Multi-arm robotic system for spine surgery with imaging guidance
Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.
1 . A robotic system, comprising:
a first robotic arm configured to orient an imaging device;
a second robotic arm configured to orient a surgical tool;
a processor; and
a memory storing instructions for execution by the processor that, when executed, enable the processor to:
annotate a plurality of intraoperative images obtained from the imaging device to label a first anatomical element for the surgical tool to avoid;
prevent the surgical tool from approaching the first anatomical element;
calculate, based on the plurality of intraoperative images, a volume of a second anatomical element;
remove an amount of material from the second anatomical element;
recalculate the volume of the second anatomical element to determine the amount of material removed; and
generate a notification when the determined amount of material removed equals or is greater than a known volume to be removed.
2 . The robotic system of claim 1 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
obtain a pose of the surgical tool.
3 . The robotic system of claim 2 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
cause the second robotic arm to perform a surgical procedure using the surgical tool.
4 . The robotic system of claim 3 , wherein the surgical procedure comprises a vertebral discectomy, a laminectomy, a foraminotomy, or a laminotomy.
5 . The robotic system of claim 1 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
analyze the plurality of intraoperative images to identify the first anatomical element.
6 . The robotic system of claim 5 , wherein identifying the first anatomical element is accomplished through image processing or through machine learning recognition of images of anatomical elements from a database.
7 . The robotic system of claim 1 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
cause the first robotic arm to reposition the imaging device if the first anatomical element becomes situated outside a field of view of the imaging device.
8 . The robotic system of claim 1 , wherein the first anatomical element comprises a spinal nerve, a nerve root, a dorsal root ganglion, an intervertebral disc, a spinal meninges, a spinal cord, a vertebral foramen, or an intervertebral foramen.
9 . The robotic system of claim 1 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
provide information for positioning and operating the surgical tool.
10 . The robotic system of claim 9 , wherein the information comprises a plan for a surgical procedure based on an intraoperative plan designed by a surgeon.
11 . The robotic system of claim 10 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
modify the intraoperative plan to optimize a pose of the surgical tool based on images received from the imaging device.
12 . A system, comprising:
a robotic arm configured to orient an imaging device;
a processor; and
a memory storing instructions for execution by the processor that, when executed, enable the processor to:
annotate a plurality of intraoperative images obtained from the imaging device to label a first anatomical element for a surgical tool to avoid;
prevent the surgical tool from approaching the first anatomical element;
calculate, based on the plurality of intraoperative images, a volume of a second anatomical element;
remove an amount of material from the second anatomical element;
recalculate the volume of the second anatomical element to determine the amount of material removed; and
generate a notification when the determined amount of material removed equals or is greater than a known volume to be removed.
13 . The system of claim 12 , wherein the surgical tool is oriented by a second robotic arm.
14 . The system of claim 13 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
cause the second robotic arm to perform a surgical procedure using the surgical tool.
15 . The system of claim 13 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
obtain a pose of the surgical tool.
16 . The system of claim 12 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
cause the robotic arm to position the imaging device based on a surgical plan.
17 . The system of claim 12 , wherein at least two predetermined positions for the imaging device are provided, and wherein the imaging device is adapted to acquire three-dimensional images in real-time.
18 . The system of claim 17 , wherein at least one position of the at least two predetermined positions comprises one of: facing an intervertebral disc undergoing discectomy, within a vertebral foramen, or facing a lamina of a vertebra undergoing laminectomy or laminotomy.
19 . The system of claim 12 , wherein the memory stores additional instructions for execution by the processor that, when executed, further enable the processor to:
cause the robotic arm to move the imaging device in incremental steps to generate two-dimensional images; and
reconstruct at least one three-dimensional image from the two-dimensional images.
20 . A method, comprising:
annotating a plurality of intraoperative images obtained from an imaging device to label a first anatomical element for a surgical tool to avoid;
preventing the surgical tool from approaching the first anatomical element;
calculating, based on the plurality of intraoperative images, a volume of a second anatomical element;
removing an amount of material from the second anatomical element;
recalculating the volume of the second anatomical element to determine the amount of material removed; and
generating a notification when the determined amount of material removed equals or is greater than a known volume to be removed.