WO2025120637A1

WO2025120637A1 - Systems and methods for planning and updating trajectories for imaging devices

Info

Publication number: WO2025120637A1
Application number: PCT/IL2024/051146
Authority: WO
Inventors: Noam WEISS; Yonatan USHPIZIN; Leonid Kleyman; Eliyahu ZEHAVI; Tal GLICK; Ben Yosef Hai EZAIR; Boris Bashkansky
Original assignee: Mazor Robotics Ltd
Current assignee: Mazor Robotics Ltd
Priority date: 2023-12-06
Filing date: 2024-12-03
Publication date: 2025-06-12
Anticipated expiration: 2026-06-06

Abstract

Systems and methods for planning and updating one or more trajectories for imaging device(s) are provided. A first trajectory for a first robotic arm orienting a first component of an imaging device and a second trajectory for a second robotic arm orienting a second component of the imaging device may be determined based on patient information. At least one first image may be obtained from the imaging device using the first trajectory and the second trajectory. The first trajectory and the second trajectory may be updated based on the first image and a second image may be obtained from the imaging device using the updated first trajectory and the updated second trajectory.

Description

SYSTEMS AND METHODS FOR PLANNING AND UPDATING TRAJECTORIES FOR

IMAGING DEVICES

BACKGROUND

[0001] The present disclosure is generally directed to imaging devices, and relates more particularly to planning and/or updating trajectories for one or more components of at least one imaging device.

[0002] Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure, or may complete one or more surgical procedures autonomously. Imaging may be used by a medical provider for diagnostic and/or therapeutic purposes. Patient anatomy can change over time, particularly following placement of a medical implant in the patient anatomy.

BRIEF SUMMARY

[0003] Example aspects of the present disclosure include:

[0004] A system for updating one or more trajectories according to at least one embodiment of the present disclosure comprises an imaging device having a first component and a second component; a first robotic arm configured to orient the first component and a second robotic arm configured to orient the second component; 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 patient information; determine a first trajectory for the first robotic arm and a second trajectory for the second robotic arm using the patient information; obtain at least one first image from the imaging device using the first trajectory and the second trajectory; update the first trajectory and the second trajectory based on the at least one first image; and obtain at least one second image from the imaging device using the updated first trajectory and the updated second trajectory.

[0005] Any of the aspects herein, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

[0006] Any of the aspects herein, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner. [0007] Any of the aspects herein, wherein the first component comprises a source and the second component comprises a detector.

[0008] Any of the aspects herein, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: reconstruct a three-dimensional model using images using one or more of the at least one first image and the at least one second image.

[0009] Any of the aspects herein, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: update the three-dimensional model using one or more of the at least one first image and the at least one second image.

[0010] Any of the aspects herein, wherein the imaging device comprises at least one of an X- ray imaging device or an ultrasound imaging device.

[0011] A method for updating one or more trajectories according to at least one embodiment of the present disclosure comprises receiving patient information; determining a first trajectory for a first robotic arm supporting a first component of an imaging device and a second trajectory for a second robotic arm supporting a second component of the imaging device using the patient information; obtaining at least one first image from the imaging device using the first trajectory and the second trajectory; updating the first trajectory and the second trajectory based on the at least one first image; and obtaining at least one second image from the imaging device using the updated first trajectory and the updated second trajectory.

[0012] Any of the aspects herein, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

[0013] Any of the aspects herein, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner. [0014] Any of the aspects herein, wherein the first component comprises a source and the second component comprises a detector.

[0015] Any of the aspects herein, further comprising: reconstructing a three-dimensional model using one or more of the at least one first image and the at least one second image.

[0016] Any of the aspects herein, further comprising: updating the three-dimensional model using one or more of the at least one first image and the at least one second image. [0017] Any of the aspects herein, wherein the imaging device comprises at least one of an X- ray imaging device or an ultrasound imaging device.

[0018] Any of the aspects herein, further comprising: receiving a preoperative image of the patient, wherein determining the first trajectory and the second trajectory is based on the preoperative image.

[0019] A system for updating one or more trajectories according to at least one embodiment of the present disclosure comprises an imaging device having a first component and a second component; a first robotic arm configured to orient the first component and a second robotic arm configured to orient the second component; 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: obtain at least one first image from the imaging device using an initial first trajectory for the first robotic arm and an initial second trajectory for the second robotic arm; update the first trajectory and the second trajectory based on the at least one first image; and obtain at least one second image from the imaging device using the updated first trajectory and the updated second trajectory.

[0020] Any of the aspects herein, wherein the initial first trajectory and the initial second trajectory form at least one of a circle or an oval.

[0021] Any of the aspects herein, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: receive patient information; and determine the initial first trajectory and the initial second trajectory using the patient information.

[0022] Any of the aspects herein, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

[0023] Any of the aspects herein, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner. [0024] Any aspect in combination with any one or more other aspects.

[0025] Any one or more of the features disclosed herein.

[0026] Any one or more of the features as substantially disclosed herein.

[0027] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein. [0028] Any one of the aspects/features/embodiments in combination with any one or more other aspects/features/embodiments .

[0029] Use of any one or more of the aspects or features as disclosed herein.

[0030] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0031] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0032] The phrases “at least one”, “one or more”, and “and/or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as Xl-Xn, Yl- Ym, and Zl-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y 1 and Zo).

[0033] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0034] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below. [0035] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0036] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0037] Fig. 1 is a block diagram of a system according to at least one embodiment of the present disclosure;

[0038] Fig. 2 is a schematic diagram of a system according to at least one embodiment of the present disclosure;

[0039] Fig. 3 is a flowchart according to at least one embodiment of the present disclosure;

[0040] Fig. 4 is a flowchart according to at least one embodiment of the present disclosure; and

[0041] Fig. 5 is a flowchart according to at least one embodiment of the present disclosure; and

[0042] Fig. 6 is a flowchart according to at least one embodiment of the present disclosure.

