Systems and methods for tracking anatomical motion

Abstract

The present disclosure provides methods and systems for detecting, monitoring, and handling anatomical motion. An initial contact between a first robotic arm and an anatomical element of a patient can be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element can be determined based on the information. The determined position can be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm can be updated when the determined position deviates from the expected position.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Nonprovisional Application No. 17 / 464,300, filed September 1, 2021, entitled "Systems and Methods for Tracking Anatomical Motion," and U.S. Provisional Application No. 63 / 085,018, filed September 29, 2020, entitled "Systems and Methods for Tracking Anatomical Motion," the entire contents of which are incorporated herein by reference. Technical Field

[0003] This technology as a whole involves monitoring anatomical motion, and more specifically involves detecting and tracking anatomical motion via one or more internal sensors of a robotic arm. Background Technology

[0004] Surgical procedures using robotic systems rely on navigation systems to track the positions of various components and elements of the surgical procedure, such as tools, robotic arms, and patient anatomy. These positions can be identified and tracked using reference markers followed by the navigation system. Components or elements that cannot receive reference markers may not be tracked by the navigation system, and may not be tracked at all or may be tracked by other means. Summary of the Invention

[0005] Exemplary aspects of this disclosure include: A method for tracking anatomical motion according to at least one embodiment of the present disclosure includes: detecting initial contact between a first robotic arm and an anatomical element of a patient based on information received from at least one internal sensor of a first robotic arm; determining the position of the anatomical element based on the information; comparing the determined position of the anatomical element with a desired position of the anatomical element; and updating the tool trajectory of a second robotic arm based on the comparison when the determined position deviates from the desired position.

[0006] Any aspect of this article also includes: registering the first robotic arm and the second robotic arm to the patient space corresponding to the patient.

[0007] Any aspect of this article, wherein the expected location is based on the surgical plan.

[0008] Any aspect of this paper also includes: calculating compensation parameters based on comparison; wherein updating the tool trajectory of the second robotic arm based on comparison includes applying the compensation parameters to the tool trajectory.

[0009] In any aspect of this article, at least one of the internal sensors includes a force sensor and a torque sensor.

[0010] In any aspect of this article, at least one internal sensor includes an encoder.

[0011] Any aspect of this document also includes: fixing the first robotic arm to the anatomical element; and activating the first robotic arm to move the anatomical element to a desired location.

[0012] Any aspect of this document further includes: fixing a first robotic arm to an anatomical element; detecting movement of the first robotic arm based on data received from at least one internal sensor; and determining movement of the anatomical element based on the detected movement.

[0013] Any aspect of this article also includes: updating a virtual model of the patient's anatomical parts based on the movement of the identified anatomical elements.

[0014] Any aspect of this article also includes: moving the second robotic arm based on the movement of the determined anatomical elements.

[0015] Any aspect of this document also includes: fixing the first robotic arm to the anatomical element; and activating the first robotic arm to prevent the anatomical element from moving from the determined position.

[0016] In any aspect of this document, wherein the information is first information, the method further includes: receiving second information from at least one second internal sensor of the second robotic arm, the second information corresponding to at least one of an applied force or an applied torque applied to the anatomical element by the second robotic arm; and causing the first robotic arm to apply at least one of a responsive force or a responsive torque to the anatomical element to counteract the applied force or applied torque.

[0017] A method for controlling a robotic arm according to at least one embodiment of the present disclosure includes: registering a first robotic arm and a second robotic arm to a patient space corresponding to a patient; receiving a surgical plan including information about anatomical elements of the patient and surgical tasks to be performed by the second robotic arm on the anatomical elements; causing the first robotic arm to grip the anatomical elements using a mechanical gripper; and detecting at least one force or torque applied to the anatomical elements by the second robotic arm based on sensor data received from at least one internal sensor of the first robotic arm and without using data from any external sensor.

[0018] Any aspect of this document further includes: comparing the detected at least one force or torque with a corresponding predicted at least one force or torque described in the surgical plan; and generating an alarm when the detected at least one force or torque differs from the predicted at least one force or torque by a predetermined amount.

[0019] Any aspect of this document further includes: detecting initial contact between the first robotic arm and the anatomical element based on information from at least one internal sensor; calculating the position of the anatomical element based on the position of the first robotic arm at the time of the detected initial contact; and comparing the calculated position of the anatomical element with a predicted position of the anatomical element from a surgical plan.

[0020] Any aspect of this paper also includes: generating compensation parameters based on comparison; and causing the second robotic arm to move at least partially based on the compensation parameters.

[0021] In any aspect of this article, the anatomical element is the vertebra.

[0022] A system for handling anatomical movement in a surgical procedure according to at least one embodiment of the present disclosure includes a working robotic arm; a detection robotic arm including at least one internal sensor configured to detect at least one of a force or torque applied to the working robotic arm; at least one processor; and at least one memory storing instructions for execution by the at least one processor, the instructions, when executed, causing the at least one processor to: receive a surgical plan, the surgical plan including information about the patient's anatomical elements and surgical tasks to be performed by the working robotic arm on the anatomical elements; correlate the position of the detection robotic arm with the position of the anatomical elements; detect movement of the detection robotic arm caused by movement of the anatomical elements during the execution of the surgical tasks based solely on sensor data received from the at least one internal sensor; and control the movement of the detection robotic arm based on the detected movement during the execution of the surgical tasks.

[0023] In any aspect of this document, at least one internal sensor includes an encoder configured to sense at least one of an applied force or an applied torque.

[0024] In any aspect of this document, the surgical plan includes information about predicted forces or torques to be applied to the anatomical element by the working robotic arm during the execution of the surgical task, and at least one memory stores additional instructions for execution by at least one processor, which, when executed, cause at least one processor to: detect the forces or torques applied to the anatomical element by the working robotic arm based solely on information received from at least one internal sensor; and compare the detected forces or torques with the predicted forces or torques.

[0025] Details of one or more aspects of this disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the technology described in this disclosure will be apparent from the specification, drawings, and claims.

[0026] The phrases “at least one,” “one or more,” and “and / or” are open-ended expressions that possess both connective and disjoint qualities in operation. For example, the expressions “at least one of A, B, and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” and “A, B, and / or C” mean only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to an element such as X, Y, and Z, or such as X1-X… n Y1-Y m and Z1-Z o When referring to a single class of elements, the phrase means a single element selected from X, Y, and Z; a combination of elements selected from the same class (e.g., X1 and X2); or elements selected from two or more classes (e.g., Y1 and Z). o () combination.

[0027] The term "a / an" refers to one or more of the entities mentioned. Thus, the terms "a / an," "one or more," and "at least one" are used interchangeably herein. It should also be noted that the terms "comprising / including" and "having" are used interchangeably.

[0028] The foregoing is a simplified overview of this disclosure to provide an understanding of some aspects thereof. This summary is neither a broad nor an exhaustive overview of this disclosure and its various aspects, embodiments, and configurations. It is not intended to identify key or essential elements of this disclosure, nor to depict its scope, but rather to present selected concepts in a simplified form as an introduction to the more detailed description presented below. It should be understood that other aspects, embodiments, and configurations of this disclosure may utilize one or more of the features set forth above or described in detail below, individually or in combination.

