# US 12,178,537 B2 · Systems for defining and modifying range of motion of probe used in patient treatment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,537 B2 - Document ID: US12178537B2 - Status: Granted - Kind: B2 - Application number: 18/475,974 - Filed: 2023-09-27 - Published: 2024-01-18 - Granted: 2024-12-31 - Earliest claimed: 2020-06-26 - Assignees: PROCEPT BioRobotics Corporation - Applicants: PROCEPT BioRobotics Corporation - Inventors: Surag Mantri; Kevin Patrick Staid; Jason Hemphill; Kevin Louis Hudelson - Web page: https://patentgrep.com/patent/US12178537B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/25: {User interfaces for surgical systems} - A61B 34/32: operating autonomously - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 90/03: {Automatic limiting or abutting means, e.g. for safety} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 90/37: {Surgical systems with images on a monitor during operation} - B25J 9/02: characterised by movement of the arms, e.g. cartesian coordinate type (B25J9/06 takes precedence) - B25J 9/1664: {characterised by motion, path, trajectory planning} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm. The treatment probe and/or the imaging probe is constrained to be moved only within an allowable range of motion. ## Claims ### Claim 1 A system for treating or imaging tissue of a patient, said system comprising: a probe comprising a shaft having a distal end configured to be inserted into the patient and a proximal end configured to couple to a robotic arm; one or more computing devices operatively couplable to the robotic arm and configured with instructions for: establishing an allowable range of motion for the 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, 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 to affect movement of the probe within the allowable range of motion of the probe to treat or image the tissue of the patient. ### Claim 2 (depends on 1) The system of claim 1, wherein defining a possible range of motion for a distal end of the probe further comprises defining the region. ### Claim 3 (depends on 2) The system of claim 2, wherein the region is defined by a mathematical representation of the region. ### Claim 4 (depends on 2) The system of claim 2, wherein the region is defined by an image of the region, the image including dimensions of the probe and a possible angular movement of the distal end of the probe. ### Claim 5 (depends on 1) The system of claim of claim 1, wherein the probe comprises an imaging probe and the system further comprises a treatment probe sized for insertion into the patient. ### Claim 6 (depends on 5) The system of claim 5, wherein modifying the possible range of motion of the distal end of the probe to define an allowable range of motion further comprises activating and performing a training or teaching mode for the system, the training or teaching mode comprising a user manipulating one or both of the imaging or treatment probes to define a limit on the possible range of motion of the distal end of one or both of the imaging or treatment probes. ### Claim 7 (depends on 6) The system of claim 6, wherein the training or teaching mode is conducted when both probes are outside of the patient. ### Claim 8 (depends on 6) The system of claim 6, wherein the training or teaching mode is conducted when both probes are inside of the patient. ### Claim 9 (depends on 8) The system of claim 8, further comprising operating the imaging probe to obtain an image of the treatment probe, and in response to the image, constraining the allowable range of motion of the distal end of the treatment probe. ### Claim 10 (depends on 8) The system of claim 8, further comprising operating the imaging probe to obtain an image of the treatment probe, and in response to the image, constraining the allowable range of motion of the distal end of the imaging probe. ### Claim 11 (depends on 8) The system of claim 8, further comprising operating the imaging probe to obtain an image of the treatment probe, and in response to the image, automatically moving the distal end of the imaging probe within a predetermined area to avoid collision with the treatment probe. ### Claim 12 (depends on 8) The system of claim 8, further comprising operating the imaging probe to obtain an image of the patient's anatomy, and in response to the image, constraining the allowable range of motion of the distal end of the imaging probe. ### Claim 13 (depends on 1) The system of claim 1, wherein modifying the possible range of motion of the distal end of the probe comprises comparing the possible range of motion to a scan of the patient showing an area of the patient's anatomy near a treatment site and modifying the possible range of motion to avoid harm to the patient from the distal end of the probe in a region around the treatment site. ### Claim 14 (depends on 12) The system of claim 12, further comprising processing the obtained image using an image recognition application to identify an organ or region of tissue of the patient. ### Claim 15 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. ### Claim 16 (depends on 15) The system of claim 15, wherein defining the possible range of motion for a distal end of the probe further comprises defining the region. ### Claim 17 (depends on 16) The system of claim 16, wherein the region is defined by a mathematical representation of the region. ### Claim 18 (depends on 16) The system of claim 16, wherein the region is defined by an image of the region, the image including dimensions of the probe and a possible angular movement of the distal end of the probe. ### Claim 19 (depends on 15) The system of claim of claim 15, wherein the probe comprises an imaging probe and the system further comprises a treatment probe sized for insertion into the patient. ### Claim 20 (depends on 19) The system of claim 19, wherein modifying the possible range of motion of the distal end of the probe to define an allowable range of motion further comprises activating and performing a training or teaching mode for the system, the training or teaching mode comprising a user manipulating one or both of the imaging or treatment probes to define a limit on the possible range of motion of the distal end of one or both of the imaging or treatment probes.