Generating protocols for robotically-assisted procedures

Abstract

In some implementations, a device may obtain one or more outcome parameters for a robotically-assisted procedure that is associated with a robot. The device may generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure that includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants. The device may provide the protocol for display via a user interface. The device may obtain, via the user interface, an approval indication of the protocol. The device may transmit one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.

Description

GENERATING PROTOCOLS FOR ROBOTICALLY-ASSISTED PROCEDURESCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority from U.S. Provisional Patent Application Serial No. 63 / 662,208, filed 20 June 2024, the entire content of which is incorporated herein by reference.BACKGROUND

[0002] 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.

[0003] 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

[0004] Some implementations described herein relate to a device. The device may include one or more memories and one or more processors coupled to the one or more memories. The one or more processors may be configured to obtain input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, wherein the robotically-assisted procedure is associated with one or more anatomical elements. The one or more processors may be configured to generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocolincludes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure. The one or more processors may be configured to provide the protocol for display via a user interface. The one or more processors may be configured to obtain, via the user interface, an approval indication of the protocol. The one or more processors may be configured to transmit, to a system associated with the robot, one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.

[0005] Some implementations described herein relate to a method. The method may include obtaining, by a device, input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, wherein the robotically-assisted procedure is associated with one or more anatomical elements. The method may include generating, by the device and based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure. The method may include providing, by the device, the protocol for display via a user interface.

[0006] 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 input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, wherein the robotically-assisted procedure is associated with one or more anatomical elements. The set of instructions, when executed by one or more processors of the device, may cause the device to generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure. The set of instructions, when executed by one or more processors of the device, may cause the device to provide the protocol for display via a user interface. The set of instructions, when executed by one or more processors of the device, may cause the device to obtain, via the user interface, an approval indication of the protocol. The set of instructions, when executed by oneor more processors of the device, may cause the device to transmit one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For a better understanding of embodiments of the invention and to show how the same may be carried into effect, reference will now be made, purely by way of example, to the accompanying drawings in which like numerals designate corresponding elements or sections throughout. In the accompanying drawings:

[0008] Figs. 1A-1D are diagrams of an example implementation associated with generating protocols for robotically-assisted procedures.

[0009] Fig. 2 is a diagram of an example environment in which systems and / or methods described herein may be implemented.

[0010] Fig. 3 is a diagram of example components of a device associated with generating protocols for robotically-assisted procedures.

[0011] Fig. 4 is a flowchart of an example process associated with generating protocols for robotically-assisted procedures.

[0012] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.DETAILED DESCRIPTION

[0013] 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.

[0014] Some surgical procedures may be robotically-assisted procedures. In robotically- assisted procedures, a robotic system (e.g., that includes one or more robots, where each robot includes one or more robotic arms) may be used to enhance surgical precision and dexterity. Utilizing high-resolution imaging, real-time feedback mechanisms, and / or articulated robotic arms equipped with specialized instruments, surgeons may be enabled to navigate intricate anatomy with submillimeter accuracy, performing tasks such as vertebral fusion or discreplacement, among other examples. Through the integration of haptic feedback, computer vision, and / or machine learning algorithms, a robotic system may enable minimally invasive approaches, reduced patient trauma, and / or optimized surgical outcomes through precise instrument manipulation and anatomical visualization. In some examples, a robotically- assisted procedure may include material removal, such as bone removal or tissue removal, among other examples. As an example, a spinal decompression procedure may include removal of bone or tissue that is compressing one or more spinal nerves. As another example, a spinal fusion procedure may include the removal of one or more damaged or degenerated discs and the fusion of adjacent vertebrae (e.g., using bone grafts or implants). Other types of procedures may similarly include bone removal or tissue removal, among other examples.

[0015] The use of robots for robotically-assisted procedures increases the difficulty and / or complexity and reduces the accuracy and reliability of preoperative planning and intraoperative decision making for the robotically-assisted procedures. For example, the robots used for the robotically-assisted procedures may have complex robotic kinematics. A robotic arm may have many degrees of freedom and intricate joint articulation. The complex robotic kinematics increases the difficulty and / or complexity of precisely predicting the maneuverability of a robotic arm within a unique anatomical context of a patient, thereby reducing the accuracy and / or reliability of preoperative planning and intraoperative decision making. Further, the robots used for the robotically-assisted procedures may be associated with ultra-high-precision robotic instruments, which may increase the risk of inadvertent proximity or contact with sensitive structures of a patient, such as nerves or blood vessels (e.g., because the ultra-high- precision robotic instruments may have increased sensitivity to even slight movements or changes and / or reduced margins for error resulting in minor deviations or miscalculations in position, bringing the robotic instruments near or in contact with sensitive structures of the patient). The reduced accuracy and / or reliability of preoperative planning and intraoperative decision making may increase the risk of potential intraoperative complications caused by inadvertent proximity or contact with sensitive structures of the patient.

[0016] As another example, the utilization of coordinate systems for robotic control (e.g., that may not align with conventional human comprehension) in combination with the complex robotic kinematics may impede seamless understanding and / or collaboration between surgeons and robotic systems. The incompatibility between human-centric anatomical references and robot-based coordinate frames increases the complexity and / or difficulty of the interpretation of spatial relationships between a position or pose of a robot and / or a robotic arm and anatomical elements in the unique anatomical context of a patient. As a result, an accuracyand / or reliability of preoperative planning and / or intraoperative decision-making may be reduced because a surgeon may be unable to interpret the coordinate frames and / or navigation mechanism of the robot and / or robotic arm.

[0017] Further, some robotically-assisted procedures may include a combination of material removal actions (e.g., bone removal and / or tissue removal) and implant placement for one or more anatomical elements of the patient. As a result, there may be an interplay between various surgical parameters that is based on an anatomy of the patient, the capability and / or configuration of the robot, and / or a desired outcome or goal of the robotically-assisted procedure, among other examples. For example, a change in a parameter of an incision location or angle can impact a planned trajectory of one or more implants, requiring adjustments to maintain optimal placement. However, the adjustments may result in the robot (and / or the robotic arm(s)) being unable to successfully and / or safely perform one or more surgical actions. Because of the incompatibility between human-centric anatomical references and robot-based coordinate frames and / or the difficulty of the interpretation of spatial relationships between a position or pose of a robot and / or a robotic arm and anatomical elements in the unique anatomical context of the patient, such issues or problems may not be detected during preoperative planning. This may result in issues or challenges during the robotically-assisted procedure, which may be compounded by the challenges described herein associated with intraoperative decision making.

[0018] Additionally, the challenges described above may be increased because of the inherent variability of patient anatomies. For example, the effectiveness of robotic movements or actions may be based on individualized geometric configurations and properties of an anatomy of a given patient. This variability introduces complexity in preoperative planning and control for robotically-assisted procedures because generic (or template-based) robotic trajectories or manipulations may not universally accommodate diverse anatomical structures or pathologies of different patients. As a result, a surgeon may initiate a robotically-assisted procedure that is associated with preoperative planning that is inaccurate and / or unreliable. This may consume resources (e.g., computing resources, processing resources, and / or energy resources) associated with performing a robotically-assisted procedure that has reduced effectiveness and / or efficacy for a given patient. Additionally, this increases the risk of undesired or negative outcomes for the patient. Further, due to the challenges described above, intraoperative decision making by the surgeon may be degraded, further reducing the effectiveness and / or efficacy of the robotically-assisted procedure and / or increasing the risk of undesired or negative outcomes forthe patient of the robotically-assisted procedure, such as in connection with inaccurate and / or unreliable preoperative planning.

[0019] Some aspects described herein enable generating protocols for robotically-assisted procedures. For example, a planning device may generate a protocol (e.g., a surgical plan and / or a therapy plan) for a robotically-assisted procedure using a data-driven approach, such as by using surgical data (e.g., historical information of previously performed procedures, a profile of a surgeon or clinician, clinical information, and / or other surgical data), anatomical information of a patient (e.g., determined or extracted from medical imaging data of the patient), and / or configuration information of a robot associated with the robotically-assisted procedure, among other examples. In some aspects, the planning device may enable the performance of the protocol via transmitting one or more instructions to the robot (and / or a navigation system associated with the robot). The one or more instructions may enable or facilitate the robot performing one or more robotic actions in accordance with the protocol. Additionally, or alternatively, the planning device may enable the performance of the protocol via communicating with one or more other systems, such as an inventory management system (e.g., to confirm and / or ensure that one or more kits, implants, components, and / or surgical tools to be used during the robotically-assisted procedure are available for use), among other examples.

[0020] In some aspects, the planning device may obtain input information that indicates one or more outcome parameters for the robotically-assisted procedure. The one or more outcome parameters may indicate a goal or clinical outcome to be achieved via the robotically-assisted procedure. The planning device may determine (based on the one or more outcome parameters, anatomical information of a patient, and / or surgical data, among other examples) a protocol (e.g., a surgical plan) to be performed for the robotically-assisted procedure associated with one or more anatomical elements to accomplish the robotically-assisted procedure in accordance with the one or more outcome parameters.

[0021] In some aspects, the planning device may determine one or more surgical actions (e.g., cuts, incisions, bores, burrs, or other surgical actions) to be performed to one or more anatomical elements during the performance of the robotically-assisted procedure. Additionally, or alternatively, the planning device may determine one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure. A surgical fixation parameter may indicate information associated with the placement and / or installation of an implant, such as a screw, a rod, a plate, a cage, an anchor, a hook, a bone graft, and / or another type of implant. For example, a surgical fixation parameter may include a size, a location, an orientation, an implant type, a trajectory (e.g., to be used by a surgeon and / orimplement attached to a robotic arm to place the implant), an entry point, a depth (e.g., at which the implant is to be placed or installed), and / or an alignment of one or more implants, among other examples. The planning device may determine the one or more surgical fixation parameters based on the one or more surgical actions and procedure- specific information (e.g., the surgical data, the anatomical information of the patient, and / or the configuration information of the robot).

[0022] In some aspects, the planning device may provide, for display, the protocol determined by the planning device. For example, the protocol may be displayed via a user interface. The planning device may obtain, via one or more user inputs to the user interface, one or more modifications to the one or more surgical actions and / or the one or more surgical fixation parameters. The planning device may determine one or more modified surgical actions and / or one or more modified surgical fixation parameters that are based on the one or more modifications. As an example, the planning device may determine a modified surgical fixation parameter based on a modified surgical action that is indicated by a user input. For example, the one or more modifications may include a modified incision (e.g., a modified size and / or location of an incision). The planning device may determine a modified trajectory for an implant that is to be placed (e.g., via a robotic arm) via the modified incision.

