ROBOTIC SYSTEM WITH INDICATION OF BOUNDARY FOR ROBOTIC ARM
First Claim
1. A robotic system for performing a medical procedure, comprising:
- a first robotic arm configured to manipulate a medical instrument;
a processor; and
a memory storing a mapping of an anatomy of a patient, the mapping comprising data regarding (i) a target region within the anatomy and (ii) a path from an access point of the patient to the target region, the memory further storing computer-executable instructions, that when executed, cause the processor to;
determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach the target region from the access point via the path,determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and the mapping, andduring an arm setup phase prior to performing the procedure, provide an indication of the boundary during movement of the first robotic arm.
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Accused Products
Abstract
Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.
111 Citations
30 Claims
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1. A robotic system for performing a medical procedure, comprising:
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a first robotic arm configured to manipulate a medical instrument; a processor; and a memory storing a mapping of an anatomy of a patient, the mapping comprising data regarding (i) a target region within the anatomy and (ii) a path from an access point of the patient to the target region, the memory further storing computer-executable instructions, that when executed, cause the processor to; determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach the target region from the access point via the path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and the mapping, and during an arm setup phase prior to performing the procedure, provide an indication of the boundary during movement of the first robotic arm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:
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determine a minimum stroke length of a first robotic arm that allows advancing of a medical instrument by the first robotic arm to a target region based on a mapping of an anatomy of a patient, the mapping comprising data regarding (i) the target region within the anatomy and (ii) a path from an access point of the patient to the target region, the medical instrument advanced to reach the target region from the access point via the path; determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and the mapping; and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of positioning a first robotic arm, comprising:
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determining a minimum stroke length of the first robotic arm that allows advancing of a medical instrument by the first robotic arm to reach a target region based on a mapping of an anatomy of a patient, the mapping comprising data regarding (i) the target region within the anatomy and (ii) a path from an access point of the patient to the target region, the medical instrument advanced to reach the target region from the access point via the path; determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and the mapping; and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification