Spinous process clamp registration and methods for using the same

1 . A method, comprising:

receiving a plurality of images, the plurality of images depicting a navigation probe contacting each of at least a first divot, a second divot, a third divot, and a fourth divot on a medical instrument, wherein the first divot, the second divot, and the third divot are disposed on an upper body of the medical instrument, and wherein the fourth divot is disposed on a screw of the medical instrument;

receiving information about the medical instrument; and

determining, based on the plurality of images and the information, a pose of the medical instrument.

2 . The method of claim 1 , further comprising:

updating, based on the pose of the medical instrument, a surgical plan.

3 . The method of claim 2 , wherein updating the surgical plan further comprises:

registering the medical instrument to an anatomical element; and

determining, based on the registering, a new trajectory for a surgical implant.

4 . The method of claim 3 , wherein the surgical implant includes a pedicle screw.

5 . The method of claim 1 , wherein the medical instrument comprises a bone mounting device, wherein the information about the medical instrument comprises information about a pre-configured orientation of the first divot, the second divot, the third divot, and the fourth divot, and wherein the navigation probe contacts each divot of the first divot, the second divot, the third divot, and the fourth divot in a sequence.

6 . The method of claim 5 , wherein determining the pose of the medical instrument further comprises:

determining a pose of a plurality of tracking markers on the navigation probe when the navigation probe contacts each of the first divot, the second divot, the third divot, and the fourth divot; and

determining, based on the pre-configured orientation and the determined pose of the plurality of tracking markers, a position of the medical instrument.

7 . A system, comprising:

a surgical device comprising:

an upper body with a first divot, a second divot, and a third divot;

a clamp connected to the upper body and configured to attach the surgical device to an anatomical element; and

a screw that secures the clamp to the anatomical element, the screw comprising a fourth divot;

a processor; and

a memory storing data thereon that, when processed by the processor, cause the processor to:

receive a plurality of images depicting a navigation probe contacting each of the first divot, the second divot, the third divot, and the fourth divot;

receive information about the surgical device; and

determine, based on the plurality of images and the information about the surgical device, a pose of the surgical device.

8 . The system of claim 7 , wherein the data further cause the processor to:

receive at least one image depicting the navigation probe contacting the fourth divot;

determine, based on the at least one image and the information about the surgical device, a position of the fourth divot relative to at least one of the first divot, the second divot, and the third divot; and

determine, based on the position, an angle of the surgical device relative to the anatomical element.

9 . The system of claim 7 , wherein each of the first divot, the second divot, the third divot, and the fourth divot includes a first geometric shape, and wherein the first geometric shape is one of a circle, a triangle, a square, a rectangle, a pentagon, a hexagon, a heptagon, an octagon, a nonagon, a decagon, an ellipse, a trapezoid, a parallelogram, a rhombus, a cross or a plus, a pentagram, a hexagram, an octagram, or a crescent.

10 . The system of claim 7 , wherein the fourth divot is disposed in a hollow interior of the screw.

11 . The system of claim 7 , wherein the data further cause the processor to:

update, based on the pose of the surgical device, a surgical plan.

12 . The system of claim 11 , wherein updating the surgical plan further comprises:

registering the surgical device to an anatomical element; and

updating, based on the registering, a trajectory of a surgical implant.

13 . The system of claim 7 , wherein the clamp comprises a first jaw and a second jaw.

14 . The system of claim 13 , wherein the screw is threaded through the upper body to contact at least one of the first jaw and the second jaw.

15 . An apparatus, comprising:

an imaging device;

a bone mount device configured to attach to an anatomical element, the bone mount device comprising:

an upper body with a first divot, a second divot, and a third divot;

a clamp connected to the upper body; and

a screw component that attaches the clamp to the anatomical element, the screw component comprising a fourth divot;

a processor; and

a memory storing data thereon that, when processed by the processor, cause the processor to:

receive a plurality of images from the imaging device depicting a plurality of navigation markers disposed on a navigation probe that contacts each of the first divot, the second divot, the third divot, and the fourth divot;

receive information about an orientation of the first divot, the second divot, the third divot, and the fourth divot; and

determine, based on the plurality of images and the information about the orientation of the first divot, the second divot, the third divot, and the fourth divot, a pose of the bone mount device.

16 . The apparatus of claim 15 , wherein the navigation probe is perpendicular to a surface of the bone mount device when contacting at least one of the first divot, the second divot, the third divot, er and the fourth divot.

17 . The apparatus of claim 15 , wherein the data further cause the processor to:

update, based on the pose of the bone mount device, a surgical plan.

18 . The apparatus of claim 17 , wherein updating the surgical plan further comprises:

registering the bone mount device to the anatomical element; and

updating, based on the registering, a trajectory for a surgical implant.

19 . The apparatus of claim 15 , wherein the bone mount device is attached to a spinous process of a vertebra, and wherein the apparatus further comprises:

a connector coupled to the bone mount device at a first end and coupled to a robotic arm at a second end.

20 . The apparatus of claim 19 , wherein the first end of the connector is inserted into a first port of the bone mount device.