Method for the automated and assisted acquisition of anatomical surfaces
The method for the automated and assisted acquisition of anatomical surfaces includes a first acquisition of the surfaces undertaken in order to create a first numerical model and a perioperative second acquisition undertaken by scanning the surfaces in order to create a second numerical model for identifying the coordinates of the surfaces. The surfaces are supported by a robotic arm; and then the models are brought into correspondence by resetting. The scanning in the second acquisition includes making a preliminary identification of the coordinates of noteworthy points on the surfaces manually, assisted by the robotic arm, and the identifying parts a the points, in order to construct a reference frame and to determine a scanning region; creating an intermediate model from the reference frame and at least one of the points; preliminary resetting the first model with the second model; and automatically scanning the determined zone.
1. A method for aligning a pre-operative three-dimensional model to a perioperative coordinate system associated with a surgical robot, the method comprising:
manually identifying a plurality of noteworthy points on an anatomical surface of a patient using a scanning device coupled to an end effector of the surgical robot;
constructing a reference frame based on the plurality of noteworthy points;
computing an intermediate three-dimensional model from the plurality of noteworthy points and the reference frame;
resetting the reference frame based at least in part on bringing the preoperative three-dimensional model into correspondence with the intermediate three-dimensional model;
automatically scanning, using the scanning device, a scanning zone determined based on the reset reference frame;
computing a reference three-dimensional model from data collected from the scanning zone with the scanning device; and
aligning the perioperative coordinate system with the patient based on bringing the reference three-dimensional model into correspondence with the pre-operative three-dimensional model.
2. The method of claim 1 , wherein manually identifying a plurality of noteworthy points includes manually scanning with the scanning device at least three noteworthy points on the anatomical surface of the patient.
3. The method of claim 2 , wherein computing the intermediate three-dimensional model includes determining a fourth noteworthy point from the at least three noteworthy points based at least in part on a line of symmetry determined from two of the at least three noteworthy points.
4. The method of claim 1 , wherein manually identifying the plurality of noteworthy points includes manually manipulating a robotic arm holding the scanning device to collect the noteworthy points.
5. The method of claim 4 , wherein automatically scanning includes the robotic arm automatically moving the scanning device based at least in part on the intermediate reference frame.
6. The method of claim 1 , wherein resetting the reference frame includes computing at least two axes based on the plurality of noteworthy points, wherein the axes are used to guide the automatic scanning.
7. The method of claim 6 , wherein computing the at least two axes comprises using at least four noteworthy points including a first noteworthy point and a second noteworthy point forming a first axis and a third noteworthy point and a fourth noteworthy point forming a second axis.
8. The method of claim 1 , wherein resetting the reference frame includes aligning the perioperative coordinate system to the reference frame, and wherein a robotic arm operates within the perioperative coordinate system to perform movements relative to the patient.
9. The method of claim 8 , wherein automatically scanning includes controlling, based at least in part on the reset reference frame, the robotic arm, and wherein the scanning device is coupled to an end effector of the robotic arm.
10. The method of claim 9 , further comprising using the scanning device to track position of a surgical instrument coupled to the robotic arm within the perioperative coordinate system in reference to the patient.
11. The method of claim 10 , further comprising updating the perioperative coordinate system in reference to the patient in real-time based on data from the scanning device.
12. A surgical robot system comprising:
a robotic arm including an end effector;
a scanning device couplable to the end effector; and
a controller configured to control the surgical robot to perform operations comprising:
enabling manual movement of the end effector to manually identify a plurality of noteworthy points on an anatomical surface of a patient using the scanning device;
constructing a reference frame based on the plurality of noteworthy points;
calculating an intermediate three-dimensional model from the plurality of noteworthy points and the reference frame;
resetting the reference frame based at least in part on bringing the pre-operative three-dimensional model into correspondence with the intermediate three-dimensional model;
automatically scanning, using the scanning device, a scanning zone determined based on the reset reference frame;
calculating a reference three-dimensional model from data collected from the scanning zone with the scanning device; and
aligning a perioperative coordinate system with the patient based on bringing the reference three-dimensional model into correspondence with the pre-operative three-dimensional model.
13. The system of claim 12 , wherein manually identifying a plurality of noteworthy points includes manually scanning with the scanning device at least three noteworthy points on the anatomical surface of the patient.
14. The system of claim 12 , wherein calculating the intermediate three-dimensional model includes determining a fourth noteworthy point from the at least three noteworthy points based at least in part on a line of symmetry determined from two of the at least three noteworthy points.
15. The system of claim 12 , wherein resetting the reference frame includes computing at least two axes based on the plurality of noteworthy points, wherein the axes are used to guide the automatic scanning.
16. The system of claim 15 , wherein computing the at least two axes comprises using at least four noteworthy points including a first noteworthy point and a second noteworthy point forming a first axis and a third noteworthy point and a fourth noteworthy point forming a second axis.
17. The system of claim 12 , wherein resetting the reference frame includes aligning the perioperative coordinate system to the intermediate reference frame, and wherein the robotic arm operates within the perioperative coordinate system to perform movements relative to the patient.
18. The system of claim 17 , wherein automatically scanning includes controlling, based at least in part on the intermediate reference frame, the robotic arm.
19. The system of claim 18 , further comprising using the scanning device to track position of a surgical instrument coupled to the robotic arm within the perioperative coordinate system in reference to the patient.
20. The system of claim 19 , further comprising updating the perioperative coordinate system in reference to the patient in real-time based on data from the scanning device.