Implement monitoring for a robotically-assisted procedure

Abstract

In some implementations, a device may obtain operational information of an implement of a robot for a robotically-assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically-assisted procedure. The device may detect, based on the operational information and a surgical plan for the robotically- assisted procedure, an event that indicates that the implement is not suitable for the robotically- assisted procedure. The device may perform, based on the event, one or more actions associated with the implement.

Description

IMPLEMENT MONITORING FOR A ROBOTICALLY-ASSISTED PROCEDUREBACKGROUND

[0001] In some surgical ecosystems, the convergence of connected technology and intelligent implants has enabled a shift toward more predictable procedures and improved patient outcomes in medical interventions. Through interconnected systems, surgical devices and instruments may communicate seamlessly, offering real-time data exchange and precise control over surgical procedures. The convergence of, and connectivity between, multiple components in a connected surgical ecosystem enables precise navigation and imaging, providing surgeons with improved insight into anatomical structures and facilitating improved planning and execution of surgical steps. This connected technology may enhance surgical precision and enable a more proactive approach to patient care, allowing for early detection of complications and personalized medical interventions. The integrated surgical ecosystem enables safer, more efficient procedures while providing surgeons with improved insights into patient physiology.

[0002] In some examples, the connected surgical ecosystem may include one or more surgical robots that facilitate robotically-assisted procedures, such as spinal procedures or other procedures. Surgical robots may assist a surgeon or other medical provider in carrying out a robotically-assisted procedure, and / or may complete one or more surgical procedures autonomously. Providing controllable linked articulating members allows a surgical robot to reach areas of a patient anatomy during various medical procedures.SUMMARY

[0003] Some implementations described herein relate to a device. The device may include one or more memories and one or more processors communicatively coupled to the one or more memories. The one or more processors may be configured to obtain operational information of an implement of a robot for a robotically-assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically- assisted procedure. The one or more processors may be configured to detect, based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure. The one or more processors may be configured to perform, based on the event, one or more actions associated with the implement.

[0004] Some implementations described herein relate to a method. The method may include obtaining, by a device, operational information of an implement of a robot for a robotically- assisted procedure. The method may include detecting, by the device and based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure. The method may include performing, by the device and based on the event, one or more actions associated with the implement.

[0005] Some implementations described herein relate to a non-transitory computer-readable medium that stores a set of instructions. The set of instructions, when executed by one or more processors of a device, may cause the device to obtain operational information of an implement of a robot for a robotically-assisted procedure. The set of instructions, when executed by one or more processors of the device, may cause the device to detect, based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure. The set of instructions, when executed by one or more processors of the device, may cause the device to perform, based on the event, one or more actions associated with the implement.BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figs. 1A-1D are diagrams of an example implementation associated with implement monitoring for a robotically-assisted procedure.

[0007] Fig. 2 is a diagram of an example environment in which systems and / or methods described herein may be implemented.

[0008] Fig. 3 is a diagram of example components of a device associated with implement monitoring for a robotically-assisted procedure.

[0009] Fig. 4 is a flowchart of an example process associated with implement monitoring for a robotically-assisted procedure.DETAILED DESCRIPTION

[0010] The following detailed description of example aspects refers to the accompanying drawings. The same reference numbers in different drawings may identify the same or similar elements.

[0011] Robotically-assisted surgical procedures may include the use of one or more robotic systems to enable improved precision, dexterity, and / or control, among other examples to surgeons during surgical procedures. For example, during a robotically-assisted procedure, asurgeon may guide one or more robotic arms by providing one or more commands to an interface. The robotic system may translate the one or more commands into instructions for the one or more robotic arms, resulting in precise movements of the one or more robotic arms in accordance with the one or more commands. The use of robotic systems in surgical procedures may reduce the risk of human error. Additionally, robotically-assisted procedures may incorporate imaging data, such as intraoperative fluoroscopy and / or imaging data obtained by a navigation system to enable more accurate movements of the one or more robotic arms and / or to improve patient safety. For example, robotically-assisted procedures may enable a less invasive alternative to traditional open surgeries, reduce tissue damage, reduce blood loss, and / or accelerate recovery times for the patient, among other examples.

[0012] During a surgical procedure, a surgeon may use tactile feedback or feel of an implement (e.g., a surgical tool) to anticipate or identify an issue associated with the implement and / or an issue associated with an anatomy of a patient caused by an operation of the implement. However, in robotically-assisted procedures, the implement may be configured on a robotic arm of a robot. As a result, during the robotically-assisted procedure, the surgeon may not be able to sense of feel the tactile feedback of the implement because the implement is configured for operation via the robotic arm (e.g., rather than being held by the surgeon). In some examples, the robot and / or the robotic arm may include one or more sensors to measure forces applied to the implement and / or other information associated with the implement. However, the detection of issues with the operation of the implement may include a combination of tactile feedback and cognitive information based on the context in which the implement is operating. The robot and / or the robotic arm may not correlate measurement data to issues associated with the operation of the implement. For example, the robot and / or the robotic arm may use the measurement data to detect issues after they occur, rather than anticipating or identifying issues before they occur based on tactile feedback and cognitive information based on the context in which the implement is operating. For example, in some scenarios, a value of a given parameter may be indicative of an issue associated with the operation of the implement. However, in other scenarios, the value of the given parameter may not be indicative of an issue (e.g., may be within an allowable operational range for the given parameter). For example, cutting operations may result in different expected values of a parameter (e.g., force, temperature, supplied current, and / or another parameter) for a cutting implement based on a type of cutting operation being performed, an anatomical element being cut, and / or anatomical information (e.g., bone density or other anatomical information) of a patient, among other examples. As a result, the robot and / or robotic arm may incorrectlyidentify issues in some scenarios (e.g., resulting in needlessly stopping or intervening with the operation of the implement) and / or may not identify or detect an issue that is occurring in other scenarios (e.g., increasing the likelihood of adverse impact or damage to the patient and / or damage to the implement).

[0013] Additionally, robotically-assisted procedures are often minimally invasive procedures during which a surgeon may have limited visibility and restricted access to a surgical site. This may impede an ability of the surgeon to directly observe and / or promptly react to movements or malfunctions of the robot, the robotic arm, and / or the implement. This increases the risk of potential errors or adverse events because the surgeon may not have real-time insight into actions or feedback of the robot, the robotic arm, and / or the implement.

[0014] Some aspects described herein enable implement monitoring for a robotically-assisted procedure. For example, some aspects described herein enable a device to determine whether an implement (e.g., a surgical tool or a cutting technology) configured for use via a robot or a robotic arm is fit for use during a robotically-assisted procedure. In some aspects, the device may obtain operational information of the implement. The operational information may be associated with one or more operations of the implement. For example, the operational information may include an electrical current level being provided to the implement, a temperature of the implement, a pose or orientation of the implement, a force level being applied to the implement, a vibration level of the implement, and / or lifecycle information of the implement (e.g., that is based on one or more prior uses of the implement), among other examples.

[0015] The device may detect, based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates unintended operation of the implement for the robotically-assisted procedure. The surgical plan may include one or more planned operations or steps to be performed for the robotically-assisted procedure. The device may detect the event based on a comparison of the operational information to one or more thresholds. In some aspects, values of the one or more thresholds may be based on the surgical plan. For example, a value a given threshold may vary for different steps or operations indicated by the surgical plan. The device may perform, based on detecting the event, one or more actions associated with the implement. For example, the device may cause an operation of the implement to be stopped, reduce a speed (e.g., a rotational speed or a linear movement speed) of the implement, and / or cause a robotic arm to position the implement in an inspection position (e.g., a position in which the implement can be inspected by a surgeon or other member of a surgical team), among other examples.

[0016] As a result, the device may detect and / or mitigate potential issues that may be caused by the operation of the implement during robotically-assisted procedures. For example, by using the operational information and the surgical plan, the device may predict or anticipate issues in context of a step or operation being performed as indicated by the surgical plan. As a result, the device may increase the accuracy of issue detection for the implement during operation as part of a robotically-assisted procedure. This may decrease the likelihood of the device incorrectly stopping, modifying, and / or interrupting an operation of the implement when no issue is actually occurring. Additionally, the more accurate issue detection may decrease the likelihood of adverse impact or damage to the patient and / or damage to the implement that may otherwise be caused due to an undetected issue or problem associated with the implement.

[0017] Figs. 1A-1D are diagrams of an example implementation 100 associated with implement monitoring for a robotically-assisted procedure. As shown in Figs. 1A-1D, example implementation 100 includes a management device, a planning device, one or more imaging devices, and / or a robot (e.g., that includes one or more robotic arms). These devices are described in more detail below in connection with Fig. 2 and Fig. 3.

[0018] The management device may be configured to control, configure, navigate, and / or otherwise manage the robot and / or the robotic arm. For example, the management device may be, or may be included in, a navigation system associated with the robot. The robotic arm may be configured with an implement. The implement may be a surgical tool, such as a cutting tool, grasper, scissors, an electrocautery tool, a suction tool, a retractor, a stapler, a dissector (e.g., an ultrasonic dissector), a camera, an endoscope, a drill, a cutter, a laser, an aspirator (e.g., an ultrasonic aspirator), a trocar, and / or a cannula, among other examples. The implement may be installed on, configured on, or otherwise mechanically and / or electrically coupled with the robotic arm.

