Systems and methods for robotic arm alignment and docking
Certain aspects relate to systems and techniques for preparing a robotic system for surgery. In one aspect, the method includes a robotic arm, a sensor configured to generate information indicative of a location of the robotic arm, a processor, and at least one computer-readable memory in communication with the processor and having stored thereon computer-executable instructions. The instructions are configured to cause the processor to receive the information from the sensor, determine that the robotic arm is located at a first position in which a first axis associated with the robotic arm is not in alignment with a second axis associated with a port installed in a patient, and provide a command to move the robotic arm to a second position in which the first axis associated with the robotic arm is in alignment with the second axis.
1. A method, comprising:
receiving, from a sensor, information indicative of a location of a robotic arm;
determining, with one or more processors in communication with the sensor, that the robotic arm is located at a first position in which a first axis associated with the robotic arm is not in alignment with a second axis associated with a port installed in a patient; and
providing, with the one or more processors, a command to move the robotic arm to a second position in which the first axis associated with the robotic arm is in alignment with the second axis.
2. The method of claim 1 , wherein the first axis comprises a tool path axis.
3. The method of claim 1 , wherein the second axis comprises an insertion axis of the port.
4. The method of claim 1 , wherein the sensor comprises an image sensor.
5. The method of claim 4 , wherein:
an advanced device manipulator (ADM) is coupled to a distal portion of the robotic arm; and
the image sensor is attached to the ADM.
6. The method of claim 5 , further comprising coupling a sterile drape to the ADM and covering the image sensor.
7. The method of claim 6 , wherein the sterile drape comprises a transparent region that overlaps with the image sensor so that the image sensor is capable of viewing the port via the transparent region.
8. The method of claim 7 , wherein the image sensor is attached to the robotic arm.
9. The method of claim 1 , wherein the port is attached to a fiducial.
10. The method of claim 1 , wherein the port comprises a fiducial formed on a surface of the port.
11. The method of claim 10 , wherein:
the sensor comprises an image sensor;
the fiducial comprises a predetermined pattern; and
the method further comprises determining, with the one or more processors, an angle between the first axis and the second axis based on predetermined pattern of the fiducial within a field of view of the image sensor.
12. The method of claim 11 , wherein:
the fiducial comprises a circular marker; and
the method further comprises determining, with the one or more processors, a distance between the image sensor and the fiducial based on a length of a major axis of the fiducial within the field of view of the image sensor.
13. The method of claim 1 , further comprising providing, with the one or more processors, a second command to move the robotic arm along the second axis toward the port.
14. The method of claim 1 , wherein the port comprises a cannula placed into a body wall of the patient.
15. The method of claim 1 , wherein the port comprises a patient introducer, and wherein the method further comprises placing the patient introducer into a natural orifice of the patient.
16. The method of claim 1 , wherein the sensor comprises at least one of an electromagnetic (EM) sensor, an infrared (IR) sensor, or a radio frequency (RF) sensor.
17. The method of claim 1 , wherein the port comprises a patient introducer, and wherein the method further comprises installing the patient introducer in a mouth or nose of the patient.
18. The method of claim 1 , wherein the port comprises a patient introducer, and wherein the method further comprises securing the patient introducer to a ureteroscope coupled with the robotic arm.
19. The method of claim 1 , wherein the port comprises a cannula configured to provide percutaneous access for a ureteroscope.
20. The method of claim 1 , further comprising placing the port in a sinus of the patient for an otolaryngology (ENT) procedure.