[0029] Many additional features and advantages of the invention will become apparent to those skilled in the art upon consideration of the embodiments described below. Attached Figure Description

[0030] The accompanying drawings are incorporated in and form part of this specification to illustrate several examples of this disclosure. These drawings, together with the description, explain the principles of this disclosure. The drawings illustrate only preferred and alternative examples of how to carry out and use this disclosure, and should not be construed as limiting this disclosure to the examples shown and described only. Additional features and advantages will become apparent from the following more detailed description of various aspects, embodiments, and configurations of this disclosure, as illustrated by the figures referenced below.

[0031] Figure 1 A block diagram of a system according to at least one embodiment of this disclosure; Figure 2 A diagram of a system according to at least one embodiment of this disclosure; Figure 3 This is a flowchart of a method according to at least one embodiment of the present disclosure; and Figure 4 A flowchart of a method according to at least one embodiment of this disclosure. Detailed Implementation

[0032] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically given in the specification and drawings. It should also be understood that, depending on the example or embodiment, certain actions or events of any of the processes or methods described herein may be performed in different sequences, and / or may be added, combined, or omitted entirely (e.g., depending on different embodiments of this disclosure, performing the disclosed technology may not require all the described actions or events). Furthermore, for clarity, although some aspects of this disclosure are described as being performed by a single module or unit, it should be understood that the technology of this disclosure can be performed by a combination of units or modules associated with, for example, computing devices and / or medical devices.

[0033] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functionality may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. A computer-readable medium may include a non-transitory computer-readable medium, which corresponds to a tangible medium, such as a data storage medium (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0034] Instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessor), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuit systems. Therefore, the term "processor" as used herein can refer to any of the foregoing structures or any other physical structures suitable for implementing the described techniques. Furthermore, this technique can be fully implemented in one or more circuit or logic elements.

[0035] Before explaining any embodiment of this disclosure in detail, it should be understood that this disclosure is not limited in its application to the construction details and component arrangements set forth in the following description or shown in the accompanying drawings. This disclosure can have other embodiments and can be practiced or carried out in various ways. Similarly, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “including / comprising” or “having” and variations thereof herein is intended to cover items listed thereafter and their equivalents, as well as additional items. Furthermore, this disclosure may use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or listing of one or more examples (which may be indicated by “for example,” “by means of an example,” “e.g.,” “such as,” or similar language) is not intended to, and does not limit, the scope of this disclosure.

[0036] When performing robotic tasks or procedures (e.g., guide hole drilling, bone removal, screw insertion, implant insertion, etc.) on spinal segments or other anatomical elements, forces and torques are applied to the anatomical elements, which can produce unintended movements. These unintended movements can lead to inaccuracies in the execution procedure. For example, robot-guided attachments in direct contact with the anatomical element may suffer from potential scraping. Scraping is an unintended slippage of the tool relative to the cortical bone surface caused by a steep contact angle between the tool and the cortical surface.

[0037] Using two robotic arms can help detect this type of behavior, generate alerts, and / or mitigate it. When using two robotic arms, one arm is used to rigidly hold an anatomical element (such as a vertebra) in place, either directly by a gripper or by gripping custom hardware rigidly anchored to the anatomical element, while the other robotic arm executes the procedure. The first arm holding the anatomical element can also have an integrated sensing mechanism that enables the sensing of forces and torques directed to the rigidly gripped anatomical element. This allows for continuous monitoring and alerts when unwanted forces / torques are detected on the anatomical element. Furthermore, the second arm can predict and compensate for the relative motion vector until the force / torque values ​​are acceptable. This collaboration between the two robotic arms results in minimizing relative motion, which leads to the execution of the plan with high accuracy.

[0038] Embodiments of this disclosure include determining the position of the anatomical element based on the first robotic arm contacting, being attached to, or otherwise relating to the anatomical element. Movement or position of the first robotic arm (and therefore the anatomical element) can be determined or detected based on sensor data received from internal sensors of the first robotic arm. In other embodiments, forces or torques applied to the anatomical element by a second robotic arm can be detected based on internal sensors of the first robotic arm. Such forces or torques can be correlated with movement of the anatomical element. The movement of the anatomical element is determined in any way, and several responses can occur based on such determined movement. For example, the tool trajectory of the second robotic arm can be adjusted, the first robotic arm can apply a reaction force or compensating force, and / or the first robotic arm can move the anatomical element back to its initial position.

[0039] As described more fully below, methods and systems for tracking anatomical movement according to at least some embodiments of this disclosure can advantageously utilize robotic systems with multiple arms operating in a single coordinate system, the multiple arms employing highly accurate integrated sensors. Based on forces or torques measured in the robotic arms, such integrated sensors can provide accurate information or sensor data about anatomical elements. These methods and systems can also provide a robotic system that increases the accuracy of surgical procedures or otherwise alerts surgeons or operators to movement of anatomical elements, thereby reducing and preventing unnecessary damage to patient anatomy.

[0040] First turn Figure 1This diagram illustrates a block diagram of a system 100 according to at least one embodiment of the present disclosure. System 100 can be used to perform comparison algorithm 122 and / or compensation parameter algorithm 124 and / or other aspects of one or more of the methods disclosed herein. System 100 includes a computing device 102, a navigation system 112, and a robot 114 having a robotic arm 116 and / or sensors 118. Systems according to other embodiments of the present disclosure may include more or fewer components than system 100. For example, system 100 may not include the navigation system 112.

[0041] The computing device 102 includes a processor 104, a memory 106, a communication interface 108, and a user interface 110. Other embodiments of the computing device according to this disclosure may include more or fewer components than the computing device 102.

[0042] The processor 104 of the computing device 102 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions stored in the memory 106, which may enable the processor 104 to perform one or more computational steps using or based on data received from the navigation system 112, the robot 114, and / or the sensor 118.

[0043] Memory 106 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory used to store computer-readable data and / or instructions. Memory 106 may store information or data used to perform any steps of, for example, the methods 300 and / or 400 described herein. Memory 106 may store, for example, one or more surgical plans 120, one or more comparison algorithms 122, and / or one or more compensation parameter algorithms 124. In some embodiments, such algorithms may be organized into one or more applications, modules, packages, layers, or engines. Algorithms may enable processor 104 to manipulate data stored in memory 106 and / or received from navigation system 112, robot 114, and / or sensors 118.

[0044] The computing device 102 may also include a communication interface 108. The communication interface 108 may be used to receive information from external sources (such as navigation system 112, robot 114, and / or sensor 118), and / or to transmit instructions, images, or other information to external systems or devices (e.g., another computing device 102, navigation system 112, robot 114, and / or sensor 118). The communication interface 108 may include one or more wired interfaces (e.g., USB port, Ethernet port, FireWire port) and / or one or more wireless interfaces (e.g., configured to transmit information via one or more wireless communication protocols (such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.)). In some embodiments, the communication interface 108 may be used to enable the device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0045] The computing device 102 may also include one or more user interfaces 110. The user interface 110 may be or include a keyboard, mouse, trackball, display, television, touchscreen, headset, and / or any other device for receiving information from and / or providing information to the user. In some embodiments, the user interface 110 may receive information and / or commands from the user via voice activation. In other embodiments, the user interface 110 may incorporate augmented reality or virtual reality. User interface 110 may be used to, for example, receive user selections or other user input regarding detecting initial contact between the first robotic arm and the anatomical element of the patient; receive user selections or other user input regarding determining the position of the anatomical element; receive user selections or other user input regarding comparing the determined position with the expected position; receive user selections or other user input regarding updating the tool trajectory of the second robotic arm when the determined position deviates from the expected position; receive user selections or other user input regarding registering the first and second robotic arms to the patient space; receive user selections or other user input regarding receiving a surgical plan (such as surgical plan 120); receive user selections or other user input regarding relating the position of the detection robotic arm to the position of the anatomical element; receive user selections or other user input regarding causing the first robotic arm to grip the anatomical element; receive user selections or other user input regarding controlling the movement of the detection robotic arm based on detected movement during the execution of a surgical task; and / or receive user selections or other user input regarding detecting at least one force or torque applied to the anatomical element by the second robotic arm. In some embodiments, the user interface 110 may be used to allow surgeons or other users to modify plan 120 or other displayed information; however, it should be understood that each of the aforementioned inputs may be automatically generated by system 100 (e.g., by processor 104 or another component of system 100) or received by system 100 from a source external to system 100. In some embodiments, user inputs such as those described above may be optional or unnecessary for the operation of the systems, apparatus, and methods described herein.

