FIELD

This disclosure describes motion programming of a robotic device based on a tracked surgical instrument.

BACKGROUND

Minimally invasive surgery typically limits the size of incisions into a human body so that the recovery from surgical procedures may be quick and the odds of infection reduced. However, only a few tools may be concurrently used by the same surgeon during minimally invasive surgery. Sometimes a tool change may occur to place the proper tool with the surgical suite. A tool change may extend out of time of a minimally invasive surgical procedure. Moreover, minimally invasive surgery may be burdensome on a surgeon, particularly when manually operating surgical controls for long periods of time.

SUMMARY

In one embodiment, a method includes acquiring an image of a surgical site of a patient. The method also includes capturing motion data of an instrument based on a user defined path to the surgical site. The method also 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 also includes displaying a portion of the motion path onto the image. The method also includes determining one or more instructions for actuating the one or more components along the determined motion path. The method also includes providing the one or more instructions to the robotic device.

In another embodiment, a method includes acquiring an image of a surgical site of a patient. The method also includes capturing a pose of an instrument based on a user defined placement of the instrument at a surgical site of a patient. The method also includes determining a motion path corresponding to the captured pose of the instrument. The motion path is associated with actuation of one or more components of a robotic device. The method also includes displaying a portion of the motion path onto the merged image. The method also includes determining one or more instructions for actuating the one or more components along the determined motion path. The method also includes providing the one or more instructions to the robotic device.

In another embodiment, a system includes a tracking device, a robotic device, and a processing device. The processing device includes a processor and a non-transitory computer readable medium. The non-transitory computer readable medium includes stored instructions that, when executed by the processor, cause the system to acquire an image of a surgical site of a patient. The stored instructions also cause the system to 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. The stored instructions also cause the system to determine, by the processor, a motion path corresponding to the captured pose of the instrument. The motion path is associated with actuation of one or more components of the robotic device. The stored instructions also cause the system to provide instructions to display a portion of the motion path onto the image. The stored instructions also cause the system to determine, by the processor, one or more instructions for actuating the one or more components along the determined motion path. The stored instructions also cause the system to provide the one or more instructions to the robotic device.

