200 discussed above. Therefore, the tracking portion 250 may be moved relative to the fixation member 254 to ensure a line of sight, if needed, or otherwise selectively positioning the tracking portion 250. The adjustment portion 256 may then be set to fix the tracking portion 250 relative to the mounting portion 254. A registration or determination of the robotic arm 40 relative to the subject 30 may, therefore, be based upon a selected posed of the tracking portion 250 relative to the fixation member 254 to the robotic arm 40. Movement of the tracking portion 250, therefore, relative to the fixation member 254 may be selectively eliminated.
[0062] A confirmation tracker assembly 260, however, may also be tracked relative to the trackable portion 250. The tracking portion 260 may include a trackable member 262 that is mounted to the fixation member 254 in an appropriate manner. According to various embodiments, the tracking portion 262 may be integrated into the fixation member 254. In various embodiments, however, the tracking portion 254 may be mounted with a selected mounting portion 264 to the fixation portion 254. [0063] Therefore, the tracking system may track the tracking member 262 relative to the tracking portion 250. An initial configuration or pose of the tracking portion 250 relative to the confirmation tracker 262 may be made at a selected time, such as during registration. The tracking system may then continuously track the tracking portion 250 relative to the confirmation tracker 262 to determine whether movement has occurred. As discussed above, movement may be any type of movement and be measured in any appropriate manner, similar to the measurement in the tracking member 58 with the confirmation tracker 216.
[0064] Accordingly, the tracking system may track whether a threshold amount of movement has occurred relative to the confirmation tracker 262 from the tracking portions 250. If an amount of movement reaches or exceeds a threshold, an output, such as warning or indication, may be made to the user 72. Similar indications may be made as discussed above, such as haptic feedback, a visual indication, an audible output or feedback, or the like. Therefore, the confirmation tracker 262 may be tracked relative to the tracking portions 250 to determine and/or confirm that a movement has not occurred. If an amount of movement greater than a threshold or above a selected threshold is detected or tracked, an indication may be made to the user 72, as also discussed above.
[0065] Turning reference to Fig. 4 and with continued reference to Fig. 1 , a fixation or mounting portion, such as a mounting clamp or patient support 280 may be used to be fixed to the subject 30. The mounting clamp 280 may be a Mayfield Clamp ® and may assist in positioning or holding the subject 30 in a selected location. Accordingly, a DRF 284 may be fixed to the mounting clamp 280, rather than directly to the subject 30. The DRF 284 may include a tracking assembly portion 286 including tracking portions 286a, 286b, 286c, and 286d. The DRF 284 may be fixed or connected to the clamp 280 with selected connections, such as quick lock or fixation portion 290. The fixation or set portion 290 may allow for an adjustment of a position of the tracking portion 286 relative to the subject 30 and/or any appropriate portion, such as the localizer 88. As discussed above, the tracking portion 286 may be moved to a selected position to assist in ensuring a tracking of the DRF 284. The adjustment portion 290 may then be locked to hold the tracking portion 286 relative to the subject 30.
[0066] A confirmation tracking portion 294 may be fixed to the clamp 280 spaced away from the DRF 284. As discussed above, the confirmation tracking portion 294 may include a confirmation tracker 298 that may be integrated into the clamp 280 and/or may be mounted to the clamp via a mounting portion 302. Nevertheless, the confirmation tracker 298 may be tracked with the tracking system, according to any appropriate embodiment. Again, the tracking system that tracks the tracking portion 294 may be the same or different than the tracking system that tracks the confirmation tracker 298.
[0067] The confirmation tracker 298 may have an initial or first pose determined relative to the tracking portion 296, similar to that discussed above. The tracking system, such as with the localizer 88, may then be used to track the relative pose of the confirmation tracker 298 and the tracking portion 286, such as over time. Thus, a second or different pose may be determined with the navigation system 26. The first and second poses may be compared. An amount of movement, if any, may then be determined.