[0019] As shown in Fig. 1A, and by reference number 105, the planning device may transmit, and the management device may receive, a surgical plan for a robotically-assisted procedure. In some aspects, the planning device may be a component of the management device or the planning device and the management device may be components of the same system (e.g., a navigation system for the robot).

[0020] The surgical plan may include one or more steps for performing the robotically- assisted procedure and / or one or more expected thresholds for monitoring one or more parameters during the robotically-assisted procedure, among other examples. The robotically- assisted procedure may be associated with the robot. For example, the robotically-assisted procedure may be associated with the robot in that the robot (and / or the one or more roboticarms) are to perform one or more operations during the robotically-assisted procedure. In some examples, the robotically-assisted procedure may be a spinal procedure (e.g., a spinal alignment, installing implants, osteotomy, fusion, and / or any other spinal procedure).

[0021] For example, the surgical plan may indicate one or more planned operations of the one or more robotic arms for the robotically-assisted procedure. The planned operation may be a movement, a path, a trajectory, and / or a surgical action (e.g., a cut, an incision, a tissue or bone removal, among other examples), among other examples, to be performed by the robot (e.g., by a robotic arm and / or by the implement). The planning device and / or the management device may obtain the surgical plan via a user input. For example, a user (e.g., a surgeon or another user) may input the surgical plan to the planning device.

[0022] In some aspects, the surgical plan may indicate a type or category of procedure (e.g., a type or category of the robotically-assisted procedure) to be performed. For example, the surgical plan may indicate that the robotically-assisted procedure is a spinal alignment procedure, an implant installation procedure, osteotomy procedure, a fusion procedure, and / or another type of procedure. Additionally, or alternatively, the surgical plan may indicate one or more anatomical elements associated with the robotically-assisted procedure. For example, the surgical plan may indicate which anatomical elements are to be operated on, interacted with, or are otherwise involved with the robotically-assisted procedure. For example, for a spinal procedure, the surgical plan may indicate which lumbar vertebrae (e.g., the LI vertebrae, the L2 vertebrae, the L3 vertebrae, and / or another vertebrae) are to be operated on as part of the robotically-assisted procedure.

[0023] In some aspects, the planning device and / or the management device may determine the one or more planned operations of the one or more robotic arms for the robotically-assisted procedure based on, or otherwise associated with, the type or category of the robotically- assisted procedure and / or the one or more anatomical elements associated with the robotically- assisted procedure, among other examples. For example, the surgical plan may be a template or generic plan that is configured or designed to accomplish the type or category of procedure and for the one or more anatomical elements.

[0024] In some aspects, the surgical plan may be associated with a surgeon or clinician who will be performing the robotically-assisted procedure. For example, the surgical plan may be specific to the surgeon or the clinician. In other words, the surgeon or the clinician may design or configure the surgical plan (e.g., a template or generic plan) in accordance with one or more preferences or techniques desired by the surgeon or the clinician. In such examples, the planning device and / or the management device may obtain the surgical plan from a profile ofthe surgeon or the clinician. For example, an input to the planning device and / or the management device may include an identifier of the surgeon or the clinician (e.g., a name, account identifier, or other identifier). The planning device and / or the management device may obtain the profile for the surgeon or the clinician using the identifier. The planning device and / or the management device may obtain the surgical plan from, or based on, the profile for the surgeon or the clinician.

[0025] In some aspects, the management device may obtain anatomical information associated with a patient of the robotically-assisted procedure. For example, the anatomical information may be included in the surgical plan. Additionally, or alternatively, the management device may determine the anatomical information based on, using, or otherwise associated with medical imaging data of the patient. The anatomical information may include information of one or more anatomical elements associated with the robotically-assisted procedure. For example, the anatomical information may include a size or volume of area occupied by the patient within the surgical field. For example, the anatomical information may include spatial orientation and / or anatomical coverage of the patient. In some aspects, the anatomical information may include spatial orientation and / or anatomical coverage of the patient relative to a surgical bed or table or another reference point. In some aspects, the anatomical information may be based on the surgical plan in that the orientation of the patient (e.g., a supine position, a prone position, a lateral position, a lithotomy position, or another position) may be based on the surgical plan. In some aspects, the spatial orientation and / or anatomical coverage of the patient may be based on, or in relation to, a region of interest for the robotically-assisted procedure. For example, the spatial orientation and / or anatomical coverage of the patient may be based on, or in relation to, a one or more vertebral levels in the lumbar spine (e.g., the T10 to L5 vertebral levels).

[0026] The anatomical information may include information for one or more anatomical elements. For example, the anatomical information may include location information of respective anatomical elements within the anatomy of the patient. The location information may indicate a position, size, shape, and / or orientation, among other examples, of the anatomical elements. The one or more anatomical elements may include bone, tissue, vertebrae, ligaments, muscles, tendons, cartilage, joints, organs, blood vessels, and / or other anatomical elements. In some aspects, the anatomical information may include a bone density, a body mass index, a muscle mass, a body composition, an organ size and / or shape, vascular anatomy information, and / or neural anatomy information.

[0027] In some aspects, the anatomical information may include information for one or more sensitive structures of the patient. The one or more sensitive structures may be structures or elements in the anatomy of the patient that are vulnerable to damage or disruption and / or which may result in functional impairment or negative outcomes for the patient if damaged. For example, sensitive structures may have a delicate structure, a high degree of innervation, and / or critical physiological functions, among other examples. The one or more sensitive structures may include nerves, blood vessels, organs, tissue, and / or sensory receptors, among other examples. The anatomical information may include location information of the one or more sensitive structures. In some aspects, the location information of the one or more sensitive structures relative to one or more anatomical elements that are to be interacted with or removed during the robotically-assisted procedure.

[0028] As shown by reference number 110, the management device may initiate the robotically-assisted procedure. For example, the management device may obtain an indication that the robotically-assisted procedure is initiated. In some aspects, the management device may obtain the indication that the robotically-assisted procedure is initiated via a user input to the management device. Additionally, or alternatively, the management device may determine that the robotically-assisted procedure is initiated. For example, the management device may determine that the robotically-assisted procedure is initiated based on, or in response to, detecting or receiving an indication that the implement has been configured for (e.g., installed on) the robotic arm. As another example, the management device may determine that the robotically-assisted procedure is initiated based on, or in response to, detecting or receiving an indication that the robot has begun operation for the robotically-assisted procedure.

[0029] The management device may obtain operational information associated with the implement. For example, the management device may obtain the operational information based on, in response to, or otherwise associated with the robotically-assisted procedure being initiated. In some aspects, the management device may obtain the operational information after the robotically-assisted procedure is initiated (e.g., the robotically-assisted procedure being initiated may cause or trigger the management device to obtain the operational information). In some aspects, the management device may obtain (e.g., periodically and / or in response to an event) the operational information throughout (e.g., during a duration of) the robotically- assisted procedure. For example, the event may be the initiation of the robotically-assisted procedure, a transition between steps or operations indicated by the surgical plan, and / or a performance of certain steps or operations indicated by the surgical plan (e.g., steps or operations that involve a use of the implement), among other examples.

[0030] In some aspects, the operational information may include measurement data associated with the implement. The measurement data may be measured via the robot and / or the robotic arm, such as by one or more sensors included in, or associated with, the robot and / or the robotic arm. For example, as shown by reference number 115, the robot may transmit, and the management device may receive, the measurement data. The robot may transmit (e.g., to the management device) and / or obtain (e.g., via the one or more sensors) the measurement data periodically and / or in response to an event, such the event(s) described above. For example, the robot may provide, and the management device may obtain, the measurement data (e.g., an electrical current level or voltage level) after a powering on operation of the implement and prior to a start of the robotically-assisted procedure. This may enable the management device to evaluate the operation of the implement prior to the implement being used as part of the robotically-assisted procedure for the patient. In some aspects, the management device may obtain the measurement data from the implement and / or one or more robotic arms (e.g., the implement and / or the one or more robotic arms may communicate with the management device).

[0031] In some aspects, the measurement data may include electrical flow measurement data. For example, the measurement data may include an electrical current level and / or a voltage level of an electrical flow being supplied to the implement (e.g., to power the implement). For example, the robot may obtain the electrical flow measurement data from one or more sensors configured to measure the electrical current level and / or the voltage level of the electrical flow being supplied to the implement. The one or more sensors may include a current sensor, a transformer, a resistor, a Hall effect sensor, a voltage sensor, and / or another type of sensor configured to measure current and / or voltage.

[0032] For example, the electrical flow measurement data may be indicative of a performance level and / or health of the implement. For example, the electrical current level may indicate whether the implement is being overloaded or overworked, which may result in overheated, damage, and / or failure of the component. As another example, a spike (e.g., a rapid increase or decrease) in an electrical current level may indicate an issue associated with the implement, such as a short circuit. Additionally, or alternatively, the electrical current level may indicate whether the implement is correctly configured or installed. Additionally, or alternatively, changes in the electrical current level over time may be indicative of deterioration and / or wear of one or more components of the implement. Similarly, the voltage level may be used as an indicator of one or more issues associated with the implement. For example, if the voltagebeing supplied to the implement is not within an expected range, then the implement may not function as expected and / or may be damaged.

