Determining a configuration of a medical robotic arm
A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; acquiring patient position data representing the position of a patient to be treated; and calculating the configuration from the treatment information data and the patient position data.
1. A computer implemented method for determining a configuration of a medical robotic arm, the configuration of the medical robotic arm comprising a pose of the medical robotic arm and a position of a base of the medical robotic arm, the method comprising:
detecting, based on live data captured from the environment, a change in the environment and acquiring changed environment data describing at least a change in positions of persons or a change in equipment, wherein the changed environment data being indicative of a workflow step for a workflow which uses the medical robotic arm and wherein the workflow includes a plurality of workflow steps;
acquiring constraint information data associated with the workflow step based on the changed environment data and the live data, wherein respective constraint information is assigned to each workflow step of the workflow, and wherein the constraint information includes one or more of: (i) people data describing positions of persons involved in a treatment, (ii) equipment data describing equipment used for the treatment other than the medical robotic arm, (iii) room data describing a room in which the treatment is performed, and (iv) robot data describing properties of the medical robotic arm;
transforming the constraint information data into spatial constraint data, the spatial constraint data representing space in which the medical robotic arm is constrained for the workflow step; and
determining the configuration of the medical robotic arm for the workflow step based on the spatial constraint data.
2. The method of claim 1 , further comprising acquiring patient position data representing a position of an associated patient, wherein the calculation of the configuration of the medical robotic arm is further based on the patient position data.
3. The method of claim 1 , further comprising acquiring a current configuration of the medical robotic arm, wherein the current configuration of the medical robotic arm is used as the configuration of the medical robotic arm when the current configuration of the medical robotic arm does not interfere with the change in the environment.
4. The method of claim 1 , wherein the changed environment data is acquired from a medical tracking system and includes the position of an object tracked by the medical tracking system.
5. The method of claim 1 , wherein the changed environment data includes movement data representing a movement of a device other than the medical robotic arm.
6. The method of claim 1 , wherein the configuration of the medical robotic arm further comprises work space data representing a work space that the medical robotic arm is allowed to occupy.
7. The method according to claim 1 , further comprising:
acquiring treatment information data representing information about a treatment to be performed on an associated patient by use of the medical robotic arm,
wherein the calculating the configuration of the medical robotic arm is further based on the treatment information data.
8. The method of claim 1 , further comprising controlling the medical robotic arm in accordance with the configuration in response to the indicated beginning of the workflow step.
9. A non-transitory computer readable storage medium storing a program for determining a configuration of a medical robotic arm, the configuration of the medical robotic arm comprising a pose of the medical robotic arm and a position of a base of the medical robotic arm, the computer program, which, when running on a computer, or loaded onto the computer, causes the computer to:
detect, based on live data captured from the environment, a change in the environment and acquire changed environment data describing at least a change in positions of persons or a change in equipment, wherein the changed environment data being indicative of a workflow step for a workflow which uses the medial robotic arm and wherein the workflow includes a plurality of workflow steps;
acquire constraint information data associated with the workflow step based on the changed environment data and the live data, wherein respective constraint information is assigned to each workflow step of the workflow, and wherein the constraint information includes one or more of: (i) people data describing positions of persons involved in a treatment, (ii) equipment data describing equipment used for the treatment other than the medical robotic arm, (iii) room data describing a room in which the treatment is performed, and (iv) robot data describing properties of the medical robotic arm;
transform the constraint information data into spatial constraint data, the spatial constraint data representing space in which the medical robotic arm is constrained for the workflow step; and
determine the configuration of the medical robotic arm for the workflow step based on the spatial constraint data.
10. The non-transitory computer readable storage medium of claim 9 , the program further causing the computer to control the medical robotic arm in accordance with the configuration in response to the indicated beginning of the workflow step.
