ROBOTIC ARM POSITIONING AND MOVEMENT CONTROL
Systems and methods for controlling the placement and movement of a robotic arm of a robotic surgical system are provided. A surgical computer system can be configured to determine a recommended position for the robotic arm based on the calculated workspace volume for the robotic arm and the location of the surgical site. A surgical computer system can also be configured to control the robotic arm according to whether it is located within a surgical workspace defined by the surgeon or with respect to the surgical site.
1 . A method for positioning a robotic arm in association with a surgical procedure and a patient, the method comprising:
determining, by a computer system, a location of a surgical site associated with the patient;
receiving, by the computer system, surgical plan data associated with the surgical procedure;
determining, by the computer system, a surgical workspace corresponding to the location of the surgical site based on the surgical plan data;
determining, by the computer system, a position of the robotic arm;
operating, by the computer system, the robotic arm in a first state when the robotic arm is positioned within the surgical workspace; and
operating, by the computer system, the robotic arm in a second state when the robotic arm is positioned outside of the surgical workspace;
wherein the first state comprises a first movement type and the second state comprises a second movement type for the robotic arm.
2 . (canceled)
3 . (canceled)
4 . The method of claim 1 , wherein determining the position of the robotic arm comprises:
optically tracking, by a tracking system coupled to the computer system, the robotic arm.
5 . The method of claim 1 , wherein the surgical workspace is defined with respect to an anatomical structure of the patient.
6 . The method of claim 1 , wherein the robotic arm comprises a passive robotic arm.
7 . The method of claim 6 , wherein the first state comprises a manual control state and the second state comprises an autonomous control state.
8 . (canceled)
9 . A robotic surgical system for performing a surgical procedure on a patient, the robotic surgical system comprising:
a robotic arm;
a tracking system configured to track a position of the robotic arm; and
a computer system coupled to the tracking system and the robotic arm, wherein the computer system is configured to:
determine a location of a surgical site associated with the patient;
receive surgical plan data associated with the surgical procedure;
determine a surgical workspace corresponding to the location of the surgical site based on the surgical plan data;
determine, via the tracking system, a position of the robotic arm;
operate the robotic arm in a first state when the robotic arm is positioned within the surgical workspace; and
operate the robotic arm in a second state when the robotic arm is positioned outside of the surgical workspace;
wherein the first state comprises a first movement type and the second state comprises a second movement type for the robotic arm.
10 . (canceled)
11 . (canceled)
12 . The robotic surgical system of claim 9 , wherein the tracking system is configured to optically track the robotic arm.
13 . The robotic surgical system of claim 9 , wherein the surgical workspace is defined with respect to an anatomical structure of the patient.
14 . The robotic surgical system of claim 9 , wherein:
the robotic arm comprises a passive robotic arm; and
the first state comprises a manual control state and the second state comprises an autonomous control state.
15 . (canceled)
16 . The method of claim 1 , wherein the first state comprises a fine movement mode and the second state comprises a gross movement mode.
17 . The method of claim 1 , wherein the robotic arm further comprises an end effector, the end effector comprising at least one of a surgical instrument or a manipulator.
18 . The method of claim 1 , wherein the surgical workspace comprises a volume defined with respect to one or more reference points associated with the surgical site.
19 . The method of claim 18 , wherein the one or more reference points are identified by a tracking system coupled to the computer system.
20 . The method of claim 18 , wherein the one or more reference points comprises a lateral condyle and a medial condyle of a bone.
21 . The robotic surgical system of claim 9 , wherein the first state comprises a fine movement mode and the second state comprises a gross movement mode.
22 . The robotic surgical system of claim 9 , wherein the robotic arm further comprises an end effector, the end effector comprising at least one of a surgical instrument or a manipulator.
23 . The robotic surgical system of claim 9 , wherein the surgical workspace comprises a volume defined with respect to one or more reference points associated with the surgical site.
24 . The robotic surgical system of claim 23 , wherein the one or more reference points are identified by the tracking system.
25 . The robotic surgical system of claim 24 , wherein the one or more reference points comprises a lateral condyle and a medial condyle of a bone.