[0033] In some aspects, the measurement data may include force data. For example, the force data may indicate a force level being applied to, or experienced by, the implement. As an example, during the robotically-assisted procedure, the implement may be used to perform one or more surgical actions, such as cuts, incisions, drilling, and / or other actions. During such operations, force may be applied to the implement, such as based on contact between the implement and one or more anatomical elements of the patient. One or more sensors may measure the force being applied to the implement during the robotically-assisted procedure. For example, the force being applied to the implement may be indicative of whether the implement is operating correctly and / or safely, as described in more detail elsewhere herein.

[0034] In some aspects, the measurement data may include vibration data. The vibration data may indicate a vibration level of the implement (e.g., may indicate how much the implement is vibrating). The vibration data may include data in the time domain and / or the frequency domain. For example, the robot may obtain, via one or more sensors (e.g., an accelerometer or another sensor), the vibration data may indicate an acceleration, velocity, and / or displacement of the implement due to vibration. Additionally, or alternatively, the vibration data may indicate a frequency, amplitude, and / or phase, among other examples, of the implement due to vibration. In some aspects, the vibration data may include a resonance frequency of the implement and / or a harmonics frequency of the implement. For example, the vibration data may indicate a resonance and / or harmonics of the implement. The harmonics frequency may be integer multiples of a fundamental frequency of a vibrating system that includes the implement. For example, when the implement vibrates are a certain frequency, the implement may generate energy at multiples of that frequency (e.g., which may be referred to as harmonics or harmonics frequency). As described elsewhere herein, excessive vibration of the implement may be indicative of an issue or problem associated with the operation of the implement. For example, an abnormal vibration, resonance frequency, and / or harmonics frequency may be indicative of a nonlinearity or an external excitation force (e.g., which may be indicative of an issue or problem associated with the operation of the implement).

[0035] In some aspects, the operational information may include audio data or sound data. For example, one or more sensors and / or microphones may obtain or capture audio data or sound data representing the sound generated as a result of an operation of the implement. The management device may analyze the audio data or sound data to detect vibrations and / or collisions associated with the implement by identifying frequency patterns and / or suddenamplitude changes indicative of an event, as described in more detail elsewhere herein. By the management device monitoring and interpreting sound data or audio data, the management device may detect and respond to potentially harmful, unwanted, and / or unintended interactions by the implement.

[0036] In some aspects, the operational information may include image data. For example, as shown by reference number 120, an imaging device may transmit, and the management device may receive, image data. The image data may be associated with (e.g., may depict or otherwise capture) the robot, the robotic arm, and / or the implement. For example, the image data may include one or more images, one or more videos, one or more frames, and / or a stream (e.g., an image stream or a video stream), among other examples. In some aspects, the image data may include visible light image data, non-visible light image data, infrared image data, ultraviolet image data, thermal image data, and / or light detection and ranging (LiDAR) image data, among other examples. The image data may include X-ray image data, X-ray -based image data (e.g., obtained via a fluoroscope, a computed tomography (CT) scanner, or other X-ray machine), magnetic resonance imaging (MRI) scanner-based image data, optical coherence tomography (OCT) scanner-based image data, positron emission tomography (PET) scannerbased date, ultrasound image data, endoscope image data, microscope image data, optical camera image data, thermographic camera (e.g., an infrared camera) image data, radar system (which may include a transmitter, a receiver, a processor, and one or more antennas) image data, and / or other image data. In some aspects, the image data may include one or more images, one or more videos, a feed or stream of images or video, and / or other image data. In some aspects, the image data may include two-dimensional (2D) image data, three-dimensional (3D) image data, and / or four-dimensional (4D) (e.g., 3D + time) image data.

[0037] In some aspects, the management device may analyze the image data to obtain operational information for the implement. For example, the management device may extract operational information from the image data. The management device may analyze the image data using one or more computer vision models or techniques. For example, the management device may use a non-visible light computer vision operation to obtain operational information from non-visible light image data. As an example, the management device may determine a position, orientation, trajectory, and / or temperature, among other examples, of the implement from non-visible light image data using the non-visible light computer vision operation.

[0038] In some aspects, the management device may obtain or receive the image data based on a performance of or the initiation of the robotically-assisted procedure. For example, the management device may obtain an indication that the robotically-assisted procedure has beeninitiated. The management device may obtain or receive the image data based on, or in response to, obtaining the indication that the robotically-assisted procedure has been initiated. Additionally, or alternatively, the management device may obtain or receive the image data based on obtaining an indication of or determining to perform an implement check for the robotically-assisted procedure. For example, the management device may obtain (e.g., from another device or via a user input) an indication to perform a check or evaluation of the implement.

[0039] Additionally, or alternatively, the management device may determine that the implement is to be checked or evaluated, such as by determining or detecting that the implement has been configured on (e.g., installed on or otherwise affixed to) the robotic arm. For example, the robot may transmit, and the management device may receive, an indication that the implement has been configured on the robotic arm. The management device may obtain (or begin obtaining) the image data based on, in response to, or otherwise associated with receiving the indication that the implement has been configured on the robotic arm.

[0040] In some aspects, the management device may transmit a request to the imaging device(s) for the image data. For example, the management device may transmit the request based on, in response to, or otherwise associated with detecting or determining that the implement is to be checked or evaluated, such as in a similar manner as described above. In some aspects, the management device may obtain the image data over the course or duration of the robotically-assisted procedure. For example, the imaging device(s) may capture image data periodically and / or based on image capture events (e.g., such as a transition between, or performance of, one or more steps or operations indicated by the surgical plan) during the robotically-assisted procedure. The imaging device(s) may transmit or provide the captured image data to the management device to enable the management device to evaluate or check the performance of the implement.

[0041] In some aspects, the image data may indicate a temperature of the implement. For example, the image data may include thermal data or infrared data that is indicative of a temperature of the implement. Additionally, or alternatively, the image data may indicate a location, orientation, and / or pose of the implement. For example, the image data may enable the management device to determine the location, orientation, and / or pose of the implement (e.g., with reference to a reference point or reference orientation).

[0042] As shown in Fig. IB, and by refence number 125, the management device may monitor the operational information of the implement during the robotically-assisted procedure. For example, the management device may monitor the operational information to identify anyunintended or unexpected behavior or operation of the implement. In some aspects, the management device may periodically obtain and / or evaluate the operational information as described herein, such as every X seconds.

[0043] Additionally, or alternatively, the management device may obtain and / or evaluate the operational information as described herein based on, or in response to, detecting an evaluation event. The evaluation event may include the management device receiving or obtaining an indication to evaluate the operation of the implement. For example, a user (e.g., a surgeon or other member of a surgical team) may provide, as an input to the management device, the indication to evaluate the operation of the implement. As another example, evaluation event may include the management device detecting a transition from a first step (e.g., shown as Step 1 in Fig. IB) of the surgical plan to a second step (e.g., shown as Step 2 in Fig. IB) of the surgical plan. For example, the management device may obtain and / or evaluate the operational information of the implement each time the robotically-assisted procedures advances to a new step or operation as indicated by the surgical plan. Additionally, or alternatively, the evaluation event may include the management device detecting that a given step or operation of the surgical plan is being performed. For example, the management device may obtain and / or evaluate the operational information of the implement when a step or operation that includes a use of the implement is being performed.

[0044] For example, as shown by reference number 130, the management device may determine a step of the robotically-assisted procedure that is currently being performed. The management device may determine the step based on, using, or otherwise associated with the surgical plan. In some aspects, the management device may determine the step based on one or more user inputs to the management device and / or to another device (e.g., a navigation system). For example, the one or more user inputs may be inputs to control an operation of the robot, the robotic arm, and / or the implement. The management device may determine the step based on the user input(s) provided to control the operation of the robot, the robotic arm, and / or the implement. Additionally, or alternatively, the management device may determine the step based on, using, or otherwise associated with the image data. For example, the management device may analyze the image data to determine a step currently being performed by the robot, the robotic arm, and / or the implement. The management device may determine a location, trajectory, orientation and / or pose of the robotic arm, and / or the implement which may be indicative of the step currently being performed.

[0045] As shown by reference number 135, the management device may associate obtained operational information with the step. For example, the management device may analyzeand / or evaluate the operation data in the context of the step being performed. As an example, the management device may determine values for respective thresholds to be used to evaluate the operation information in the context of the step being performed. The thresholds may be associated with respective parameters included in the operational information. For example, the thresholds may include an electrical current threshold, a voltage threshold, a force threshold, a vibration threshold, a temperature threshold, and / or a displacement threshold (e.g., for evaluating a displacement of the implement, such as wobble of the implement), among other examples. As an example, if the step is associated with an incision operation to be performed by the implement and / or the robotic arm, then the management device may determine a first one or more thresholds for evaluating the operational information. If the step is associated with a bone cutting operation to be performed by the implement and / or the robotic arm, then the management device may determine a second one or more thresholds for evaluating the operational information. This enables the management device to dynamically evaluate the operational information using expected values for respective parameters in the context of the step of the robotically-assisted procedure that is currently being performed. As a result, the management device may perform more accurate and / or reliable evaluation of the operation of the implement.