[0023] As a result, preoperative planning for robotically-assisted procedures may be improved. For example, by enabling the planning device to determine the protocol using the anatomical information of the patient, the surgical data, the one or more outcome parameters, and / or the configuration information of the robot, the planning device may generate one or more steps for delivery of a therapeutic plan that is specific to a given patient and / or a current configuration of the robot. This enables the planning device to generate or determine planned surgical actions and / or surgical fixation parameters in relation to anatomical information of the patient, thereby improving the accuracy and / or reliability of preoperative planning for robotically-assisted procedures. In some aspects, by using the one or more outcome parameters to generate the protocol, the planning device may improve a surgical plan (e.g., may optimize the one or more planned surgical actions) in accordance with a goal or clinical outcome desired for the robotically-assisted procedure. This enables more accurate and / or reliable surgical plans for robotically-assisted procedures, thereby reducing the likelihood that a robotically-assisted procedure is initiated in which the robotically-assisted procedure cannot be successfully performed (e.g., because of patient anatomy or other factors) and / or that will result in unintended or negative outcomes for the patient.

[0024] Additionally, by determining the one or more surgical fixation parameters for one or more implants to be placed during the robotically-assisted procedure based on one or more surgical actions to be performed during the robotically-assisted procedure, the anatomical information, the configuration information of the robot, and / or the one or more outcome parameters, the planning device may improve the determination of how, where, and / or when an implant is to be placed for an anatomical element of the patient. This may conserve resources (e.g., processing resources, computing resources, memory resources, and / or power resources) that would have otherwise been associated with performing the robotically-assisted procedure, such as by a robotic system, a navigation system, one or more imaging devices, and / or other devices used as part of the robotically-assisted procedure. Further, this reduces the likelihood of unintended or negative outcomes for the patient of the robotically-assisted procedure that may have otherwise occurred with less accurate and / or less reliable preoperative planning. Additionally, by determining the protocol based on inventory information (e.g., obtained via an inventory management system), the planning device may conserve resources (e.g., processing resources, computing resources, memory resources, and / or power resources) that would have otherwise been associated with initiating and / or planning a robotically-assisted procedure that uses kits, materials, components, and / or surgical tools that are unavailable in the inventory (e.g., of a hospital or clinic).

[0025] In some aspects, by providing the protocol for display, the planning device may provide more insightful and / or useful information for a surgeon during preoperative planning for robotically-assisted procedures. For example, providing the protocol for display may enable a surgeon to view one or more surgical actions for a robotically-assisted procedure in context of how, where, and / or when one or more implants are to be placed for one or more anatomical elements of the patient. This enables the surgeon to quickly and easily identify any modifications to be made to the protocol (e.g., to the one or more surgical actions and / or the one or more surgical fixation parameters) and / or to approve the protocol for the robotically- assisted procedure. This conserves resources (e.g., processing resources, computing resources, memory resources, and / or power resources) and / or time that would have otherwise been associated with the surgeon using one or more devices or systems to analyze multiple images (e.g., two-dimensional images), review historical information of previously performed procedures, review other anatomical information of the patient, determine the protocol for the robotically-assisted procedure, and / or estimate or predict whether the protocol is achievable or appropriate for a given patient, among other examples. Additionally, by providing the protocol for display, the planning device may enable a surgeon or other surgical team member to makemore accurate and / or reliable determinations as to whether the protocol (e.g., a surgical plan) for a robotically-assisted procedure is achievable or appropriate for a given patient. This reduces the likelihood of unintended or negative outcomes for the patient of the robotically- assisted procedure that may have otherwise occurred with less accurate and / or reliable preoperative planning.

[0026] Figs. 1A-1D are diagrams of an example implementation 100 associated with generating protocols for robotically-assisted procedures. As shown in Figs. 1A-1D, example implementation 100 includes a planning device, a client device, an image database, a robot (e.g., that includes one or more robotic arms), a display device, and one or more systems (e.g., a navigation system of the robot, an inventory management system, and / or a personnel management system). These devices are described in more detail below in connection with Fig. 2 and Fig. 3.

[0027] As shown in Fig. 1A, and by reference number 105, the planning device may obtain input information for a procedure (e.g., a surgical procedure or clinical procedure), such as a robotically-assisted procedure. In some aspects, the planning device may obtain the input information via a client device and / or via an input to the display device, among other examples. The planning device may obtain the input information via a system (e.g., a client device, the image database, the robot, and / or another system) and / or via a user input. In some aspects, the robotically-assisted procedure may be a material removal procedure. A material removal procedure may be a procedure in which bone, tissue, or other biological material is removed from one or more anatomical elements of a patient. In some aspects, the robotically-assisted procedure may include one or more operations or steps performed via the robot. 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 robotic arms) is to perform one or more operations during the robotically-assisted procedure. The procedure may include anatomical material removal. For example, the procedure may include bone removal, tissue removal, or another type of anatomical material removal. In some examples, the procedure may be a spinal procedure (e.g., a spinal alignment, installing implants, osteotomy, fusion, and / or any other spinal procedure).

[0028] In some aspects, the input information may include a surgical plan for the procedure. The surgical plan may include one or more steps for performing the procedure and / or one or more expected thresholds for monitoring one or more parameters during the procedure, among other examples. For example, the surgical plan may indicate one or more planned operations for the procedure, such as one or more actions or clinical outcomes to be achieved for a patientvia the procedure. In some aspects, the surgical plan may indicate one or more planned operations, such as 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 an implement or surgical tool configured for a robotic arm) and / or to be performed by a surgeon.

[0029] The planning device may obtain the input information via a user input. For example, a user (e.g., a surgeon or another user) may input the input information to the planning device for protocol or planned surgical actions (e.g., planned incisions or cuts for the procedure), as described in more detail elsewhere herein. For example, the user may provide one or more user inputs (e.g., to a user interface, such as the user interface described in more detail elsewhere herein) indicating the input information. The one or more user inputs may indicate one or more outcome parameters (e.g., as described in more detail elsewhere herein), a type or category of the robotically-assisted procedure, one or more anatomical elements associated with the robotically-assisted procedure, and / or one or more surgical actions to be performed for the robotically-assisted procedure, among other examples. In some aspects, a user input may include a touch input (e.g., to the user interface), a gesture input, a voice input, an eye tracking input, and / or another input. For example, a user input may be provided via an input component of the planning device or the display device, such as a mouse, a keyboard, a touchscreen, or another input component.

[0030] In some aspects, the input information may indicate a type or category of procedure (e.g., a type or category of the procedure) to be performed. For example, the input information 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 input information may indicate one or more anatomical elements associated with the robotically-assisted procedure. For example, the input information may indicate which anatomical elements are to be operated on, interacted with, or are otherwise involved with the 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 procedure.

[0031] In some aspects, the planning device may determine the one or more planned operations (e.g., one or more surgical actions) 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 planning device may determine or obtain a template orgeneric plan that is configured or designed to accomplish the type or category of procedure and for the one or more anatomical elements.

[0032] In some aspects, the template or generic plan may be associated with a surgeon or clinician who will be performing the procedure. For example, the template or generic 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., the 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 may obtain the template or generic plan from a profile of the surgeon or the clinician (e.g., a clinician profile). For example, an input to the planning device may include an identifier of the surgeon or the clinician (e.g., a name, account identifier, or other identifier). The planning device may obtain the profile for the surgeon or the clinician using the identifier. The planning device may obtain a surgical plan and / or other input information from, or based on, the profile for the surgeon or the clinician.

[0033] In some aspects, the input information may include or indicate one or more outcome parameters. An outcome parameter may indicate a goal or clinical outcome for the robotically- assisted procedure. In some example, an outcome parameter may be a parameter to be optimized and / or considered by the planning device when generating a protocol (e.g., a surgical plan) for the robotically-assisted procedure, as described in more detail elsewhere herein. For example, an outcome parameter may include a quantity of surgical actions (e.g., a quantity of cuts, incisions, bores, burrs, or other surgical actions), an amount of time (e.g., a duration) to complete the robotically-assisted procedure, a procedure- specific parameter (e.g., a parameter that is specific to the condition being treated by the robotically-assisted procedure), a percentage of decompression (e.g., for a decompression procedure), a neurological improvement, a pain relief improvement, a mobility and / or functionality improvement, a stability improvement (e.g., to stabilize an anatomical element), and / or a level of risk, among other examples. In some aspects, an outcome parameter may include an approach zone for the robot of the robotically- assisted procedure, as described in more detail elsewhere herein. In some aspects, the planning device may determine the approach zone (e.g., an approach corridor) based on the one or more outcome parameters and / or other information, as described in more detail elsewhere herein.

[0034] For example, if an outcome parameter includes the percentage of decompression, then the planning device may generate a protocol for the robotically-assisted procedure that improves (e.g., optimizes or maximizes) the percentage of decompression achieved via the protocol for a given patient. As another example, if an outcome parameter is a neurological improvement, then the planning device may generate a protocol for the robotically-assistedprocedure that improves (e.g., optimizes or maximizes) the neurological function of one or more anatomical elements of the given patient. The planning device may use the one or more outcome parameters as a guide for generating surgical actions and / or surgical fixation parameters to achieve or accomplish the robotically-assisted procedure and / or to determine location information (e.g., where to place a surgical action on an anatomical element of the patient, how large to make a surgical action, and / or a path or trajectory of a surgical action or placement of an implant). This enables the planning device to generate protocols that are customized or tailored to the goal and / or clinical outcome for a robotically-assisted procedure that is desired by a surgeon. This may enable the planning device to generate more accurate and / or reliable protocols (e.g., surgical plans) for a robotically-assisted procedure (e.g., in context of what is expected or intended by a surgeon), thereby conserving resources (e.g., processing resources, computing resources, memory resources, and / or power resources) that would have otherwise been associated with a surgeon generating the protocol and / or making multiple modifications to the protocol, among other examples.

[0035] In some aspects, the input information may include one or more constraints for the robotically-assisted procedure. The one or more constraints may be included in the one or more outcome parameters. For example, the one or more constraints may indicate a target or parameter that is to be met by the protocol determined by the planning device. For example, a constraint may be a fixed variable for a protocol determination by the planning device. The planning device may determine a protocol that includes one or more fixed variables (e.g., defined or otherwise fixed by the one or more constraints) and one or more optimized variables (e.g., that are optimized based on the anatomical information of the patient, the one or more outcome parameters, and / or the configuration information of the robot). The one or more constraints may include one or more surgical action locations (e.g., in relation to one or more anatomical elements), an approach for the robotically-assisted procedure (e.g., a midline incision, a posterior approach, an anterior approach, a lateral approach, or another type of approach), a depth of one or more surgical actions, a type of implant to be placed or installed during the robotically-assisted procedure (e.g., a pedicle fill or another type of implant), a trajectory or path of one or more surgical actions (e.g., a tissue or bone removal trajectory), and / or a delivery type of the robotically-assisted procedure (e.g., minimally invasive or open surgery), among other examples.

[0036] The input information may include surgical data. The surgical data may include information associated with the robotically-assisted procedure. For example, the surgical data may include historical data for previously performed procedures (e.g., by the surgeon orclinician who will be performing the robotically-assisted procedure and / or by other surgeons or clinicians). In some aspects, the planning device may obtain the surgical data via the profile (e.g., a clinician profile) of the surgeon or clinician who will be performing the robotically- assisted procedure. For example, the surgical data may include historical information indicating previous experiences of the surgeon associated with previously performed procedures. The historical information may indicate anatomical results of one or more historical procedures. An anatomical result may indicate whether a historical procedure was successful, whether any complications occurred, a functional outcome (e.g., a range of motion, pain score, or other metric), and / or a cosmetic outcome, among other examples. The historical information may be specific to a surgeon (e.g., who will be performing the robotically-assisted procedure).

