System and method for preliminary registration
Methods and systems for performing a preliminary registration is provided. Image data corresponding to an image depicting a tracking device and an anatomical element may be received. Robot positional data corresponding to a position of a robot may also be received. The robot and the anatomical element may be located in a common three-dimensional coordinate system based on the image data and the positional data to yield a preliminary registration. A suggested robot position may be determined based on the preliminary registration and a dimensional reach of a robot arm of the robot.
1 . A preliminary registration method comprising:
receiving image data corresponding to an image depicting a tracking device and an anatomical element, the tracking device disposed on a surface of a patient;
receiving robot positional data corresponding to a position of a robot;
locating the robot and the anatomical element in a common three-dimensional (3D) coordinate system based on the image data and the robot positional data to yield a preliminary registration;
determining a suggested robot position based on the preliminary registration and a dimensional reach of a robotic arm of the robot; and
receiving a surgical plan having a planned trajectory of one or more medical devices, the planned trajectory comprising a suggested depth of insertion and a suggested angle of insertion for each of the one or more medical devices, and wherein the determining is further based on the surgical plan.
2 . The method of claim 1 , wherein the tracking device comprises a fluoroscopy marker and a fiducial marker.
3 . The method of claim 1 , wherein the surface of the patient is non-sterile.
4 . The method of claim 1 , wherein the image data corresponds to a single image.
5 . The method of claim 1 , further comprising identifying a patient position based on the preliminary registration.
6 . The method of claim 1 , further comprising determining a suggested location for attachment of the robot to the patient based on the preliminary registration and the surgical plan.
7 . The method of claim 1 , further comprising determining a suggested incision size and suggested incision position based on the preliminary registration and the surgical plan.
8 . The method of claim 7 , further comprising determining a suggested incision start point and a suggested incision end point based on the planned trajectory and the suggested incision size.
9 . The method of claim 8 , further comprising causing the robotic arm to indicate the suggested incision start point and the suggested incision end point.
10 . The method of claim 8 , wherein the robot comprises the robotic arm and a second robotic arm, the method further comprising causing the robotic arm to indicate the suggested incision start point and the second robotic arm to indicate the suggested incision end point.