[0046] As shown in Fig. 1C, and by reference number 140, the management device may detect an event indicating that the implement is not suitable for the robotically-assisted procedure. For example, the event may indicate an unintended operation of the implement. The unintended operation may be associated with, or may indicate, an issue or problem with the operation of the implement. For example, the event may indicate that the implement is not correctly configured on, or installed on, the robotic arm. As another example, the event may indicate that a component of the implement is damaged or not functioning properly. As another example, the event may indicate that the implement is contacting or interacting with an unintended anatomical element (e.g., an anatomical element, such as bone, tissue, cartilage, or another anatomical element, that is not a target for the current step of the surgical plan). In some aspects, the event may indicate that the implement is about to imminently contact or interact with an unintended anatomical element. For example, the detection of the event may enable the management device to anticipate or predict unintended contact or interaction with an anatomical element (e.g., a sensitive structure) before the contact or interaction occurs. As another example, the event may indicate that the implement is at a point in a lifecycle of the implement in which there is a high risk of malfunctioning or unintended operation of the implement (e.g., due to an age and / or expected wear of the implement).

[0047] The management device may detect the event based on one or more parameters (e.g., indicated by the operational information) satisfying respective thresholds (e.g., where values of the threshold are specific to the step of the surgical plan currently being performed). In some aspects, the management device may detect the event based on at least one parameter satisfying a threshold. In other aspects, the management device may detect the event based on certain combination of parameters satisfying respective thresholds (e.g., where the combination is based on the step currently being performed). For example, the management device may detect the event based on a combination of a force level satisfying a force threshold a vibration level satisfying a vibration threshold, and a temperature satisfying a temperature threshold. In other aspects, the management device may detect the event based on a quantity of parameters that satisfy respective thresholds. For example, if the quantity satisfies a quantity threshold, then the management device may detect the event.

[0048] For example, the management device may detect the event based on a comparison of the electrical current level to an electrical current threshold. For example, as shown by reference number 145, the management device may detect the event based on an electrical current (e.g., an electrical current level) being supplied to the implement satisfying (or not satisfying) a current threshold. For example, the electrical current level being outside of an expected or normal range may be indicative of an issue or unintended operation of the implement. Therefore, if the comparison of the electrical current level to an electrical current threshold indicates the event, then the management device may determine that the implement is not suitable for the robotically-assisted procedure.

[0049] Additionally, or alternatively, the management device may detect the event based on a comparison of the force level to a force threshold that is associated with the robotically- assisted procedure. The force level may be a force being applied to the implement and / or a force experienced by, or measured at, the robotic arm. For example, as shown by reference number 150, the management device may detect the event based on the force being applied to the implement (e.g., the force level) satisfying (or not satisfying) the force threshold. The force threshold may be based on the step being currently performed for the robotically-assisted procedure. For example, different steps or operations in which the implement is used may have different ranges of expected or normal force. The management device may determine, based on the surgical plan, a step, of the one or more steps, that is associated with causing the force level to be applied to the implement, as described in more detail elsewhere herein. The force threshold may be based on the step (e.g., the force threshold may define or indicate a normal, expected, maximum, or minimum, among other examples, force for the step). For example, theforce being applied to the implement being outside of an expected or normal range may be indicative of an issue or unintended operation of the implement. Therefore, if the comparison of the force level to the force threshold indicates the event, then the management device may determine that the implement is not suitable for the robotically-assisted procedure. In some examples, the management device may detect the event based on the force level being greater than or equal to a force threshold (e.g., indicative of higher bone density). Additionally, or alternatively, the management device may detect the event based on the force level being less than or equal to a force threshold (e.g., the same force threshold or a different force threshold).

[0050] Additionally, or alternatively, the management device may detect the event based on a comparison of the temperature of the implement to a temperature threshold. For example, as described elsewhere herein, the management device may obtain thermal imaging data (e.g., via the image data described in connection with Fig. 1A) of the implement during the robotically- assisted procedure. The thermal imaging data may be indicative of the temperature. For example, the management device may analyze the thermal imaging data to determine the temperature (e.g., using a non-visible light computer vision operation), as described elsewhere herein. As another example, the robotic arm and / or the robot may measure the temperature of the implement and transmit the temperature to the management device (e.g., in the measurement data described in connection with Fig. 1A).

[0051] As shown by reference number 155, the management device may detect the event based on the temperature of the implement satisfying (or not satisfying) a temperature threshold. In a similar manner as described elsewhere herein, the temperature threshold may be based on the step being currently performed for the robotically-assisted procedure. For example, if a temperature of the implement is becoming too high, this may be indicative of an issue or problem associated with the operation of the implement. Therefore, if the comparison of the temperature to the temperature threshold indicates the event, then the management device may determine that the implement is not suitable for the robotically-assisted procedure.

[0052] Additionally, or alternatively, as shown by reference number 160, the management device may detect the event based on a positioning of the implement being inaccurate relative to a reference point and / or reference orientation. For example, the management device may detect the event based on verifying point-based (e.g., a point in a geographic space) and / or trajectory -based (e.g., based on a movement or trajectory of the implement) accuracy relative to known positions and / or orientations. The reference point may be an anatomical reference point. For example, the reference point may be an anatomical element of the patient. In someaspects, the management device may cause the implement to be positioned relative to a reference anatomical element of a patient of the robotically-assisted procedure.

[0053] For example, the management device (and / or another device, such as a navigation system) may cause the implement to be positioned a certain distance away from the reference anatomical element. The management device may detect the event based on a distance between the implement and the reference anatomical element satisfying (e.g., being greater than or equal to) a distance threshold. For example, this may indicate that a coordinate system and / or positioning information used to position the implement is not accurate in the anatomical context of the patient. As another example, the management device may analyze a path or trajectory of the implement relative to one or more reference points. If the path or trajectory differs from an expected path or trajectory (e.g., by an amount that satisfies a trajectory threshold), then the management device may detect the event. Therefore, if the positioning information indicates that the position of the implement is inaccurate, then the management device may determine that the implement is not suitable for the robotically-assisted procedure.

[0054] Additionally, or alternatively, the management device may detect the event based on a comparison of pose information of the implement to an expected pose of the implement that is based on the surgical plan. For example, the pose information may indicate an orientation and / or position of the implement. The expected pose may be a position and / or orientation that the implement is expected to be in during the step of the robotically-assisted procedure that is currently being performed. For example, the management device may determine an actual pose of the implement using the operational information (e.g., using the image data). The management device may determine a difference (e.g., in distance and / or angle) between the actual pose and the expected pose. If the difference satisfies (or does not satisfy) a pose threshold, then the management device may detect the event. For example, if the implement is not in the expected pose for a given step of the robotically-assisted procedure, then the management device may determine that the implement is not suitable for the robotically- assisted procedure.

[0055] Additionally, or alternatively, the management device may detect the event based on a comparison of the vibration level to a vibration threshold that is associated with the robotically-assisted procedure. For example, the management device may detect the event based on determining that the vibration level satisfies (or does not satisfy) the vibration level. The implement experience a vibration level, a resonance, and / or harmonics that are not expected for a given step of the robotically-assisted procedure may be indicative that there is a problem or issue associated with the implement, such as the implement being configured orinstalled improperly and / or the implement being subject to an external excitation force, among other examples. Therefore, if the comparison of the vibration level to the vibration threshold indicates the event, then the management device may determine that the implement is not suitable for the robotically-assisted procedure.

[0056] Additionally, or alternatively, the management device may detect the event based on a comparison of a detected type of the implement to implement profile information. For example, the surgical plan may indicate that a type of implement is to be used for a current step of the surgical plan. The management device may determine the type of implement based on the surgical plan. For example, the surgical plan may indicate the type of implement or the management device may determine (e.g., select) the type of implement based on the operation or step indicated by the surgical plan (and / or anatomical information of the patient).

[0057] The management device may determine or identify the implement profile information based on, using, or otherwise associated with the image data. The implement profile information may indicate a profile (e.g., a shape, size, orientation, configuration, or other profile information) of the implement. The management device may determine whether the implement profile information indicates that the implement is the type of the implement to be used for the current step of the surgical plan. In some aspects, the management device may determine the implement profile information and / or whether the implement is the type of the implement to be used for the current step of the surgical plan using one or more computer vision operations. This may enable the management device to detect if an incorrect implement or an incorrect size of implement is configured or installed on the robotic arm. For example, if the management device determines that the implement profile information indicates that the implement is not the type of the implement to be used for the current step of the surgical plan, then the management device may determine that the implement is not suitable for the robotically- assisted procedure.

[0058] Additionally, or alternatively, the management device may detect the event based on lifecycle information of the implement. For example, the operational information may indicate a quantity of cycles that have been performed by the implement. A cycle may refer to a performance of a step in a robotically-assisted procedure, and / or a performance of an entire robotically-assisted procedure, among other examples. The management device may detect the event based on the quantity of cycles satisfying a cycle threshold. For example, the management device may detect the event based on the quantity of cycles being greater than or equal to the cycle threshold. For example, if the implement has performed a large quantity of cycles, then the management device may determine that the implement is near the end of anexpected lifespan of the implement. An implement near the end of the expected lifespan may be a higher risk for failure. Therefore, if the comparison of the quantity of cycles to the cycle threshold indicates the event, then the management device may determine that the implement is not suitable for the robotically-assisted procedure.

[0059] Additionally, or alternatively, the lifecycle information may indicate an amount of time that the implement has been used. The management device may determine, calculate, and / or estimate the amount of time (e.g., based on the quantity of cycles and / or other information provided by the robot and / or a navigation system). The management device may compare the amount of time to a time threshold (e.g., where the time threshold is associated with the expected lifespan of the implement). The management device may detect the event based on the amount of time satisfying (or not satisfying) the time threshold. For example, the management device may detect the event based on the amount of time being greater than or equal to the time threshold. If the comparison of the amount of time to the time threshold indicates the event, then the management device may determine that the implement is not suitable for the robotically-assisted procedure.

