| CPC A61B 34/35 (2016.02) [A61B 34/20 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02)] | 20 Claims |
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1. A system comprising:
a memory storing instructions;
a processor communicatively coupled to the memory and configured to execute the instructions to:
access image data representative of an image of an internal space of a patient, the image depicting a physical medical element positioned over an anatomical surface within the internal space;
identify a region, within the image, that depicts a fiducial marker on the physical medical element;
determine, based on the identified region, an affixation target location on the physical medical element; and
direct, based on the determined affixation target location, an affixation process in which the physical medical element is affixed to the anatomical surface, wherein:
the directing of the affixation process includes directing an affixation device coupled to a manipulator arm of a computer-assisted surgical system to affix the physical medical element to the anatomical surface at the affixation target location;
a surgical instrument coupled to an additional manipulator arm of the computer-assisted surgical system is configured to hold the physical medical element over the anatomical surface while the affixation device is used to affix the physical medical element to the anatomical surface; and
the processor is further configured to execute the instructions to:
identify an additional region, within the image, that depicts an additional fiducial marker on the physical medical element;
determine, based on the identified additional region, an additional affixation target location on the physical medical element;
direct a movement of the affixation device from the affixation target to the additional affixation target location to affix the physical medical element to the anatomical surface at the additional affixation target location;
direct a positioning of the surgical instrument at a first holding location on the physical medical element such that the affixation target location is between the first holding location and the additional affixation target location; and
direct, in response to the movement of the affixation device from the affixation target location to the additional affixation target location, a repositioning of the surgical instrument to a second holding location on the physical medical element and that is closer to the additional affixation target location than the first holding location.
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