Medical robot comprising automatic positioning means

A method for automatic positioning of a medical robot carry out a medical treatment on a patient, said medical robot including a motorized mobile base enabling movement of the medical robot and a control unit storing a treatment plan including at least one action to be effected on an anatomy of interest of said patient, said positioning method comprising following steps executed autonomously by the medical robot:

• detecting the position of the anatomy of interest of the patient relative to a position of the medical robot,
• identifying on the basis of the position of the anatomy of interest of the patient and of the treatment plan of at least one favorable position of the mobile base of the medical robot at which the medical robot is capable of effecting said at least one action from the treatment plan, and
• moving the mobile base of the medical robot to an optimum position selected from the identified favorable position or positions,
• verifying a stability criterion of the mobile base of the medical robot in the selected optimum position,
• if said verification is positive, immobilizing the mobile base of the medical robot in said optimum position, if said verification is negative, moving the mobile base of the medical robot to another position selected from the favorable positions, wherein the medical robot comprises retractable feet intended to be lowered to immobilize the mobile base of the medical robot, each foot comprising:
• a sensor to measure a local flatness defect of a floor facing said foot, and the verification of a stability criterion comprises, for each foot, a comparison of the measurement of the local flatness defect of the floor for said foot with a predetermined threshold,
• a second sensor for measuring a weight supported by said foot, and the verification of a stability criterion comprises, for each foot, a comparison of the measurement of the weight supported by said foot with a predetermined threshold.