Navigational and/or robotic tracking methods and systems

A surgical robotic system, comprising:

• a robot comprising a robotic arm having an end effector, the robotic arm having a plurality of joints and a plurality of body parts;
• a wireless tracking device including a wireless transmitter, a camera, and an inertial measurement unit (IMU), the wireless tracking device couplable to a bone of a patient;
• a plurality of markers attached to one or more of the robot, an arm or joint of the robot, a base of the robot, a cart, a fixture attached to a surgical table, surgical lighting, or an outside-in navigation camera, wherein each marker of the plurality of markers is in a known position within a surgical environment;
• and
• a controller including a memory, one or more processors in communication with the memory, and instructions that, when executed by the one or more processors, cause the controller to:
• generate reference data for the bone using the camera of the wireless tracking device to image the plurality of markers;
• determine a position and orientation of the wireless tracking device using the IMU of the wireless tracking device;
• fuse the reference data and the position and orientation of the wireless tracking device to generate navigation data including a position and orientation of the bone relative to a virtual coordinate system;
• and
• use the navigation data in a surgical navigation system.

A computer program product comprising a non-transitory computer readable storage medium readable by a processing circuit and storing instructions that, when executed by the processing circuit, cause the processing circuit to:

• generate reference data for a bone of a patient using a camera of a wireless tracking device coupled to the bone of the patient, the reference data generated by imaging a plurality of markers, wherein each marker of the plurality of markers is in a known position within a surgical environment and the plurality of markers is attached to one or more of a robot having a robotic arm with an end effector, an arm or joint of the robot, a base of the robot, a cart, a fixture attached to a surgical table, surgical lighting, or an outside-in navigation camera;
• determine a position and orientation of the wireless tracking device using an inertial measurement unit (IMU) of the wireless tracking device;
• fuse the reference data and the position and orientation of the wireless tracking device to generate navigation data including a position and orientation of the bone relative to a virtual coordinate system;
• and
• use the navigation data in a surgical navigation system.