[0060] The factors described herein in connection with the detection of the event are provided as examples. The management device may use one or more of the factors described herein and / or other factors to detect the event depending on a type or category of the robotically- assisted procedure, the step being performed, and / or a type or category of the implement, among other examples.

[0061] In some aspects, information associated with one or more of the factors described herein may be provided as an input to a machine learning model or artificial intelligence model that is trained or otherwise configured to detect the event. The operational information described herein may be provided as an input to the machine learning model or the artificial intelligence model. An output of the machine learning model or the artificial intelligence model may indicate whether an event is detected or is occurring (or is about to occur). For example, a model (e.g., a machine learning model or artificial intelligence model) may output a prediction that an event is occurring, and / or a likelihood that an event is occurring, among other examples. In other words, the model may output a prediction or a likelihood (e.g., a score indicating the likelihood) of whether the implement is not operating as intended and / or is not suitable for the robotically-assisted procedure. The model and / or the management device may detect the event based on the output of the model. For example, if a score (e.g., a probability score indicating a probability or likelihood of an issue, unintended operation, and / or unsuitability of theimplement for the robotically-assisted procedure) output by the model satisfies a threshold, then the model and / or the management device may detect the event.

[0062] As shown in Fig. ID, and by reference number 165, the management device may perform one or more actions for the implement based on detecting the event. The one or more actions may be associated with mitigating or preventing unintended operation of the implement. For example, as shown by reference number 170, the management device may transmit (e.g., to the robot or another device, such as a navigation system) instructions configured to cause the robot to perform the one or more actions (e.g., that are associated with mitigating or preventing unintended operation of the implement). For example, as described herein, the management device performing an action in connection with the robot, the robotic arm, and / or the implement may refer to the management device transmitting instructions to cause the robot, the robotic arm, and / or the implement to perform the action. In some aspects, the one or more actions may include providing a notification or output (e.g., to the robot, a navigation system of the robot, or another device or component) indicating that the event is detected. For example, the management device may cause an output or notification to be provided to one or more surgical team members, such as via a user interface of the management device and / or by outputting an audio alert or notification to indicate to the one or more surgical team members that the event has been detected by the management device.

[0063] As an example, as shown by reference number 175, the one or more actions may include stopping operation of the implement. For example, the management device stop an operation of the implement. For example, the management device may cause the robotic arm to position the implement in a safe position (e.g., a certain distance away from the patient and / or surgical team members) and / or may cause the implement to be powered down.

[0064] As another example, as shown by reference number 180, the one or more actions may include reducing a speed of the implement. The speed may be a rotational speed (e.g., a rotational velocity) and / or a linear speed (e.g., a linear velocity), a non-linear speed or velocity, a function of the speed or velocity (e.g., a linear function, a step function, an exponential function, a sin function, or another function of the velocity), among other examples. For example, the management device may modify (e.g., reduce or otherwise modify) the linear velocity of the implement during the robotically-assisted procedure. Additionally, or alternatively, the management device may modify (e.g., reduce or otherwise modify) the rotational velocity of the implement during the robotically-assisted procedure. Reducing the speed (e.g., rotationally speed and / or linear speed) of the implement may reduce the likelihoodof failure and / or damage (e.g., to the patient, to the implement itself, and / or to the robotic arm) caused by the operation of the implement.

[0065] As another example, as shown by reference number 185, the one or more actions may include causing the implement to be moved to an inspection position. For example, the management device may cause the implement to be moved to the inspection position. The inspection position may be a position in which a surgeon and / or other surgical team member can visually inspect the implement. For example, as shown in Fig. ID, the inspection position may be a raised position in which the implement is raised away from the patient and / or removed from an anatomy of the patient. This enables the surgeon and / or other team member to visually inspect the implement for any issues or problems.

[0066] As another example, as shown by reference number 190, the one or more actions may include performing a cleaning and / or sharpening operation for the implement. For example, the management device may perform a cleaning operation for a distal end of the implement. Additionally, or alternatively, the management device may perform a sharpening operation for the distal end of the implement. For example, the event may be indicative of debris and / or biological matter having collected on the distal end of the implement. Therefore, the management device may cause the implement to be cleaned. The cleaning operation may include the management device causing a cleaning component of the robot to perform the cleaning or the management device positioning the implement in a position that is accessible by a surgical team member to perform the cleaning. Additionally, or alternatively, the event may be indicative of a cutting element of the implement being dull. Therefore, the management device may cause the implement to be sharpened. The cleaning operation may include the management device causing a sharpening component of the robot to perform the sharpening or the management device positioning the implement in a position that is accessible by a surgical team member to perform the sharpening. Performing the cleaning operation and / or the sharpening operation for the implement may improve the performance of the implement and / or improve the likelihood of a successful outcome for the robotically-assisted procedure.

[0067] In some aspects, the management device may correct and / or modify a position of the implement based on detecting the event. For example, the management device may cause the position of the implement to be moved to a “safe” position relative to one or more anatomical elements of the patient, one or more devices or components in the surgical field, and / or one or more surgical team members, among other examples. A “safe” position may be a position in which the implement is not contacting or within a threshold distance of one or more anatomical elements of the patient, one or more devices or components in the surgical field, and / or one ormore surgical team members, among other examples. Additionally, or alternatively, the management device may update or modify a reference point and / or reference orientation for the implement and / or for the robot. For example, the management device may detect that the positioning of the implement in inaccurate relative to a previous reference point. The management device may update or modify the reference point location for the robot to improve the accuracy of movements of the implement via the robot and / or the robotic arm. Additionally, or alternatively, the management device may update or modify a pose or orientation of the implement based on detecting the event. This may enable the management device to dynamically correct or update the pose or orientation of the implement based on dynamic changes in the surgical field, such as movement of patient anatomy caused by the patient breathing or otherwise moving, among other examples.

[0068] In some aspects, the action(s) performed by the management device may be based on the event. For example, the action(s) performed by the management device may be based on the parameters or operational information that caused the management device to detect the event, as described herein. For example, the management device may perform different actions for events that are detected based on different operational information. Additionally, or alternatively, the action(s) performed by the management device may be based on values of respective parameters that caused the management device to detect the event, as described herein. For example, if a value of a parameter is a first value, then the management device may perform the sharpening operation and / or the cleaning operations. If the value of the parameter is a second value, then the management device may stop the operation of the implement (e.g., if the value is significantly higher than a threshold, then the management device may stop the operation of the implement).

[0069] As indicated above, Figs. 1A-1D are provided as an example. Other examples may differ from what is described with regard to Figs. 1A-1D. The number and arrangement of devices shown in Figs. 1A-1D are provided as an example. In practice, there may be additional devices, fewer devices, different devices, or differently arranged devices than those shown in Figs. 1A-1D. Furthermore, two or more devices shown in Figs. 1A-1D may be implemented within a single device, or a single device shown in Figs. 1A-1D may be implemented as multiple, distributed devices. Additionally, or alternatively, a set of devices (e.g., one or more devices) shown in Figs. 1A-1D may perform one or more functions described as being performed by another set of devices shown in Figs. 1A-1D.

[0070] Fig. 2 is a diagram of an example environment 200 in which systems and / or methods described herein may be implemented. As shown in Fig. 2, environment 200 may include amanagement device 210, a planning device 220, a robot 230 (e.g., that includes one or more robotic arms 235 and / or one or more implements 240), one or more imaging devices 250, and a network 260. Devices of environment 200 may interconnect via wired connections, wireless connections, or a combination of wired and wireless connections. In some examples, the environment 200 may be a surgical environment, a surgical field, a surgical space, a connected surgical operating room, or a connected surgical ecosystem, among other examples.

[0071] The management device 210 may include one or more devices capable of receiving, generating, storing, processing, providing, and / or routing information associated with surgical plan assessments, as described elsewhere herein. The management device 210 may include a communication device and / or a computing device. For example, the management device 210 may include a server, such as an application server, a client server, a web server, a database server, a host server, a proxy server, a virtual server (e.g., executing on computing hardware), or a server in a cloud computing system. In some implementations, the management device 210 may include computing hardware used in a cloud computing environment. In some aspects, the management device 210 may be, or may be included in, a navigation system of the robot 230.

[0072] The management device 210 may include one or more devices capable of receiving, generating, storing, processing, and / or providing information associated with surgical plan assessments, as described elsewhere herein. The management device 210 may include a communication device and / or a computing device. The management device 210 may provide navigation for a surgeon and / or a surgical robot during a surgical procedure. The management device 210 may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the environment 200 is located. The one or more cameras may be optical cameras, endoscopic cameras, infrared cameras, or other cameras. In some embodiments, the management device 210 may include one or more electromagnetic sensors. In some examples, the management device 210 may be used to track a position and orientation (e.g., a pose) of an imaging device 250, a retraction assembly, the robot 230 and / or robotic arm 235, and / or the implement(s) 240 (e.g., to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the examples described above). The management device 210 may include a display for displaying one or more images from an external source or for displaying an image and / or video stream from the one or more cameras or other sensors of the management device 210. The management device 210 may be configured to provide guidance to a surgeon or other user in the environment 200, to the robot230, or to any other device or component of the environment 200. The guidance provided by the management device 210 may include a pose of one or more anatomical elements, whether or not a tool is in the proper trajectory, and / or how to move a tool into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan, among other examples.

