| CPC A61B 17/7002 (2013.01) [A61B 17/86 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 2034/2055 (2016.02)] | 20 Claims |
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1. A method for robotic assisted surgery, the method comprising:
providing a robot device for performing a surgical procedure;
providing a processor to actuate the robot device to perform a surgical procedure;
providing an imaging device to capture poses of a patient's anatomy and surgical tools;
using the imaging device, capturing a plurality of poses of a surgical tool coupled to a robotic device at a surgical site, wherein the plurality of poses correspond to instances of a final placement of surgical implants at the surgical site, wherein the surgical implants are pedicle screws and each captured pose represents the pose of the surgical tool coupled to the robotic device and in contact with a corresponding pedicle screw after the pedicle screw has been inserted into a corresponding site in its final placement;
determining a plurality of positions of the surgical implants located at the surgical site based on the captured plurality of poses using the processor, wherein determining a plurality of positions of the surgical implants comprises using movement information determined by various sensors associated with one or more joints of the robotic device to determine the position of the surgical tool coupled to the robotic device after a calibration procedure between the robotic device and a tracking device;
generating a bend curve having a plurality of bend points based on the determined plurality of positions of the surgical implants using the processor;
generating bending instructions for bends to be performed on a linking device configured for attachment to the surgical implants using the processor; and
bending the linking device according to the generated bending instructions.
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