[0068] If an amount of movement greater than a threshold amount is determined to occur, then a signal may be provided to the user 72. The signal to the user may be any appropriate signal, such as those discussed above. The signal may include haptic feedback, audible feedback, visual feedback, or the like. Thus, the navigation system 26 may be used to assist in determining whether an amount of movement greater than the selected threshold amount of movement has occurred between the tracking device 286 and the confirmation tracker 298. Again, the threshold mounted movement may be any appropriate amount, such as the amounts discussed above.
[0069] It is understood by one skilled in the art that the various embodiments discussed above may include portions that are interchangeable therebetween, may be multiplied in each of the various embodiments, or eliminated, as selected. For example, the integrated confirmation tracking device may be used in combination with a confirmation tracking device that is not integrated, as illustrated in Fig. 5. Therefore, a plurality of confirmation tracking portions may be used according to various embodiments. Further, more than one confirmation tracking device may be used, according to various embodiments. Thus, one skilled in the art will understand that various portions may be used individually and/or cumulatively, and/or duplicated.
[0070] Regardless of the confirmation tracking portion, the registration may allow for a determination or confirmation of a pose of a track portion relative to the subject 30. Once a registration occurs with one or more of the tracking portions, such as those that are intended to confirm a pose of the subject 30 and/or a portion relative to the subject 30, movement thereof may alter or reduce an accuracy of the tracked portion. For example, as illustrated in Fig. 5, the display 84 may display the image data 108. The image data 108 may include a planned or previously tracked portion that is illustrated with a first graphical illustration 340. The DRF 58, however, if moved greater than a threshold amount, may reduce an accuracy of a tracking of a current pose of a selected portion, such as of the instrument 68 and the related tool bit 240. A tool bit graphical illustration 344 (similar or identical to the graphical illustration 68i) , therefore, may be displayed offset relative to a previous tracked portion with the first graphical illustration 340. While the two may be aligned in reality, the confirmation or illustration with the relative graphical representation 340, 344 may be illustrated misaligned. Similarly, if the DRF 58 or any appropriate DRF is moved greater than a threshold amount and aligned illustration of the two graphical representations 340, 344 may not represent that in reality the two are not aligned. Therefore, a determination that the DRF portion has moved may assist in confirming an accuracy of a navigation.
[0071] The confirmation tracking portions, as discussed above, may be allow for a continuous tracking of the tracking portion relative to a confirmation portion during a procedure. Therefore, a continuous tracking and update may be provided to confirm and/or determine whether the DRF has moved from an initial and/or confirmed pose. Therefore, the confirmation tracking device, according to various embodiments discussed above, may be used to assist in confirming accuracy of a navigation with a navigation system 26. The graphical representations of the tracked instruments relative to the image data of the subject may be confirmed after an initial registration. The current relative pose of the respective tracking portion, such as the tracking portion 120 relative to the confirmation tracking device or portion 216 may be used to provide an indication to the user 72 that the trackable portion 120 of the DRF 58 has not moved relative to the confirmation tracking portion or that a reregistration or second registration may be indicated as appropriate. Thus, the user may receive continuous indication and/or real time information regarding a maintained initial pose of the DRF 58, or any appropriate tracking portion, as selected.
[0072] The various tracking devices and confirmation tracking devices may be provided as first and second tracking devices, as illustrated and disclosed above. The navigation system 26 may be used to track the various tracking devices and provide an output to the user according to various embodiments. The output may be any appropriate output, as noted above. Further, the navigation system 26 may stop, such as automatically stop, navigation and/or tracking of the tracking devices according to various embodiments.
[0073] Turning reference to Fig. 6, a process 400 as illustrated that may be incorporated into instructions based upon an algorithm for tracking and/or providing an appropriate output. The process 400 may start in START block 404. Starting the process 400 in START block 404 may include initiating navigation and/or registration of a procedure. For example, an optional registration may occur on block 410 as a part of the process 400. Registration may occur in any appropriate manner, such as that described above. Therefore, the navigation system 26 may register a first and second coordinate system, such as an image data coordinate system and a subject space coordinate system. Any other appropriate coordinate system registrations may also occur.