DETAILED DESCRIPTION

[0043] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and/or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and/or a medical device. [0044] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, functions may be implemented using machine learning models, neural networks, artificial neural networks, or combinations thereof (alone or in combination with instructions). Computer- readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0045] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000- series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0046] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.

[0047] The terms proximal and distal are used in this disclosure with their conventional medical meanings, proximal being closer to the operator or user of the system, and further from the region of surgical interest in or on the patient, and distal being closer to the region of surgical interest in or on the patient, and further from the operator or user of the system.

[0048] Imaging devices such as X-ray imaging devices and/or ultrasound imaging devices have two separate components for a source or emitter and a receiver or detector. Conventionally, X-ray imaging devices or ultrasound imaging devices were operated manually or on a track with a fixed trajectory. For example, C-arm or 0-arm imaging devices move the source and the detector along a circular path or trajectory. However, such a limited path may result in inadequate imaging having low quality or missing portions. Thus, it is desirable to provide for path planning, updating, and optimizing trajectories for imaging devices capable of custom, patient-specific trajectories.

[0049] According to at least one embodiment of the present disclosure, robotic systems may be used to support the imaging device where one robotic arm can orient and operate one component (e.g., the source or receiver) and another robotic arm can orient and operate another component (e.g., the source or the receiver). Such robotic systems can orient the components in a way that a patient or other subject can be located between the components. Further, a distance and/or angle between the components and the patient can be modified. The components can also be moved in three-dimensional (3D) space together or separately in programmable path(s).

[0050] The path(s) can be programmed by, for example, a computing device using a 3D mapper that is capable of calculating patient specific paths for scanning the patient. The path(s) or trajectories can be based on patient parameters (whether introduced manually or pre-defined for default patient location and stored in the system). The 3D mapper can calculate paths for the source or emitter and the receiver or detector including position orientation and distance from patient and from each other for each portion of the path. The paths may be optimized to, for example, obtain images for improved reconstruction.

[0051] The 3D mapper can also track a pose of the robotic system and obtain measurements from the robotic system via, for example, encoders in the robotic system or an external navigation system tracking the imaging device components.

[0052] Since a relative location between a source or emitter and a receiver or detector can vary along the paths (i.e., their relative distance and orientation) and may also vary relative to patient location, the resulting path or trajectory can be in any shape, e.g., not circular or iso-centric. For example, paths or trajectories may not be in the same 3D plane and/or the source and the receiver directions may not be in the same plane. Paths examples for irregular shapes can be elliptical shaped, egg shaped elliptical with sinusoidal waves, and any other shape.

[0053] Embodiments of the present disclosure provide technical solutions to one or more of the problems of (1) optimizing image generation, (2) optimizing trajectories for robotic arms orienting and operating one or more components of at least one imaging device, and (3) providing patient-specific trajectories for robotic arms orienting and operating one or more components of at least one imaging device.

[0054] Turning first to Fig. 1, a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 may be used to plan and/or update one or more trajectories for one or more components of one or more imaging devices 112 and/or carry out one or more other aspects of one or more of the methods disclosed herein. The system 100 comprises a computing device 102, the one or more imaging devices 112, a robot 114, a navigation system 118, a database 130, and/or a cloud or other network 134. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 100. For example, the system 100 may not include the imaging device 112, the robot 114, the navigation system 118, one or more components of the computing device 102, the database 130, and/or the cloud 134.

[0055] The computing device 102 comprises a processor 104, a memory 106, a communication interface 108, and a user interface 110. Computing devices according to other embodiments of the present disclosure may comprise more or fewer components than the computing device 102. [0056] The processor 104 of the computing device 102 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions stored in the memory 106, which instructions may cause the processor 104 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the robot 114, the navigation system 118, the database 130, and/or the cloud 134.

[0057] The memory 106 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer-readable data and/or instructions. The memory 106 may store information or data useful for completing, for example, any step of the methods 200, 300, 400, 500, and/or 600 described herein, or of any other methods. The memory 106 may store, for example, instructions and/or machine learning models that support one or more functions of the robot 114. For instance, the memory 106 may store content (e.g., instructions and/or machine learning models) that, when executed by the processor 104, enable trajectory planning 120.

[0058] The trajectory planning 120 enables the processor 104 to receive patient information 302, one or more images 304, and/or one or more initial trajectories 306 and output one or more trajectories 308, as will be discussed in more detail in Fig. 3. The patient information 302 may include, for example, an initial image of a patient (such as, for example, a CT scan, an 0-arm scan, an MRI, or any other imaging of the patient), patient dimensions, target anatomy, and/or target implants of the patient. The image(s) 304 may include preoperative images of the patient such as the initial image of the patient and/or images of the patient taken intraoperatively. The initial trajectories 306 may be trajectories for one or more imaging devices such as the imaging devices 112 that were preplanned and saved in, for example, a surgical plan such as the surgical plan 128. The trajectory planning 120 also enables updating of any trajectory preoperatively and/or intraoperatively such that trajectories can be optimized in real-time for a surgical procedure and for any patient. Such optimization may, for example, enable improved imaging during the surgical procedure.

[0059] Such content, if provided as instructions, may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 104 to carry out the various method and features described herein. Thus, although various contents of memory 106 may be described as instructions, it should be appreciated that functionality described herein can be achieved through use of instructions, algorithms, and/or machine learning models. The data, algorithms, and/or instructions may cause the processor 104 to manipulate data stored in the memory 106 and/or received from or via the imaging device 112, the robot 114, the database 130, and/or the cloud 134.

[0060] The memory 106 may also store the surgical plan 128. The surgical plan 128 may comprise, for example, one or more steps for performing a surgical procedure. The surgical plan 128 may also store, for example, one or more inputs for the trajectory planning 120 such as the patient information 302, the one or more images 304, and/or the one or more initial trajectories 306. The surgical plan 128 may also be stored in the database 130.

