CPC A61B 90/361 (2016.02) [A61B 34/32 (2016.02); A61B 90/39 (2016.02); A61B 34/30 (2016.02); A61B 2017/0092 (2013.01); A61B 2017/00725 (2013.01); A61B 2017/00946 (2013.01); A61B 2017/00991 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/363 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3958 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/3991 (2016.02)] | 18 Claims |
1. A method of controlling a robotic arm in reference to an anatomical area, the method comprising:
accessing medical images of the anatomical area and a recalibration device positioned on a surface of the anatomical area;
generating a three-dimensional digital model from the medical images;
identifying radiopaque fiducial markers integrated into the recalibration device within the medical images, the radiopaque fiducial markers distributed spatially throughout a volume across multiple parallel planes within the recalibration device;
calculating a position and orientation of the recalibration device within a robotic coordinate system, the robotic coordinate system coordinating position and orientation data between the anatomic area and a robotic arm;
adjusting the three-dimensional digital model to the robotic coordinate system based on a position and orientation of the recalibration device within the three-dimensional digital model; and
generating commands to position the robotic arm operating within the robotic coordinate system based on the three-dimensional digital model, wherein the generating commands to position the robotic arm is based at least in part on an implant position within an implant plan.
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