Surgical guidance system with anatomical feature movement detection

Abstract

A surgical system includes a robotic device configured to facilitate performance of a procedure and a computer system communicable with the robotic device. The computer system is programmed to associate a virtual object with an anatomical feature, adjust the virtual object associated with the anatomical feature in response to movement of the anatomical feature during the procedure by monitoring detected movement of the anatomical feature and adjusting the virtual object in response to the detected movement, and control the robotic device based on a relationship between at least one point associated with the robotic device and the virtual object during the procedure.

What is claimed is: 
     
         1 . A surgical system, comprising:
 a robotic device configured to facilitate performance of a procedure; and   a computer system communicable with the robotic device and programmed to:
 associate a virtual object with an anatomical feature; 
 adjust the virtual object associated with the anatomical feature in response to movement of the anatomical feature during the procedure by monitoring detected movement of the anatomical feature and adjusting the virtual object in response to the detected movement; and 
 control the robotic device based on a relationship between at least one point associated with the robotic device and the virtual object during the procedure. 
   
     
     
         2 . The surgical system of  claim 1 , wherein the computer system is programmed to adjust the virtual object by moving the virtual object with respect to a coordinate system. 
     
     
         3 . The surgical system of  claim 1 , further comprising a tracking system configured to detect the movement of the anatomical feature during the procedure. 
     
     
         4 . The surgical system of  claim 3 , wherein the tracking system is further configured to track the robotic device. 
     
     
         5 . The surgical system of  claim 1 , wherein the computer system is further programmed to:
 determine a spatial relationship between the anatomical feature and a tool coupled to the robotic device; and   generate a graphic by continuously updating a virtual representation of the tool on an image of the anatomical feature such that a graphical relationship between the virtual representation of the tool on the image is substantially identical to a physical relationship between the tool and the anatomical feature.   
     
     
         6 . The surgical system of  claim 1 , wherein the computer system is programmed to compensate for the detected movement of the anatomical feature in real-time during the procedure. 
     
     
         7 . The surgical system of  claim 1 , wherein the computer system is further programed to compensate for gross movement of the robotic device during the procedure, wherein an end effector of the robotic device is moveable relative to the anatomical feature without the gross movement of the robotic device. 
     
     
         8 . The surgical system of  claim 7 , comprising a tracking system configured to track a position of a base of the robotic device to provide data indicative of the gross movement of the robotic device relative to the anatomical feature. 
     
     
         9 . The surgical system of  claim 1 , wherein the computer system is configured to control the robotic device based on a relationship between at least one point associated with the robotic device and the virtual object during the procedure by constraining the at least one point to the virtual object. 
     
     
         10 . A method of operating a robotic device, comprising:
 associating a virtual object with an anatomical feature;   adjusting the virtual object associated with the anatomical feature in response to movement of the anatomical feature during a procedure by monitoring the movement of the anatomical feature and adjusting the virtual object in response to the movement; and   controlling the robotic device based on a relationship between at least one point associated with the robotic device and the virtual object during the procedure.   
     
     
         11 . The method of  claim 10 , wherein adjusting the virtual object comprises moving the virtual object with respect to a coordinate system. 
     
     
         12 . The method of  claim 10 , further comprising detecting the movement of the anatomical feature using a tracking system. 
     
     
         13 . The method of  claim 10 , further comprising:
 determining a spatial relationship between the anatomical feature and a tool coupled to the robotic device; and   generating a graphic by continuously updating a virtual representation of the tool on an image of the anatomical feature such that a graphical relationship between the virtual representation of the tool on the image is substantially identical to a physical relationship between the tool and the anatomical feature.   
     
     
         14 . The method of  claim 10 , wherein controlling the robotic device comprises:
 determining a pose of an instrument at a distal end of the robotic device relative to the virtual object; and   controlling the robotic device to constrain the instrument to the virtual object.   
     
     
         15 . The method of  claim 10 , comprising compensating for the movement of the anatomical feature in real-time during the procedure. 
     
     
         16 . The method of  claim 10 , further comprising compensating for gross movement of the robotic device during the procedure, wherein an end effector of the robotic device is moveable relative to the anatomical feature without the gross movement of the robotic device. 
     
     
         17 . Non-transitory computer-readable memory configured to store programming that, when executed by one or more processors, causes the one or more processors to perform tasks comprising:
 associating a virtual object with an anatomical feature;   adjusting the virtual object associated with the anatomical feature in response to movement of the anatomical feature during a procedure by monitoring the movement of the anatomical feature and adjusting the virtual object in response to the movement; and   controlling a robotic device by constraining the robotic device based on a relationship between at least one point associated with the robotic device and the virtual object during the procedure.   
     
     
         18 . The non-transitory computer-readable memory of  claim 17 , wherein adjusting the virtual object comprises moving the virtual object with respect to a coordinate system. 
     
     
         19 . The non-transitory computer-readable memory of  claim 17 , the tasks further comprising:
 determining a spatial relationship between the anatomical feature and a tool coupled to the robotic device; and   generating a graphic by continuously updating a virtual representation of the tool on an image of the anatomical feature such that a graphical relationship between the virtual representation of the tool on the image is substantially identical to a physical relationship between the tool and the anatomical feature.   
     
     
         20 . The non-transitory computer-readable memory of  claim 17 , wherein the tasks further comprise compensating for gross movement of the robotic device during the procedure, wherein an end effector of the robotic device is moveable relative to the anatomical feature without the gross movement of the robotic device.