[0037] In some aspects, the surgical data may include research information. The research information may include information obtained from scientific literature and / or research literature, such as one or more case studies, one or more clinical studies, one or more publications (e.g., one or more peer-reviewed publications), one or more academic journal publications, one or more empirical studies, one or more case reports, one or more clinical trials, and / or one or more review articles, among other examples. For example, the research information may include anatomical results of one or more historical procedures in a similar manner as described above.

[0038] In some aspects, the planning device may provide the input information as an input to a model that is associated with (e.g., configured to or trained to) generate protocols for robotically-assisted procedures, as described in more detail elsewhere herein (such as in connection with Fig. IB and reference number 120). For example, the input information may be provided as reinforcement learning data for the model. In some aspects, the planning device may provide the surgical data as the reinforcement learning data for the model. Additionally, or alternatively, the planning device may provide the input information (e.g., the surgical data) as an input to the model (e.g., along with anatomical information of the patient, configuration information of the robot, and / or other information described herein). This may enable the model to be updated (e.g., in real-time and / or in a static manner) to a specific patient, a specific surgeon, and / or a specific procedure being performed, thereby improving the accuracy and / or reliability of the output of the model. For example, by the planning device providing the surgical data as reinforcement learning data for the model, the model may have a better understanding of an environment of the robotically-assisted procedure and make improved determinations regarding consequences of actions performed for the robotically-assistedprocedure. Additionally, by the planning device providing the surgical data as reinforcement learning data for the model, a convergence time for the model may be reduced. Additionally, by the planning device providing the surgical data as reinforcement learning data for the model, a generalization performance of the model may be improved, enabling the model to make accurate and / or reliable protocol determinations in scenarios that were not included in training data for the model.

[0039] In some aspects, as shown by reference number 110, the planning device may obtain configuration information associated with the robot. The planning device may obtain the configuration information from the robot and / or from another source, such as a database, a server device associated with the robot, and / or the navigation system, among other examples. The configuration information may indicate one or more configurations, capabilities, and / or other information for the robot and / or for the one or more robotic arms. For example, the configuration information may indicate one or more parameters that define one or more capabilities of the robot, one or more operational characteristics of the robot, and / or one or more spatial constrains of robot, among other examples. For example, the configuration information may indicate a range of motion (e.g., of one or more robotic arms), a precision of movement supported by the robot, and / or a compatibility with one or more surgical tools or implements, among other examples.

[0040] In some aspects, the configuration information may include configurations for respective robotic arms of the one or more robotic arms. For example, the configuration information may include a quantity of the one or more robotic arms, a kinematic structure of the one or more robotic arms, and / or one or more degrees of freedom of the one or more robotic arms, among other examples. In some aspects, the configuration information may indicate a spatial boundary in which the robot (and / or the one or more robotic arms) can safely operate. The spatial boundary may be referred to herein as a safety volume (e.g., indicating a volume of space in which the robot can safely operate). The safety volume may indicate an area in which the one or more robotic arms can safely move (e.g., an area that is reachable by the one or more robotic arms and that does not cause the robot and / or the one or more robotic arms to contact a human or another device). In some aspects, the spatial boundary may define or indicate a reachable workspace of the one or more robotic arms and / or any constraints that may limit a movement and / or availability of the one or more robotic arms, such as for given anatomical regions or elements.

[0041] In some aspects, the configuration information may include location information of the robot. The location information may indicate a position of the robot within a surgical fieldor operating room. For example, the location information may indicate a position of the robot and / or the one or more robotic arms relative to other devices, components, and / or objects in the surgical field. For example, the location information may indicate a position of the robot and / or the one or more robotic arms relative to a bed or platform where the patient is expected to be located (e.g., a bed of the patient), one or more imaging devices, the navigation system, and / or expected positions of a surgical team (e.g., one or more surgeons, doctors, nurses, clinicians, or other members of the surgical team).

[0042] The location information may be indicated via one or more coordinates and / or reference points. For example, the location information may be coordinates and / or orientations relative to a fixed reference point in the surgical field. This may enable the positioning device to determine a position and / or alignment of the robot, the robotic arm(s), and / or other objects within the surgical field.

[0043] As shown by reference number 115, the planning device may obtain medical imaging data of a patient. The patient may be associated with the robotically-assisted procedure. In some aspects, the planning device may obtain the medical imaging data via the image database (e.g., as shown in Fig. 1A). Additionally, or alternatively, the planning device may obtain the medical imaging data via one or more imaging devices. The medical imaging 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) scanner-based data, 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 medical imaging 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 medical imaging data may include two-dimensional (2D) image data, three-dimensional (3D) image data, and / or fourdimensional (4D) (e.g., 3D + time) image data.

[0044] For example, the input information (e.g., received by the planning device as described in connection with reference number 105) may identify the patient. For example, an input to the planning device may include an identifier (e.g., a name, a patient identifier, or another identifier) of the patient. The planning device may use the identifier to obtain the medical imaging data of the patient. For example, the planning device may perform a lookup operation via the image database using the identifier of the patient. In some other aspects, the medicalimaging data may be provided to the planning device as an input (e.g., with, or in connection with, the surgical plan). The medical imaging data may enable the planning device to provide a patient-specific protocol and / or modeling of the protocol for the robotically-assisted procedure, as described in more detail elsewhere herein.

[0045] In some aspects, the planning device may analyze the medical imaging data to obtain anatomical information of the patient. For example, the planning device may determine, using medical imaging data of a patient of the robotically-assisted procedure, anatomical information of the patient. The anatomical information may include information of one or more anatomical elements associated with the robotically-assisted procedure. In some aspects, the planning device may generate the anatomical information using the medical imaging data. In some aspects, the planning device may extract the anatomical information from the medical imaging data.

[0046] In some aspects, the planning device may use a machine learning-based technique to analyze the medical imaging data. For example, the planning device may determine, generate, and / or obtain the anatomical information using a computer vision model or another model trained or configured to identify, determine, segment, or otherwise output anatomical information using medical imaging data. For example, the planning device may perform segmentation to partition medical imaging data into distinct regions corresponding to different anatomical elements (e.g., anatomical structures or tissue types). The segmentation may be based on intensity, texture, or shape characteristics, allowing for the planning device to identify organs, bones, blood vessels, and / or other relevant anatomical elements from the medical imaging data.

[0047] In some aspects, the planning device may perform anatomical localization to identify or determine locations of one or more anatomical elements in the anatomy of the patient. For example, the planning device may align the medical imaging data with preoperative or intraoperative reference frames. The planning device may detect and / or match corresponding anatomical features or markers between different image modalities or across sequential imaging time points, enabling accurate spatial alignment and combination of multiple imaging datasets. Additionally, the planning device may extract quantitative anatomical measurements and geometric parameters from the medical imaging data. The anatomical measurements and geometric parameters may provide insights into anatomical morphology, dimensions, and / or spatial relationships of one or more anatomical elements of the patient. The planning device may perform segmentation and / or identification of landmarks included in the one or more anatomical elements using one or more image processing operations (e.g., thresholding, activecontouring, manual tracing, and / or geometric heuristics), and / or machine learning or deep learning models, among other examples.

[0048] For example, the anatomical information may include a size or volume of area occupied by the patient within the surgical field. 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 input information. 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).

[0049] 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, 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, among other examples.

[0050] 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.

[0051] In some aspects, the planning device may determine or obtain at least a portion of the anatomical information from one or more other sources (e.g., other than the medical imaging data). For example, the planning device may obtain an input indicating at least a portion of the anatomical information, such as a body mass index, a height, a gender, and / or a weight, among other examples, of the patient. The planning device may determine at least a portion of the anatomical information based on, using, or otherwise associated with information of the patient that is input to the planning device.

[0052] As shown in Fig. IB, and by reference number 120, the planning device may generate or determine a protocol for the procedure (e.g., for the robotically-assisted procedure). For example, the planning device may determine one or more surgical actions to be performed during the robotically-assisted procedure (e.g., to accomplish the robotically-assisted procedure) and / or one or more surgical fixation parameters for one or more implants to be placed or installed during the robotically-assisted procedure. As described elsewhere herein, a surgical action may include a cut, an incision, a bore, a burr, a material removal, and / or another type of surgical action. An implant may include a screw, a rod, a plate, a cage, an anchor, a hook, a bone graft, and / or another type of implant. The protocol may be an ordered series of steps, operations, and / or actions configured to accomplish and / or complete the robotically- assisted procedure.

[0053] As shown in Fig. IB, the protocol may include one or more surgical actions and / or implant information (e.g., for one or more implants to be placed or installed during the robotically-assisted procedure). For example, the planning device may determine the one or more surgical actions, such as one or more cuts, incisions, bores, burrs, and / or material removals, among other examples. The planning device may determine the one or more surgical actions based on the anatomical information of the patient, the input information (e.g., the surgical data, the one or more outcome parameters, and / or the one or more constraints), and / or the configuration information of the robot, as explained in more detail elsewhere herein. For example, the planning device may determine a size, location (e.g., in relation to one or more anatomical elements of the patient), path, trajectory, and / or type, among other examples, of the one or more surgical actions.

[0054] The planning device may determine the implant information based on the anatomical information of the patient, the input information (e.g., the surgical data, the one or more outcome parameters, and / or the one or more constraints), and / or the configuration information of the robot, as explained in more detail elsewhere herein. Additionally, or alternatively, the planning device may determine the implant information based on the one or more surgicalactions. For example, a location, path, and / or trajectory of a placement of an implant may be based on a location and / or size of an incision included in the one or more surgical actions. The planning device may determine one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure. A surgical fixation parameter may indicate information associated with the placement and / or installation of an implant. For example, a surgical fixation parameter may include an implant size, a location, an orientation, an implant type (e.g., a type of implant), a placement trajectory (e.g., to be used by a surgeon and / or implement attached to a robotic arm to place the implant), an implant entry point, a placement depth (e.g., at which the implant is to be placed or installed), and / or a placement alignment of one or more implants, among other examples.

[0055] The planning device may determine the one or more surgical fixation parameters based on the input information (e.g., the surgical data, the one or more outcome parameters, and / or the one or more constraints), and / or the configuration information of the robot, among other examples. For example, the planning device may determine the one or more surgical fixation parameters based on one or more anatomical element locations indicated by the anatomical information. In some aspects, the anatomical information may indicate a neuromuscular junction position and / or a neural-central junction position (e.g., a position where one or more nerves and other anatomical elements (e.g., bone and / or tissue) of the patient meet). The planning device may determine the one or more surgical fixation parameters based on the neuromuscular junction position and / or a neural-central junction position, such as to avoid impinging on or damaging one or more nerves of the patient via the placement of the implant (e.g., by determining the one or more surgical fixation parameters such that a distance between an implement or surgical tool and / or the implant itself, and the neuromuscular junction position and / or a neural-central junction position, satisfies a threshold during the placement of the implant as part of the robotically-assisted procedure).

