Back to results
US 11,229,493 B2Granted
Motion programming of a robotic device
AssigneeNuVasive, Inc.
InventorsEric Finley, James Grotting
Life of this patent
Estimating the term…
Abstract
A method comprising acquiring an image of a surgical site of a patient. The method includes capturing motion data of an instrument based on a user defined path to the surgical site. The method includes determining a motion path based on the captured motion data. The motion path corresponds to an actuation of one or more components of a robotic device. The method includes displaying a portion of the motion path onto the image. The method includes determining one or more instructions for actuating the one or more components along the determined motion path. The method includes providing the one or more instructions to the robotic device.
Claims12
A method comprising:
- acquiring an image of a surgical site of a patient;
- capturing motion data of an instrument based on a user defined path to the surgical site;
- determining a motion path based on the captured motion data, wherein the motion path corresponds to an actuation of one or more components of a robotic device, wherein determining the motion path includes:
- comparing a position of one or more infrared reflectors of the instrument to a position of one or more infrared reflectors coupled to the patient;
- based on the comparison, determining whether a distance between the one or more infrared reflectors of the instrument and the one or more infrared reflectors coupled to the patient is within a safety threshold;
- and
- based on the determination, determining one or more adjustments to the actuation of the one or more components of the robotic device;
- displaying a portion of the motion path onto the image;
- determining one or more instructions for actuating the one or more components along the determined motion path;
- and
- providing the one or more instructions to the robotic device.
8 more elements
A method comprising:
- acquiring a three-dimensional image of a surgical site of a patient;
- capturing a pose of an instrument based on a user defined placement of the instrument at a surgical site of a patient;
- determining a motion path corresponding to the captured pose of the instrument, wherein the motion path is associated with actuation of one or more components of a robotic device, wherein determining the motion path includes:
- comparing a position of one or more infrared reflectors of the instrument to a position of one or more infrared reflectors coupled to the patient;
- based on the comparison, determining whether a distance between the one or more infrared reflectors of the instrument and the one or more infrared reflectors coupled to the patient is within a safety threshold;
- and
- based on the determination, determining one or more adjustments to the actuation of the one or more components of the robotic device;
- displaying a portion of the motion path onto the three-dimensional image;
- determining one or more instructions for actuating the one or more components along the determined motion path;
- and
- providing the one or more instructions to the robotic device.
8 more elements
A system comprising:
- a tracking device having one or more infrared reflectors;
- a robotic device;
- and
- a processing device comprising:
- a processor;
- and
- a non-transitory computer readable medium having stored thereon instructions that, when executed by the processor, cause the system to:
- receive an image of a surgical site of a patient;
- capture, via the tracking device, a pose of an instrument based on a user defined placement of the instrument at a surgical site of a patient;
- determine, by the processor, a motion path corresponding to the captured pose of the instrument, wherein the motion path is associated with actuation of one or more components of the robotic device, wherein to determine the motion path includes to:
- compare a position of the one or more infrared reflectors of the instrument to a position of one or more infrared reflectors coupled to the patient;
- based on the comparison, determine whether a distance between the one or more infrared reflectors of the instrument and the one or more infrared reflectors coupled to the patient is within a safety threshold;
- and
- based on the determination, determine one or more adjustments to the actuation of the one or more components of the robotic device;
- provide instructions to display a portion of the motion path onto the image;
- determine, by the processor, one or more instructions for actuating the one or more components along the determined motion path;
- and
- provide the one or more instructions to the robotic device.
15 more elements
Dependencies are inferred from the claim text.