Systems and methods related to robotic guidance in surgery

A surgical implant planning computer comprising:

• at least one network interface connected to at least one networked server;
• a display device;
• at least one processor connected to the at least one network interface and the display device;
• and
• at least one memory storing program instructions executed by the at least one processor to perform operations comprising:
• generating a transformation matrix that transforms a portion of the bone in an initial image to satisfy a defined rule for conforming to a corresponding portion of the bone in a target image;
• generating a transformed location data structure based on applying the transformation matrix to an initial location data structure, wherein the initial data structure includes data defining mapping between a set of locations on the surgical implant device and a corresponding set of locations relative to the bone in the initial image;
• and
• displaying a graphical representation of the surgical implant device overlaid at locations on the target image of the bone determined based on the transformed location data structure.

A surgical system comprising:

• a surgical implant planning computer comprising:
• at least one network interface connected to at least one networked server;
• a display device;
• at least one processor connected to the at least one network interface and the display device;
• and
• at least one memory storing program instructions executed by the at least one processor to perform operations comprising:
• generating a transformation matrix that transforms a portion of the bone in an initial image to satisfy a defined rule for conforming to a corresponding portion of the bone in a target image;
• generating a transformed location data structure based on applying the transformation matrix to an initial location data structure, wherein the initial data structure includes data defining mapping between a set of locations on the surgical implant device and a corresponding set of locations relative to the bone in the initial image;
• and
• displaying a graphical representation of the surgical implant device overlaid at locations on the target image of the bone determined based on the transformed location data structure;
• and
• a surgical robotic system comprising:
• a robotic arm configured to position a surgical end-effector;
• and
• a controller connected to the robotic arm, wherein the controller is configured to perform operations comprising:
• transforming locations that are defined by the transformed location data structure in a reference coordinate system of the target image of the bone to another reference coordinate system of the surgical end-effector;
• and
• controlling movement of the surgical end-effector to position the surgical end-effector relative to a location on the bone of the patient based on the transformed locations to facilitate implantation of the surgical implant device in the bone of the patient.