CPC A61B 34/20 (2016.02) [A61B 17/1671 (2013.01); A61B 17/1703 (2013.01); A61B 17/1757 (2013.01); A61B 90/06 (2016.02); A61B 2017/00026 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/320052 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/303 (2016.02); A61B 2090/065 (2016.02); A61B 2562/0261 (2013.01); A61B 2562/18 (2013.01)] | 19 Claims |
1. A method of verifying a trajectory of a surgical tool during a procedure, the method comprising:
receiving one or more captured images of an anatomical portion of a patient;
executing a surgical plan to insert the surgical tool into the anatomical portion,
wherein the surgical tool comprises an elongated rigid structure having a hollow center,
wherein the hollow center is configured to receive a second surgical tool, such that the second surgical tool protrudes out of an insertion end of the surgical tool into the anatomical portion, and
wherein the surgical tool further comprises one or more impedance sensors attached to the surgical tool and disposed around the insertion end of the surgical tool;
receiving sensor data collected from the one or more impedance sensors while the second surgical tool is received in the hollow center of the surgical tool and while the second surgical tool is being inserted into the anatomical portion;
determining whether the sensor data corresponds to the surgical plan; and
sending, in response to determining that the sensor data does not correspond to the surgical plan, an alert indicating that the surgical tool is not being inserted according to the surgical plan.
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