[0056] Additionally, or alternatively, the planning device may determine the one or more surgical fixation parameters based on one or more performance parameters of an implant. The one or more performance parameters may be based on the implant and the anatomical information of the patient. For example, a performance parameter may include a pullout force parameter (e.g., indicating an amount of force to remove or dislodge the implant), such as a screw pullout force in an example where the implant is a screw. The pullout force parameter may be based on anatomical information of the patient (e.g., bone density and / or quality of a bone in which the implant is to be placed, an age of the patient, presence of osteoporosis or other conditions impacting bone density, or other anatomical information), design of theimplant (e.g., size, thread pitch, diameter, length, and / or surface texture), and / or one or more surgical fixation parameters for the implant (e.g., an angle of insertion, a depth of placement, and / or an amount of torque applied during placement). The planning device may determine the one or more surgical fixation parameters for the implant such that a pullout force for the implant (e.g., in the context of the anatomical information of the patient) satisfies a force threshold.

[0057] In some aspects, the planning device may determine the protocol based on inventory availability information. For example, the planning device may communicate with the inventory management system to obtain the inventory availability information. The inventory availability information may indicate that one or more kits, components, devices, implants, surgical tools, implements, and / or other components or devices are available in an inventory (e.g., of a hospital or clinic in which the robotically-assisted procedure is to be performed). The planning device may determine, based on the inventory availability information, whether one or more components or devices to be used during the robotically-assisted procedure (e.g., as indicated by the protocol) are available in the inventory. If the inventory availability information indicates that a device or component to be used during the robotically-assisted procedure (e.g., as indicated by the protocol) is not available in the inventory, then the planning device may modify or update the protocol. For example, the planning device may determine the protocol, in a similar manner as described elsewhere herein, to include one or more surgical actions, one or more implants, and / or one or more surgical fixation parameters that use one or more devices or components that are indicated as being available by the inventory availability information. For example, the planning device may generate or determine a protocol that includes one or more implants being placed based on the inventory availability information indicating that the one or more implants are available in the inventory.

[0058] The planning device may determine the protocol based on the anatomical information, the input information (e.g., the one or more outcome parameters and / or one or more constraints), surgical data, and / or the configuration information of the robot, among other examples. For example, the input information may indicate a surgical plan or a goal for the robotically-assisted procedure. The planning device may analyze the anatomical information of the patient, the surgical data, the configuration information, and / or the one or more outcome parameters to determine the one or more surgical actions that accomplish the robotically- assisted procedure for the specific anatomical information of the patient and in accordance with the one or more outcome parameters. Additionally, or alternatively, the planning device may determine one or more surgical fixation parameters for one or more implants (e.g., to define where, how, and / or when an implant is to be placed or installed during the robotically-assistedprocedure) based on the one or more surgical actions, the anatomical information of the patient, the surgical data, the configuration information, and / or the one or more outcome parameters, among other examples.

[0059] The planning device may determine the protocol using a model, as described elsewhere herein. The model may include a heuristics-based model (e.g., an algorithmic approach that utilizes heuristics) that uses one or more defined or configured rules to model, simulate, and / or otherwise obtain information associated with surgical actions performed via one or more anatomical elements of the patient. Additionally, or alternatively, the model may include a physics-based model that is configured to simulate the behavior of objects in accordance with the laws of physics. Additionally, or alternatively, the model may include an agent-based model that is configured to model or simulate autonomous agents that follow a set of rules to interact with an environment (e.g., the one or more or anatomical elements) in accordance with one or more defined behaviors (e.g., where one or more agents may include a surgeon, a clinician, and / or a robotic arm). Additionally, or alternatively, the model may include a probabilistic model that is configured to use probabilistic techniques, such as stochastic techniques, to represent uncertainty and variability.

[0060] Additionally, or alternatively, the model may include one or more machine learning models or artificial intelligence models that are trained to simulate and / or determine one or more surgical actions for the robotically-assisted procedure. For example, the one or more machine learning models or artificial intelligence models may be trained or configured to perform surgical action planning or determination using anatomical information, one or more outcome parameters, and / or other information described herein. The one or more machine learning models or artificial intelligence models may include one or more deep learning models configured to represent complex spatial relationships from information, such as the anatomical information, the configuration information (e.g., of the robot), and / or the medical imaging data, among other examples. For example, the planning device may provide the anatomical information, the medical imaging data, the input information, the one or more outcome parameters, and / or the configuration information, among other examples, as input to the model. The model may output the protocol that includes the one or more surgical actions and / or one or more surgical fixation parameters (e.g., that are based on, or optimized in accordance with, the one or more outcome parameters).

[0061] In some aspects, the planning device may determine a template protocol based on the type of the robotically-assisted procedure (e.g., indicated by the input information). The template protocol may indicate one or more template surgical actions and / or template surgicalfixation parameters to accomplish the robotically-assisted procedure. In some aspects, the template protocol may be associated with a surgeon or clinician who will be performing the procedure. For example, the template protocol may be specific to the surgeon or the clinician, as described elsewhere herein. The planning device may determine the protocol based on the template protocol. For example, the protocol may include one or more modifications to the template protocol. In some aspects, the one or more modifications may be based on at least one of the anatomical information, the configuration information of the robot, the one or more constraints, and / or the one or more outcome parameters.

[0062] For example, the planning device may determine that a template surgical action or template surgical fixation parameter is not appropriate for the patient based on the anatomical information. For example, the planning device may determine a location and / or size of an anatomical element and / or a sensitive structure of the patient. The planning device may determine that the template surgical action will cause an implement or surgical tool and / or an implant to contact and / or come too close to an anatomical element and / or sensitive structure that is not a target of the robotically-assisted procedure. For example, the planning device may determine that a distance between the implement or surgical tool and the anatomical element and / or sensitive structure during the template surgical action satisfies (e.g., is less than or equal to) a proximity threshold. The planning device may determine that the template surgical action or template surgical fixation parameter is not appropriate for the patient based on the distance satisfying the proximity threshold. In such examples, the planning device may determine the protocol by modifying the template surgical action or the template surgical fixation parameter such that the distance between the implement or surgical tool and the anatomical element and / or sensitive structure during the modified surgical action does not satisfy (e.g., is greater than or equal to) the proximity threshold. The modified surgical action may be included in the protocol (e.g., rather than the template surgical action).

[0063] In some aspects, the planning device may determine the protocol based on a profile of a clinician or surgeon associated with the robotically-assisted procedure. For example, the profile may indicate historical information for one or more previously performed procedures. The planning device may determine one or more techniques, approaches, and / or surgical plans, among other examples, that are preferred by the clinician or surgeon. The planning device may determine the protocol such that the protocol includes the one or more techniques, approaches, and / or surgical plans, where applicable.

[0064] In some aspects, the planning device may determine the one or more surgical actions based on the input information. For example, the input information may include informationassociated with the one or more surgical actions (e.g., indicating the one or more surgical actions or identifying a type of surgical action). Additionally, or alternatively, the planning device may determine the one or more surgical actions based on the anatomical information, the one or more outcome parameters, and the one or more constraints. For example, the planning device may automatically calculate a patient-specific plan for the robotically-assisted procedure, based on the unique anatomy of the patient, that is based on the medical imaging data, one or more patient characteristics (e.g., age, body mass index (BMI), or other characteristics), procedure type or approach (e.g., open or minimally invasive), anticipated implant sizing, and / or desired outcomes (e.g., fusion or other desired outcomes of the robotically-assisted procedure), among other examples.

[0065] The planning device may determine the protocol based on one or more constraints indicated by the anatomical information (e.g., in addition to, or instead of, the one or more constraints indicated by the input information), such as disease information associated with the patient that may cause certain techniques and / or approaches to not be suitable for the patient. A constraint indicated by the anatomical information may be referred to as an anatomical constraint. An anatomical constraint may include a therapy type, a delivery type, one or more treatable anatomical elements, and / or one or more biological material removal parameters, among other examples. For example, the one or more constraints may cause a therapy type (e.g., fusion, osteotomy, discectomy, laminectomy, disc replacement, or other therapy types), a delivery type or approach (e.g., open or minimally invasive), a targeted stenosis reduction goal, and / or an anatomy to be treated, among other examples, to be constrained and / or not available for the robotically-assisted procedure. The one or more constraints may be based on anatomical element locations of the patient, sensitive structure locations of the patient, previous procedures undergone by the patient, and / or other information included in the anatomical information. The planning device may determine the protocol in accordance with the one or more constraints of the anatomical information specific to the patient.

[0066] In some aspects, the planning device may identify, based on the input information, an anatomical element (or a portion of an anatomical element) to be removed as part of the robotically-assisted procedure. The planning device may determine, based on the anatomical information and the one or more outcome parameters, one or more surgical actions that will enable a surgeon and / or the robot to remove the anatomical element (or the portion of the anatomical element). For example, the one or more surgical actions may be determined in context of the anatomy of the patient and the outcome or goals of the surgeon or clinician. For example, the planning device may determine the one or more surgical actions to optimize (e.g.,improve (e.g., increase or decrease), maximize, or minimize, depending on the parameter and / or context) the one or more outcome parameters while still accomplishing or completing the robotically-assisted procedure (e.g., while still enabling the surgeon and / or robot to remove the anatomical element (or the portion of the anatomical element) by performing the one or more surgical actions).

[0067] In some aspects, the planning device may determine the protocol based on historical information associated with the surgical plan. For example, the planning device may obtain the historical information (e.g., from one or more databases or other devices). In some aspects, the historical information may be included in a profile (e.g., the clinician profile) of the surgeon or clinician who will be performing the robotically-assisted procedure. The historical information may indicate anatomical results of one or more historical procedures. An anatomical result may indicate whether a historical procedure was successful, whether any complications occurred, a functional outcome (e.g., a range of motion, pain score, or other metric), and / or a cosmetic outcome, among other examples. The historical information may be specific to a surgeon or clinician. For example, the planning device may obtain the historical information from a profile of the surgeon who is going to perform the robotically-assisted procedure.

[0068] The planning device may determine the protocol based on the historical information, such as by setting values of one or more thresholds or values used to evaluate one or more rules based on the historical information. For example, if the historical information indicates that the surgical plan has a historically low success rate and / or a high rate of complications or issues, then the planning device may set values of one or more thresholds or values used to evaluate one or more rules to a more conservative level (e.g., by setting the value(s) higher or lower depending on the context) to ensure that the determination of the protocol takes into account the relatively higher risk associated with the robotically-assisted procedure. As an example, a more conservative value in the context of a distance threshold for evaluating a proximity to a sensitive structure may be a higher value (e.g., to cause the threshold to be satisfied by larger distances), thereby causing the planning device to determine a location of a surgical action further from the sensitive structure.

