Systems for defining and modifying range of motion of probe used in patient treatment

A system for treating or imaging tissue of a patient, the system comprising:

• one or more computing devices operatively couplable to a robotic arm, the one or more computing devices comprising a non-transitory computer readable medium comprising instructions that when executed case the system to carry out a method comprising:
• establishing an allowable range of motion for a probe, the allowable range of motion including a region within which the probe may move and being stored on a memory of the one or more computing devices operably coupled with the robotic arm, wherein establishing the allowable range of motion further comprises,
• defining a possible range of motion of the probe, and
• modifying the possible range of motion of the probe by moving the probe within the patient to define the allowable range of motion of the probe;
• and
• moving the robotic arm under control of the one or more computing devices operably coupled with the probe, to affect movement of the probe to treat or image the tissue of the patient.