Motion programming of a robotic device

1. A method comprising:

acquiring an image of a surgical site of a patient;

determining motion data of an instrument based on a user defined path to the surgical site;

determining, based on the motion data, a motion path of a robotic device;

displaying a portion of the motion path onto at least a portion of the image;

determining one or more instructions for actuating the one or more components to cause the robotic device to move according to the motion path; and

providing the one or more instructions to the robotic device.

2. The method of claim 1 , wherein the image of the surgical site is a three-dimensional image.

3. The method of claim 1 , wherein determining the motion data includes:

capturing, with a tracking device, one or more images of the instrument or markers coupled to the instrument; and

processing the one or more images to determine the motion data.

4. The method of claim 1 , wherein the method further comprises:

obtaining a predetermined trajectory;

determining one or more additional instructions for actuating the one or more components to align a trajectory of the robotic device with the predetermined trajectory; and

providing the one or more additional instructions to the robotic device.

5. The method of claim 1 , further comprising:

after displaying the portion of the motion path onto the image, receiving approval input,

wherein the determining of the one or more instructions for actuating the one or more components is based on the received approval input.

6. The method of claim 1 , further comprising:

determining a score associated with the motion path; and

selecting a visual effect based on the score,

wherein the displaying of the portion of the motion path onto the image is based on the visual effect.

7. The method of claim 6 ,

wherein the score corresponds to a likelihood of pedicle breach.

8. The method of claim 6 ,

wherein the visual effect is a blinking effect or a color.

9. The method of claim 6 ,

actuating the robotic device according to the provided one or more instructions.

10. The method of claim 1 , further comprising:

determining that the motion path intersects with one or more predetermined boundaries within the surgical site; and

responsive to determining that the motion path intersects with the one or more predetermined boundaries, selecting a visual effect for the motion path,

wherein the displaying of the portion of the motion path onto the image is based on the visual effect.

11. The method of claim 1 ,

wherein the instrument is mounted to the robotic device.

12. The method of claim 1 ,

wherein the instrument is a handheld instrument.

13. A method comprising:

acquiring a three-dimensional image of a surgical site of a patient;

capturing a pose of an instrument based on a user defined placement of the instrument at a surgical site of a patient;

determining a motion path for a robotic device that corresponds to the captured pose of the instrument;

displaying a portion of the motion path onto the three-dimensional image;

determining one or more instructions for actuating one or more components of the robotic device to cause at least a portion of the robotic device to move the along the motion path; and

providing the one or more instructions to the robotic device.

14. The method of claim 13 , further comprising:

causing a manipulator of the robotic device to move toward the surgical site along the motion path; and

causing the manipulator of the robotic device to move away from the surgical site along the motion path.

15. The method of claim 13 , further comprising:

receiving an input confirming that the motion path aligns with a surgical operative plan,

wherein the providing or determining the one or more instructions is responsive to receiving the input.

16. The method of claim 13 , further comprising:

determining that the motion path intersects with one or more predetermined boundaries within the surgical site; and

causing display of a visual effect responsive to determining that the motion path intersects with one or more predetermined boundaries within the surgical site.

17. A system comprising:

a tracking device;

a robotic device; and

a processing device comprising:

a processor; and

a non-transitory computer readable medium having stored thereon instructions that, when executed by the processor, cause the system to:

receive an image of a surgical site of a patient;

capturing, via the tracking device, a pose of an instrument based on a user defined placement of the instrument at a surgical site of a patient;

determine, by the processor, a motion path corresponding to the captured pose of the instrument, wherein the motion path is associated with actuation of one or more components of the robotic device;

provide instructions to display a portion of the motion path onto the image;

determine, by the processor, one or more instructions for actuating the one or more components along the determined motion path; and

provide the one or more instructions to the robotic device.

18. The system of claim 17 , wherein the image of the surgical site is a three-dimensional image.

19. The system of claim 17 , wherein the non-transitory computer readable medium having stored thereon instructions that, when executed by the processor, cause the system to provide the one or more instructions to the robotic device further comprises instructions to:

receive an input confirming that the portion of the determined motion path aligns with a surgical operative plan.

20. The system of claim 17 , wherein the non-transitory computer readable medium having stored thereon instructions that, when executed by the processor, further cause the system to:

determine that the motion path intersects with one or more predetermined boundaries within the surgical site; and

provide for display a varying visual effect of the motion path.