[0061] The computing device 102 may also comprise a communication interface 108. The communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, the robot 114, the navigation system 118, the database 130, the cloud 134, and/or any other system or component not part of the system 100), and/or for transmitting instructions, images, or other information to an external system or device (e.g., another computing device 102, the imaging device 112, the robot 114, the navigation system 118, the database 130, the cloud 134, and/or any other system or component not part of the system 100). The communication interface 108 may comprise one or more wired interfaces (e.g., a USB port, an Ethernet port, a Firewire port) and/or one or more wireless transceivers or interfaces (configured, for example, to transmit and/or receive information via one or more wireless communication protocols such as 802.11a/b/g/n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 108 may be useful for enabling the device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0062] The computing device 102 may also comprise one or more user interfaces 110. The user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and/or any other device for receiving information from a user and/or for providing information to a user. The user interface 110 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 100 (e.g., by the processor 104 or another component of the system 100) or received by the system 100 from a source external to the system 100. In some embodiments, the user interface 110 may be useful to allow a surgeon or other user to modify instructions to be executed by the processor 104 according to one or more embodiments of the present disclosure, and/or to modify or adjust a setting of other information displayed on the user interface 110 or corresponding thereto.

[0063] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 may utilize a user interface 110 that is housed separately from one or more remaining components of the computing device 102. In some embodiments, the user interface 110 may be located proximate one or more other components of the computing device 102, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the computer device 102.

[0064] The imaging device 112 may be operable to image anatomical feature(s) (e.g., a bone, veins, tissue, etc.) and/or other aspects of patient anatomy to yield image data (e.g., image data depicting or corresponding to a bone, veins, tissue, etc.). “Image data” as used herein refers to the data generated or captured by an imaging device 112, including in a machine-readable form, a graphical/visual form, and in any other form. In various examples, the image data may comprise data corresponding to an anatomical feature of a patient, or to a portion thereof. The image data may be or comprise a preoperative image, an intraoperative image, a postoperative image, or an image taken independently of any surgical procedure. In some embodiments, a first imaging device 112 may be used to obtain first image data (e.g., a first image) at a first time, and a second imaging device 112 may be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device 112 may be capable of taking a 2D image or a 3D image to yield the image data.

[0065] In some embodiments, the imaging device 112 may comprise more than one imaging device 112. For example, a first imaging device may provide first image data and/or a first image, and a second imaging device may provide second image data and/or a second image. In still other embodiments, the same imaging device may be used to provide both the first image data and the second image data, and/or any other image data described herein. The imaging device 112 may be operable to generate a stream of image data. For example, the imaging device 112 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and shut so as to capture successive images. For purposes of the present disclosure, unless specified otherwise, image data may be considered to be continuous and/or provided as an image data stream if the image data represents two or more frames per second. [0066] The imaging device 112 may be or comprise, for example, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), an 0-arm, a C-arm, a G-arm, or any other device utilizing X-ray -based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermographic camera (e.g., an infrared camera), a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), or any other imaging device 112 suitable for obtaining images of an anatomical feature of a patient. The imaging device 112 may be contained entirely within a single housing, or may comprise a transmitter/emitter and a receiver/detector that are in separate housings or are otherwise physically separated. In embodiments where the imaging device 112 includes separate components such as, for example, an X-ray imaging device or an ultrasound imaging device, the separate components may be each supported and/or oriented by a robotic arm 116 of the robot 114, as will be discussed in more detail below.

[0067] The robot 114 may be any surgical robot or surgical robotic system. The robot 114 may be or comprise, for example, the Mazor X™ Stealth Edition robotic guidance system. The robot 114 may be configured to position the imaging device 112 at one or more precise position(s) and orientation(s), and/or to return the imaging device 112 to the same position(s) and orientation(s) at a later point in time. The robot 114 may additionally or alternatively be configured to manipulate a surgical tool (whether based on guidance from the navigation system 118 or not) to accomplish or to assist with a surgical task. In some embodiments, the robot 114 may be configured to hold and/or manipulate an anatomical element during or in connection with a surgical procedure. The robot 114 may comprise one or more robotic arms 116. In some embodiments, the robotic arm 116 may comprise a first robotic arm and a second robotic arm, though the robot 114 may comprise more than two robotic arms. In some embodiments, one or more of the robotic arms 116 may be used to hold and/or maneuver the imaging device 112 or any one or more components of the imaging device 112. In embodiments where the imaging device 112 comprises two or more physically separate components (e.g., a transmitter and receiver), one robotic arm 116 may hold one such component, and another robotic arm 116 may hold another such component. Each robotic arm 116 may be positionable independently of the other robotic arm. In such instances, each robotic arm 116 may, for example, orient and/or move each separate component (e.g., the transmitter or source and the receiver or detector) on independent trajectories or paths. The robotic arms 116 may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0068] The robot 114, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 116 may be positioned or positionable in any pose, plane, and/or focal point. The pose includes a position and an orientation. As a result, an imaging device 112, surgical tool, or other object held by the robot 114 (or, more specifically, by the robotic arm 116) may be precisely positionable in one or more needed and specific positions and orientations.

[0069] The robotic arm(s) 116 may comprise one or more sensors that enable the processor 104 (or a processor of the robot 114) to determine a precise pose in space of the robotic arm (as well as any object or element held by or secured to the robotic arm).

[0070] In some embodiments, reference markers (e.g., navigation markers) may be placed on the robot 114 (including, e.g., on the robotic arm 116), the imaging device 112, or any other object in the surgical space. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and/or by an operator of the system 100 or any component thereof. In some embodiments, the navigation system 118 can be used to track other components of the system (e.g., imaging device 112) and the system can operate without the use of the robot 114 (e.g., with the surgeon manually manipulating the imaging device 112 and/or one or more surgical tools, based on information and/or instructions generated by the navigation system 118, for example).