[0046] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 may utilize a user interface 110 housed separately from one or more other components of the computing device 102. In some embodiments, the user interface 110 may be positioned close to one or more other components of the computing device 102, while in other embodiments, the user interface 110 may be positioned away from one or more other components of the computing device 102.

[0047] During operation, navigation system 112 can provide navigation for the surgeon and / or surgical robot. Navigation system 112 can be any navigation system now known or developed in the future, including, for example, the Medtronic StealthStation™ S8 surgical navigation system. Navigation system 112 may include a camera or one or more other sensors for tracking one or more reference markers, navigation trackers, or other objects within the operating room or other room where surgery is performed. In various embodiments, navigation system 112 can be used to track the position of robot 114 (or more specifically, navigation reference markers directly or indirectly attached to robot 114 in a fixed relationship). Navigation system 112 may include a display for displaying one or more images from an external source (e.g., computing device 102 or other sources), or a video stream from the camera or other sensors of navigation system 112.

[0048] In some embodiments, the navigation system 112 can be used to track the movement of the robot 114 and provide feedback or confirmation regarding the position of the robot 114 or robot arm 116. In such embodiments, the navigation system 112 can track the robot 114 and / or robot arm 116 by detecting navigation tracking markers attached thereto. For example, the navigation system 112 can indicate via a display, audibly and / or visually, that the robot 114 or robot arm 116 needs to be moved automatically or manually to a suggested robot posture. The navigation system 112 can monitor or track the robot 114 or robot arm 116 as it moves toward the suggested robot posture. The navigation system 112 can further instruct or warn the user when the robot 114 or robot arm 116 has reached the suggested robot posture. In other embodiments, the user can view the display of the navigation system 112 while moving the robot 114 or robot arm 116 to the suggested robot posture to ensure that the user has moved the robot 114 or robot arm 116 to the correct posture. In some implementations, system 100 can operate without using navigation system 112.

[0049] Robot 114 can be any surgical robot or surgical robot system. Robot 114 can be or include, for example, a Mazor X™ Stealth Edition robotic guidance system. Robot 114 may include one or more robotic arms 116. In some embodiments, robotic arms 116 may include multiple robotic arms, but robot 114 may include one, two, or more robotic arms. Robotic arms 116 can be used to selectively hold any tool or instrument and / or fix it to the patient's anatomical elements. In some embodiments, robotic arms 116 have at least five degrees of freedom. In other embodiments, robotic arms 116 have at least six degrees of freedom. In other embodiments, robotic arms 116 have fewer than five or more than six degrees of freedom. The base of robotic arm 116 (and / or robot 114) Figure 2 (As shown) can also have three orientation dimensions. The combination of multiple degrees of freedom and multiple orientation dimensions allows the robotic arm 116 to move to any posture. In other words, the robotic arm 116 is not limited to a fixed area and can move in any direction. Furthermore, in some embodiments, the robot 114 can be moved during surgical procedures to position the robotic arm 116 (and therefore the tool or instrument) within reach of the desired or predetermined posture.

[0050] Reference markers (e.g., navigation markers) may be placed on robot 114, robot arm 116, and / or any other object in the surgical space. The reference markers may be tracked by navigation system 112, and the results of the tracking may be used by the operator of robot 114 and / or system 100 or any of its components. As described above, in some embodiments, navigation system 112 may be used to track any other component of system 100.

[0051] Robot 114 includes one or more sensors 118 operable to measure or monitor characteristics of robot 114 or robot arm 116. These characteristics may include, but are not limited to, forces or torques experienced by robot arm 116 and / or robot 114, and / or the position of robot 114 and / or robot arm 116. Each sensor 118 may be any type of sensor 118 used to measure these characteristics. Sensor 118 may include one or more or any combination of the following: electrical components, mechanical components, electromechanical components, magnetic components, or electromagnetic components, etc. Sensor 118 may include, but is not limited to, one or more of torque sensors, force sensors, linear encoders, rotary encoders, capacitors, and / or accelerometers. In some embodiments, sensor 118 may include memory for storing sensor data. In other examples, sensor 118 may output signals (e.g., sensor data) to one or more sources (e.g., computing device 102, navigation system 112, and / or robot 114).

[0052] Sensor 118 may be integrated internally into the robotic arm 116 or otherwise located within the robotic arm. In some embodiments, sensor 118 is located at the joint of the robotic arm 116. Figure 2 (As shown). Sensor 118 may include multiple sensors, each of which may be located in the same or different locations as any other sensor. For example, sensor 118 may be located in one or more joints of robotic arm 116. It should be understood that in some embodiments, one or more sensors 118 may be located at or above any component of system 100 or the environment (e.g., on any part of navigation system 112, robot 114, robotic arm 116, and / or any other component in the surgical site).

[0053] Sensor 118 may be operable to sense and / or monitor forces applied to an anatomical element by robotic arm 116 and / or sense movement of robotic arm 116 and / or anatomical element (via robotic arm 116). Data regarding the measured or monitored characteristic may be directly useful (e.g., the measured force can be compared to an expected force) and / or indirectly useful (e.g., a sudden increase in force can indicate that the anatomical element has moved). When sensor 118 detects a change in characteristic, sensor 118 may transmit the data to computing device 102. Furthermore, in some embodiments, sensor 118 may transmit data to computing device 102 to display or otherwise notify the surgeon or operator of the change in characteristic on user interface 110. In other embodiments, sensor 118 may alert the surgeon or operator to the change in characteristic via an alarm, such as, but not limited to, an audible or signal light display. Sensor 118 may advantageously provide a safety function by monitoring and alerting the surgeon or operator that the force reaches or exceeds a predetermined threshold, thereby alerting the surgeon or operator to potential problems with robot 114 and / or robotic arm 116.

[0054] In some examples, sensor 118 may trigger computing device 102 to determine the position of the anatomical element based on sensor data, compare the determined position of the anatomical element with a expected position, and update the tool trajectory of robotic arm 116 based on the comparison when the determined position deviates from the expected position. Sensor 118 may also trigger computing device 102 to calculate compensation parameters based on the comparison and update the tool trajectory of robotic arm 116 by applying the compensation parameters to the tool trajectory. Sensor 118 may also trigger computing device 102 to cause robotic arm 116 to apply at least one of a responsive force or a responsive torque to the anatomical element to counteract the applied force or torque sensed by sensor 118 on the anatomical element.

[0055] Turn Figure 2The diagram illustrates a block diagram of a system 200 according to at least one embodiment of the present disclosure. System 200 includes a computing device 202 (which may be the same as or similar to the computing device 102 described above), a navigation system 212 (which may be the same as or similar to the navigation system 112 described above), and a robot 214 (which may be the same as or similar to the robot 214 described above). Systems according to other embodiments of the present disclosure may include more or fewer components than system 200. For example, system 200 may not include the navigation system 212.