[0074] The process 400 may then enter an initial confirmation phase or subprocess 412. The initial confirmation phase 412 may include tracking a first tracking device in block 416. The first tracking device may include the DRF 58 that may be affixed to the subject 30 in any appropriate manner. In the process 400 and in the disclosure throughout, tracking the first tracking device may occur in any appropriate manner, such as with the optical localizer 88, the EM localizer 94, any other appropriate localizer or combinations thereof. Thus, the device being tracked may be any appropriate tracking device. However, tracking the first tracking device block 416 may include tracking with any appropriate tracking system. Tracking a second tracking device may then occur in block 418. Again, tracking the second tracking device may include tracking any appropriate device, such as the confirmation tracking device 216 and/or the confirmation tracking device 326 that may be associated relative to the DRF 58. In the process 400 and in the disclosure throughout, tracking the first tracking device may occur in any appropriate manner, such as with the optical localizer 88, the EM localizer 94, any other appropriate localizer or combinations thereof.
[0075] After tracking the first and second tracking devices blocks 416, 418, a determination of initial pose of the first tracking device relative to the second tracking device may be made of block 422. As discussed above, the initial pose may be determined in an apportionment manner based upon a translation and/or rotational pose of the first tracking device, such as the DRF 58, relative to the confirmation tracking device, such that the confirmation tracking device 216. The relative pose may be based upon any distance or orientation measurements relative to each other. Regardless, the navigation system 26, such as via executing instructions with the processor 102, may determine an initial pose of a first tracking device relative to a second tracking device. The determined initial pose may be saved in any appropriate memory system, including those discussed above, for recall, such as during the process 400.
[0076] After the initial tracking phase 412, updated tracking of the first tracking device may occur on block 430. In updating the pose of the first tracking device, the tracking system, such as within the navigation system 26, may track the first tracking device in an appropriate manner. As discussed above to maintain registration, the DRF 58 may be tracked to confirm a pose of the subject 30 relative to the image space. Further, the second tracking device may have also be tracked to update a tracked pose of the second tracking device in block 432. Again, the second tracking device may include the confirmation tracking device 216. Therefore, the navigation system including the respective tracking systems may continually update a tracking of the first and second traffic devices in blocks 430 and 432. Tracking may occur in any appropriate manner, such as that generally known in the art.
[0077] Based upon the updated tracking of the first and second tracking device is in blocks 430, 432, a determination of an updated pose of the first tracking device relative to the second tracking device may be made in block 436. The updated relative pose may be any appropriate determination of a relative pose of the first and second tracking devices, again similar to that discussed above. The relative pose may be based upon any distance or orientation measurements relative to each other.
[0078] Once the updated pose is determined, a determination of whether the updated pose is greater than a threshold may be made in block 440. As discussed above, the threshold may be any appropriate threshold and may include a rotational change, translational change, or any other appropriate parameter change. Threshold values may include an absolute value, such as a movement of greater than 1 mm or 10 degrees. The threshold values may also be relative amounts, such as a change of greater than 5%, 10%, or any appropriate relative amount. The threshold may be predetermined and saved to be recalled in the process 400.
[0079] The navigation system 26 may execute instructions to compare the determined updated pose in block 436 to the determined initial pose in block 32. The comparison of the two poses 436, 422 may allow for comparison to a threshold change. Therefore, the determination block 440 may include comparing the determined difference or comparison pose and the initial pose to a determined or predetermined threshold. The threshold may be stored and recalled by the navigation system, as understood by one skilled in the art. Further, according to various embodiments discussed herein, the threshold difference may be based on tracking two tracking devices relative to each other or tracking two tracking devices separately and determining their individual poses for comparison.
[0080] If the updated pose is not greater than a threshold change, a NO path 444 may be followed. The NO path 444 may iterate to again update the tracked pose of the first tracking device in block 430 and the second tracking device in block 432. Therefore, the process 400 may continuously iterate as long as the determined updated pose is not greater than a threshold change as determined in block 440.