[0071] The navigation system 118 may provide navigation for a surgeon and/or a surgical robot during an operation. The navigation system 118 may be any now-known or future-developed navigation system, including, for example, the Medtronic StealthStation™ S8 surgical navigation system or any successor thereof. The navigation system 118 may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 118 may comprise one or more electromagnetic sensors. In various embodiments, the navigation system 118 may be used to track a position and orientation (e.g., a pose) of the imaging device 112, the robot 114 and/or robotic arm 116, and/or one or more surgical tools (or, more particularly, to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the foregoing). The navigation system 118 may include a display for displaying one or more images from an external source (e.g., the computing device 102, imaging device 112, or other source) or for displaying an image and/or video stream from the one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 can operate without the use of the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or a component thereof, to the robot 114, or to any other element of the system 100 regarding, for example, a pose of one or more anatomical elements, whether or not a tool is in the proper trajectory, and/or how to move a tool into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan.

[0072] The database 130 may store information that correlates one coordinate system to another (e.g., one or more robotic coordinate systems to a patient coordinate system and/or to a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about a target and/or image information about a patient’s anatomy at and/or proximate the surgical site, for use by the robot 114, the navigation system 118, and/or a user of the computing device 102 or of the system 100); one or more images useful in connection with a surgery to be completed by or with the assistance of one or more other components of the system 100; and/or any other useful information. The database 130 may be configured to provide any such information to the computing device 102 or to any other device of the system 100 or external to the system 100, whether directly or via the cloud 134. In some embodiments, the database 130 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and/or another system for collecting, storing, managing, and/or transmitting electronic medical records including image data.

[0073] The cloud 134 may be or represent the Internet or any other wide area network. The computing device 102 may be connected to the cloud 134 via the communication interface 108, using a wired connection, a wireless connection, or both. In some embodiments, the computing device 102 may communicate with the database 130 and/or an external device (e.g., a computing device) via the cloud 134. [0074] The system 100 or similar systems may be used, for example, to carry out one or more aspects of any of the methods 200, 300, 400, 500, and/or 600 described herein. The system 100 or similar systems may also be used for other purposes.

[0075] Turning to Fig. 2 a block diagram of a system 200 according to at least one embodiment of the present disclosure is shown. The system 200 includes a computing device 202 (which may be the same as or similar to the computing device 102 described above), a navigation system 218 (which may be the same as or similar to the navigation system 118 described above), and a robot 214 (which may be the same as or similar to the robot 114 described above). The system 200 may be used with the system 100 in some embodiments. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 200. For example, the system 200 may not include the navigation system 218.

[0076] As illustrated, the robot 214 includes a first robotic arm 216A (which may comprise one or more members connected by one or more joints) and a second robotic arm 216B (which may comprise one or more members connected by one or more joints), each extending from a base 240. In other embodiments, the robot 214 may include one robotic arm or two or more robotic arms. The base 240 may be stationary or movable. The first robotic arm 216A and the second robotic arm 216BB may operate in a shared or common coordinate space. By operating in the common coordinate space, the first robotic arm 216A and the second robotic arm 216B avoid colliding with each other during use, as a position of each robotic arm 216A, 216B is known to each other. In other words, because each of the first robotic arm 216A and the second robotic arm 216B have a known position in the same common coordinate space, collision can be automatically avoided as a controller of the first robotic arm 216A and of the second robotic arm 216B is aware of a position of both of the robotic arms.

[0077] In some embodiments, one or more imaging devices or components 212 (which may be the same as or similar to the imaging device 112 described above) may be disposed or supported on an end of the first robotic arm 216A and/or the second robotic arm 216B. In other embodiments, the imaging devices or components 212 may be disposed or secured to any portion of the first robotic arm 216A and/or the second robotic arm 216B. In other embodiments, one or more tools or instruments may be disposed on an end of each of the first robotic arm 216A and the second robotic arm 216B, though the tools or instruments may be disposed on any portion of the first robotic arm 216A and/or the second robotic arm 216B. The first robotic arm 216 and/or the second arm 216B is operable to execute one or more planned trajectories, updated trajectories, and/or procedures autonomously and/or based on input from a surgeon or user. [0078] As illustrated in Fig. 2, a first component of the imaging device 212A is supported by the first robotic arm 216A and a second component of the imaging device 212B is supported by the second robotic arm 216B. It will be appreciated that co-registration of the first robotic arm 216A and the second robotic arm 216B enables the first robotic arm 216 to orient and operate the first component of the imaging device 212A and the second robotic arm 216B to orient and operate the second component of the imaging device 212B simultaneously or sequentially without collision or unintended contact. In some embodiments, the first component of the imaging device 212A may comprise a source of an imaging device, such as, for example, an ultrasound device or an x-ray device and the second component of the imaging device 212B may comprise a detector of the imaging device, which may be, for example, the ultrasound device or the x-ray device. The first component of the imaging device 212A and the second component of the imaging device 212B may be used to obtain one or more images of a target 204. In the illustrated example, the target 204 is an anatomical element of a patient 210. In other embodiments, the target 204 may be an object, an implant, an incision, a tool, an instrument, a robotic arm, any component of the system 200, any component external to the system 200, or the like.

[0079] Turning to Fig. 3, an example of a model architecture 300 that supports methods and systems (e.g., Artificial Intelligence (Al)-based methods and/or system) for planning and/or updating one or more trajectories for, for example, one or more components of an imaging device is provided.