[0056] As shown in the figure, robot 214 includes a first or detection robotic arm 216 (which may include one or more components 216A connected by one or more joints 216B) and a second or working robotic arm 217 (which may include one or more components 217A connected by one or more joints 217B), each robotic arm extending from base 204. In other embodiments, robot 214 may include one or more robotic arms. Base 204 may be fixed or movable. One or more tools or instruments may be disposed at the end of each of the first or detection robotic arm 216 and the second or working robotic arm 217, but tools or instruments may be disposed on any portion of the first or detection robotic arm 216 and / or the second or working robotic arm 217. The first or detection robotic arm 216 and / or the second or working robotic arm 217 are operable to autonomously and / or based on input from a surgeon or operator to perform one or more planned movements and / or procedures.

[0057] In at least one embodiment, a first or detection robotic arm 216 is secured to an anatomical element 226. In the illustrated embodiment, the anatomical element 226 is a vertebra of the spinal region 224. The first or detection robotic arm 216 can be secured to the anatomical element 226 in any manner. In the illustrated embodiment, the first or detection robotic arm 216 is secured to the anatomical element 226 via a gripper 222. In other embodiments, the first or detection robotic arm 216 may be attached to the anatomical element 226 by one or more screws, clamped to the anatomical element 226, or otherwise secured to the anatomical element 226, whether using one or more mechanical fasteners, chemical adhesives, or other methods. When the first or detection robotic arm 216 is secured to the anatomical element 226, a second or working robotic arm 217 may have a tool or instrument 228 disposed at the end of the second or working robotic arm 217. The tool 228 may be used by the second or working robotic arm 217 to perform procedures on the anatomical element 226, whether based on instructions from a surgeon and / or according to a surgical plan. When the second or working robotic arm 217 uses tool 228 to perform procedures, the movement of the anatomical element 226 can be monitored, and unwanted movement can be detected from the integrated sensor 218 of the first or detection robotic arm 216.

[0058] Sensor 218 (which may be the same as or similar to sensor 118 described above, and one or more of them may be included in robot arms 216 and / or 217) may be integrated into joint 216B of the first or detection robot arm 216. Although sensor 218 is shown integrated into joint 216B closest to base 204, sensor 218 may be integrated into any joint 216B, 217B, any component 216A, 217A, or any part of the first or detection robot arm 216, the second or working robot arm 217, and / or robot 214. Furthermore, more than one sensor 218 may be integrated into the first or detection robot arm 216, the second or working robot arm 217, and / or robot 214. As described above, sensor 218 may be one or more of a torque sensor, a force sensor, or an encoder integrated into joint 216B. Robot sensor 218 is configured to sense at least one of an applied force or an applied torque applied to the first or detection robot arm 216. As a result, sensor 218 can detect the force or torque applied to the anatomical element 226 by the second robotic arm or working robotic arm 217, to which the first robotic arm or working robotic arm 216 is fixed. As will be discussed below... Figure 3 and Figure 4 As described, such sensor data can be used to determine the movement of anatomical element 226.

[0059] In some implementations, when the second or working robotic arm 217 performs a procedure (e.g., a surgical procedure, such as drilling), sensor data from the sensors 218 of the first or detection robotic arm 216 can be provided to, for example, a processor 104 for processing. Because the first or detection robotic arm 216 does not perform a procedure, it can be used to obtain an optimized posture for positioning and / or orientation to acquire the sensor data. Furthermore, in some cases, the first or detection robotic arm 216 can be stationary and / or can receive or apply no force, thereby enabling it to acquire sensor data without obstruction.

[0060] Now go to Figure 3 The method 300 for tracking anatomical motion may be performed wholly or partially on a computing device (such as computing device 102 or 202 or a similar device) and may utilize one or more other components or similar components of system 100 or 200. One or more aspects of method 300 may be performed by or using a robot (such as robot 114 or 214), a surgeon, or a combination of a surgeon and a robot.

[0061] Method 300 includes receiving a surgical plan, such as surgical plan 120 (step 302). The surgical plan may be received via a user interface (e.g., user interface 110) and / or communication interface (e.g., communication interface 108) of a computing device (such as computing device 102 or 202), and may be stored in a memory (such as memory 106 of the computing device). The surgical plan may include information about the patient's anatomical elements (such as anatomical element 226) and / or about the surgical tasks to be performed on the anatomical elements. In some embodiments, the anatomical element may be a vertebra. This information may include information about the location and / or orientation of the anatomical element. This information may also include information about a first robotic arm (such as robotic arm 116 or first robotic arm 216) and / or a second robotic arm (such as robotic arm 116 or second robotic arm 217) capable of performing the surgical tasks. The surgical plan may also include information about one or more planned movements of the second robotic arm. In some embodiments, the surgical plan includes a planned trajectory or path of the second robotic arm. This information may also include the intended location of the anatomical element (e.g., the location and / or orientation of the anatomical element). This information may also include predicted forces or torques that the anatomical elements from the second robotic arm may experience.

[0062] Method 300 includes detecting initial contact between the first robotic arm and the anatomical element of the patient (step 304). This detection may be based on information received from at least one internal sensor, such as sensor 118 or 218 of the first robotic arm. This information may be received by a computing device, and more specifically by a processor, such as processor 104 of the computing device. The information may be or include raw sensor data received directly from the internal sensor, or it may be or include processed sensor data. In other embodiments, the information may be received via a user interface and / or via a communication interface of the computing device, and may be stored in memory. In some embodiments, the information may be received indirectly via any other component of the system or a node of a network to which the system is connected. Sensor data or information may include force data, torque data, or position data of the first and / or second robotic arms. As described below, such information can be used to determine the position and / or movement of the anatomical element.

[0063] Method 300 further includes determining the position of the anatomical element (step 306). This determination may be based on information received from at least one internal sensor, such as sensor 118 or 218 of the first robotic arm. Such information or other sensor data may be used to determine the position of the first robotic arm (e.g., as detected at the moment of initial contact between the first robotic arm and the anatomical element). The determined position of the first robotic arm can then be used to determine the position of the anatomical element (e.g., based on one or more of the known position of the first robotic arm, the known dimensions of the first robotic arm, and / or the known dimensions of the anatomical element). In some embodiments, information (obtained from one or more sensors 118 or 218) regarding the forces and / or torques experienced by the first robotic arm at the moment of initial contact with the anatomical element may be used (along with information regarding, for example, the velocity of the robotic arm at the moment of initial contact and the duration of the initial contact) to calculate the position of the anatomical element.

[0064] Method 300 further includes comparing the determined location of the anatomical element with the expected location of the anatomical element (step 308). This comparison may be performed by a comparison algorithm (such as comparison algorithm 122). As previously described, the expected location may be predetermined and / or based on a surgical plan (such as surgical plan 120). The expected location may be based on preoperative imaging of the anatomical element and / or preoperative imaging of the anatomical region including the anatomical element. The expected location may be a location used for preoperative planning (including, for example, navigation and / or robot guidance), such that the determination that the anatomical element is no longer in the expected location may require updating the preoperative planning (including, for example, navigation and / or robot guidance).

