CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); G06T 7/11 (2017.01); G06T 7/194 (2017.01); G06T 7/20 (2013.01); G06T 19/006 (2013.01); A61B 90/98 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/365 (2016.02); A61B 2090/376 (2016.02); A61B 2090/378 (2016.02); A61B 2090/392 (2016.02); A61B 2090/3941 (2016.02); G06T 2207/30008 (2013.01); G06T 2207/30012 (2013.01); G06T 2207/30016 (2013.01); G06T 2210/41 (2013.01)] | 20 Claims |
1. A surgical system comprising:
a robotic system comprising a moveable arm that is configured to support an end effector relative to a surgical site, wherein the end effector is configured to remove material from a bone;
a scanner being configured to scan the surgical site and detect a vessel on the bone; and
one or more controllers coupled to the robotic system and the scanner and being configured to:
obtain image data of the bone;
receive, from the scanner, positional information of the vessel on the bone;
input the positional information of the vessel to the image data of the bone;
generate a boundary for the vessel;
register the boundary to the bone for navigation;
control the robotic system to remove material from the bone with the end effector; and
control the robotic system based on the boundary to prevent interaction between the end effector and the vessel.
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