[0081] However, if the updated pose is greater than a threshold value as determined by 440, a YES path 450 may be followed. Following the YES path 450 may include outputting a signal regarding the updated pose in block 454. As discussed above, the output signals may be any appropriate output signals such as a visual indication, audible indication, haptic feedback, or other appropriate output signals. In various embodiments, navigation may be stopped in block 456. Stopping navigation may include ending a display on the display device is 84 including at least removing the graphic representations of the trapped instruments or portions.
[0082] The process 400 may then end in END block 460. Ending in END block 460 may include any appropriate procedure such as stopping a surgical procedure on the subject, reregistering the subject for continuing a navigate procedure, or any appropriate process. Regardless, the process 400 may end at any appropriate time such as based upon lacking of a determination or determining that the updated relative pose is greater than a threshold value.
[0083] Accordingly, as discussed above, the system, including the navigation system, may assist in determining whether a first tracking device, such as the DRF 56 is maintained in a relative pose to confirmation tracking device. If the confirmation tracking device or the first tracking device have changed and posed relative to one another greater than a selected threshold amount, an output may be made, such as stopping the navigation.
[0084] Further, the confirmation tracking device, such as the confirmation tracking device 216 can be formed with the mount 124, such as formed integrally as one member. In various embodiments, the tracking device 216 maybe formed into or integrated into the mount 124 without the post 218. Further, the post 218 may be integrated into the mount 124. Alternatively or additionally, the confirmation tracking device 216 may be connected and fixed at a selected time, such as with a fastener or threaded portion, such as of the post 218. Thus, the confirmation tracker according to various embodiments, including the tracking device 216, may be fixed to the mount (e.g., selectively) and/or integrated as a single piece or made into a single piece (e.g., welding or molding) to the mount 124.
[0085] Examples
[0086] Example 1 . A system for navigation of a procedure relative to a subject, comprising: a first tracking device (e.g., 120) configured to be fixed relative to the subject; a second tracking device (e.g., 216) configured to be fixed relative to the first tracking device; and a navigation processor (e.g., 102) configured to execute instructions to: determine a first pose of the first tracking device relative to second tracking device; track the first tracking device and the second tracking device; determine a second pose of the first tracking device relative to second tracking device; compare the first pose to the second pose; and output the comparison.
[0087] Example 2. The system of Example 1 , further comprising a mounting portion (e.g., 124) to mount the first tracking device in the first pose; wherein the tracking device is moveable relative to the mounting portion. [0088] Example 3. The system of Example 2, wherein the second tracking is fixed to the mounting portion.
[0089] Example 4. The system of Example 2, wherein the second tracking device is integrated into the mounting portion.
[0090] Example 5. The system of Example 1 , further comprising a robotic system (e.g., 20) including at least a moveable arm portion (e.g., 40) and a base (e.g. 34); wherein the first tracking device is fixed relative to the base.
[0091] Example 6. The system of Example 1 or 5, further comprising a subject mount (e.g., 280) configured to fix the subject in a selected position; wherein the first tracking device is fixed to the subject mount.
[0092] Example 7. The system of Example 1 , further comprising a localizer configured to track the first tracking device and the second tracking device.
[0093] Example 8. The system of Example 7, wherein the navigation processor is further configured to execute instructions to register a first coordinate system of the subject to a second coordinate system.
[0094] Example 9. The system of Example 8, wherein the first tracking device is tracked to maintain the registration of the first coordinate system to the second coordinate system.
[0095] Example 10. The system of Example 9, wherein the navigation processor configured to execute instructions to compare the first pose to the second pose compares a difference of the second pose to the first pose; wherein the output the comparison includes a warning to a user if the difference is greater than a recalled threshold. [0096] Example 1 1 . A method for navigating a procedure relative to a subject, comprising: tracking a first tracking device (e.g., 120) configured to be fixed relative to the subject; tracking a second tracking device (e.g., 216) configured to be fixed relative to the first tracking device; determining a first pose of the first tracking device relative to second tracking device based at least on the tracking the first tracking device and tracking the second tracking device; determining a second pose of the first tracking device relative to second tracking device based at least on the tracking the first tracking device and tracking the second tracking device; comparing the first pose to the second pose; and outputting the comparison.