[0080] Patient information 302, one or more images 304, and/or one or more initial trajectories 306 may be used by a processor such as the processor 104 as input for the trajectory planning model 120. It will be appreciated that the input may include any combination of inputs and may not include one or more of the patient information 302, the one or more images 304, and/or the one or more initial trajectories 306. The trajectory planning 120 may output one or more trajectories 308 (e.g., a first trajectory for a first robotic arm supporting a first component of an imaging device and a second trajectory for a second robotic arm supporting a second component of the imaging device). The one or more trajectories 308 may be any shape such as, for example, elliptical shaped, egg shaped elliptical with sinusoidal waves, and any other shape. [0081] The patient information 302 may be received from, for example, the memory 106, the database 130, and/or the cloud 134. The patient information 302 may also be received as input via the user interface 110. The patient information 302 may include, for example, an initial image of a patient (such as, for example, a CT scan, an 0-arm scan, an MRI, or any other imaging of the patient), patient dimensions, target anatomy, and/or target implants of the patient. The patient information 302 may be used to determine one or more customized trajectories that enable positioning of one or more components as close to the patient as possible. The patient information 302 may also be used in determining trajectories that avoid collision with the patient. [0082] The image(s) 304 may be received from an imaging device such as the imaging device 112, an imaging device of a navigation system such as the navigation system 118, or any other imaging device or component of a system such as the system 100 during a surgical operation.

The image(s) 304 may also include preoperative images of the patient such as the initial image. In such embodiments, the image(s) 304 may be received from, for example, the memory 106, the database 130, and/or the cloud 134. Preoperative images may be used to determine one or more trajectories for one or more components of the imaging device 112 to, for example, image a target area. For example, a relative pose of a target anatomical element or target implant of the patient may be determined from the preoperative image(s), which can be used to plan one or more initial trajectories.

[0083] In other embodiments, the image(s) 304 may be images obtained intraoperatively or prior to a start of a surgical operation from, for example, the imaging device 112. The image(s) 304 may also be obtained using the initial trajectories 306. The image(s) obtained from the imaging device 112 using the initial trajectories 306 may be used to, for example, determine if the initial trajectories 306 result in image(s) sufficient for the surgical operation. For example, if a portion of the target anatomical element or implant is not visible in the image(s) 304, then the trajectories may be adjusted to image the missing portion. In another example, if the image(s) 304 of the target anatomical element or implant are low quality or difficult to view or process, then the trajectories may be adjusted to obtain higher quality image(s) 304.

[0084] The initial trajectories 306 may be trajectories for one or more components of at least one imaging device such as the imaging device 112 that were preplanned and saved in, for example, a surgical plan such as the surgical plan 128. In some embodiments, such as where the patient information 302 may not be available, the initial trajectory may be a default trajectory such as a circle or an oval. In other embodiments, the initial trajectories 306 may be trajectories 306 planned using the trajectory planning 120. In such embodiments, the initial trajectories 306 may be used as input with one or more images obtained using the initial trajectories 306 into the trajectory planning 120 to update and optimizing the initial trajectories 306. Thus, the initial trajectories 306 may be used as feedback to the trajectory planning 120.

[0085] As previously described, the trajectory planning 120 also enables updating of any trajectory preoperatively and/or intraoperatively such that trajectories can be optimized in realtime for a surgical procedure for any patient. Such optimization (whether preoperatively or intraoperatively) may, for example, enable improved imaging during the surgical procedure. For example, the patient information 302 can be used to plan or update a customized trajectory of any shape for ultrasound components such that the ultrasound components are oriented closer to a target anatomical element or component compared to a conventional trajectory of, for example, a standard circle or oval. Such optimization is beneficial as the quality of the ultrasound imaging may increase the closer the ultrasound imaging components are to the target anatomical element or component.

[0086] The trajectory planning 120 may be trained using historical patient information, historical image(s), and/or historical trajectories. In other embodiments, the trajectory planning 120 may be trained using the patient information 302, the image(s) 304, and/or the one or more initial trajectories 306. In such embodiments, the trajectory planning 120 may be trained prior to inputting the patient information 302, the image(s) 304, and/or the one or more initial trajectories 306 into the trajectory planning 120 or may be trained in parallel with inputting the patient information 302, the image(s) 304, and/or the one or more initial trajectories 306 into the trajectory planning 120.

[0087] Fig. 4 depicts a method 400 that may be used, for example, for generating and storing a model such as, for example, the trajectory planning 120 is provided.

[0088] The method 400 comprises generating a model (step 404). The model may be the trajectory planning 120. A processor such as the processor 104 may generate the model. The model may be generated to facilitate and enable, for example, planning and/or updating one or more trajectories for one or more components of at least one imaging device such as the imaging device 112. [0089] The method 400 also comprises training the model (step 408). In embodiments where the model is trained prior to a surgical procedure, the model may be trained using historical data from a number of patients. In some embodiments, the historical data may be obtained from patients that have similar patient data to a patient on which a surgical procedure is to be performed. In other embodiments, the historical data may be obtained from any patient.

[0090] In other embodiments, the model may be trained in parallel with use of another model. Training in parallel may, in some embodiments, comprise training a model using input received during, for example, or prior to a surgical procedure, while also using a separate model to receive and act upon the same input. Such input may be specific to a patient undergoing the surgical procedure. In some instances, when the model being trained exceeds the model in use (whether in efficiency, accuracy, or otherwise), the model being trained may replace the model in use. Such parallel training may be useful, for example, in situations, where a model is continuously in use (for example, when an input (such as, for example, an image) is continuously updated) and a corresponding model may be trained in parallel for further improvements.

[0091] In some embodiments, it will be appreciated that the model trained using historical data may be initially used as a primary model at a start of a surgical procedure. A training model may also be trained in parallel with the primary model using patient-specific input until the training model is sufficiently trained. The primary model may then be replaced by the training model.

[0092] The method 400 also comprises storing the model (step 412). The model may be stored in memory such as the memory 106, a cloud such as the cloud 134, and/or a database such as the database 130 for later use. In some embodiments, the model is stored in the memory when the model is sufficiently trained. The model may be sufficiently trained when the model produces an output that meets a predetermined threshold, which may be determined by, for example, a user, or may be automatically determined by a processor such as the processor 104.

