Remote center of motion definition using light sources for robot systems

1. A robot system, comprising:

a robotic device comprising one or more arms connected by at least two joints, each of the joints comprising a joint axis of rotation, and a light source aligned with the respective joint axis; each of the light sources being configured to direct light along the respective joint axis such that light from the light sources intersects at a position along an instrument being held in an operational position by the robotic device to define a remote center of motion (RCM) for the robotic device.

2. The robot system as recited in claim 1 , wherein the at least two joints include at least one of a motor or at least one shaft aligned along the joint axis.

3. The robot system as recited in claim 1 , wherein the light sources include one of a laser or a light emitting diode.

4. The robot system as recited in claim 1 , wherein the light sources include different colors for each joint.

5. The robot system as recited in claim 1 , wherein the light sources produce different beam shapes for each joint.

6. The robot system as recited in claim 1 , wherein the light sources illuminate a position on the instrument to enable RCM alignment with a work area of the robot system.

7. The robot system as recited in claim 1 , wherein the instrument includes a surgical tool.

8. A robot system, comprising:

a first joint having a first axis of rotation between at least two robot components;

a second joint having a second axis of rotation between at least two robot components;

an instrument being held in an operational position by the robot system;

a first light source configured to direct light along the first axis; and

a second light source configured to direct light along the second axis such that light from the first light source and the second light source intersect at a position along the instrument to define a remote center of motion (RCM) for the robot system.

9. The robot system as recited in claim 8 , wherein the first joint includes at least one of a motor or at least one shaft aligned along the first axis.

10. The robot system as recited in claim 8 , wherein the second joint includes at least one of a motor or at least one shaft aligned along the second axis.

11. The robot system as recited in claim 8 , wherein the first light source includes one of a laser or a light emitting diode.

12. The robot system as recited in claim 8 , wherein the second light source includes one of a laser or a light emitting diode.

13. The robot system as recited in claim 8 , wherein the first light source includes a different colored light than from the second light source.

14. The robot system as recited in claim 8 , wherein the first light source produces a different shaped light beam than from the second light source.

15. The robot system as recited in claim 8 , wherein the first light source and the second light source illuminate a position on the instrument to enable RCM alignment with a work area of the robot system.

16. A method for determining a remote center of motion, the method comprising:

aligning a first light source along a first axis of rotation of a first joint between at least two robot components;

aligning a second light source along a second axis of rotation of a second joint between at least two robot components;

securing an instrument in an operational position by a robot system;

directing light along the first axis from the first light source;

directing light along the second axis from the second light source; and

defining a remote center of motion (RCM) for the robot system at an intersection of light from the first light source and the second light source at a position along the instrument.

17. The method as recited in claim 16 , wherein aligning the first light source includes aligning the first joint with at least one of a motor or at least one shaft along the first axis.

18. The method as recited in claim 16 , wherein aligning the second light source includes aligning the second joint with at least one of a motor or at least one shaft along the second axis.

19. The method as recited in claim 16 , wherein the first light source includes one of a different colored light or a different shaped light beam than from the second light source.

20. The method as recited in claim 16 , wherein at least one of the first light source and/or the second light source includes one of a laser or a light emitting diode.

21. The method as recited in claim 16 , further comprising aligning the RCM with a work area of the robot system.