Method, device, and system for image generation based on calculated robotic arm positions

A device comprising:

• at least one processor;
• and
• at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
• receive a surgical plan, the surgical plan having at least one preoperative image;
• determine, based on the surgical plan, a first path for a first robotic arm, a second path for a second robotic arm, and a third path for a third robotic arm;
• cause the first robotic arm to move on the first path, the first robotic arm holding a first transducer configured to emit sound waves;
• cause the second robotic arm to move on the second path, the second robotic arm holding a receiver configured to detect the sound waves;
• cause the third robotic arm to move on the third path, the third robotic arm holding a second transducer that has at least one image setting different from the first transducer;
• calculate, based on a patient anatomy to be imaged, a pressure amplitude for the sound waves to achieve penetration through the patient anatomy from the first transducer and the second transducer to the receiver;
• configure at least one of the first transducer, the second transducer, and the receiver with the pressure amplitude;
• receive at least one first image from the receiver captured during a first time period, the at least one first image depicting the patient anatomy and generated using first time-of-flight measurements that correspond to first amounts of time taken for first sound waves to travel through the patient anatomy from the first transducer to the receiver and to second amounts of time taken for second sound waves to travel through the patient anatomy from the second transducer to the receiver;
• register a robotic space to a patient space based on the at least one first image and the at least one preoperative image;
• receive at least one second image from the receiver captured during a second time period, the at least one second image depicting the patient anatomy and generated using second time-of-flight measurements that correspond to third amounts of time taken for third sound waves to travel through the patient anatomy from the first transducer to the receiver and to fourth amounts of time taken for fourth sound waves to travel through the patient anatomy from the second transducer to the receiver;
• and
• compare the at least one first image to the at least one second image to verify the registration.

A system comprising:

• an imaging device comprising a first transducer configured to emit sound waves, a second transducer configured to emit sound waves and having at least one image setting different than the first transducer, and a receiver configured to detect the sound waves;
• a plurality of robotic arms, a first robotic arm of the plurality of robotic arms configured to hold the first transducer, a second robotic arm of the plurality of robotic arms configured to hold the receiver, and a third robotic arm of the plurality of robotic arms configured to hold the second transducer;
• at least one processor;
• and
• at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
• receive a surgical plan, the surgical plan having at least one preoperative image;
• determine, based on the surgical plan, a first path for the first robotic arm, a second path for the second robotic arm, and a third path for the third robotic arm;
• cause the first robotic arm to move on the first path, the first robotic arm holding the first transducer;
• cause the second robotic arm to move on the second path, the second robotic arm holding the receiver;
• cause the third robotic arm to move on the third path, the third robotic arm holding the second transducer;
• calculate, based on a patient anatomy to be imaged, a pressure amplitude for the sound waves to achieve penetration through the patient anatomy from the first transducer and second transducer to the receiver;
• configure at least one of the first transducer, the second transducer, and the receiver with the pressure amplitude;
• receive at least one first image from the receiver captured duringat a time period, the at least one first image depicting the patient anatomy and generated using first time-of-flight measurements that correspond to first amounts of time taken for first sound waves to travel through the patient anatomy from the first transducer to the receiver and to second amounts of time taken for second sound waves to travel through the patient anatomy from the second transducer to the receiver;
• register a robotic space to a patient space based on the at least one first image and the at least one preoperative image;
• receive at least one second image from the receiver captured during a second time period, the at least one second image depicting the patient anatomy and generated using second time-of-flight measurements that correspond to third amounts of time taken for third sound waves to travel through the patient anatomy from the first transducer to the receiver and to fourth amounts of time taken for fourth sound waves to travel through the patient anatomy from the second transducer to the receiver;
• and
• compare the at least one first image to the at least one second image to verify the registration.