[0093] The present disclosure encompasses embodiments of the method 400 that comprise more or fewer steps than those described above, and/or one or more steps that are different than the steps described above.

[0094] Fig. 5 depicts a method 500 that may be used, for example, for planning and/or updating one or more trajectories for one or more components of one or more imaging devices.

[0095] The method 500 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) 104 of the computing device 102 described above. The at least one processor may be part of a robot (such as a robot 114) or part of a navigation system (such as a navigation system 118). A processor other than any processor described herein may also be used to execute the method 500. The at least one processor may perform the method 500 by executing elements stored in a memory such as the memory 106. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 500. One or more portions of a method 500 may be performed by the processor executing any of the contents of memory, such as trajectory planning 120.

[0096] The method 500 comprises receiving patient information (step 504). The patient information may be the same as the patient information 302 and may be received from, for example, a memory such as the memory 106, a database such as the database 130, and/or a cloud such as the cloud 134. The patient information 302 may also be received as input via a user interface such as the user interface 110. In some embodiments, the patient information may be received from, for example, an imaging device such as the imaging device 112, 212, an imaging device of a navigation system such as the navigation system 118, or any other imaging device preoperatively. For example, a stereovision camera may be used to obtain patient dimensions prior to or at a beginning of a surgical operation. The patient information may include, for example, an initial image of a patient (such as, for example, a CT scan, an 0-arm scan, an MRI, or any other imaging of the patient), patient dimensions, target anatomy, and/or target implants of the patient. The patient information may be used to determine one or more trajectories for one or more components of an imaging device such as the imaging device 112, 212. For example, patient dimensions may be useful in determining a custom path or trajectory that can avoid collision with a portion of the patient. In another example, the patient information may enable positioning of one or more components as close to the patient as possible.

[0097] The method 500 also comprises receiving an initial image (step 508). The initial image may be received via the user interface and/or a communication interface such as the communication interface 108 of a computing device such as the computing device 102, and may be stored in a memory such as the memory 106 of the computing device. The image may also be received from an external database or image repository (e.g., a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and/or another system for collecting, storing, managing, and/or transmitting electronic medical records including image data), and/or via the Internet or another network.

[0098] The image may be a 2D image or a 3D image or a set of 2D and/or 3D images. The initial image may be, for example, an 0-arm scan, a CT scan, and/or an MRI scan. The image may depict a patient’s anatomy or portion thereof. In some embodiments, the image may be captured preoperatively (e.g., before surgery) and may be stored in a system (e.g., a system 100) and/or one or more components thereof (e.g., a database 130). The stored image may then be received (e.g., by a processor 104), as described above, preoperatively (e.g., before the surgery) and/or intraoperatively (e.g., during surgery). In some embodiments, the image may depict multiple anatomical elements associated with the patient anatomy, including incidental anatomical elements (e.g., ribs or other anatomical objects on which a surgery or surgical procedure will not be performed) in addition to target anatomical elements (e.g., vertebrae or other anatomical objects on which a surgery or surgical procedure is to be performed). The image may comprise various features corresponding to the patient’s anatomy and/or anatomical elements (and/or portions thereof), including gradients corresponding to boundaries and/or contours of the various depicted anatomical elements, varying levels of intensity corresponding to varying surface textures of the various depicted anatomical elements, combinations thereof, and/or the like. The image may depict any portion or part of patient anatomy and may include, but is in no way limited to, one or more vertebrae, ribs, lungs, soft tissues (e.g., skin, tendons, muscle fiber, etc.), a patella, a clavicle, a scapula, combinations thereof, and/or the like.

[0099] Preoperative or initial images may be used to determine one or more trajectories for one or more components of the imaging device to, for example, image a target area. For example, a relative pose of a target anatomical element or target implant of the patient may be determined from the preoperative image(s), which can be used to plan the one or more initial trajectories. [0100] The method 500 also comprises determining a trajectory for an imaging device (step 512). Determining the trajectory for the imaging device includes determining one or more trajectories for one or more components of the imaging device. For example, in some embodiments, one or more components of the imaging devices may be disposed or supported on an end of a first robotic arm such as the first robotic arm 216A and/or a second robotic arm such as the second robotic arm 216B. The first robotic arm and/or the second arm are each operable to execute one or more planned trajectories, updated trajectories, and/or procedures autonomously and/or based on input from a surgeon or user.

[0101] A first component of the imaging device such as the first component 212A may be supported by the first robotic arm and a second component of the imaging device such as the second component 212B may be supported by the second robotic arm. In such embodiments, a first trajectory is determined for the first robotic arm and a second trajectory is determined for the second robotic arm. Since a relative location between a source or emitter and a receiver or detector can vary along the paths (i.e., their relative distance and orientation) and may also vary relative to patient location, the resulting path or trajectory can be in any shape, e.g., not circular or iso-centric. For example, paths or trajectories may not be in same 3D plane and/or the source and the receiver directions may not be in the same plane. Thus, the one or more trajectories may be any shape such as, for example, elliptical shaped, egg shaped elliptical with sinusoidal waves, and any other shape.

[0102] It will be appreciated that co-registration of the first robotic arm and the second robotic arm enables the first robotic arm to orient and operate the first component of the imaging device and the second robotic arm to orient and operate the second component of the imaging device simultaneously or sequentially without collision or unintended contact. In some embodiments, the first component of the imaging device may comprise a source of an imaging device, such as, for example, an ultrasound device or an X-ray device and the second component of the imaging device may comprise a detector of the imaging device, which may be, for example, the ultrasound device or the X-ray device.

