Methods for detecting robotic arm end effector attachment and devices thereof

1 . A method for intraoperative management of end effector connectivity, the method implemented by one or more of a surgical computing device or an interface adapter device and comprising:

obtaining a surgical plan for a surgical procedure, wherein the surgical plan comprises one or more transitionary parameters, each of which defines an inactive state for a robotic arm or an active state for the robotic arm;

generating connectivity data from sensor data output by a connectivity sensor coupled to the robotic arm, wherein the connectivity data is indicative of mechanical connectivity of an end effector to the robotic arm, and wherein a surgical tool is coupled to the end effector;

intraoperatively determining a state of the robotic arm based on the connectivity data, wherein the state is configured to indicate:

the inactive state when the end effector is disconnected from the robotic arm; and

the active state when the end effector is connected to the robotic arm; and

automatically controlling a movement of the robotic arm in accordance with the state;

wherein, when the robotic arm is determined to be in the inactive state, automatically controlling the movement of the robotic arm, such that the robotic arm moves away from a patient.

2 . The method of claim 1 , further comprising, when the determination indicates the active state, automatically controlling the movement of the robotic arm to:

resume the surgical procedure according to the surgical plan; and

move the robotic arm based on a position or action defined in the surgical plan.

3 . The method of claim 1 , further comprising, when the determination indicates the inactive state, automatically controlling the movement of the robotic arm to collapse while moving away from the patient.

4 . The method of claim 1 , further comprising, when the determination indicates the active state:

determining a tool type of the surgical tool based on one or more of a geometry of a connection of the surgical tool or end effector to the robotic arm or the interface device coupled to the robotic arm, the sensor data, classification of an overall geometry of the surgical tool via an image of the surgical tool captured by a tracking system, or a radio-frequency identification (RFID) tag coupled to the surgical tool;

determining a stage of the surgical procedure based on the tool type; and

extracting one or more of the transitionary parameters from the surgical plan based on the determined stage of the surgical procedure.

5 . A method for intraoperative management of cutting guide connectivity, the method implemented by one or more of a surgical computing device or an interface adapter device and comprising:

obtaining a surgical plan for a surgical procedure, wherein the surgical plan comprises one or more transitionary parameters, each of which defines an inactive state for a robotic arm or an active state for the robotic arm;

generating connectivity data from a connectivity device coupled to the robotic arm, wherein the connectivity data is indicative of mechanical connectivity of a cutting guide to the robotic arm;

intraoperatively determining a state of the robotic arm based on the connectivity data, wherein the state is configured to indicate:

the inactive state when the cutting guide is disconnected from the robotic arm; and

the active state when the cutting guide is connected to the robotic arm; and

automatically controlling a movement of the robotic arm in accordance with the state;

wherein, when the robotic arm is determined to be in the inactive state, automatically controlling the movement of the robotic arm, such that the robotic arm moves away from a patient.

6 . The method of claim 5 , further comprising, when the determination indicates the active state, automatically controlling the movement of the robotic arm to:

resume the surgical procedure according to the surgical plan; and

move the cutting guide adjacent to a patient's anatomy based on the surgical plan.

7 . The method of claim 5 , further comprising, when the determination indicates the inactive state, automatically controlling the movement of the robotic arm to collapse while moving away from a patient.

8 . The method of claim 5 , further comprising:

determining a stage of the surgical procedure based on the surgical plan; and

extracting one or more of the transitionary parameters from the surgical plan based on the determined stage of the surgical procedure, wherein each of a plurality of stages of the surgical procedure is associated in the surgical plan with a respective one or more of the transitionary parameters.

9 . The method of claim 5 , wherein the robotic arm is coupled to the interface adapter device, wherein the interface adapter device comprises the connectivity device, wherein the connectivity device is a sensor, wherein the sensor comprises a weight sensor, an electrical sensor, or an electromechanical sensor, and wherein the method further comprises:

analyzing data from the sensor to determine whether the data indicates that the cutting guide is connected to the interface adapter device or the robotic arm; and

generating the connectivity data to reflect the determination.

10 . The method of claim 5 , wherein the robotic arm comprises a first optical tracker, wherein the cutting guide comprises a second optical tracker, and wherein the method further comprises:

Analyzing data from the first and second optical trackers to determine whether a relative position of the first and second optical trackers indicates that the cutting guide is connected to the interface adapter device or the robotic arm; and

generating the connectivity data to reflect the determination.

11 . The method of claim 5 , further comprising providing an alert in response to one or more of the disconnection of the cutting guide from the robotic arm or the connection of the cutting guide to the robotic arm.

12 . The method of claim 5 , wherein automatically controlling the movement of the robotic arm comprises waiting a preset delay.

13 . A method for intraoperative management of implant connectivity, the method implemented by one or more of a surgical computing device or an interface adapter device and comprising:

obtaining a surgical plan for a surgical procedure, wherein the surgical plan comprises one or more transitionary parameters, each of which defines an inactive state for a robotic arm or an active state for the robotic arm;

generating connectivity data from a connectivity device coupled to the robotic arm, wherein the connectivity data is indicative of mechanical connectivity of an implant to the robotic arm;

intraoperatively determining a state of the robotic arm based on the connectivity data, wherein the state is configured to indicate:

the inactive state when the implant is disconnected from the robotic arm; and

the active state when the implant is connected to the robotic arm; and

automatically controlling a movement of the robotic arm in accordance with the state;

wherein, when the robotic arm is determined to be in the inactive state, automatically controlling the movement of the robotic arm, such that the robotic arm moves away from a patient.

14 . The method of claim 13 , further comprising, when the determination indicates the active state, automatically controlling the movement of the robotic arm to:

resume the surgical procedure according to the surgical plan; and

move the implant adjacent to a patient's anatomy based on the surgical plan.

15 . The method of claim 13 , further comprising, when the determination indicates the inactive state, automatically controlling the movement of the robotic arm to collapse while moving away from a patient.

16 . The method of claim 13 , further comprising:

determining a stage of the surgical procedure based on the surgical plan; and

extracting one or more of the transitionary parameters from the surgical plan based on the determined stage of the surgical procedure, wherein each of a plurality of stages of the surgical procedure is associated in the surgical plan with a respective one or more of the transitionary parameters.

17 . The method of claim 13 , wherein the robotic arm is coupled to the interface adapter device, wherein the interface adapter device comprises the connectivity device, wherein the connectivity device is a sensor, wherein the sensor comprises a weight sensor, an electrical sensor, or an electromechanical sensor, and wherein the method further comprises:

analyzing data from the sensor to determine whether the data indicates that the implant is connected to the interface adapter device or the robotic arm; and

generating the connectivity data to reflect the determination.

18 . The method of claim 13 , wherein the robotic arm comprises a first optical tracker, wherein the implant comprises a second optical tracker, and wherein the method further comprises:

analyzing data from the first and second optical trackers to determine whether a relative position of the first and second optical trackers indicates that the implant is connected to the interface adapter device or the robotic arm; and

generating the connectivity data to reflect the determination.

19 . The method of claim 13 , further comprising providing an alert in response to one or more of the disconnection of the implant from the robotic arm or the connection of the implant to the robotic arm.

20 . The method of claim 13 , wherein automatically controlling the movement of the robotic arm comprises waiting a preset delay.