[0073] The planning device 220 may include one or more devices capable of receiving, generating, storing, processing, providing, and / or routing information associated with surgical plan assessments, as described elsewhere herein. The planning device 220 may include a communication device and / or a computing device. For example, the planning device 220 may include a server, such as an application server, a client server, a web server, a database server, a host server, a proxy server, a virtual server (e.g., executing on computing hardware), or a server in a cloud computing system. In some implementations, the planning device 220 may include computing hardware used in a cloud computing environment. In some examples, the planning device 220 may include a surgical navigation system. In some examples, the planning device 220 may be included in another device in the environment 200, such as the management device 210.

[0074] The robot 230 may be any surgical robot or surgical robotic system. The robot 230 may include a robotic guidance system. The robot may be configured to position, for example, a retraction assembly and / or an implement 240 at one or more precise position(s) and orientation(s), and / or to return a retraction assembly and / or an end unit to the same position(s) and orientation(s) at a later point in time. The implement 240 may include a surgical instrument, a surgical tool, a cutting tool, grasper, scissors, an electrocautery tool, a suction tool, a retractor, a stapler, a dissector (e.g., an ultrasonic dissector), a camera, an endoscope, a drill, a cutter, a laser, an aspirator (e.g., an ultrasonic aspirator), a trocar, and / or a cannula, among other examples. The robot 230 may be configured to manipulate implement 240 (whether based on guidance from the management device 210 or not) to accomplish or to assist with a surgical task. In some embodiments, the robot 230 may be configured to hold and / or manipulate an anatomical element during or in connection with a surgical procedure via the one or more implements 240. The robot 230 may comprise one or more robotic arms 235. In some embodiments, the robotic arm 235 may include a first robotic arm and a second robotic arm, though the robot 230 may include more than two robotic arms. In some examples, one or more of the robotic arms 235 may be used to hold and / or maneuver a retraction assembly and / or an implement 240. In embodiments where two retraction assemblies and end units are used, one robotic arm 235 may hold one set, and another robotic arm 235 may hold another set. Eachrobotic arm 235 may be positioned or moved independently of the other robotic arm(s). The robotic arms 235 may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0075] The robot 230, together with the robotic arm(s) 235, may have one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 235 may be positioned in any pose, plane, and / or focal point. The pose includes a position and an orientation. As a result, the retraction assembly, the implement 240, or other object held by the robot 230 (or by the robotic arm 235) may be precisely positioned in one or more needed and specific positions and orientations. The robotic arm(s) 235 may include one or more sensors that enable one or more processors (or one or more processors of the robot 230) to determine a precise pose in space of the robotic arm (as well as any object or element held by or secured to the robotic arm). The one or more sensors may also measure a force at an end of the robotic arm 235. In some implementations, the sensors may measure a force at an implement 240 disposed at the end of the robotic arm 235. Sensors may be used in any other component in a similar manner. For example, a manually operated surgical tool may comprise a retraction assembly and a sensor for measuring a force at the surgical tool.

[0076] In some examples, reference markers (e.g., navigation markers) may be placed on the robot 230 (including, e.g., on the robotic arm 235), an imaging device, a retraction assembly, an end unit or any other object, device, or component in a surgical space. The reference markers may be tracked by the management device 210, and the results of the tracking may be used by the robot 230 and / or by an operator. In some examples, the management device 210 may be used to track other components in the environment 200 (e.g., the retraction assembly, the end unit, one or more people, and / or one or more objects) and the one or more components can operate without the use of the robot 230 (e.g., with the surgeon manually manipulating a retraction assembly and an end unit and / or one or more surgical tools, based on information and / or instructions generated by the management device 210).

[0077] An imaging device 250 may include one or more devices capable of receiving, generating, storing, processing, providing, and / or routing information associated with surgical plan assessments, as described elsewhere herein. An imaging device 250 may be operable to image anatomical element(s) (e.g., a bone, veins, tissue, and / or other anatomical elements) and / or other aspects of patient anatomy to output medical imaging data (e.g., image data depicting or corresponding to a bone, veins, and / or tissue). “Image data” or “imaging data” as used herein refers to the data generated or captured by an imaging device, including in a machine-readable form, a graphical / visual form, and in any other form. In some examples,medical imaging data may include data corresponding to an anatomical feature of a patient, or to a portion thereof. The image data may be or include a preoperative image, an intraoperative image, a postoperative image, or an image taken independently of any surgical procedure. In some examples, a first imaging device may be used to obtain first image data (e.g., a first image) at a first time, and a second imaging device may be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device may be capable of taking a 2D image or a 3D image to output the image data. The imaging device 250 may be or include, for example, a camera, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), an 0-arm, a C- arm, a G-arm, or any other device utilizing X-ray -based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), an MRI scanner, an OCT scanner, a PET scanner, an endoscope, a microscope, an optical camera, a thermographic camera (e.g., an infrared camera), a radar system (which may include a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device suitable for obtaining images of an anatomical feature of a patient and / or components in the environment 200, such as the robotic arm 235 and / or the implement 240. In some examples, imaging data, as described herein, may be considered to be continuous and / or provided as an image data stream, such as if the medical image data represents two or more frames per second.

[0078] The network 260 may include one or more wired and / or wireless networks. For example, the network 260 may include a wireless wide area network (e.g., a cellular network or a public land mobile network), a local area network (e.g., a wired local area network or a wireless local area network (WLAN), such as a Wi-Fi network), a personal area network (e.g., a Bluetooth network), a near-field communication network, a telephone network, a private network, the Internet, and / or a combination of these or other types of networks. The network 260 enables communication among the devices of environment 200.

[0079] The number and arrangement of devices and networks shown in Fig. 2 are provided as an example. In practice, there may be additional devices and / or networks, fewer devices and / or networks, different devices and / or networks, or differently arranged devices and / or networks than those shown in Fig. 2. Furthermore, two or more devices shown in Fig. 2 may be implemented within a single device, or a single device shown in Fig. 2 may be implemented as multiple, distributed devices. Additionally, or alternatively, a set of devices (e.g., one or more devices) of environment 200 may perform one or more functions described as being performed by another set of devices of environment 200.

[0080] Fig. 3 is a diagram of example components of a device 300 associated with implement monitoring for a robotically-assisted procedure. The device 300 may correspond to the management device 210, the planning device 220, the robot 230, a robotic arm 235, an implement 240, and / or an imaging device 250. In some implementations, the management device 210, the planning device 220, the robot 230, a robotic arm 235, an implement 240, and / or an imaging device 250 may include one or more devices 300 and / or one or more components of the device 300. As shown in Fig. 3, the device 300 may include a bus 310, a processor 320, a memory 330, an input component 340, an output component 350, and / or a communication component 360.

[0081] The bus 310 may include one or more components that enable wired and / or wireless communication among the components of the device 300. The bus 310 may couple together two or more components of Fig. 3, such as via operative coupling, communicative coupling, electronic coupling, and / or electric coupling. For example, the bus 310 may include an electrical connection (e.g., a wire, a trace, and / or a lead) and / or a wireless bus. The processor 320 may include a central processing unit, a graphics processing unit, a microprocessor, a controller, a microcontroller, a digital signal processor, a field-programmable gate array, an application-specific integrated circuit, and / or another type of processing component. The processor 320 may be implemented in hardware, firmware, or a combination of hardware and software. In some implementations, the processor 320 may include one or more processors capable of being programmed to perform one or more operations or processes described elsewhere herein.

[0082] The memory 330 may include volatile and / or nonvolatile memory. For example, the memory 330 may include random access memory (RAM), read only memory (ROM), a hard disk drive, and / or another type of memory (e.g., a flash memory, a magnetic memory, and / or an optical memory). The memory 330 may include internal memory (e.g., RAM, ROM, or a hard disk drive) and / or removable memory (e.g., removable via a universal serial bus connection). The memory 330 may be a non-transitory computer-readable medium. The memory 330 may store information, one or more instructions, and / or software (e.g., one or more software applications) related to the operation of the device 300. In some implementations, the memory 330 may include one or more memories that are coupled (e.g., communicatively coupled) to one or more processors (e.g., processor 320), such as via the bus 310. Communicative coupling between a processor 320 and a memory 330 may enable the processor 320 to read and / or process information stored in the memory 330 and / or to store information in the memory 330.

[0083] The input component 340 may enable the device 300 to receive input, such as user input and / or sensed input. For example, the input component 340 may include a touch screen, a keyboard, a keypad, a mouse, a button, a microphone, a switch, a sensor, a global positioning system sensor, a global navigation satellite system sensor, an accelerometer, a gyroscope, and / or an actuator. The output component 350 may enable the device 300 to provide output, such as via a display, a speaker, and / or a light-emitting diode. The communication component 360 may enable the device 300 to communicate with other devices via a wired connection and / or a wireless connection. For example, the communication component 360 may include a receiver, a transmitter, a transceiver, a modem, a network interface card, and / or an antenna.

[0084] The device 300 may perform one or more operations or processes described herein. For example, a non-transitory computer-readable medium (e.g., memory 330) may store a set of instructions (e.g., one or more instructions or code) for execution by the processor 320. The processor 320 may execute the set of instructions to perform one or more operations or processes described herein. In some implementations, execution of the set of instructions, by one or more processors 320, causes the one or more processors 320 and / or the device 300 to perform one or more operations or processes described herein. In some implementations, hardwired circuitry may be used instead of or in combination with the instructions to perform one or more operations or processes described herein. Additionally, or alternatively, the processor 320 may be configured to perform one or more operations or processes described herein. Thus, implementations described herein are not limited to any specific combination of hardware circuitry and software.