[0069] As another example, if the historical information indicates that the surgeon has little or no experience performing the robotically-assisted procedure (e.g., if the quantity of previously performed procedures by the surgeon for the robotically-assisted procedure is less than or equal to an experience threshold), then the planning device may set values of one or more thresholds or values used to evaluate one or more rules to a more conservative level (e.g., by setting the value(s) higher or lower depending on the context) to ensure that thedetermination of the protocol takes into account the relative inexperience of the surgeon for this robotically-assisted procedure. As another example, if the historical information indicates that the surgeon has successful experience performing the robotically-assisted procedure (e.g., if the quantity of previously performed procedures that were successful as performed by the surgeon for the robotically-assisted procedure is greater than or equal to an experience threshold), then the planning device may set values of one or more thresholds or values used to evaluate one or more rules to a more aggressive level (e.g., by setting the value(s) higher or lower depending on the context) to ensure that the determination of the protocol takes into account the experience of the surgeon for this surgical plan. As an example, a more aggressive value in the context of a distance threshold for evaluating a proximity to a sensitive structure may be a lower value (e.g., to cause the threshold to be satisfied by smaller distances), such that the planning device may determine a location of a surgical action to be closer to a sensitive structure to improve another outcome parameter for the robotically-assisted procedure.

[0070] In some aspects, the planning device may determine the protocol based on configuration information of the robot. For example, as described elsewhere herein, the configuration information may indicate a safety volume in which the robot (and / or the one or more robotic arms) can safely operate or move. The planning device may modify the safety volume based on the anatomical information of the patient. For example, the area or volume in which the robot (and / or the one or more robotic arms) can safely operate or move may be based at least in part on the patient-specific anatomy. For example, one or more anatomical elements of the patient (e.g., that are not to be contacted, cut, or otherwise interacted with during the robotically-assisted procedure) may extend into the safety volume indicated by the configuration information. The planning device may modify the safety volume to a modified safety volume that does not include the one or anatomical elements of the patient (e.g., that are not to be contacted, cut, or otherwise interacted with during the robotically-assisted procedure). Additionally, or alternatively, the planning device may modify the safety volume (e.g., to the modified safety volume) based on, or using, location information of other objects in the surgical field, such as a surgical table or platform, one or more members of the surgical team, and / or other objects or devices. The planning device may define a boundary constraint for the determining the protocol using the modified safety volume. For example, the planning device may determine the protocol such that the robot and / or the robotic arms are expected to remain within the modified safety volume during the performance of one or more surgical actions.

[0071] For example, the planning device may determine an approach zone (e.g., an approach corridor for the robot (e.g., for a robotic arm)) associated with performing the one or moresurgical actions and / or placing one or more implants in accordance with the one or more surgical fixation parameters. The approach zone may be a volume of space in which the robotic arm is expected to move or be located in during the performance of the one or more surgical actions and / or the placement of the one or more implants. The planning device may determine the protocol such that the approach zone for the robotic arm remains within the modified safety volume of the robot. For example, the planning device may determine a trajectory, path, entry point, and / or depth, among other examples, for one or more surgical actions and / or the placement of the one or more implants based on the configuration information of the robot (e.g., the expected location and / or movement of one or more robotic arms) and the anatomical information of the patient to reduce the likelihood of a robotic arm contacting an unintended anatomical element or sensitive structure of the patient, an implant to be installed or placed during the robotically-assisted procedure, and / or another device in the surgical field during the robotically-assisted procedure.

[0072] In some aspects, the planning device may determine device location information or component placement information for a surgical field or operating room in which the robotically-assisted procedure is to be performed. For example, the protocol may include the component placement information. The component placement information may indicate recommended locations of respective devices or components included in the surgical field or operating room in which the robotically-assisted procedure is to be performed. For example, the devices or components may include the robot, the navigation system, one or more imaging devices, a patient bed or platform, an anesthesia device, a patient monitoring device or system, and / or a sterilization device, among other examples. For example, the planning device may determine that the robot and / or a robotic arm is expected to contact or come near another device (e.g., where a distance between the robot or robotic arm and the device satisfies a device proximity threshold) while performing one or more surgical actions (e.g., in accordance with one or more surgical fixation parameters) in a current configuration of the surgical field or operating room. The planning device may determine the component placement information such that the robot and / or a robotic arm is not expected to contact or come near another device while performing one or more surgical actions (e.g., in accordance with one or more surgical fixation parameters) indicated by the protocol. For example, the planning device may determine an expected reach or movement of one or more robotic arms while performing one or more surgical actions indicated by the protocol, and determine whether a distance between the one or more robotic arms and any other devices satisfies the device proximity threshold during the course of performing the one or more surgical actions. If the distance between theone or more robotic arms and a given device satisfies the device proximity threshold during the course of performing the one or more surgical actions, then the planning device may determine a recommended location of the robot and / or the given device such that the recommended location(s) cause the distance between the one or more robotic arms and the given device to not satisfy the device proximity threshold during the course of performing the one or more surgical actions.

[0073] In some aspects, the planning device may determine location information for respective surgical actions. The location information may indicate a location, size, path, trajectory, orientation, and / or other location information relative to one or more anatomical elements of the patient (e.g., that are identified based on the anatomical information). For example, the planning device may determine the location information based on the input information, the anatomical information, and one or more rules or thresholds. For example, the planning device may determine the location information in order to optimize the one or more outcome parameters while also satisfying one or more thresholds. As an example, a threshold may include a distance threshold. The distance threshold may be a value selected to incorporate a safety margin for the operation(s) of a surgeon and / or the robot. For example, the planning device may determine, based on the anatomical information, a given surgical action such that a distance between a surgical tool configured to perform the given surgical action and an edge or boundary of an anatomical element of the patient (e.g., a sensitive structure or another anatomical element that is not intended to be contacted or interacted with during the robotically- assisted procedure) is estimated to satisfy the distance threshold during a performance of the given surgical action for the patient.

[0074] As another example, a rule or threshold may be based on a proximity of a surgical tool configured to perform the given surgical action to one or more sensitive structures of the patient. The anatomical information may indicate sensitive structure information (e.g., indicating one or more sensitive structures of the patient and locations of respective sensitive structures). The planning device may determine the protocol based on the sensitive structure information. For example, a sensitive structure rule may indicate that the surgical tool is not to contact or come within a proximity of a sensitive structure of the patient. For example, the sensitive structure rule may be associated with a distance threshold (e.g., to incorporate a safety margin between the surgical tool and any sensitive structures of the patient). The distance threshold may be the same as the distance threshold described above or may be a different distance threshold. The rules and / or thresholds described herein are provided as examples. Other rules and / orthresholds may be configured and / or used by the planning device in a similar manner in order to determine the protocol.

[0075] The planning device may provide the protocol for display via a user interface. For example, as shown by reference number 125, the planning device may transmit, and the display device may receive, display information. As described elsewhere herein, the display device may be a display of the planning device (e.g., may be a component of the planning device) or another device described herein, such as the navigation system. In other aspects, the display device may be a separate device. The display device may include a display screen. The display information may include information configured to cause the display device to display the protocol via a user interface. For example, as shown by reference number 130, the display device may display, via the user interface, the protocol. In some aspects, the display device may display a 3D model of one or more anatomical elements showing or modeling the protocol. Additionally, or alternatively, the display device may display one or more medical images of the patient that are modified to show or depict the protocol.

[0076] As an example, the user interface may display one or more features to represent one or more surgical actions. For example, a feature depicting a size, location, shape, trajectory, and / or orientation, among other examples of the surgical action. A feature representing a surgical action may include a tool volume (e.g., representing a surgical tool or implement used to perform the surgical action), one or more lines (e.g., to represent one or more cuts to the anatomical element(s)), one or more curves or splines (e.g., to represent one or more cuts to the anatomical element(s)), a tool path (e.g., representing a path of surgical tool or implement used to perform the surgical action), one or more planes (e.g., to represent a midline of a surgical action, such as a trough), and / or one or more surfaces (e.g., to represent a midline of a surgical action and / or a decortication process performed to an anatomical element), among other examples.

[0077] As shown in Fig. 1C, and by reference number 140, the display device may obtain, via the user interface, one or more user inputs. In some aspects, the one or more user inputs may include a modification to the protocol. For example, the one or more user inputs may indicate one or more modifications to at least one of the one or more surgical actions and / or the one or more surgical fixation parameters. For example, the user interface may enable a user (e.g., a surgeon, a clinician, or another surgical team member) to provide a user input to modify a size, location, type, trajectory, and / or orientation, among other examples, of a surgical action and / or a placement of an implant included in the protocol.

[0078] As shown by reference number 145, the display device may provide, and the planning device may obtain, an indication of the one or more user inputs. As shown by reference number 150, the planning device may determine a modification for the protocol based on the one or more user inputs. For example, the planning device may determine the modification in accordance with information or changes indicated by the one or more user inputs and based on the anatomical information, the one or more outcome parameters, and / or the configuration of the robot, among other examples, in a similar manner as described in more detail elsewhere herein.

[0079] For example, the one or more user inputs may include one or more modifications to the one or more surgical actions. The planning device may modify or update the protocol to include one or more modified surgical actions and / or one or more modified surgical fixation parameters that are based on the one or more modifications. In some aspects, the protocol may include one or more modified surgical fixation parameters that are based on one or more modifications to the one or more surgical actions. For example, the one or more modifications (e.g., indicated by the one or more user inputs) may indicate or include a modified incision. For example, the one or more modifications may include a modified location of a skin incision for the robotically-assisted procedure. In such examples, the one or more modified surgical fixation parameters include a modified trajectory for an implant, of the one or more implants, that is to be placed via the modified incision. For example, the planning device may update variables or parameters of the protocol that are interconnected or otherwise dependent on each other. For example, a change to a skin incision may cause the planning device to shift or modify a screw placement trajectory appropriately based on the change to the skin incision. As another example, a modification to a surgical action may cause the planning device to determine a modified rod curvature for a rod, a modified depth at which an implant is placed, and / or a modified size of the implant, among other examples (e.g., based on the anatomical information of the patient, the configuration information of the robot, and / or the input information, among other examples, in a similar manner as described in more detail elsewhere herein).

[0080] As another example, a modification may indicate a planned removal operation to remove one or more anatomical elements and / or one or more components of an anatomical element (e.g., a spinous process). For example, the one or more anatomical elements and / or one or more components to be removed may be components or structures that the planning device previously attempted to avoid. The planning device may determine one or more updated surgical actions with the assumption that the one or more anatomical elements and / or one ormore components of an anatomical element (e.g., a spinous process) will be removed or not present during the robotically-assisted procedure.

[0081] As described elsewhere herein, the planning device may determine the protocol using information indicated by a profile of a surgeon or clinician (e.g., the clinician profile). The planning device may update the profile based on the one or more user inputs. For example, the planning device may include one or more modifications to the protocol in the profile. This may enable the planning device to store the preference or modifications preferred by a surgeon or clinician (e.g., as indicated by the one or more user inputs) for future protocol determinations for the surgeon or the clinician. This improves the accuracy and / or reliability of the protocols determined by the planning device. Additionally, this may reduce the likelihood of modifications requested by the surgeon or clinician for future protocols, thereby conserving resources (e.g., processing resources, computing resources, memory resources, and / or power resources) that would have otherwise been associated with receiving a modification request, modifying the protocol, and / or presenting the modified protocol for display, among other examples.