[0097] Example 12. The method of Example 11 , further comprising providing a navigation processor (e.g., 102) configured to execute instructions to at least determine the first pose, determine the second pose, compare the first pose to the second pose, and output the comparison.
[0098] Example 13. The method of Example 1 1 , further comprising mounting the first tracking device in the first pose with a mounting portion; and providing the tracking device to be moveable relative to the mounting portion.
[0099] Example 14. The method of Example 13, further comprising fixing the second tracking to the mounting portion.
[00100] Example 15. The method of Example 13 or 14, further comprising: integrating the second tracking device into the mounting portion.
[00101] Example 16. The method of Example 1 1 , further comprising: providing a robotic system (e.g., 20) including at least a moveable arm portion (e.g., 40) and a base (e.g., 32); and fixing the first tracking device relative to the base. [00102] Example 17. The method of Example 11 or 16, further comprising: providing a subject mount (e.g., 280) configured to fix the subject in a selected position; and fixing the first tracking device to the subject mount.
[00103] Example 18. The method of Example 11 , further comprising providing a localizer configured to track the first tracking device and the second tracking device.
[00104] Example 19. The method of Example 18, further comprising: registering a first coordinate system of the subject to a second coordinate system; and tracking the first tracking device is tracked to maintain the registration of the first coordinate system to the second coordinate system.
[00105] Example 20. The method of Example 19, further comprising: comparing the first pose to the second pose to determine a difference of the second pose to the first pose; and outputting a warning as the output if the difference is greater than a recalled threshold.
[00106] Example embodiments are provided so that this disclosure will be thorough and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail. [00107] Instructions may be executed by a processor and may include software, firmware, and/or microcode, and may refer to programs, routines, functions, classes, data structures, and/or objects. The term shared processor circuit encompasses a single processor circuit that executes some or all code from multiple modules. The term group processor circuit encompasses a processor circuit that, in combination with additional processor circuits, executes some or all code from one or more modules. References to multiple processor circuits encompass multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all code from multiple modules. The term group memory circuit encompasses a memory circuit that, in combination with additional memories, stores some or all code from one or more modules.
[00108] The apparatuses and methods described in this application may be partially or fully implemented by a processor (also referred to as a processor module) that may include a special purpose computer (i.e., created by configuring a processor) and/or a general purpose computer to execute one or more particular functions embodied in computer programs. The computer programs include processor-executable instructions that are stored on at least one non-transitory, tangible computer-readable medium. The computer programs may also include or rely on stored data. The computer programs may include a basic input/output system (BIOS) that interacts with hardware of the special purpose computer, device drivers that interact with particular devices of the special purpose computer, one or more operating systems, user applications, background services and applications, etc. [00109] The computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time compiler, (v) descriptive text for parsing, such as HTML (hypertext markup language) or XML (extensible markup language), etc. As examples only, source code may be written in C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, Java®, ASP, Perl, Javascript®, HTML5, Ada, ASP (active server pages), Perl, Scala, Erlang, Ruby, Flash®, Visual Basic®, Lua, or Python®.
[00110] Communications may include wireless communications described in the present disclosure can be conducted in full or partial compliance with IEEE standard 802.1 1 -2012, IEEE standard 802.16-2009, and/or IEEE standard 802.20-2008. In various implementations, IEEE 802.1 1 -2012 may be supplemented by draft IEEE standard 802.1 1 ac, draft IEEE standard 802.1 1 ad, and/or draft IEEE standard 802.11 ah.
[00111] A processor, processor module, module or ‘controller’ may be used interchangeably herein (unless specifically disclosed otherwise) and each may be replaced with the term ‘circuit.’ Any of these terms may refer to, be part of, or include: an Application Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog/digital discrete circuit; a digital, analog, or mixed analog/digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system-on-chip. [00112] Instructions may be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” or “processor module” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements. The processor or processors may operate entirely automatically and/or substantially automatically. In automatic operation the processor may execute instructions based on received input and execute instructions in light thereof. Thus, various outputs may be made without further or any manual (e.g., user) input.
[00113] The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the invention, and all such modifications are intended to be included within the scope of the invention.