[0085] The number and arrangement of components shown in Fig. 3 are provided as an example. The device 300 may include additional components, fewer components, different components, or differently arranged components than those shown in Fig. 3. Additionally, or alternatively, a set of components (e.g., one or more components) of the device 300 may perform one or more functions described as being performed by another set of components of the device 300.

[0086] Fig. 4 is a flowchart of an example process 400 associated with implement monitoring for a robotically-assisted procedure. In some aspects, one or more process blocks of Fig. 4 are performed by a management device (e.g., management device 210). In some aspects, one or more process blocks of Fig. 4 are performed by another device or a group of devices separate from or including the management device, such as the planning device 220, the robot 230, a robotic arm 235, an implement 240, and / or the imaging device 250. Additionally, or alternatively, one or more process blocks of Fig. 4 may be performed by one or morecomponents of device 300, such as processor 320, memory 330, input component 340, output component 350, and / or communication component 360.

[0087] As shown in Fig. 4, process 400 may include obtaining operational information of an implement of a robot for a robotically-assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically-assisted procedure (block 410). For example, the management device may obtain operational information of an implement of a robot for a robotically-assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically-assisted procedure, as described above. In some aspects, the operational information is associated with one or more operations of the implement for the robotically- assisted procedure.

[0088] As further shown in Fig. 4, process 400 may include detecting, based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure (block 420). For example, the management device may detect, based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure, as described above.

[0089] As further shown in Fig. 4, process 400 may include performing, based on the event, one or more actions associated with the implement (block 430). For example, the management device may perform, based on the event, one or more actions associated with the implement, as described above.

[0090] Process 400 may include additional aspects, such as any single aspect or any combination of aspects described below and / or in connection with one or more other processes described elsewhere herein.

[0091] In a first aspect, the operational information includes an electrical current level being provided to the implement, and detecting the event includes detecting the event based on a comparison of the electrical current level to an electrical current threshold.

[0092] In a second aspect, alone or in combination with the first aspect, obtaining the operational information includes obtaining the electrical current level after a powering on operation of the implement and prior to a start of the robotically-assisted procedure.

[0093] In a third aspect, alone or in combination with one or more of the first and second aspects, the operational information includes a force level applied to the implement during the robotically-assisted procedure, and detecting the event includes detecting the event based on acomparison of the force level to a force threshold that is associated with the robotically-assisted procedure.

[0094] In a fourth aspect, alone or in combination with one or more of the first through third aspects, the surgical plan indicates one or more steps to be performed via the implement for the robotically-assisted procedure, and detecting the event includes determining, based on the surgical plan, a step, of the one or more steps, that is associated with causing the force level to be applied to the implement, where the force threshold is based on the step.

[0095] In a fifth aspect, alone or in combination with one or more of the first through fourth aspects, the operational information includes a vibration level of the implement during the robotically-assisted procedure, and detecting the event includes detecting the event based on a comparison of the vibration level to a vibration threshold that is associated with the robotically- assisted procedure.

[0096] In a sixth aspect, alone or in combination with one or more of the first through fifth aspects, the vibration level is at least one of a resonance frequency or a harmonics frequency.

[0097] In a seventh aspect, alone or in combination with one or more of the first through sixth aspects, the surgical plan indicates a type of implement to be used for the robotically-assisted procedure, and obtaining the operational information includes obtaining image data depicting the implement configured on the robot, and determining implement profile information based on the image data, where the event is based on a comparison of the type of implement to the implement profile information.

[0098] In an eighth aspect, alone or in combination with one or more of the first through seventh aspects, process 400 includes determining the type of implement based on the surgical plan.

[0099] In a ninth aspect, alone or in combination with one or more of the first through eighth aspects, the operational information includes a temperature of the implement during the robotically-assisted procedure, and detecting the event includes detecting the event based on a comparison of the temperature to a temperature threshold.

[0100] In a tenth aspect, alone or in combination with one or more of the first through ninth aspects, obtaining the operational information includes obtaining thermal imaging data of the implement during the robotically-assisted procedure, where the thermal imaging data is indicative of the temperature.

[0101] In an eleventh aspect, alone or in combination with one or more of the first through tenth aspects, obtaining the operational information includes obtaining, using imaging data of the implement, the operational information via a non-visible light computer vision operation.

[0102] In a twelfth aspect, alone or in combination with one or more of the first through eleventh aspects, the operational information indicates a quantity of cycles performed by the implement, and detecting the event includes detecting the event based on the quantity of cycles satisfying a cycle threshold.

[0103] In a thirteenth aspect, alone or in combination with one or more of the first through twelfth aspects, the operational information indicates an amount of time that the implement has been used, and detecting the event includes detecting the event based on the amount of time satisfying a time threshold.

[0104] In a fourteenth aspect, alone or in combination with one or more of the first through thirteenth aspects, the operational information indicates pose information of the implement during the robotically-assisted procedure, and detecting the event includes detecting the event based on a comparison of the pose information to an expected pose of the implement that is based on the surgical plan.

[0105] In a fifteenth aspect, alone or in combination with one or more of the first through fourteenth aspects, obtaining the operational information includes causing the implement to be positioned relative to a reference anatomical element of a patient of the robotically-assisted procedure, and detecting the event includes detecting the event based on a distance between the implement and the reference anatomical element satisfying a distance threshold.

[0106] In a sixteenth aspect, alone or in combination with one or more of the first through fifteenth aspects, performing the one or more actions includes stopping an operation of the implement.

[0107] In a seventeenth aspect, alone or in combination with one or more of the first through sixteenth aspects, performing the one or more actions includes modifying a linear velocity of the implement during the robotically-assisted procedure.

[0108] In an eighteenth aspect, alone or in combination with one or more of the first through seventeenth aspects, performing the one or more actions includes modifying a rotational velocity of the implement during the robotically-assisted procedure.

[0109] In a nineteenth aspect, alone or in combination with one or more of the first through eighteenth aspects, performing the one or more actions includes causing the implement to be moved to an inspection position.

[0110] In a twentieth aspect, alone or in combination with one or more of the first through nineteenth aspects, performing the one or more actions includes performing a cleaning operation for a distal end of the implement.

[0111] In a twenty-first aspect, alone or in combination with one or more of the first through twentieth aspects, performing the one or more actions includes performing a sharpening operation for a distal end of the implement.

[0112] Although Fig. 4 shows example blocks of process 400, in some aspects, process 400 includes additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in Fig. 4. Additionally, or alternatively, two or more of the blocks of process 400 may be performed in parallel.

[0113] The following provides an overview of some Examples of the present disclosure:

[0114] Example 1 : A method, comprising: obtaining, by a device, operational information of an implement of a robot for a robotically-assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically- assisted procedure; detecting, by the device and based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure; and performing, by the device and based on the event, one or more actions associated with the implement.

[0115] Example 2: The method of Example 1, wherein the operational information includes an electrical current level being provided to the implement, and wherein detecting the event comprises: detecting the event based on a comparison of the electrical current level to an electrical current threshold.

[0116] Example 3: The method of Example 2, wherein obtaining the operational information comprises: obtaining the electrical current level after a powering on operation of the implement and prior to a start of the robotically-assisted procedure.

[0117] Example 4: The method of any of Examples 1-3, wherein the operational information includes a force level applied to the implement during the robotically-assisted procedure, and wherein detecting the event comprises: detecting the event based on a comparison of the force level to a force threshold that is associated with the robotically-assisted procedure.

[0118] Example 5 : The method of Example 4, wherein the surgical plan indicates one or more steps to be performed via the implement for the robotically-assisted procedure, and wherein detecting the event comprises: determining, based on the surgical plan, a step, of the one or more steps, that is associated with causing the force level to be applied to the implement, wherein the force threshold is based on the step.

[0119] Example 6 : The method of any of Examples 1-5, wherein the operational information includes a vibration level of the implement during the robotically-assisted procedure, andwherein detecting the event comprises: detecting the event based on a comparison of the vibration level to a vibration threshold that is associated with the robotically-assisted procedure.

[0120] Example 7 : The method of Example 6, wherein the vibration level is at least one of a resonance frequency or a harmonics frequency.

[0121] Example 8 : The method of any of Examples 1-7, wherein the surgical plan indicates a type of implement to be used for the robotically-assisted procedure, and wherein obtaining the operational information comprises: obtaining image data depicting the implement configured on the robot; and determining implement profile information based on the image data, wherein the event is based on a comparison of the type of implement to the implement profile information.

[0122] Example 9: The method of Example 8, further comprising: determining the type of implement based on the surgical plan.

[0123] Example 10: The method of any of Examples 1-9, wherein the operational information includes a temperature of the implement during the robotically-assisted procedure, and wherein detecting the event comprises: detecting the event based on a comparison of the temperature to a temperature threshold.

[0124] Example 11: The method of Example 10, wherein obtaining the operational information comprises: obtaining thermal imaging data of the implement during the robotically- assisted procedure, wherein the thermal imaging data is indicative of the temperature.

[0125] Example 12: The method of any of Examples 1-11, wherein obtaining the operational information comprises: obtaining, using imaging data of the implement, the operational information via a non-visible light computer vision operation.