[0082] As shown by reference number 155, the planning device may transmit, and the display device may receive, display information associated with causing the display device to display the modified protocol. For example, the modified protocol may include the one or more modified surgical actions and / or the one or more modified surgical fixation parameters determined by the planning device as described above. As shown by reference number 160, the display device may display the modified protocol (e.g., for review by a user, such as a surgeon, a clinician, or another surgical team member).

[0083] In some aspects, a user input to the display device may include an approval indication. The approval indication may indicate that the protocol (or the modified protocol) is approved by the user (e.g., by a surgeon, a clinician, or another surgical team member). As shown by reference number 165, the display device may transmit, and the planning device may receive, an acceptance of the protocol (or the modified protocol). For example, the planning device may receive or obtain an indication that the protocol (or the modified protocol) is approved.

[0084] As shown in Fig. ID, and by reference number 170, the planning device may perform one or more actions associated with the protocol based on obtaining the acceptance of the protocol. For example, the planning device may perform the one or more actions based on, in response to, or otherwise associated with receiving or obtaining an approval indication of the protocol (or the modified protocol). In some aspects, the one or more actions may include adding the approved protocol to a profile (e.g., a clinician profile) of the surgeon and / orclinician who will be performing the robotically-assisted procedure, as described in more detail elsewhere herein. As another example, as shown by reference number 175, the one or more actions may include the planning device communicating with one or more systems to implement the protocol (or the modified protocol).

[0085] For example, the planning device may transmit, to the navigation system, one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol based on obtaining the approval indication. For example, the planning device may transmit, to the navigation system of the robot, instructions associated with an execution of the one or more surgical actions and / or placement of one or more implants (e.g., in accordance with the one or more surgical fixation parameters) based on the approved protocol. For example, the planning device may transmit the instructions based on the obtaining of the approval indication. The planning device may generate one or more instructions for the robot based on the protocol. The one or more instructions, when executed by the robot, are configured to cause the robot to perform the one or more robotic actions. The one or more robotic actions may include performing at least one of the one or more surgical actions and / or performing, in association with the one or more anatomical elements, a placement of an implant, of the one or more implants, based on the one or more surgical fixation parameters, among other examples.

[0086] The instructions may indicate one or more planned operations and / or one or more surgical fixation parameters for at least one of the surgical actions indicated by the approved protocol. In some aspects, a surgeon or other surgical team member may control the operation of the robot during the robotically-assisted procedure, and the instructions may facilitate the control by provided (e.g., pre-loading) the planned operations for the protocol and / or the one or more surgical fixation parameters for the protocol (e.g., thereby enabling the robot and / or robotic arms to perform one or more automated operations and / or enabling the navigation system to provide enhanced instruction and / or feedback to the surgeon or other surgical team member).

[0087] As shown by reference number 180, the navigation system may transmit, and the robot may receive, navigation instructions that are based on the instructions received from the planning device. For example, the navigation instructions may be configured to cause the one or more robotic arms to perform the one or more planned operations for the protocol. In some aspects, the robot may perform one or operations for the protocol based on, or in response to, receiving the navigation instructions. For example, the planning device may enable the robot to perform operations during the robotically-assisted procedure based on the determined and / or approved protocol. As described elsewhere herein, movement and / or operations of the robotmay be initiated and / or controlled by a surgeon, and the one or operations for the protocol may include automated or semi-automated operations that are based on the one or more surgical actions and / or surgical fixation parameters, thereby facilitating and / or improving the accuracy of the user-controlled (e.g., surgeon-controlled) operation of the robot. In some aspects, the robot may autonomously (e.g., without or with limited surgeon control or input) perform at least one (or all) of the one or more surgical actions during the robotically-assisted procedure (e.g., based on, or using, the navigation instructions). For example, the robot (e.g., one or more robotic arms of the robot) may perform at least one of the one or more surgical actions indicated by the protocol. Additionally, or alternatively, the robot (e.g., one or more robotic arms of the robot) may perform, to the one or more anatomical elements, a placement of an implant, of the one or more implants, based on the one or more surgical fixation parameters (e.g., in accordance with the one or more surgical fixation parameters).

[0088] In some aspects, the planning device may receive information from the one or more systems. For example, the navigation system may transmit, and the planning device may receive, performance information indicating one or more performed surgical actions for the protocol. For example, the performance information may indicate a progress of one or more planned actions for the protocol. In some aspects, the planning device may update or modify the protocol based on the performance information. For example, the planning device may update or modify the protocol in a similar manner as described elsewhere herein, such as in connection with reference number 150. In such examples, the planning device may transmit, and the navigation system may receive, instructions indicating a modified or updated protocol. For example, the planning device may update or modify the protocol in real-time based on one or more performed surgical actions for the protocol.

[0089] As another example, the planning device may transmit, and the inventory management system may receive, an indication of one or more devices or components to be used as part of the approved protocol. For example, the planning device may transmit, and the inventory management system may receive, an indication of one or more implants, one or more surgical tools, one or more devices, one or more kits, and / or one or more components, among other examples, to be used as part of the approved protocol. The inventory management system may update the inventory availability information to indicate that the one or more devices or components to be used as part of the approved protocol are not available for use. This may improve the likelihood that the one or more devices or components to be used as part of the approved protocol will be available when the robotically-assisted procedure is performed (e.g., because the inventory management system may “reserve” the one or more devices orcomponents for the robotically-assisted procedure based on updating the inventory availability information to indicate that the one or more devices or components to be used as part of the approved protocol are not available for use). For example, the one or more devices or components may not be used for other procedures because the the inventory management system may “reserve” the one or more devices or components for the robotically-assisted procedure, as described above.

[0090] As another example, the planning device may communicate with a personnel management system to enable enhanced or improved personnel scheduling determinations for the robotically-assisted procedure and / or other procedures. For example, the planning device may determine an estimated duration of the robotically-assisted procedure. In some aspects, the planning device may determine the estimated duration for the robot to perform the one or more planned operations indicated by the protocol. For example, based on the anatomical information of the patient (e.g., bone density, amount of tissue or other biological material to be removed, or other anatomical information), the planning device may determine how much time is estimated for the robot and / or a surgeon to perform the one or more planned operations specific to the patient. As described elsewhere herein, the planning device may determine the protocol to reduce the duration of the robotically-assisted procedure (e.g., by optimizing a quantity of surgical actions and / or determining surgical action location, path, and / or trajectory, among other examples).

[0091] The planning device may transmit, and the personnel management system may receive, an indication of the estimated duration of the robotically-assisted procedure. The personnel management system may use the estimated duration to schedule one or more assignments of personnel (e.g., one or more surgical team members). Additionally, or alternatively, the personnel management system may use the estimated duration to schedule or reserve an operating room in which the robotically-assisted procedure is to be performed. For example, the personnel management system may reserve one or more blocks of time for respective procedures (e.g., including the robotically-assisted procedure) to be performed in the operating room based on the estimated duration. By the planning device providing the estimated duration to the personnel management system, the personnel management system may be enabled to make improved determinations for surgical team member assignments and / or scheduling of procedures for one or more operating rooms. The improved determinations may enable more efficient resource utilization for one or more devices or components included in the one or more operating rooms, such as by improving the accuracy of the scheduling of procedures for the one or more operating rooms. For example, the improved scheduling mayreduce an amount of downtime during which the one or more devices or components are not being used (e.g., because more time was reserved for a procedure than was needed to complete the procedure).

[0092] 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.

[0093] 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 a planning device 210, an image database 220, a robot 230 (e.g., that includes one or more robotic arms 235), a navigation system 240, an inventory management system 250, a display device 260, a personnel management system 270, and a network 280. 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.

[0094] The planning device 210 may include one or more devices capable of receiving, generating, storing, processing, providing, and / or routing information associated with generating protocols for robotically-assisted procedures, as described elsewhere herein. The planning device 210 may include a communication device and / or a computing device. For example, the planning 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 planning device 210 may include computing hardware used in a cloud computing environment. In some examples, the planning device 210 may include a surgical navigation system. In some examples, the planning device 210 may be included in another device in the environment 200, such as the navigation system 240.

[0095] The image database 220 may include one or more devices capable of receiving, generating, storing, processing, and / or providing information associated with generatingprotocols for robotically-assisted procedures, as described elsewhere herein. The image database 220 may include a communication device and / or a computing device. For example, the image database 220 may include a data structure, a database, a data source, a server, a database server, an application server, a client server, a web server, a host server, a proxy server, a virtual server (e.g., executing on computing hardware), a server in a cloud computing system, a device that includes computing hardware used in a cloud computing environment, or a similar type of device. As an example, the image database 220 may store medical imaging data, as described elsewhere herein.

[0096] In some implementations, the medical imaging data may be generated by, captured by, and / or provided by (e.g., to the image database 220) one or more imaging devices. The imaging device 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 6D image to yield the image data. The imaging device may be or comprise, for example, 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), a MRI scanner, an OCT 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. In some examples, medical imaging data, as described herein, may be considered to be continuous and / or provided as an image data stream (e.g., to the image database 220 via one or more imaging devices), such as if the medical image data represents two or more frames per second.

[0097] 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 end unit 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 end unit may include a surgical instrument, a surgical tool, and / or an implement, among other examples. The robot 230 may additionally or alternatively be configured to manipulate a surgical tool or implement (whether based on guidance from the navigation system 240 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. The robot 230 may comprise one or more robotic arms 235. In some embodiments, the robotic arm 235 may comprise a first robotic arm and a second robotic arm, though the robot 230 may comprise more than two robotic arms. In some embodiments, one or more of the robotic arms 235 may be used to hold and / or maneuver a retraction assembly and / or an end unit. 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. Each robotic 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.

[0098] 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 end unit, a surgical tool, 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 comprise 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 end unit 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. The retraction assembly may be triggered when the sensor measures a force at the surgical tool that satisfies a force threshold.

[0099] 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 navigation system 240, and the results of the tracking may be used by the robot 230 and / or by an operator. In some examples, the navigation system 240 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 navigation system 240).

[0100] The navigation system 240 may include one or more devices capable of receiving, generating, storing, processing, and / or providing information associated with generating protocols for robotically-assisted procedures, as described elsewhere herein. The navigation system 240 may include a communication device and / or a computing device. The navigation system 240 may provide navigation for a surgeon and / or a surgical robot during a surgical procedure. The navigation system 240 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 navigation system 240 may include one or more electromagnetic sensors. In some examples, the navigation system 240 may be used to track a position and orientation (e.g., a pose) of an imaging device, a retraction assembly, an end unit, the robot 230 and / or robotic arm 235, and / or one or more surgical tools (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 navigation system 240 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 navigation system 240. In some examples, the display may be, or may include, the display device 260. The navigation system 240 may be configured to provide guidance to a surgeon or other user in the environment 200, to the robot 230, or to any other device or component of the environment 200. The guidance provided by the navigation system 240 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.