11. A system for determining a configuration of a medical robotic arm, the configuration of the medical robotic arm comprising a pose of the medical robotic arm and a position of a base of the medical robotic arm, the system comprising:
a medical robotic arm; and
a computer configured to:
detect, based on live data captured from an environment, a change in the environment and acquire changed environment data describing at least a change in positions of persons or a change in equipment, wherein the changed environment data being indicative of a workflow step for a workflow which uses the medical robotic arm and wherein the workflow includes a plurality of workflow steps;
acquire constraint information data associated with the workflow step based on the changed environment data and the live data, wherein respective constraint information is assigned to each workflow step of the workflow, and wherein the constraint information includes one or more of: (i) people data describing positions of persons involved in a treatment, (ii) equipment data describing equipment used for the treatment other than the medical robotic arm, (iii) room data describing a room in which the treatment is performed, and (iv) robot data describing properties of the medical robotic arm;
transform constraint information data into spatial constraint data, the spatial constraint data representing space in which the medical robotic arm is constrained for the workflow step; and
determine the configuration of the medical robotic arm for the workflow step based on the spatial constraint data.
12. The system according to claim 11 , wherein the computer is further configured to acquire patient position data representing a position of an associated patient, wherein the calculation of the configuration of the medical robotic arm is further based on the patient position data.
13. The system according to claim 11 , wherein the computer is further configured to acquire a current configuration of the medical robotic arm, wherein the current configuration of the medical robotic arm is used as the configuration of the medical robotic arm when the current configuration of the medical robotic arm does not interfere with the change in the environment.
14. The system according to claim 11 , further comprising:
a medical tracking system,
wherein the changed environment data is acquired from the medical tracking system and includes the position of an object tracked by the medical tracking system.
15. The system according to claim 11 , further comprising:
a device other than the medical robotic arm,
wherein the changed environment data includes movement data representing a movement of the device other than the medical robotic arm.
16. The system according to claim 11 , wherein the configuration of the medical robotic arm further comprises work space data representing a work space that the medical robotic arm is allowed to occupy.
17. The system according to claim 11 , wherein the position of the base of the medical robotic arm moves to a calculated position based on the calculated configuration of the medical robotic arm.
18. The system according to claim 11 , wherein the computer is further configured to:
acquire treatment information data representing information about a treatment to be performed on an associated patient by use of the medical robotic arm, and
calculate the configuration of the medical robotic arm further based on the treatment information data.
19. The system of claim 11 , wherein the computer is further configured to control the medical robotic arm in accordance with the configuration in response to the indicated beginning of the workflow step.
20. A computer implemented method for determining a configuration of a medical robotic arm, the configuration of the medical robotic arm comprising a pose of the medical robotic arm and a position of a base of the medical robotic arm, the method comprising:
acquiring treatment information data representing information indicating a medical procedure to be performed by use of the robotic arm and a disease to be treated, wherein the disease to be treated indicated within the treatment information data is identified by a particular disease classification of a plurality of disease classifications, wherein the treatment information indicates a workflow for the medical procedures including a plurality of workflow steps;
retrieving from a database which associates diseases to be treated with locations or regions within a patient's body, a location or region within a patient's body corresponding to the disease to be treated for respective workflow steps, wherein the location or region is defined with respect to the patient's body;
detecting, based on live data captured from the environment, a change in positions of persons or a change in equipment, the changes being indicative of a workflow step of the plurality of workflow steps;
transforming constraint information associated with the workflow step and the treatment information data, into spatial constraint data indicating space in which movement of the medical robotic arm is to be constrained;
retrieving a model that describes the robotic arm in terms of possible joint positions;
acquiring patient position data representing a position of the patient to be treated, wherein the patient position data defines the position of the patient relative to at least one reference point of both the physical environment of the user and the robot;
calculating a configuration that the medical robotic arm shall assume from the location or region within the patient's body corresponding to the workflow step and based upon the disease to be treated in the treatment information data, the patient position data, the spatial constraint data, and the model which describes the robotic arm such that the configuration is a starting point from which all poses of the robotic arm required during the treatment can be reached,
wherein calculating the configuration includes ensuring positions to be reached by the free end of the robotic arm include the locations or regions within the patient's body corresponding to the workflow step and the disease to be treated, and further includes determining a position of the base, wherein the base is movable, and
wherein the position of the base is determined relative to the at least one reference point of the physical environment of both the user and the robot; and
providing control signals to a controller of the robotic arm based upon the calculated configuration allowing the robotic arm to assume a pose defined by the calculated configuration.