Fluoroscopic robotic prosthetic implant system and methods

A method comprising:

• determining a first acetabular cup elliptical outline within a first fluoroscopic image including an acetabular cup impaction instrument in a first position, the acetabular cup impaction instrument including an acetabular cup affixed to a distal end;
• determining a second acetabular cup elliptical outline within a second fluoroscopic image including the acetabular cup impaction instrument in a second position;
• aligning a robotic coordinate system to a target coordinate system associated with the first fluoroscopic image and the second fluoroscopic image using the first acetabular cup elliptical outline and the second acetabular cup elliptical outline, wherein the target coordinate system is one of a coordinate system relative to a fluoroscopic imaging device or a coordinate system relative to anatomy of the patient;
• receiving a target inclination and a target anteversion relative to the target coordinate system for impaction of the acetabular cup;
• and
• generating commands for a robotic arm to position the acetabular cup impaction instrument into a position and an orientation to align the acetabular cup to the target inclination and the target anteversion.

A system comprising:

• a fluoroscope configured to capture fluoroscopic images of a portion of anatomy of a patient;
• an acetabular cup impaction instrument adapted to impact an acetabular cup into the acetabula of the patient;
• a robotic arm including an end effector adapted to position the acetabular cup impaction instrument for impaction of the acetabular cup;
• and
• a computing device including a processor and a memory device, the memory device including instructions that, when executed by the processor, cause the processor to perform operations including:
• determining a first acetabular cup ellipse within a first fluoroscopic image generated by the fluoroscope, the first fluoroscopic image including the acetabular cup impaction instrument in a first position, the acetabular cup impaction instrument including the acetabular cup affixed to a distal end;
• determining a second acetabular cup ellipse within a second fluoroscopic image generated by the fluoroscope, the second fluoroscopic image including the acetabular cup impaction instrument in a second position;
• aligning a coordinate system associated with the robotic arm to an image coordinate system associated with the fluoroscope using the first acetabular cup ellipse and the second acetabular cup ellipse;
• receiving a target inclination and a target anteversion for impaction of the acetabular cup;
• and
• generating commands for the robotic arm to position the acetabular cup impaction instrument into a position and an orientation to align the acetabular cup to the target inclination and the target anteversion.