[0065] In some implementations, the first robotic arm can be moved toward and contact the anatomical element at different times throughout the surgical procedure. Each time, the moment of initial contact between the first robotic arm and the anatomical element can be detected, as described above in conjunction with step 304, and the position of the anatomical element at this time can be determined, as described above with respect to step 306. In a second iteration of steps 304 and 306, or any subsequent iteration, the intended position of the anatomical element can be, for example, the position of the anatomical element determined during the immediate preceding iteration of steps 304 and 306. By repeating steps 304 and 306 multiple times throughout the surgical procedure, any digital model, surgical plan, and / or other information based on or otherwise reflecting the intended position of the anatomical element can be updated to reflect the actual position of the anatomical element at that time. Furthermore, in any iteration of steps 304 and 306, the amount or degree of movement of the anatomical element can be determined by comparing the determined position of the anatomical element with the intended position of the anatomical element.

[0066] Method 300 further includes updating the tool trajectory of the second robotic arm (such as robotic arm 116 or second robotic arm 217) based on comparison and / or compensation parameters (step 310) when the determined position deviates from the expected position. This offset can indicate that the anatomical element has moved from the expected position and thus indicates that the predetermined tool trajectory used to perform the surgical procedure may be inaccurate. The tool trajectory can be the trajectory of a tool (such as tool 228) held by the second robotic arm. In this way, the tool trajectory can be updated to accommodate such offset. In an embodiment where compensation parameters are calculated (as described below with respect to step 314), the compensation parameters can be applied to the tool trajectory.

[0067] Method 300 further includes registering the first and second robotic arms to a patient space corresponding to the patient space (step 312). This registration correlates the poses of the first and second robotic arms to the patient in a common coordinate system. In some embodiments, the registration may utilize one or more images, including, for example, a virtual model of the patient's anatomy and / or images of one or both of the first and second robotic arms. In some embodiments, data generated by one or more sensors other than optical sensors may be used instead of images. In other embodiments, method 300 may register the first and second robotic arms to a navigation coordinate system used by a navigation system, such as navigation system 112 or 212.

[0068] Method 300 may further include calculating compensation parameters based on a comparison step (step 314). The compensation parameters may be constants, algorithms, or any other transformation function that can be applied to position, path, trajectory, and / or other values ​​generated based on the expected position of the anatomical element to produce new positions, paths, trajectories, and / or other values ​​that reflect or otherwise are based on the determined position of the anatomical element. The compensation parameters may be calculated via a compensation parameter algorithm (such as compensation parameter algorithm 124). The compensation parameters may be based on, for example, the difference between the determined position of the anatomical element and the expected position, or in other words, based on the comparison between the determined position and the expected position. In some embodiments, the compensation parameters may also be based on, for example, the position of the first and / or second robotic arms, forces and / or torques sensed by sensors of the first anatomical arm, forces and / or torques applied by the second robotic arm sensed by sensors of the second robotic arm, etc.

[0069] Method 300 further includes securing a first robotic arm to the anatomical element (step 316). In such an embodiment, the first robotic arm may be secured to the anatomical element via a mechanical gripper (such as gripper 222). In other embodiments, the first robotic arm may be attached to the anatomical element using one or more screws, clamped to the anatomical element, or otherwise secured to the anatomical element, whether using one or more mechanical fasteners, chemical adhesives, or other methods.

[0070] Method 300 further includes detecting movement of the first robotic arm based on data received from sensors when the first robotic arm is secured to the anatomical element (step 318), and determining movement of the anatomical element based on the detected movement of the first robotic arm (step 320). Using dimensional information about the first robotic arm (e.g., the length of one or more segments, the size of the end effector or other gripper securing the first robotic arm to the anatomical element, etc.) and information from one or more sensors inside the first robotic arm (including, for example, positional information about the position of any part of the robotic arm relative to any other part of the robotic arm), the posture of the first robotic arm can be determined, and thus the posture of any end effector secured to the first robotic arm can be determined. Furthermore, when the first robotic arm is secured to the anatomical element (whether using a gripper or any other end effector), the posture of the anatomical element can be readily determined based on the known posture of the first robotic arm. Moreover, any force or torque applied to the anatomical element that causes movement of the anatomical element will necessarily cause movement of at least a portion of the first robotic arm. Therefore, any uncommanded movement of the first robotic arm (e.g., movement not caused by one or more motors or other actuators of the first robotic arm) instructs movement of the anatomical element to which the first robotic arm is attached, and the posture of the first robotic arm during and after such movement (as determined based on information from one or more internal sensors of the first robotic arm) can be used to determine the posture of the anatomical element during and after such movement. It is noteworthy that the connection between the first robotic arm and the anatomical element allows for monitoring of the posture of the anatomical element using only sensors within the first robotic arm, without the use of other sensors.

[0071] Method 300 also includes updating a virtual model of the patient's anatomical parts based on the movement of the determined anatomical elements, such as a virtual model from a surgical plan (e.g., surgical plan 120) or a virtual model generated before or during surgery (step 322). In such an embodiment, a first robotic arm and / or a second robotic arm may be associated with or otherwise registered to the virtual model, and updating the virtual model may update the registration.

[0072] Method 300 further includes activating a first robotic arm to prevent movement of the anatomical element from the determined location (step 324). In some embodiments, the first robotic arm is used to hold the anatomical element in the desired position and prevent movement of the anatomical element. In some cases, the first robotic arm may be sufficiently rigid in any given posture to prevent movement of the anatomical element without having to apply a reaction force and / or torque via an internal motor or other actuator of the first robotic arm. In other embodiments, predicted torque and / or force from the surgical plan (e.g., received in step 332 described below) may be used to apply a reaction force and / or torque at one or more time intervals when using the first robotic arm, such that the anatomical element does not move.

[0073] Method 300 further includes moving the second robotic arm based on the movement of the determined anatomical element (step 326). In other words, the movement of the second robotic arm can be controlled and / or adjusted based on the movement of the anatomical element detected using the first robotic arm. In some embodiments, the first robotic arm may be used to detect the movement of the anatomical element but does not reduce or prevent any such movement. In such embodiments, using the first robotic arm to monitor the posture of the anatomical element makes it possible to adjust the trajectory and / or other guidance used to control the second robotic arm as needed based on the posture of the anatomical element. In other words, one or more sensors of the first robotic arm provide information about the movement of the first robotic arm (and therefore the anatomical element) to a computing device (such as computing device 102), and the computing device adjusts the trajectory or other guidance of the second robotic arm based on that movement. To use a simple example, if information from one or more internal sensors of the first robotic arm indicates that the end effector of the first robotic arm has moved one centimeter in a given direction, the computing device or other controller of the second robotic arm can then adjust the trajectory of the second robotic arm by one centimeter in the given direction, thereby maintaining the desired relative position or path of the second robotic arm relative to the anatomical element.

[0074] In other embodiments, a first robotic arm is fixed to the anatomical element to prevent movement of the anatomical element to the extent possible (as described above in conjunction with step 324), and detects movement of the anatomical element when the preventative measures are insufficient to prevent movement, so that the movement of the second robotic arm can be appropriately adjusted (as described above in conjunction with step 326). In such embodiments, the first robotic arm may be sufficiently rigid to prevent at least some movement of the anatomical element, and / or may utilize one or more of its motors or other actuators to apply one or more reaction forces and / or one or more torques to the anatomical element at one or more time intervals (e.g., based on one or more predicted forces and / or torques as described in the surgical plan) to prevent at least some such movement. However, if and when such rigidity and / or one or more reaction forces and / or one or more torques are insufficient to keep the anatomical element stationary and movement of the anatomical element occurs, the first robotic arm (including one or more of its internal sensors) may detect such movement and provide information about the movement to a computing device. The computing device may then adjust the trajectory of the second robotic arm based on the movement to maintain the desired position or path of the second robotic arm relative to the anatomical element.