[0103] The trajectories for each of the first robotic arm and the second robotic arm (or any number of robotic arms) may be determined by a processor such as the processor 104 executing a trajectory planning such as the trajectory planning 120. Patient information such as the patient information 302, one or more images such as the one or more images 304, and/or one or more initial trajectories such as the one or more initial trajectories 306 may be used as input for the trajectory planning model. It will be appreciated that the input may include any combination of inputs and may not include one or more of the patient information, the one or more images, and/or the one or more initial trajectories. The trajectory planning may output one or more trajectories. [0104] The patient information may be received in the step 504 described above and the one or more image may be received in the step 508 described above. The initial trajectories may be trajectories for one or more components of the imaging device that were preplanned and saved in, for example, a surgical plan such as the surgical plan 128. In some embodiments, such as where the patient information may not be available, the initial trajectory may be a default trajectory such as a circle or an oval. In other embodiments, the trajectory planning may not receive an initial trajectory as input.

[0105] The method 500 also comprises obtaining at least one first image (step 516). The at least one first image may be received or obtained from the imaging device using the one or more trajectories determined in the step 512. As previously described, the imaging device may have two or more components such as with any X-ray based imaging device or an ultrasound imaging device. The image(s) obtained from the imaging device using the trajectory determined in the step 512 may be used to, for example, determine if the trajectories as determined result in image(s) sufficient for the surgical operation. For example, if a portion of the target anatomical element or implant is not visible in the image(s), then the trajectories may be adjusted to image the missing portion. In another example, if the image(s) of the target anatomical element or implant are low quality or difficult to view or process, then the trajectories may be adjusted to obtain higher quality image(s).

[0106] The method 500 also comprises updating the trajectory (step 520). The step 520 may be the same as or similar to the step 512 described above, except that the at least one first image obtained in the step 516 and the one or more trajectories outputted in the step 512 may be used an input into the trajectory planning. In such embodiments, the trajectories as outputted in the step 512 are updated and optimized using the trajectory planning. In other words, the one or more trajectories outputted in the step 512 may be used as feedback to the trajectory planning 120. Thus, the trajectory planning also enables updating of any trajectory preoperatively and/or intraoperatively such that trajectories can be optimized in real-time for a surgical procedure for any patient. Such optimization may, for example, enable improved imaging during the surgical procedure.

[0107] The method 500 also comprises obtaining at least one second image (step 524). The step 516 may be the same as or similar to the step 508 described above. It will be appreciated that in some embodiments, the at least one second image can be used as input into the trajectory planning to further optimize the one or more trajectories for the one or more components of the imaging device. It will also be appreciated that the steps 520 and 524 can be repeated until the one or more trajectories are optimized.

[0108] The method 500 also comprises reconstructing or updating a three-dimensional model (step 528). The three-dimensional model may be a three-dimensional model of, for example, the target anatomical element or component or any other portion of the patient. Reconstructing or updating the three-dimensional model may include using images obtained from, for example, the steps 516 and/or 524 and pose information of the one or more components of the imaging device when each image is obtained to reconstruct the three-dimensional model. The reconstruction may be useful in planning and/or updating the one or more trajectories. For example, the image(s) obtained may be insufficient (e.g., low quality, lacking information, missing a portion of the target anatomical element or component) and the one or more trajectories may be updated to obtain images of higher quality or from different poses.

[0109] It will be appreciated that in some embodiments, the method 500 may not include the step 528.

[0110] The present disclosure encompasses embodiments of the method 500 that comprise more or fewer steps than those described above, and/or one or more steps that are different than the steps described above. For example, the method 500 may not include the step 520 if the trajectory as determined in the step 512 was sufficient. The method 500 may also repeat any steps. For example, the method may repeat the steps 516, 520, and/or 524 such that the trajectory may be updated until the trajectory is sufficiently optimized.

[0111] Fig. 6 depicts a method 600 that may be used, for example, for planning and/or updating one or more trajectories for one or more components of one or more imaging devices.

[0112] The method 600 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) 104 of the computing device 102 described above. The at least one processor may be part of a robot (such as a robot 114) or part of a navigation system (such as a navigation system 118). A processor other than any processor described herein may also be used to execute the method 600. The at least one processor may perform the method 600 by executing elements stored in a memory such as the memory 106. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 600. One or more portions of a method 600 may be performed by the processor executing any of the contents of memory, such as trajectory planning 120.

[0113] The method 600 comprises obtaining at least one first image using an initial trajectory (step 604). The step 604 may be the same as or similar to the step 516 of the method 500 described above. The initial trajectory may be, for example, a circle or oval. The initial trajectory may be a standard trajectory that is used when, for example, patient information, patient imaging, or any other preoperative inputs are not available for trajectory planning. Thus, the standard trajectory may be used as, for example, a baseline and images obtained using the standard trajectory can be used to plan a custom trajectory and/or optimize the standard trajectory.

[0114] The method 600 also comprises updating the trajectory (step 608). The step 608 may be the same as or similar to the step 520 of the method 500 described above.

[0115] The method 600 also comprises obtaining at least one second image using the updated trajectory (step 612). The step 612 may be the same as or similar to the step 524 of the method 500 described above.

[0116] The method 600 also comprises reconstructing or updating a three-dimensional model (step 616). The step 616 may be the same as or similar to the step 528 of the method 500 described above.

[0117] The present disclosure encompasses embodiments of the method 600 that comprise more or fewer steps than those described above, and/or one or more steps that are different than the steps described above.

[0118] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Figs. 3, 4, 5, and 6 (and the corresponding description of the methods 300, 400, 500, and 600), as well as methods that include additional steps beyond those identified in Figs. 3, 4, 5, and 6 (and the corresponding description of the methods 300, 400, 500, and 600). The present disclosure also encompasses methods that comprise one or more steps from one method described herein, and one or more steps from another method described herein. Any correlation described herein may be or comprise a registration or any other correlation.

[0119] The following statements provide non-limiting examples of systems and methods of the present disclosure.