[0126] Example 13: The method of any of Examples 1-12, wherein the operational information indicates a quantity of cycles performed by the implement, and wherein detecting the event comprises: detecting the event based on the quantity of cycles satisfying a cycle threshold.

[0127] Example 14: The method of any of Examples 1-13, wherein the operational information indicates an amount of time that the implement has been used, and wherein detecting the event comprises: detecting the event based on the amount of time satisfying a time threshold.

[0128] Aspect 15: The method of any of Aspects 1-14, wherein the operational information indicates pose information of the implement during the robotically-assisted procedure, and wherein detecting the event comprises: detecting the event based on a comparison of the pose information to an expected pose of the implement that is based on the surgical plan.

[0129] Examplel6: The method of any of Examples 1-15, wherein obtaining the operational information comprises: causing the implement to be positioned relative to a reference anatomical element of a patient of the robotically-assisted procedure; and wherein detecting the event comprises: detecting the event based on a distance between the implement and the reference anatomical element satisfying a distance threshold.

[0130] Example 17: The method of any of Examples 1-16, wherein performing the one or more actions comprises: stopping an operation of the implement.

[0131] Example 18: The method of any of Examples 1-17, wherein performing the one or more actions comprises: modifying a linear velocity of the implement during the robotically- assisted procedure.

[0132] Example 19: The method of any of Examples 1-18, wherein performing the one or more actions comprises: modifying a rotational velocity of the implement during the robotically-assisted procedure.

[0133] Example 20: The method of any of Examples 1-19, wherein performing the one or more actions comprises: causing the implement to be moved to an inspection position.

[0134] Example21: The method of any of Examples 1-20, wherein performing the one or more actions comprises: performing a cleaning operation for a distal end of the implement.

[0135] Example 22: The method of any of Examples 1-21, wherein performing the one or more actions comprises: performing a sharpening operation for a distal end of the implement.

[0136] Example 23: A system configured to perform one or more operations recited in one or more of Examples 1-22.

[0137] Example 24: An apparatus comprising means for performing one or more operations recited in one or more of Examples 1-22.

[0138] Example 25 : A non-transitory computer-readable medium storing a set of instructions, the set of instructions comprising one or more instructions that, when executed by a device, cause the device to perform one or more operations recited in one or more of Examples 1-22.

[0139] Example 26: A computer program product comprising instructions or code for executing one or more operations recited in one or more of Examples 1-22.

[0140] Example 27 : A device comprising one or more memories; and one or more processors, communicatively coupled to the one or more memories, the one or more processors being configured to perform one or more operations recited in one or more of Examples 1-22.

[0141] The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the aspects described herein to the precise forms that are described.Modifications and variations may be made in light of the above description or may be acquired from practice of the aspects described herein.

[0142] As used herein, the term “component” is intended to be broadly construed as hardware, firmware, and / or a combination of hardware and software. It will be apparent that systems and / or methods described herein may be implemented in different forms of hardware, firmware, or a combination of hardware and software. The actual specialized control hardware or software code used to implement these systems and / or methods is not limiting of the aspects described herein. Thus, the operation and behavior of the systems and / or methods are described herein without reference to specific software code — it being understood that software and hardware can be designed to implement the systems and / or methods based on the description herein.

[0143] As used herein, satisfying a threshold may, depending on the context, refer to a value being greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, not equal to the threshold, or the like.

[0144] Even though particular combinations of features are recited in the claims and / or described in the specification, these combinations are not intended to limit the aspects described herein. In fact, many of these features may be combined in ways not specifically recited in the claims and / or described in the specification. Although each dependent claim listed below may directly depend on only one claim, the description includes each dependent claim in combination with every other claim in the claim set. As used herein, a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of: a, b, or c” is intended to cover a, b, c, a-b, a-c, b-c, and a-b-c, as well as any combination with multiple of the same item.

[0145] When “a component” or “one or more components” (or another element, such as “a controller” or “one or more controllers”) is described or claimed (within a single claim or across multiple claims) as performing multiple operations or being configured to perform multiple operations, this language is intended to broadly cover a variety of architectures and environments. For example, unless explicitly claimed otherwise (e.g., via the use of “first component” and “second component” or other language that differentiates components in the claims), this language is intended to cover a single component performing or being configured to perform all of the operations, a group of components collectively performing or being configured to perform all of the operations, a first component performing or being configured to perform a first operation and a second component performing or being configured to perform a second operation, or any combination of components performing or being configured toperform the operations. For example, when a claim has the form “one or more components configured to: perform X; perform Y ; and perform Z,” that claim should be interpreted to mean “one or more components configured to perform X; one or more (possibly different) components configured to perform Y ; and one or more (also possibly different) components configured to perform Z.”

[0146] No element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such. Also, as used herein, the articles “a” and “an” are intended to include one or more items, and may be used interchangeably with “one or more.” Further, as used herein, the article “the” is intended to include one or more items referenced in connection with the article “the” and may be used interchangeably with “the one or more.” Furthermore, as used herein, the term “set” is intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items,), and may be used interchangeably with “one or more.” Where only one item is intended, the phrase “only one” or similar language is used. Also, as used herein, the terms “has,” “have,” “having,” or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based, at least in part, on” unless explicitly stated otherwise. Also, as used herein, the term “or” is intended to be inclusive when used in a series and may be used interchangeably with “and / or,” unless explicitly stated otherwise (e.g., if used in combination with “either” or “only one of’).

Claims

WHAT IS CLAIMED IS:

1. A device (210, 300), comprising: one or more memories (330); and one or more processors (320), communicatively coupled to the one or more memories (330), configured to: obtain operational information of an implement of a robot for a robotically- assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically-assisted procedure; detect, based on the operational information and a surgical plan for the robotically- assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure; and perform, based on the event, one or more actions associated with the implement.

2. The device (210, 300) of claim 1, wherein the operational information includes an electrical current level being provided to the implement, and wherein the one or more processors (320), to detect the event, are configured to: detect the event based on a comparison of the electrical current level to an electrical current threshold.

3. The device (210, 300) of any of claims 1-2, wherein the operational information includes a vibration level of the implement during the robotically-assisted procedure, and wherein the one or more processors (320), to detect the event, are configured to: detect the event based on a comparison of the vibration level to a vibration threshold that is associated with the robotically-assisted procedure.

4. The device (210, 300) of any of claims 1-3, wherein the surgical plan indicates a type of implement to be used for the robotically-assisted procedure, and wherein the one or more processors (320), to obtain the operational information, are configured to: obtain image data depicting the implement configured on the robot; and determine implement profile information based on the image data, wherein the event is based on a comparison of the type of implement to the implement profile information.

5. The device (210, 300) of any of claims 1-4, wherein the operational information includes a temperature of the implement during the robotically-assisted procedure, and wherein the one or more processors (320), to detect the event, are configured to: detect the event based on a comparison of the temperature to a temperature threshold.

6. The device (210, 300) of any of claims 1-5, wherein the one or more processors (320), to obtain the operational information, are configured to: obtain, using imaging data of the implement, the operational information via a non- visible light computer vision operation.

7. A method, comprising: obtaining, by a device (210, 300), operational information of an implement of a robot for a robotically-assisted procedure; detecting, by the device (210, 300) and based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure; and performing, by the device (210, 300) and based on the event, one or more actions associated with the implement.

8. The method of claim 7, wherein the operational information includes a force level applied to the implement during the robotically-assisted procedure, and wherein detecting the event comprises: detecting the event based on a comparison of the force level to a force threshold that is associated with the robotically-assisted procedure.

9. The method of claim 8, wherein the surgical plan indicates one or more steps to be performed via the implement for the robotically-assisted procedure, and wherein detecting the event comprises: determining, based on the surgical plan, a step, of the one or more steps, that is associated with causing the force level to be applied to the implement, wherein the force threshold is based on the step.

10. The method of any of claims 7-9, wherein the surgical plan indicates a type of implement to be used for the robotically-assisted procedure, and wherein obtaining the operational information comprises: obtaining image data depicting the implement configured on the robot; and determining implement profile information based on the image data, wherein the event is based on a comparison of the type of implement to the implement profile information.

11. The method of any of claims 7-10, wherein the operational information indicates a quantity of cycles performed by the implement, and wherein detecting the event comprises: detecting the event based on the quantity of cycles satisfying a cycle threshold.

12. The method of any of claims 7-11, wherein the operational information indicates an amount of time that the implement has been used, and wherein detecting the event comprises: detecting the event based on the amount of time satisfying a time threshold.

13. The method of any of claims 7-12, wherein performing the one or more actions comprises at least one of: stopping an operation of the implement, modifying a linear velocity of the implement during the robotically-assisted procedure, causing the implement to be moved to an inspection position, performing a cleaning operation for a distal end of the implement, or performing a sharpening operation for the distal end of the implement.

14. An apparatus (210, 300), comprising: means for obtaining (320, 340, 360) operational information of an implement of a robot for a robotically-assisted procedure; means for detecting (320), based on the operational information and a surgical plan for the robotically-assisted procedure, an event that indicates that the implement is not suitable for the robotically-assisted procedure; and means for performing (320, 350, 360), based on the event, one or more actions associated with the implement.

15. The apparatus (210, 300) of claim 14, wherein the operational information includes an electrical current level being provided to the implement, and wherein the means for detecting the event comprise: means for detecting (320) the event based on a comparison of the electrical current level to an electrical current threshold.

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