CPC A61B 34/20 (2016.02) [A61B 5/0036 (2018.08); A61B 5/055 (2013.01); A61B 6/12 (2013.01); A61B 6/547 (2013.01); A61B 34/30 (2016.02); A61B 46/10 (2016.02); A61B 90/37 (2016.02); A61B 90/39 (2016.02); A61B 5/064 (2013.01); A61B 5/1114 (2013.01); A61B 5/1127 (2013.01); A61B 6/032 (2013.01); A61B 6/037 (2013.01); A61B 6/04 (2013.01); A61B 6/4441 (2013.01); A61B 6/4447 (2013.01); A61B 6/5264 (2013.01); A61B 8/0841 (2013.01); A61B 2034/2055 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3937 (2016.02); A61B 2505/05 (2013.01)] | 20 Claims |
1. A method of performing robotically-assisted surgery, comprising:
moving an end effector and a robotic arm operatively attached with an imaging device with respect to a patient and the imaging device to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device;
moving the imaging device and the robotic arm relative to the patient by effecting linear translation along a base of the imaging device, moving the imaging device and the robotic arm linearly relative to the patient;
detecting a movement of the imaging device relative to the patient; and
obtaining an intraoperative image of the patient while moving the robotic arm, avoiding collisions with the imaging device and with the patient in response to detecting a movement of the imaging device relative to the patient.
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