[0101] The inventory management system 250 may include one or more devices capable of receiving, generating, storing, processing, providing, and / or routing information associatedwith generating protocols for robotically-assisted procedures, as described elsewhere herein. The inventory management system 250 may include a communication device and / or a computing device. For example, the inventory management system 250 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 inventory management system 250 may include computing hardware used in a cloud computing environment. The inventory management system 250 may store and / or otherwise manage an inventory of surgical tools, implements, implants, and / or other materials used for one or more surgical procedures, as described in more detail elsewhere herein.

[0102] The display device 260 may include one or more devices capable of receiving, generating, storing, processing, and / or providing information associated with generating protocols for robotically-assisted procedures, as described elsewhere herein. The display device 260 may include a communication device and / or a computing device. The display device 260 may be any device capable of, or configured to, provide, display, or otherwise output (e.g., via a visual output and / or an audio output) information. For example, the display device 260 may include a wireless communication device, a mobile phone, a user equipment, a laptop computer, a tablet computer, a desktop computer, a wearable communication device (e.g., a smart wristwatch, a pair of smart eyeglasses, a head mounted display, or a virtual reality headset), a keyboard, mouse, trackball, monitor, television, screen, touch screen, a speaker, and / or any other device for receiving information from a user and / or for providing information to a user. In some example, the display device 260 may be included in one or more devices or components of the environment 200. For example, the display device 260 may be a component of the planning device 210, and / or the navigation system 240, among other examples. In some examples, multiple devices or components of the environment 200 may include display devices 260. For example, the planning device 210 may include a first display device 260 and the navigation system 240 may include a second display device 260.

[0103] The personnel management system 270 may include one or more devices capable of receiving, generating, storing, processing, providing, and / or routing information associated with generating protocols for robotically-assisted procedures, as described elsewhere herein. The personnel management system 270 may include a communication device and / or a computing device. For example, the personnel management system 270 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 cloudcomputing system. In some implementations, the personnel management system 270 may include computing hardware used in a cloud computing environment. In some aspects, the personnel management system 270 may store information for and / or otherwise manage scheduling, availabilities, and / or assignments, among other examples, for one or more surgeons, clinicians, nurses, and / or other surgical team members.

[0104] The network 280 may include one or more wired and / or wireless networks. For example, the network 280 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 280 enables communication among the devices of environment 200.

[0105] 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.

[0106] Fig. 3 is a diagram of example components of a device 300 associated with generating protocols for robotically-assisted procedures. The device 300 may correspond to the planning device 210, the image database 220, the robot 230, a robotic arm 235, the navigation system 240, the inventory management system 250, the display device 260, and / or the personnel management system 270. In some implementations, the planning device 210, the image database 220, the robot 230, a robotic arm 235, the navigation system 240, the inventory management system 250, the display device 260, and / or the personnel management system 270 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.

[0107] 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 anelectrical 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.

[0108] 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.

[0109] 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.

[0110] 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 orprocesses 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.

[0111] 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.

[0112] Fig. 4 is a flowchart of an example process 400 associated with generating protocols for robotically-assisted procedures. In some aspects, one or more process blocks of Fig. 4 are performed by a planning device (e.g., planning 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 planning device, such as the image database 220, the robot 230, a robotic arm 235, the navigation system 240, the inventory management system 250, the display device 260, and / or the personnel management system 270. Additionally, or alternatively, one or more process blocks of Fig. 4 may be performed by one or more components of device 300, such as processor 320, memory 330, input component 340, output component 350, and / or communication component 360.

[0113] As shown in Fig. 4, process 400 may include obtaining input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, wherein the robotically-assisted procedure is associated with one or more anatomical elements (block 410). For example, the planning device may obtain input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, wherein the robotically-assisted procedure is associated with one or more anatomical elements, as described above. In some aspects, the robotically-assisted procedure is associated with one or more anatomical elements.

[0114] As further shown in Fig. 4, process 400 may include generating, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters,and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure (block 420). For example, the planning device may generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure, as described above. In some aspects, the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure.

[0115] As further shown in Fig. 4, process 400 may include providing the protocol for display via a user interface (block 430). For example, the planning device may provide the protocol for display via a user interface, as described above.

[0116] As further shown in Fig. 4, process 400 may include optionally obtaining, via the user interface, an approval indication of the protocol (block 440). For example, the planning device may obtain, via the user interface, an approval indication of the protocol, as described above.

[0117] As further shown in Fig. 4, process 400 may optionally include transmitting one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication (block 450). For example, the planning device may transmit one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication, as described above.

[0118] 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.

[0119] In a first aspect, transmitting the one or more communications includes generating one or more instructions for the robot based on the protocol, where the one or more instructions, when executed by the robot, are configured to cause the robot to perform the one or more robotic actions, and transmitting, to the system, the one or more instructions.

[0120] In a second aspect, alone or in combination with the first aspect, the one or more robotic actions include at least one of performing at least one of the one or more surgical actions,or performing, to the one or more anatomical elements, a placement of an implant, of the one or more implants, based on the one or more surgical fixation parameters.

[0121] In a third aspect, alone or in combination with one or more of the first and second aspects, the surgical data includes clinician profile information of a clinician associated with the robotically-assisted procedure, and the clinician profile information includes historical protocols of previously performed robotically-assisted procedures associated with the clinician.

[0122] In a fourth aspect, alone or in combination with one or more of the first through third aspects, process 400 includes adding the protocol to the clinician profile information based on obtaining the approval indication.

[0123] In a fifth aspect, alone or in combination with one or more of the first through fourth aspects, generating the protocol includes generating the protocol using a heuristic model, where the surgical data is provided as reinforcement learning data for the heuristic model.

[0124] In a sixth aspect, alone or in combination with one or more of the first through fifth aspects, the anatomical information includes at least one of disease information associated with the patient, or sensitive structure information of one or more sensitive structures included in the one or more anatomical elements.

[0125] In a seventh aspect, alone or in combination with one or more of the first through sixth aspects, the one or more outcome parameters include at least one of a quantity of surgical actions, a duration of the robotically-assisted procedure, or an approach zone of the robot for the robotically-assisted procedure.

[0126] In an eighth aspect, alone or in combination with one or more of the first through seventh aspects, generating the protocol includes determining the one or more surgical actions based on the one or more outcome parameters, the surgical data, and the anatomical information, and determining the one or more surgical fixation parameters based on the one or more surgical actions and the anatomical information.

[0127] In a ninth aspect, alone or in combination with one or more of the first through eighth aspects, the one or more surgical fixation parameters include at least one of a type of implant, an implant size, a placement trajectory, an implant entry point, a placement depth, or a placement alignment.

[0128] In a tenth aspect, alone or in combination with one or more of the first through ninth aspects, at least one of the surgical data or the anatomical information indicates one or more anatomical constraints associated with the patient, and at least one of the one or more surgical actions or the one or more surgical fixation parameters is based on the one or more anatomical constraints.

[0129] In an eleventh aspect, alone or in combination with one or more of the first through tenth aspects, the one or more anatomical constraints include at least one of a therapy type, a delivery type, one or more treatable anatomical elements, or one or more biological material removal parameters.

[0130] In a twelfth aspect, alone or in combination with one or more of the first through eleventh aspects, the anatomical information indicates positioning information of one or more sensitive structures of the patient, and generating the protocol includes generating, based on the positioning information, at least one of the one or more surgical actions or the one or more surgical fixation parameters to avoid contact, by an implement of the robot, with the one or more sensitive structures.

[0131] In a thirteenth aspect, alone or in combination with one or more of the first through twelfth aspects, generating the protocol includes generating the protocol based on configuration information of the robot, where the configuration information indicates a safety volume indicating an area in which one or more robotic arms of the robot can safely move.

[0132] In a fourteenth aspect, alone or in combination with one or more of the first through thirteenth aspects, the protocol includes component placement information for one or more components of a surgical field associated with the robotically-assisted procedure, and the component placement information is based on the configuration information of the robot.

[0133] In a fifteenth aspect, alone or in combination with one or more of the first through fourteenth aspects, the approval indication indicates one or more modifications to the one or more surgical actions, and the protocol includes one or more modified surgical actions that are based on the one or more modifications.

[0134] In a sixteenth aspect, alone or in combination with one or more of the first through fifteenth aspects, the protocol includes one or more modified surgical fixation parameters that are based on the one or more modifications to the one or more surgical actions.

[0135] In a seventeenth aspect, alone or in combination with one or more of the first through sixteenth aspects, the one or more modifications to the one or more surgical actions include a modified incision, and the one or more modified surgical fixation parameters include a modified trajectory for an implant, of the one or more implants, that is to be placed via the modified incision.

[0136] In an eighteenth aspect, alone or in combination with one or more of the first through seventeenth aspects, generating the protocol includes determining the one or more implants based on at least one of the robotically-assisted procedure or the one or more surgical actions, obtaining, via an inventory management system, availability information for the one or moreimplants, where the availability information indicates whether the one or more implants are available in an inventory, and generating the protocol based on obtaining the availability information, where the protocol indicates the one or more implants based on the availability information indicating that the one or more implants are available in the inventory.

[0137] In a nineteenth aspect, alone or in combination with one or more of the first through eighteenth aspects, the protocol includes an estimated duration of the robotically-assisted procedure, and process 400 includes transmitting, to a personnel management system, the estimated duration.

[0138] 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.

[0139] The following provides an overview of some Examples of the present disclosure:

[0140] Example 1: A method, comprising: obtaining, by a device, input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, and wherein the robotically-assisted procedure is associated with one or more anatomical elements; generating, by the device and based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure; providing, by the device, the protocol for display via a user interface; obtaining, by the device and via the user interface, an approval indication of the protocol; and transmitting, by the device to a system of the robot, one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.

[0141] Example 2 : The method of Example 1, wherein transmitting the one or more communications comprises: generating one or more instructions for the robot based on the protocol, wherein the one or more instructions, when executed by the robot, are configured to cause the robot to perform the one or more robotic actions; and transmitting, to the system, the one or more instructions.

[0142] Example 3: The method of any one of Examples 1-2, wherein the one or more robotic actions include at least one of: performing at least one of the one or more surgical actions, orperforming, to the one or more anatomical elements, a placement of an implant, of the one or more implants, based on the one or more surgical fixation parameters.

[0143] Example 4: The method of any one of Examples 1-3, wherein the surgical data includes clinician profile information of a clinician associated with the robotically-assisted procedure, and wherein the clinician profile information includes historical protocols of previously performed robotically-assisted procedures associated with the clinician.

[0144] Example 5: The method of Example 4, further comprising: adding the protocol to the clinician profile information based on obtaining the approval indication.

[0145] Example 6: The method of any one of Examples 1-5, wherein generating the protocol comprises: generating the protocol using a heuristic model, wherein the surgical data is provided as reinforcement learning data for the heuristic model.