[0075] Method 300 further includes activating the first robotic arm to move the anatomical element to a desired location (step 328). During a surgical procedure involving the anatomical element, the trajectory or path of the second robotic arm may not be updated to handle the movement of the anatomical element, and / or the anatomical element may have moved out of the desired location and / or orientation. In this case, the first robotic arm may be activated to move or return the anatomical element to the expected, anticipated, or otherwise predetermined location. In some embodiments, the movement of the second robotic arm and / or the progress of the surgical procedure may be paused when the first robotic arm moves the anatomical element to the predetermined location.

[0076] Method 300 further includes receiving second information (step 330) from at least one second internal sensor (such as sensor 118 or 218) of the second robotic arm. The second information may correspond to at least one of an applied force or applied torque applied to the anatomical element by the second robotic arm. More specifically, a tool held by the second robotic arm (e.g., a drill bit, tap, screwdriver, and / or other tool) may apply force and / or torque to the anatomical element during its operation. Furthermore, the second robotic arm may be configured to press the force against and / or force into the anatomical element to increase its effectiveness. In either or both cases, one or more internal sensors of the second robotic arm may detect the force and / or torque thus applied to the anatomical element and may provide information corresponding to the detected force and / or torque to a computing device and / or other controllers of the first and / or second robotic arms.

[0077] In some embodiments, method 300 may include receiving information about the activation of a second robotic arm (which may include, for example, information about the activation of a surgical instrument held by the second robotic arm). In such embodiments, a computing device or other controller of the first robotic arm may use the received information to calculate the predicted forces and / or torques that the anatomical element will experience as a result of the activation.

[0078] In other embodiments, the first robotic arm may detect forces and / or torques applied to the anatomical element by the second robotic arm (including, for example, surgical instruments held by the second robotic arm) as a result of the forces and / or torques being transmitted to the first robotic arm via the anatomical element.

[0079] Method 300 further includes applying at least one of a responsive force or a responsive torque to the anatomical element with the first robotic arm to counteract the applied force or torque experienced by the anatomical element (step 332). The computing device or other controller of the first robotic arm may calculate the activation of one or more internal motors or other actuators of the first robotic arm required to counteract the applied force and / or torque based on the detected or calculated applied force and / or torque. In other embodiments, the computing device or other controller of the first robotic arm may utilize a feedback loop to activate one or more actuators of the first robotic arm in incremental increments as long as the detected or calculated applied force on the anatomical element is increasing, maintain a given level of activation of the first robotic arm as long as the detected or calculated applied force is constant, and decrement the activation of one or more actuators of the first robotic arm once the detected or calculated applied force begins to decrease. Thus, in such embodiments, the computing device or controller of the first robotic arm does not explicitly calculate the desired level of activation of the first robotic arm, but rather continuously adjusts the level of activation of the first robotic arm in response to the detected or calculated applied force and / or torque.

[0080] Now go to Figure 4 The method 400 for controlling the robotic arm may be performed wholly or partially on a computing device (such as computing device 102 or 202 or a similar device), and may utilize one or more other components or similar components of system 100 or 200. One or more aspects of method 400 may be performed by or using a surgical robot (such as robot 114 or 214), a surgeon, or a combination of a surgeon and / or a robot.

[0081] Method 400 includes registering a first robotic arm to a patient space corresponding to the patient (step 402). The first robotic arm may be robotic arm 116 or first robotic arm 216, and the second robotic arm may be robotic arm 116 or second robotic arm 217. Step 402 may be the same as or similar to step 312 of method 300 described above, or vice versa. For example, registration may correlate the pose of the first and second robotic arms with the patient in a common coordinate system. In some embodiments, registration may utilize one or more images, including, for example, a virtual model of the patient's anatomy and / or images of one or both of the first and second robotic arms. In some embodiments, data generated by one or more sensors other than optical sensors may be used instead of images. In other embodiments, method 400 may, instead of registering the first and second robotic arms to the patient space, register the first and second robotic arms to a navigation coordinate system used by a navigation system, such as navigation system 112 or 212. In some other implementations, the coordinate system corresponding to the first robotic arm can be registered to the coordinate system corresponding to the second robotic arm, and vice versa, so that the two robotic arms are registered and controllable about a single coordinate space.

[0082] Method 400 also includes receiving a surgical plan (step 404). The surgical plan may be surgical plan 120. Step 404 may be the same as or similar to step 302 of method 300 described above, or vice versa. The surgical plan may be received via a user interface (e.g., user interface 110) and / or communication interface (e.g., communication interface 108) of a computing device (such as computing device 102 or 202), and may be stored in memory (such as memory 106 of the computing device). The surgical plan includes information about the patient's anatomical elements (such as anatomical element 226) and / or the surgical tasks to be performed on the anatomical elements. In some embodiments, the anatomical element may be a vertebra.

[0083] The surgical plan may include information about the location and / or orientation of anatomical elements. The surgical plan may also include information about a second robotic arm (such as robotic arm 116 or second robotic arm 217) capable of performing surgical tasks. The surgical plan may also include information about one or more planned movements of the second robotic arm. In some embodiments, the surgical plan includes a planned trajectory or path of the second robotic arm. The surgical plan may also include the anticipated location of the anatomical elements (e.g., the location and / or orientation of the anatomical elements). The surgical plan may also include predicted forces or torques that will be applied to the anatomical elements by, or at least anticipated by, the second robotic arm (including surgical instruments held by the second robotic arm), and / or predicted movements of the anatomical elements as a result of the interaction between the second robotic arm and the anatomical elements.

[0084] Method 400 further includes having a first robotic arm grip the anatomical element with a mechanical gripper (step 406). The mechanical gripper may be gripper 222. Step 406 may be the same as or similar to step 316 of method 300 described above, or vice versa. For example, in some embodiments, the first robotic arm may grip the anatomical element at a location provided by the surgical plan. Moreover, in some embodiments, the first robotic arm may be attached to, clamped to, or otherwise secured to the anatomical element using one or more screws, whether using one or more mechanical fasteners, chemical adhesives, or other methods. Gripping or attachment ensures that the anatomical element cannot move relative to the gripper or other end effector, and also serves to translate movement of the anatomical element into movement of the first robotic arm. In other words, movement of the anatomical element causes movement of the first robotic arm via the gripper or other end effector. Furthermore, because the first robotic arm has a known position relative to the anatomical element, the orientation of the anatomical element can be determined based on the orientation of the first robotic arm.

[0085] Method 400 further includes detecting at least one force or torque applied to the anatomical element by the second robotic arm (step 408). Detection may be based on sensor data relating to at least one force or torque received from at least one internal sensor, such as sensor 118 or 218 of the first robotic arm. In particular, detection may be performed without using any sensors external to the first robotic arm. Because the first robotic arm is fixed to the anatomical element, the force sensed by the first robotic arm is correlated with the force applied to the anatomical element by the second robotic arm. The correlated amount may depend on, for example, the composition of the anatomical element. In the case that the anatomical element is bone or other hard tissue, the correlated amount may be high because the force applied at one point on the anatomical element will be largely transferred to another point on the anatomical element. In the case that the anatomical element comprises soft tissue (or tissue not as hard as bone), the correlated amount may be low because the anatomical element may absorb some force through deformation or other means.

