Tracking apparatus for tracking a patient limb

A tracking system for tracking a bone of a patient limb, the tracking system comprising:

• a tracking apparatus comprising:
• a body configured to couple to the patient limb and comprising first and second arms each including an exterior surface, an opposing interior surface, and opposing sides connecting the exterior and interior surfaces, wherein a hinge connects the first arm and the second arm such that the first arm and the second arm are rotatably moveable relative to one another relative to the hinge, and wherein a sensor is configured to sense a relationship between the first and second arms;
• a wing portion extending from at least one of the opposing sides of at least one of the first and second arms and the wing portion sharing the interior surface of at least one of the first and second arms;
• one or more ultrasonic sensors coupled to the interior surface of the body first arm, one or more ultrasonic sensors coupled to the interior surface of the second arm, and one or more ultrasonic sensors coupled to the interior surface of the wing portion, each being configured to transmit ultrasonic waves to and receive ultrasonic waves from the bone;
• and
• one or more trackable elements coupled to the body and the wing portion;
• a localizer configured to sense the one or more of the trackable elements of the tracking apparatus;
• and
• one or more controllers coupled to the localizer and configured to determine:
• a relationship between the one or more of the ultrasonic sensors of the first arm and the one or more of the ultrasonic sensors of the second arm;
• a position of the bone relative to the one or more of the trackable elements in a coordinate system of the tracking apparatus based on the ultrasonic waves received by the one or more ultrasonic sensors;
• a position of the one or more of the trackable elements in a coordinate system of the localizer based on sensing of the one or more trackable elements by the localizer;
• and
• the position of the bone in a coordinate system of the localizer.

A surgical system comprising:

• a robotic manipulator comprising a tracker and an end effector including an energy applicator;
• a tracking apparatus for tracking a bone of a patient limb, the tracking apparatus comprising:
• a body configured to couple to the patient limb and comprising first and second arms each including an exterior surface, an opposing interior surface, and opposing sides connecting the exterior and interior surfaces, wherein a hinge connects the first arm and the second arm such that the first arm and the second arm are rotatably moveable relative to one another relative to the hinge, and wherein a sensor is configured to sense a relationship between the first and second arms;
• a wing portion integrally formed with the body and extending from at least one of the opposing sides of at least one of the first and second arms and the wing portion sharing the interior surface of at least one of the first and second arms;
• one or more ultrasonic sensors coupled to the interior surface of the first arm, one or more ultrasonic sensors coupled to the interior surface of the second arm, and one or more ultrasonic sensors coupled to the interior surface of the wing portion, each being configured to transmit ultrasonic waves to and receive ultrasonic waves from the bone;
• and
• one or more trackable elements coupled to the body and the wing portion;
• a localizer configured to sense the tracker on the robotic manipulator and the one or more of the trackable elements of the tracking apparatus;
• and
• one or more controllers coupled to the localizer and configured to determine:
• a relationship between the one or more of the ultrasonic sensors of the first arm and the one or more of the ultrasonic sensors of the second arm;
• a position of the bone relative to the one or more of the trackable elements in a coordinate system of the tracking apparatus based on the ultrasonic waves received by the one or more ultrasonic sensors;
• a position of the one or more of the trackable elements in a coordinate system of the localizer based on the sensing of the one or more trackable elements by the localizer;
• the position of the bone in a coordinate system of the localizer;
• and
• a position of the energy applicator relative to the bone.