Multi-arm robotic system for spine surgery with imaging guidance

A system, comprising:

• a robotic arm configured to orient an imaging device;
• a processor;
• and
• a memory storing instructions for execution by the processor that, when executed, enable the processor to:
• annotate a plurality of intraoperative images obtained from the imaging device to label a first anatomical element for a surgical tool to avoid;
• prevent the surgical tool from approaching the first anatomical element;
• calculate, based on the plurality of intraoperative images, a volume of a second anatomical element;
• remove an amount of material from the second anatomical element;
• recalculate the volume of the second anatomical element to determine the amount of material removed;
• and
• generate a notification when the determined amount of material removed equals or is greater than a known volume to be removed.

A method, comprising:

• annotating a plurality of intraoperative images obtained from an imaging device to label a first anatomical element for a surgical tool to avoid;
• preventing the surgical tool from approaching the first anatomical element;
• calculating, based on the plurality of intraoperative images, a volume of a second anatomical element;
• removing an amount of material from the second anatomical element;
• recalculating the volume of the second anatomical element to determine the amount of material removed;
• and
• generating a notification when the determined amount of material removed equals or is greater than a known volume to be removed.