Method and system for guiding position and orientation of a robotic device holding a surgical tool

A robotic surgical system, comprising:

• a robotic device comprising a base and an actuation unit coupled to the base and configured to move a surgical tool relative to the base;
• a localization system configured to determine relative position and orientation of the tool and an anatomical structure of a patient;
• and
• a control unit configured to:
• generate virtual representations of a target region on the anatomical structure according to a treatment plan, a base axis associated with the tool, and a goal representing a spatial range of position and orientation of the robotic device allowing a distal tip of the tool to work in the target region, wherein the virtual goal is generated only if a threshold amount of the target region can be treated;
• change a visual aspect of the virtual target region in response the tool tip being detected in the target region;
• and
• change a visual aspect of the virtual goal in response to the virtual base axis aligning inside the virtual goal as a user changes position and orientation of the robotic device while maintaining the tool tip in the target region.

A system for guiding position and orientation of a robotic device holding a surgical tool configured for working on a planned region of an anatomical structure, the robotic device comprising a base and an actuation unit coupled to the base and configured to move the surgical tool relative to the base, the system comprising:

• a localization system configured to determine relative position and orientation of the surgical tool and the anatomical structure;
• a user interface configured to display a virtual representation of the anatomical structure and a virtual representation of a target region on the anatomical structure, wherein the target region is displayed as a shape representing a spatial range of position of a distal tip of the tool to treat the planned region;
• and
• a processing unit coupled to the user interface, configured to:
• based on localization data from the localization system, detect a presence of the tool tip in the target region;
• change a visual aspect of the virtual representation of the target region displayed on the user interface when the tool tip is detected in the target region;
• compute a virtual goal defining a spatial range of position and orientation of the base of the robotic device in which the tool is capable of working on at least a determined part of the planned region, wherein the user interface is configured to display the virtual goal and a virtual representation of a base axis associated with the surgical tool;
• change position and orientation of the virtual representation of the base axis displayed on the user interface as a user changes position and orientation of the robotic device while maintaining the tool tip in the target region;
• and
• change a visual aspect of the virtual goal displayed on the user interface when the virtual representation of the base axis is inside the virtual goal.