[0146] Example 7: The method of any one of Examples 1-6, wherein the anatomical information includes at least one of: disease information associated with the patient, or sensitive structure information of one or more sensitive structures included in the one or more anatomical elements.

[0147] Example 8 : The method of any one of Examples 1-7, wherein the one or more outcome parameters include at least one of: a quantity of surgical actions, a duration of the robotically- assisted procedure, or an approach zone of the robot for the robotically-assisted procedure.

[0148] Example 9: The method of any one of Examples 1-8, wherein generating the protocol comprises: determining the one or more surgical actions based on the one or more outcome parameters, the surgical data, and the anatomical information; and determining the one or more surgical fixation parameters based on the one or more surgical actions and the anatomical information.

[0149] Example 10: The method of any one of Examples 1-9, wherein the one or more surgical fixation parameters include at least one of: a type of implant, an implant size, a placement trajectory, an implant entry point, a placement depth, or a placement alignment.

[0150] Example 11: The method of any one of Examples 1-10, wherein at least one of the surgical data or the anatomical information indicates one or more anatomical constraints associated with the patient, and wherein at least one of the one or more surgical actions or the one or more surgical fixation parameters is based on the one or more anatomical constraints.

[0151] Example 12: The method of Example 11, wherein the one or more anatomical constraints include at least one of: a therapy type, a delivery type, one or more treatable anatomical elements, or one or more biological material removal parameters.

[0152] Example 13: The method of any one of Examples 1-12, wherein the anatomical information indicates positioning information of one or more sensitive structures of the patient, and wherein generating the protocol comprises: generating, based on the positioning information, at least one of the one or more surgical actions or the one or more surgical fixation parameters to avoid contact, by an implement of the robot, with the one or more sensitive structures.

[0153] Example 14: The method of any one of Examples 1-13, wherein generating the protocol comprises: generating the protocol based on configuration information of the robot, wherein the configuration information indicates a safety volume indicating an area in which one or more robotic arms of the robot can safely move.

[0154] Example 15: The method of Example 14, wherein the protocol includes component placement information for one or more components of a surgical field associated with the robotically-assisted procedure, and wherein the component placement information is based on the configuration information of the robot.

[0155] Example 16: The method of any one of Examples 1-15, wherein the approval indication indicates one or more modifications to the one or more surgical actions, and wherein the protocol includes one or more modified surgical actions that are based on the one or more modifications.

[0156] Example 17: The method of Example 16, wherein the protocol includes one or more modified surgical fixation parameters that are based on the one or more modifications to the one or more surgical actions.

[0157] Example 18: The method of Example 17, wherein the one or more modifications to the one or more surgical actions include a modified incision, and wherein the one or more modified surgical fixation parameters include a modified trajectory for an implant, of the one or more implants, that is to be placed via the modified incision.

[0158] Example 19: The method of any one of Examples 1-18, wherein generating the protocol comprises: determining the one or more implants based on at least one of the robotically-assisted procedure or the one or more surgical actions; obtain, via an inventory management system, availability information for the one or more implants, wherein the availability information indicates whether the one or more implants are available in an inventory; and generating the protocol based on obtaining the availability information, wherein the protocol indicates the one or more implants based on the availability information indicating that the one or more implants are available in the inventory.

[0159] Example 20: The method of any one of Examples 1-19, wherein the protocol includes an estimated duration of the robotically-assisted procedure, the method further comprising: transmitting, to a personnel management system, the estimated duration.

[0160] Example 21: A system configured to perform one or more operations recited in one or more of Examples 1-20.

[0161] Example 22: An apparatus comprising means for performing one or more operations recited in one or more of Examples 1-20.

[0162] Example 23 : 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 1-20.

[0163] Example 24: A computer program product comprising instructions or code for executing one or more operations recited in one or more of Examples 1-20.

[0164] Example 25 : A device comprising one or more memories; and one or more processors, communicatively coupled to the one or more memories, configured to perform one or more operations recited in one or more of Examples 1-20.

[0165] Example 26: A device, comprising: one or more memories; and one or more processors, coupled to the one or more memories, configured to: obtain input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, and wherein the robotically-assisted procedure is associated with one or more anatomical elements; generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure; provide the protocol for display via a user interface; obtain, via the user interface, an approval indication of the protocol; and transmit, to a system associated with the robot, one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.

[0166] Example 27: The device of Example 26, wherein the one or more processors, to transmit the one or more communications, are configured to: generate one or more instructions for the robot based on the protocol, wherein the one or more instructions, when executed by the robot, are configured to cause the robot to perform the one or more robotic actions; and transmit, to the system, the one or more instructions.

[0167] Example 28: The device of any one of Examples 26 or 27, wherein the one or more robotic actions include at least one of: perform at least one of the one or more surgical actions, or perform, to the one or more anatomical elements, a placement of an implant, of the one or more implants, based on the one or more surgical fixation parameters.

[0168] Example 29: The device of any one of Examples 26-28, wherein the surgical data includes clinician profile information of a clinician associated with the robotically-assisted procedure, and wherein the clinician profile information includes historical protocols of previously performed robotically-assisted procedures associated with the clinician.

[0169] Example 30: The device of claim Example 29, wherein the one or more processors are further configured to: add the protocol to the clinician profile information based on obtaining the approval indication.

[0170] Example 31: The device of any one of Examples 26-30, wherein the one or more processors, to generate the protocol, are configured to generate the protocol using a heuristic model, wherein the surgical data is provided as reinforcement learning data for the heuristic model.

[0171] Example 32: The device of any one of Examples 26-31, wherein the anatomical information includes at least one of: disease information associated with the patient, or sensitive structure information of one or more sensitive structures included in the one or more anatomical elements.

[0172] Example 33: The device of any one of Examples 26-32, wherein the one or more outcome parameters include at least one of: a quantity of surgical actions, a duration of the robotically-assisted procedure, or an approach zone of the robot for the robotically-assisted procedure.

[0173] Example 34: The device of any one of Examples 26-33, wherein the one or more processors, to generate the protocol, are configured to: determine the one or more surgical actions based on the one or more outcome parameters, the surgical data, and the anatomical information; and determine the one or more surgical fixation parameters based on the one or more surgical actions and the anatomical information.

[0174] Example 35: The device of any one of Examples 26-34, wherein the one or more surgical fixation parameters include at least one of: a type of implant, an implant size, a placement trajectory, an implant entry point, a placement depth, or a placement alignment.

[0175] Example 36: The device of any one of Examples 26-35, wherein at least one of the surgical data or the anatomical information indicates one or more anatomical constraintsassociated with the patient, and wherein at least one of the one or more surgical actions or the one or more surgical fixation parameters is based on the one or more anatomical constraints.

[0176] Example 37: The device of Example 36, wherein the one or more anatomical constraints include at least one of: a therapy type, a delivery type, one or more treatable anatomical elements, or one or more biological material removal parameters.

[0177] 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.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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 andenvironments. 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 to perform 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.”

[0182] 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

CLAIMSAhat is claimed is:

1. A device (210, 300), comprising: one or more memories (330); and one or more processors (320), coupled to the one or more memories (330), configured to: obtain input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot (230), and wherein the robotically-assisted procedure is associated with one or more anatomical elements; generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically- assisted procedure; provide the protocol for display via a user interface; obtain, via the user interface, an approval indication of the protocol; and transmit, to a system (240) associated with the robot, one or more communications to cause the robot (230) to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.

2. The device (210, 300) of claim 1, wherein the one or more processors (320), to transmit the one or more communications, are configured to: generate one or more instructions for the robot (230) based on the protocol, wherein the one or more instructions, when executed by the robot, are configured to cause the robot (230) to perform the one or more robotic actions; and transmit, to the system (240), the one or more instructions.

3. The device (210, 300) of any one of claims 1-2, wherein the one or more robotic actions include at least one of: perform at least one of the one or more surgical actions, orperform, to the one or more anatomical elements, a placement of an implant, of the one or more implants, based on the one or more surgical fixation parameters.

4. The device (210, 300) of any one of claims 1-3, wherein the surgical data includes clinician profile information of a clinician associated with the robotically-assisted procedure, and wherein the clinician profile information includes historical protocols of previously performed robotically-assisted procedures associated with the clinician.

5. The device (210, 300) of claim 4, wherein the one or more processors (320) are further configured to: add the protocol to the clinician profile information based on obtaining the approval indication.

6. The device (210, 300) of any one of claims 1-5, wherein the one or more processors (320), to generate the protocol, are configured to: generate the protocol using a heuristic model, wherein the surgical data is provided as reinforcement learning data for the heuristic model.

7. The device (210, 300) of any one of claims 1-6, wherein the anatomical information includes at least one of: disease information associated with the patient, or sensitive structure information of one or more sensitive structures included in the one or more anatomical elements.

8. The device (210, 300) of any one of claims 1-7, wherein the one or more processors (320), to generate the protocol, are configured to: determine the one or more surgical actions based on the one or more outcome parameters, the surgical data, and the anatomical information; and determine the one or more surgical fixation parameters based on the one or more surgical actions and the anatomical information.

9. The device (210, 300) of any one of claims 1-8, wherein at least one of the surgical data or the anatomical information indicates one or more anatomical constraints associated with the patient, and wherein at least one of the one or more surgical actions or the one or more surgical fixation parameters is based on the one or more anatomical constraints.

10. A method, comprising: obtaining, by a device (210, 300), input information that indicates one or more outcome parameters for a robotically-assisted procedure that is associated with a robot, and wherein the robotically-assisted procedure is associated with one or more anatomical elements; generating, by the device (210, 300) and based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants to be used during the robotically-assisted procedure; and providing, by the device (210, 300), the protocol for display via a user interface.

11. The method of claim 10, further comprising: obtaining, by the device (210, 300) and via the user interface, an approval indication of the protocol; and transmitting, by the device (210, 300) to a system of the robot, one or more communications to cause the robot (230) to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.

12. The method of any one of claims 10-11, wherein generating the protocol comprises: generating the protocol based on configuration information of the robot, wherein the configuration information indicates a safety volume indicating an area in which one or more robotic arms of the robot (230) can safely move.

13. The method of any one of claims 10-12, further comprising: obtaining, via the user interface, one or more user inputs,wherein the one or more user inputs indicate one or more modifications to the one or more surgical actions, and wherein the protocol includes one or more modified surgical actions that are based on the one or more modifications, and wherein the protocol includes one or more modified surgical fixation parameters that are based on the one or more modifications to the one or more surgical actions.

14. The method of claim 13, wherein the one or more modifications to the one or more surgical actions include a modified incision, and wherein the one or more modified surgical fixation parameters include a modified trajectory for an implant, of the one or more implants, that is to be placed via the modified incision.

15. The method of any one of claims 10-14, wherein generating the protocol comprises: determining the one or more implants based on at least one of the robotically-assisted procedure or the one or more surgical actions; obtain, via an inventory management system, availability information for the one or more implants, wherein the availability information indicates whether the one or more implants are available in an inventory; and generating the protocol based on obtaining the availability information, wherein the protocol indicates the one or more implants based on the availability information indicating that the one or more implants are available in the inventory.

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