# US 12,213,744 B2 · Path planning based on work volume mapping > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,213,744 B2 - Document ID: US12213744B2 - Status: Granted - Kind: B2 - Application number: 17/376,493 - Filed: 2021-07-15 - Published: 2023-01-19 - Granted: 2025-02-04 - Earliest claimed: 2021-07-15 - Assignees: Mazor Robotics Ltd. - Applicants: Mazor Robotics Ltd. - Inventors: Dany Junio; Moshe Shoham - Web page: https://patentgrep.com/patent/US12213744B2 ## CPC - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 17/0218: {for minimally invasive surgery (A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 34/30: Surgical robots - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2055: {Optical tracking systems} - A61B 2090/3735: {Optical coherence tomography [OCT]} - A61B 2090/374: {NMR or MRI} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B 2090/3762: {using computed tomography systems [CT]} - A61B 2090/378: {using ultrasound} - G06N 20/00: Machine learning - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones. ## Claims ### Claim 1 A method for planning a path comprising: mapping a work volume and one or more no-fly zones, the work volume defining a volume which a robot may access and each of the one or more no-fly zones defining at least one volume which the robot is restricted from accessing; receiving information about a position of at least one instrument; receiving an image of an incision; processing the image to determine dimensions of the incision based on the image; calculating a void volume based on the position of the at least one instrument and the dimensions of the incision; updating the work volume to include the void volume to yield an updated work volume; and calculating a path for a robotic arm of the robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones, wherein calculating the void volume is further based on known dimensions of the at least one instrument obtained from measurements of the at least one instrument received from a database. ### Claim 2 (depends on 1) The method of claim 1, wherein the information about the position of the at least one instrument is received from at least one of a navigation camera, an electro-magnetic navigation system, or a Lidar navigation system. ### Claim 3 (depends on 1) The method of claim 1, wherein the at least one instrument is a retractor. ### Claim 4 (depends on 1) The method of claim 1, wherein the at least one instrument is at least one of a port and a tubular retractor. ### Claim 5 (depends on 1) The method of claim 1, further comprising: receiving information about a surgical operating room, wherein the information is at least one of an image, sensor data, electro-magnetic data, or Lidar data; identifying one or more obstacles in the information about the surgical operating room; and defining the one or more no-fly zones based on the identified one or more obstacles. ### Claim 6 (depends on 5) The method of claim 5, wherein defining the one or more no-fly zones comprises determining an outer boundary of one or more objects. ### Claim 7 (depends on 1) The method of claim 1, wherein calculating the path is further based on one or more parameters and wherein the method further comprises assigning a weight to each parameter of the one or more parameters. ### Claim 8 (depends on 7) The method of claim 7, wherein artificial intelligence uses one or more data models to assign the weight. ### Claim 9 (depends on 1) The method of claim 1, further comprising: receiving updated information about an updated position of the at least one instrument; calculating at least one of an updated void volume and an updated position of the void volume based on the updated position of the at least one instrument; and updating the updated work volume based on at least one of the updated void volume and the updated position of the void volume. ### Claim 10 (depends on 1) The method of claim 1, further comprising: causing the robotic arm to move along the path. ### Claim 11 (depends on 1) The method of claim 1, further comprising: determining a cut angle to a target anatomical element based on avoiding the one or more no-fly zones, wherein calculating the path is further based on the determined cut angle. ### Claim 12 (depends on 1) The method of claim 1, wherein the one or more no-fly zone includes the at least one instrument. ### Claim 13 A device for planning a path comprising: at least one processor; and a memory storing data for processing by the at least one processor that, when processed, the data causes the at least one processor to: map a work volume and one or more no-fly zones, the work volume defining a volume which a robot may access and each of the one or more no-fly zones defining at least one volume which the robot is restricted from accessing; receive information about a position of at least one instrument; receive an image of an incision; process the image to determine dimensions of the incision based on the image; calculate a void volume based on the position of the at least one instrument and the dimensions of the incision; update the one or more no-fly zones to remove the void volume; and calculate a path for a robotic arm of the robot from outside a patient anatomy to within the patient anatomy that avoids the one or more no-fly zones, wherein calculating the void volume is further based on known dimensions of the at least one instrument obtained from measurements of the at least one instrument received from a database. ### Claim 14 (depends on 13) The device of claim 13, wherein one or more markers are affixed to the at least one instrument and the information about the position of the at least one instrument is received from a navigation camera configured to detect the position of the one or more markers. ### Claim 15 (depends on 13) The device of claim 13, wherein the memory stores further data for processing by the processor that, when processed, causes the processor to: receive updated information about an updated position of the at least one instrument; calculate at least one of an updated void volume and an updated position of the void volume based on the updated position of the at least one instrument; and update the work volume based on at least one of the updated void volume and the updated position of the void volume. ### Claim 16 A system for orienting a robotic arm comprising: a robotic arm; at least one processor; and a memory storing data for processing by the at least one processor that, when processed, the data causes the at least one processor to: map a work volume and one or more no-fly zones, the work volume defining a volume which the robotic arm may access and each of the one or more no-fly zones defining at least one volume which the robotic arm is restricted from accessing; receive information about a position of at least one instrument; receive an image of an incision; process the image to determine dimensions of the incision based on the image; calculate a void volume based on the position of the at least one instrument and the dimensions of the incision; update the work volume to include the void volume to yield an updated work volume; calculate a path for the robotic arm from outside a patient anatomy to within the patient anatomy based on the updated work volume and that avoids the one or more no-fly zones; and cause the robotic arm to move along the path, wherein calculating the void volume is further based on known dimensions of the at least one instrument obtained from measurements of the at least one instrument received from a database.