Systems and methods for implantation of spinal plate
A method includes tracking one or more of a plurality of bones of a patient, adjusting a relationship between the plurality of bones to a desired rotation between the plurality of bones, and creating an implant placement plan based on the relationship. The implant placement plan includes a placement of a plate across the plurality of bones. The method also includes robotically assisting preparation of the plurality of bones to receive the plate in accordance with the implant placement plan.
1. A method, comprising:
tracking one or more of a plurality of bones of a patient;
adjusting a relationship between the plurality of bones to a desired rotation between the plurality of bones;
creating an implant placement plan based on the relationship, the implant placement plan comprising a placement of a plate across the plurality of bones; and
robotically assisting preparation of the plurality of bones to receive the plate in accordance with the implant placement plan.
2. The method of claim 1 , wherein the plurality of bones comprise three or more bones.
3. The method of claim 1 , wherein creating the implant placement plan comprises planning a first cavity to be sculpted at a first bone of the plurality of bones and a second cavity to be sculpted at a second bone of the plurality of bones, the first cavity to receive a first portion of the plate and the second cavity to receive a second portion of the plate.
4. The method of claim 3 , wherein creating the implant placement plan comprises planning the first cavity and the second cavity such that a top surface of the plate is planned to be substantially flush with surfaces of the first bone and the second bone.
5. The method of claim 1 , wherein robotically assisting preparation of the plurality of bones to receive the plate comprises:
tracking a pose of a robotic device relative to the plurality of bones; and
controlling the robotic device based on the pose of the robotic device relative to the plurality of bones.
6. The method of claim 5 , wherein robotically assisting preparation of the plurality of bones comprises providing force feedback via the robotic device.
7. The method of claim 1 , wherein creating the implant placement plan comprises defining a virtual cutting boundary; and
robotically assisting the preparation of the plurality of bones includes confining a pose of a robotic device based on the virtual cutting boundary.
8. The method of claim 7 , wherein the virtual cutting boundary corresponds to one or more dimensions of the plate.
9. The method of claim 1 , wherein robotically assisting preparation of the plurality of bones comprises creating a hole in a first bone of the plurality of bones, the hole configured to receive an engagement member to engage the plate with the first bone.
10. The method of claim 1 , wherein creating the implant placement plan comprises selecting a plate model from a database of plate models, the plate model corresponding to a shape and a size of the plate to be used in the implant placement plan.
11. A robotically-assisted surgical system, comprising:
a tracking system configured to track one or more of a plurality of bones of a patient;
a robotic device configured to assist modification of the plurality of bones; and
circuitry programmed to:
obtain an adjusted relationship to a desired rotation between the plurality of bones;
obtain an implant placement plan based on the adjusted relationship, wherein the implant placement plan comprise a placement of a plate across the plurality of bones; and
control the robotic device to assist the modification of the plurality of bones to receive the plate in accordance with the implant placement plan.
12. The robotically-assisted surgical system of claim 11 , wherein the plurality of bones comprise three or more bones.
13. The robotically-assisted surgical system of claim 11 , wherein the implant placement plan comprises a first cavity to be sculpted at a first bone of the plurality of bones and a second cavity to be sculpted at a second bone of the plurality of bones, the first cavity to receive a first portion of the plate and the second cavity to receive a second portion of the plate.
14. The robotically-assisted surgical system of claim 13 , wherein the first cavity and the second cavity are planned such that a top surface of the plate is planned to be substantially flush with surfaces of the first bone and the second bone.
15. The robotically-assisted surgical system of claim 11 , wherein:
the tracking system is configured to track a pose of the robotic device relative to the plurality of bones; and
the circuitry is programmed to control the robotic device based on the pose for the robotic device relative to the plurality of bones.
16. The robotically-assisted surgical system of claim 15 , wherein the circuitry is programmed to control the robotic device to provide force feedback to a user of the robotic device.
17. The robotically-assisted surgical system of claim 11 , wherein the implant placement plan comprises a virtual cutting boundary; and
the circuitry is programmed to constrain the robotic device based on the virtual cutting boundary.
18. The robotically-assisted surgical system of claim 17 , wherein the virtual cutting boundary corresponds to a shape of the plate.
19. The robotically-assisted surgical system of claim 11 , wherein the robotic device is configured to prepare a hole in a first bone of the plurality of bones, the hole configured to receive an engagement member to engage the plate with the first bone.
20. The robotically-assisted surgical system of claim 11 , wherein the implant placement plan comprises a plate model selected from a database of plate models, the plate model corresponding to a shape and a size of the plate to be used in the implant placement plan.