[0086] Detecting at least one force may include receiving sensor data related to at least one force or torque from at least one internal sensor. The sensor data may be received by a computing device (such as computing device 102 or 202) or by another controller of the first and / or second robotic arm. In some embodiments, the sensor data may be received via a user interface and / or a communication interface of the computing device, and may be stored in memory. In some embodiments, the sensor data may be received indirectly via any other component of the system or nodes of a network to which the system is connected. The sensor data may include force data, torque data, and / or position data (e.g., data corresponding to the relative position of one or more segments of the robotic arm with respect to one or more other segments of the robotic arm) of the first and / or second robotic arm.

[0087] Method 400 further includes comparing the detected force or torque with a corresponding predicted force or torque described in the surgical plan (step 410). This comparison may be performed by a comparison algorithm (such as comparison algorithm 122). The predicted force or torque may be based on, for example, information about the stiffness of the anatomical element, information about the surgical task to be performed on the anatomical element, information about the tools to be used to perform the surgical task (including, for example, information about the force and / or torque generated by the tools), information about the amount of force or torque that the anatomical element can receive without causing the anatomical element to move out of place, and / or other information. For example, in the case where the surgical task is to drill a hole in a vertebra to prepare for the implantation of a pedicle screw, the predicted force or torque may be based on information about the torque generated by the drill to be used for drilling and information about the downforce to be applied by a second robotic arm during the drilling process. In some implementations, the amount of force and / or torque to be applied can be selected and / or adjusted based on information about the amount of force or torque that the anatomical element can receive without causing it to move out of place. However, in other implementations (e.g., where a first robotic arm will be used to hold the anatomical element in place), this consideration may not be appropriate. Movement of the anatomical element can be predicted and / or determined simply based on the mismatch between the detected force or torque and the predicted force or torque by comparing the predicted force or torque with the predicted force or torque.

[0088] Method 400 further includes generating an alarm (step 412) when the detected force or torque differs from the predicted force or torque by more than a predetermined amount. Such alarm may be audible, visual, tactile, or any combination thereof, and may be displayed or otherwise generated or issued from, for example, a user interface (such as user interface 110), a computing device, and / or a robot.

[0089] In some embodiments, method 400 further includes detecting initial contact between the first robotic arm and the anatomical element based on information from at least one sensor (step 414), and calculating the position of the anatomical element at the time the initial contact is detected (step 416). Steps 414 and 416 may be the same as or similar to steps 304 and 306 of method 300 described above, or vice versa. The position of the anatomical element may be determined, for example, based on information or sensor data from one or more internal sensors of the first robotic arm. Such information or sensor data may include, for example, position information of the first robotic arm (e.g., as detected at the time of initial contact), force and / or torque data regarding the forces and / or torques experienced by the first robotic arm during the initial contact, and / or other information for determining the position of the first robotic arm and, based on that determined position, determining the position of the anatomical element. Because the first robotic arm contacts the anatomical element, the position data of the first robotic arm may be correlated with the position of the anatomical element. Regarding method 400, where the first robotic arm is subsequently fixed to the anatomical element, once determined, the position of the anatomical element may be correlated with the position of the first robotic arm. For example, the position of the first robotic arm can be determined from at least one sensor, and the relative position of the anatomical element and the first robotic arm can be determined using, for example, information about the size of the first robotic arm, the size of the anatomical element, and / or information from the navigation system.

[0090] Method 400 further includes comparing the calculated location of the anatomical element with the predicted location of the anatomical element from the surgical plan (step 418). Step 418 is the same as or similar to step 308 of method 300 described above, or vice versa. For example, the comparison may be performed by a comparison algorithm (such as comparison algorithm 122). As previously mentioned, the expected location may be predetermined and / or based on the surgical plan. The expected location may be based on preoperative imaging of the anatomical element and / or preoperative imaging of the anatomical region including the anatomical element. The expected location may be a location used for preoperative planning (including, for example, navigation and / or robot guidance), such that determination that the anatomical element is no longer in the expected location may require updating the preoperative planning (including, for example, navigation and / or robot guidance).

[0091] Method 400 further includes generating compensation parameters based on a comparison step (step 420). Step 420 may be the same as or similar to step 314 of method 300 described above, or vice versa. The compensation parameters may be constants, algorithms, or any other transformation function that can be applied to position, path, trajectory, and / or other values ​​generated based on the expected position of the anatomical element to produce new position, path, trajectory, and / or other values ​​reflecting the determined position of the anatomical element. The compensation parameters may be calculated via a compensation parameter algorithm (such as compensation parameter algorithm 124). The compensation parameters may be based on, for example, the difference between the determined position and the expected position of the anatomical element, or in other words, based on the comparison result of the determined position and the expected position. In some embodiments, the compensation parameters may also be based on, for example, the position of the first and / or second robotic arms, forces sensed by sensors of the first anatomical arm, forces applied by the second robotic arm sensed by sensors of the second robotic arm, etc.

[0092] Method 400 further includes moving the second robotic arm at least partially based on compensation parameters (step 422). In some embodiments, the compensation parameters may move the trajectory of the second robotic arm to accommodate the determined position of the anatomical element. For example, if the anatomical element moves one centimeter in one direction, the trajectory of the second robotic arm may move one centimeter in the same direction. In other embodiments, the compensation parameters may be used to calculate the responsive force or responsive torque applied by the first robotic arm, the desired movement of the anatomical element by the first robotic arm, and / or the desired activation of the first robotic arm to prevent movement of the anatomical element.

[0093] Method 400 also includes automatically generating a stiffness matrix (step 424). Once the first robotic arm is fixed to the anatomical element, the stiffness matrix is ​​generated by moving the first robotic arm in each of the six degrees of freedom. The movement can be a small motion. Information about the forces applied by the first robotic arm (and / or any part thereof) to cause the movement, and information about the magnitude of the movement, can be used to generate stiffness data for the anatomical element in each degree of freedom, thus producing the stiffness matrix. The predicted motion of the anatomical element can be determined based on the stiffness matrix and the known forces and / or torques generated by the second robotic arm. The predicted motion can be compared with the motion of the anatomical element detected using the first robotic arm. When the detected motion differs from the predicted motion, the difference can indicate that an unwanted motion of the anatomical element has occurred. For example, when the second robotic arm drills (e.g., using a surgical drill held by the second robotic arm) into an anatomical element (e.g., bone) held by the first robotic arm, a force is expected or predicted to be applied along the drilling direction, and a torque is expected or predicted about the longitudinal axis of the drill. Using the stiffness matrix, along with the predicted applied forces and predicted torques, the predicted motion of the bone can be calculated. When the first robotic arm detects different movements (e.g., when the predicted movement does not match the detected movement), this difference can reflect scraping. In some embodiments, using the first robotic arm to detect forces and torques (in contrast to detecting the movement of the anatomical element) and comparing the detected forces and torques with expected or predicted forces and torques also provides the necessary information for possible scraping. The same can be achieved in another embodiment involving minimally invasive surgical procedures, where the first robotic arm does not directly hold the anatomical element, but rather holds a device rigidly connected to the anatomical element. This device can be a Kirschner wire or a dynamic reference frame.

[0094] Methods and systems for tracking anatomical motion and / or controlling a robotic arm according to at least some embodiments of this disclosure advantageously provide notification or compensation for unintended movement of anatomical elements during surgical procedures. Such notification can allow the surgeon or operator to pause the procedure, thereby preventing further damage to the patient's anatomy. This compensation provides self-correcting tool movement and thus also prevents unnecessary damage to the patient's anatomy. Furthermore, the use of internally integrated sensors advantageously provides accurate sensing of anatomical movement within a single coordinate space.

