Adjustable camera reference system and method for use thereof

A method of performing navigated surgery, the method comprising:

• positioning a patient on a surgical table or frame;
• attaching a first tracking marker to the patient adjacent to a surgical site on the patient;
• attaching a second tracking marker to one of a navigated instrument and a robotic-navigated end effector;
• attaching a third tracking marker in a fixed position relative to the surgical table or frame;
• sensing and identifying the first tracking marker, the second tracking marker, the third tracking marker, and relative locations thereof with at least one main reference camera or sensor;
• determining if the sensing and identifying of the first tracking marker, the second tracking marker, or the third tracking marker by the at least one main reference camera or sensor is interrupted or lost, and if interrupted or lost, determining if a first floating reference source or a second floating reference has a better view of the first tracking marker, the second tracking marker, or the third tracking marker for which the sensing and identifying has been interrupted or lost, and using the first floating reference or the second floating reference with the better view for sensing and identifying the first tracking marker, the second tracking marker, or the third tracking marker;
• generating and displaying computer-generated data and images from information provided by the at least on main reference camera or sensor, the first floating reference source, and/or the second floating reference source including locations of the first tracking marker, the second tracking marker, and the third tracking marker relative to one another, to the patient, and to an ideal surgical approach;
• and
• adjusting the location of the one of the navigated instrument and the robotic navigated end effector after comparing the location thereof relative to the ideal surgical approach.

A method of performing navigated surgery, the method comprising:

• positioning a patient on a surgical table or frame;
• attaching a first tracking marker to the patient adjacent to a surgical site on the patient;
• attaching a second tracking marker to one of a navigated instrument and a robotic-navigated end effector;
• attaching a third tracking marker in a fixed position relative to the surgical table or frame;
• sensing and identifying the first tracking marker, the second tracking marker, the third tracking marker, and relative locations thereof via data and images from at least one main reference camera or sensor;
• determining if the sensing and identifying of the first tracking marker, the second tracking marker, or the third tracking marker by the at least one main reference camera or sensor is interrupted or lost, and if interrupted or lost, determining if a first floating reference source or a second floating reference has a better view of the first tracking marker, the second tracking marker, or the third tracking marker for which the sensing and identifying has been interrupted or lost, and using the first floating reference or the second floating reference with the better view for sensing and identifying the first tracking marker, the second tracking marker, or the third tracking marker via data and images from the first floating reference or the second floating reference with the better view;
• generating and displaying computer-generated data and images from the data and images provided by the at least one main reference camera or sensor, the first floating reference source, and/or the second floating reference source including locations of the first tracking marker, the second tracking marker, and the third tracking marker relative to one another, to the patient, and to an ideal surgical approach;
• and
• adjusting the location of the one of the navigated instrument and the robotic navigated end effector after comparing the location thereof relative to the ideal surgical approach.