[0120] Example 1. A system for updating one or more trajectories, the system comprising: an imaging device having a first component and a second component; a first robotic arm configured to orient the first component and a second robotic arm configured to orient the second component; 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 patient information; determine a first trajectory for the first robotic arm and a second trajectory for the second robotic arm using the patient information; obtain at least one first image from the imaging device using the first trajectory and the second trajectory; update the first trajectory and the second trajectory based on the at least one first image; and obtain at least one second image from the imaging device using the updated first trajectory and the updated second trajectory.

[0121] Example 2. The system of example 1, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

[0122] Example 3. The system of example 2, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner.

[0123] Example 4. The system of any one of examples 1-3, wherein the first component comprises a source and the second component comprises a detector.

[0124] Example 5. The system of any one of examples 1-4, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to reconstruct a three-dimensional model using images using one or more of the at least one first image and the at least one second image.

[0125] Example 6. The system of example 5, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to update the three-dimensional model using one or more of the at least one first image and the at least one second image.

[0126] Example 7. The system of any one of examples 1-6, wherein the imaging device comprises at least one of an X-ray imaging device or an ultrasound imaging device.

[0127] Example 8. A method for updating one or more trajectories, the method comprising: receiving patient information; determining a first trajectory for a first robotic arm supporting a first component of an imaging device and a second trajectory for a second robotic arm supporting a second component of the imaging device using the patient information; obtaining at least one first image from the imaging device using the first trajectory and the second trajectory; updating the first trajectory and the second trajectory based on the at least one first image; and obtaining at least one second image from the imaging device using the updated first trajectory and the updated second trajectory.

[0128] Example 9. The method of example 8, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

[0129] Example 10. The method of example 9, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner.

[0130] Example 11. The method of any one of examples 8-10, wherein the first component comprises a source and the second component comprises a detector.

[0131] Example 12. The method of any one of examples 8-11, further comprising reconstructing a three-dimensional model using one or more of the at least one first image and the at least one second image.

[0132] Example 13. The method of example 12, further comprising updating the three- dimensional model using one or more of the at least one first image and the at least one second image.

[0133] Example 14. The method of any one of examples 8-13, wherein the imaging device comprises at least one of an X-ray imaging device or an ultrasound imaging device.

[0134] Example 15. The method of any one of examples 8-14, further comprising receiving a preoperative image of the patient, wherein determining the first trajectory and the second trajectory is based on the preoperative image.

[0135] Example 16. A system for updating one or more trajectories, the system comprising: an imaging device having a first component and a second component; a first robotic arm configured to orient the first component and a second robotic arm configured to orient the second component; 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: obtain at least one first image from the imaging device using an initial first trajectory for the first robotic arm and an initial second trajectory for the second robotic arm; update the first trajectory and the second trajectory based on the at least one first image; and obtain at least one second image from the imaging device using the updated first trajectory and the updated second trajectory. 1 [0136] Example 17. The system of example 16, wherein the initial first trajectory and the initial second trajectory form at least one of a circle or an oval.

[0137] Example 18. The system of example 16 or 17, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: receive patient information; and determine the initial first trajectory and the initial second trajectory using the patient information.

[0138] Example 19. The system of any one of examples 16-18, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

[0139] Example 20. The system of example 19, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner.

[0140] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and/or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and/or configurations of the disclosure may be combined in alternate aspects, embodiments, and/or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and/or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0141] Moreover, though the foregoing has included description of one or more aspects, embodiments, and/or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and/or configurations to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

Claims

CLAIMS What is claimed is:

1. A system (100) for updating one or more trajectories, the system comprising: an imaging device (112, 212) having a first component (212 A) and a second component (212B)t a first robotic arm (216 A) configured to orient the first component and a second robotic arm (216B) configured to orient the second component; at least one processor (104); and at least one memory (106) storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to: receive patient information; determine a first trajectory for the first robotic arm and a second trajectory for the second robotic arm using the patient information; obtain at least one first image from the imaging device using the first trajectory and the second trajectory; update the first trajectory and the second trajectory based on the at least one first image; and obtain at least one second image from the imaging device using the updated first trajectory and the updated second trajectory.

2. The system of claim 1, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

3. The system of claim 2, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner.

4. The system of any one of the preceding claims, wherein the first component comprises a source and the second component comprises a detector.

5. The system of any one of the preceding claims, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: reconstruct a three-dimensional model using images using one or more of the at least one first image and the at least one second image.

6. The system of claim 5, wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: update the three-dimensional model using one or more of the at least one first image and the at least one second image.

7. The system of any one of the preceding claims, wherein the imaging device comprises at least one of an X-ray imaging device or an ultrasound imaging device.

8. A method for updating one or more trajectories, the method comprising: receiving patient information; determining a first trajectory for a first robotic arm (216 A) supporting a first component (212A) of an imaging device (112, 212) and a second trajectory for a second robotic arm (216B) supporting a second component (212B) of the imaging device using the patient information; obtaining at least one first image from the imaging device using the first trajectory and the second trajectory; updating the first trajectory and the second trajectory based on the at least one first image; and obtaining at least one second image from the imaging device using the updated first trajectory and the updated second trajectory.

9. The method of claim 8, wherein the patient information comprises at least one of an initial image of the patient, dimensions of the patient, target anatomy or target implants of the patient.

10. The method of claim 9, wherein the initial image is obtained from an imaging device comprising at least one of a lidar camera, an optical camera, an 0-arm scanner, or a CT scanner.

11. The method of any one of claims 8-10, wherein the first component comprises a source and the second component comprises a detector.

12. The method of any one of the claims 8-11, further comprising: reconstructing a three-dimensional model using one or more of the at least one first image and the at least one second image.

13. The method of claim 12, further comprising: updating the three-dimensional model using one or more of the at least one first image and the at least one second image.

14. The method of any one of the claims 8-13, wherein the imaging device comprises at least one of an X-ray imaging device or an ultrasound imaging device.

15. The method of any one of the claims 8-14, further comprising: receiving a preoperative image of the patient, wherein determining the first trajectory and the second trajectory is based on the preoperative image.