DETECTION OF SURGICAL TABLE MOVEMENT FOR COORDINATING MOTION WITH ROBOTIC MANIPULATORS
An position sensor such as an IMU is removably positioned on a patient bed used to support a patient during a robotic surgical procedure in which a robotic manipulator is used to manipulate a surgical instrument. When the bed is moved during the course of surgery, signals corresponding to a sensed changed in the bed's position are received by a processor, which causes a corresponding repositioning of the robotic manipulator.
1 . A surgical method, comprising:
positioning a patient on a support;
placing a position sensor on the support;
positioning a surgical instrument on a robotic manipulator;
introducing the surgical instrument through an incision in the patient;
receiving input from a user input, and causing the robotic manipulator to manipulate the surgical instrument in accordance with the user input;
receiving signals from the position indicating a change in the position of the support; and
repositioning the robotic manipulator in response to the signals from the sensor.
2 . The method of claim 1 , wherein the sensor is an inertial measurement unit.
3 . The method of claim 1 , wherein the manipulating step includes pivoting the surgical instrument relative to a defined fulcrum, and wherein the method further includes:
in response to the signals from the sensor, re-calculating the defined fulcrum.