System and method for registration between coordinate systems and navigation

A method to form a virtual tracking array with a trackable member, comprising:

• removably fixing a robotic system in a volume;
• moving a trackable member with a moveable portion of the robotic system to a first position;
• moving the trackable member with the moveable portion of the robotic system to a second position;
• performing a navigation system tracking by (i) tracking the first position of the trackable member with a navigation system in a navigation coordinate system and (ii) tracking the second position of the trackable member with the navigation system in the navigation coordinate system;
• performing a robotic system tracking by (i) tracking the first position with a robotic tracking system in a robotic coordinate system separate from the navigation system and (ii) tracking the second position with the robotic tracking system in the robotic coordinate system;
• defining the virtual tracking array with the trackable member by moving the trackable member between the first position and the second position;
• and
• registering the navigation system and the robotic tracking system using the virtual tracking array defined by the first and second positions of the trackable member used in concert and coordinated to the define the virtual tracking array;
• wherein the virtual tracking array defined by the first and second positions and used in concert and coordinated is larger than the trackable member to provide greater registration accuracy.

A system to form a virtual tracking array, comprising:

• a base member removably fixed relative to a navigation space;
• a moveable member moveable relative to at least a first position and a second position;
• a moveable member tracking system to track a position of the moveable member;
• a tracking system including a tracking processor and a localizer;
• and
• a trackable member configured to be tracked by the tracking system;
• wherein the trackable member is moveable by the moveable member to the first position and the second position;
• wherein the tracking processor is configured to determine the position of the trackable member in at least the first position and the second position to define the virtual tracking array;
• wherein the tracking processer is further configured to register the tracking system with the removeable member tracking system using the virtual tracking array defined by the first and second positions of the trackable member used in concert and coordinated to the define the virtual tracking array;
• wherein the virtual tracking array defined by the first and second positions and used in concert and coordinated is larger than the trackable member to provide greater registration accuracy.