[0095] As can be understood based on the foregoing disclosure, this disclosure covers those with... Figure 3 and Figure 4 Methods with fewer steps than those identified in (and the corresponding descriptions of methods 300 and 400), and methods including those with fewer steps than Figure 3 and Figure 4(And the corresponding descriptions of methods 300 and 400) are methods with more steps than those identified herein. One or more steps of the methods described herein may be performed in an order other than the order in which they are described herein.

[0096] The foregoing discussion has been presented for purposes of illustration and description. The foregoing is not intended to limit this disclosure to the one or more forms disclosed herein. In the foregoing specific embodiments, for the purpose of simplifying this disclosure, various features of this disclosure are grouped together in one or more aspects, embodiments, and / or configurations. Features of aspects, embodiments, and / or configurations of this disclosure may be combined in alternative aspects, embodiments, and / or configurations other than those discussed above. The approach of this disclosure should not be construed as reflecting an intention that the claims require more features than expressly recited in each claim. Rather, as reflected in the following claims, aspects of the invention lie in fewer than all the features of a single foregoing aspect, embodiment, and / or configuration. Therefore, the following claims are hereby incorporated into this specific embodiment, wherein each claim exists independently as a separate preferred embodiment of this disclosure.

[0097] Furthermore, although the description has included descriptions of one or more aspects, embodiments, and / or configurations, as well as certain variations and modifications, other variations, combinations, and modifications are also within the scope of this disclosure upon understanding it, for example, as may be within the skill and knowledge of one skilled in the art. It is intended to obtain the right to include alternative aspects, embodiments, and / or configurations to the permissible extent, including claimed alternatives, replacements, and / or equivalent structures, functions, scopes, or steps, regardless of whether such alternatives, replacements, and / or equivalent structures, functions, scopes, or steps are disclosed herein, and it is not intended for use with any patentable subject matter.

Claims

1. A non-transitory computer-readable medium comprising one or more instructions stored thereon, said one or more instructions, when executed by a processor, causing the processor to perform a method for tracking anatomical motion, said method comprising: Initial contact between the first robotic arm and the patient's anatomical elements is detected based on information received from at least one internal sensor of the first robotic arm, wherein the first robotic arm rigidly holds the patient's anatomical elements; The location of the anatomical element is determined based on the information; The determined location of the anatomical element is compared with the expected location of the anatomical element; and When the determined position deviates from the expected position, the tool trajectory of the second robotic arm is updated based on the comparison.

2. The non-transitory computer-readable medium according to claim 1, wherein the method further comprises: The first robotic arm and the second robotic arm are registered to the patient space corresponding to the patient.

3. The non-transitory computer-readable medium of claim 1, wherein the intended location is based on a surgical plan.

4. The non-transitory computer-readable medium according to claim 1, wherein the method further comprises: The compensation parameters are calculated based on the comparison. Updating the tool trajectory of the second robotic arm based on the comparison includes applying the compensation parameters to the tool trajectory.

5. The non-transitory computer-readable medium of claim 1, wherein the at least one internal sensor comprises a force sensor and a torque sensor.

6. The non-transitory computer-readable medium of claim 1, wherein the at least one internal sensor comprises an encoder.

7. The non-transitory computer-readable medium according to claim 1, wherein the method further comprises: Secure the first robotic arm to the anatomical element; as well as The first robotic arm is activated to move the anatomical element to the intended location.

8. The non-transitory computer-readable medium according to claim 1, wherein the method further comprises: Secure the first robotic arm to the anatomical element; The movement of the first robotic arm is detected based on data received from the at least one internal sensor; as well as The movement of the anatomical element is determined based on the detected movement.

9. The non-transitory computer-readable medium of claim 8, wherein the method further comprises: The virtual model of the patient's anatomical parts is updated based on the determined movement of the anatomical elements.

10. The non-transitory computer-readable medium of claim 8, wherein the method further comprises: The second robotic arm moves based on the movement of the determined anatomical elements.

11. The non-transitory computer-readable medium of claim 1, wherein the method further comprises: Secure the first robotic arm to the anatomical element; as well as The first robotic arm is activated to prevent the anatomical element from moving from the determined position.

12. The non-transitory computer-readable medium of claim 11, wherein the information is first information, and the method further comprises: The second information is received from at least one second internal sensor of the second robotic arm, the second information corresponding to at least one of applied force or applied torque applied to the anatomical element by the second robotic arm; as well as The first robotic arm applies at least one of a responsive force or a responsive torque to the anatomical element to counteract the applied force or the applied torque.

13. A non-transitory computer-readable medium comprising one or more instructions stored thereon, said one or more instructions, when executed by a processor, causing the processor to perform a method of controlling a robotic arm, said method comprising: Register the first and second robotic arms to the patient space corresponding to the patient; Receive a surgical plan, which includes information about the patient's anatomical elements and the surgical tasks to be performed by the second robotic arm on the anatomical elements; The first robotic arm uses a mechanical gripper to hold the anatomical element and rigidly retain it. as well as Based on sensor data received from at least one internal sensor of the first robotic arm, and without using data from any external sensor, at least one force or torque applied to the anatomical element by the second robotic arm is detected.

14. The non-transitory computer-readable medium of claim 13, wherein the method further comprises: Compare at least one detected force or torque with at least one corresponding predicted force or torque described in the surgical plan; as well as An alarm is generated when at least one detected force or torque differs from at least one predicted force or torque by more than a predetermined amount.

15. The non-transitory computer-readable medium of claim 13, wherein the method further comprises: Based on information from the at least one internal sensor, the initial contact between the first robotic arm and the anatomical element is detected; The position of the anatomical element is calculated based on the position of the first robotic arm at the time of the detected initial contact; as well as The calculated location of the anatomical element is compared with the predicted location of the anatomical element from the surgical plan.

16. The non-transitory computer-readable medium of claim 15, wherein the method further comprises: Compensation parameters are generated based on the comparison. as well as The second robotic arm moves at least partially based on the compensation parameters.

17. The non-transitory computer-readable medium of claim 15, wherein the anatomical element is a vertebra.

18. A system for handling anatomical movements in surgical procedures, comprising: Working robot arm; A detection robotic arm, the detection robotic arm being configured to rigidly hold an anatomical element and further including at least one internal sensor, the at least one internal sensor being configured to detect at least one of a force or torque applied to the anatomical element by the working robotic arm; At least one processor; and At least one memory, the at least one memory storing instructions for execution by the at least one processor, the instructions causing the at least one processor, when executed, to: Receive a surgical plan, which includes information about the patient’s anatomical elements and the surgical tasks to be performed by the robotic arm on the anatomical elements; The position of the detection robot arm is correlated with the position of the anatomical element; The movement of the detection robotic arm caused by the movement of the anatomical element during the execution of the surgical task is detected solely based on sensor data received from at least one internal sensor. as well as The movement of the detection robotic arm is controlled based on the detected movement during the execution of the surgical task.

19. The system of claim 18, wherein the at least one internal sensor comprises an encoder configured to sense at least one of an applied force or an applied torque.

20. The system of claim 18, wherein the surgical plan includes information about predicted forces or torques to be applied to the anatomical element by the robotic arm during the execution of the surgical task, and the at least one memory stores additional instructions for execution by the at least one processor, the additional instructions causing the at least one processor, when executed, to: The force or torque applied to the anatomical element by the working robotic arm is detected solely based on information received from the at least one internal sensor; and The detected force or torque is compared with the predicted force or torque.

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