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US 12,496,141 B2Granted
Systems and methods for work volume mapping to facilitate dynamic collision avoidance
AssigneeMazor Robotics Ltd.
InventorIdo Zucker
Life of this patent
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Abstract
A system according to at least one embodiment of the present disclosure includes a processor; and a memory coupled with the processor and including data stored thereon that, when processed by the processor, enables the processor to: predict, at a first time, a motion of an object during a surgical procedure and at a second time following the first time; and update, based on the predicted motion of the object, a surgical navigation path of a robotic arm.
Claims18
A system, comprising:
- a processor;
- and
- a memory coupled with the processor and comprising data stored thereon that, when processed by the processor, enables the processor to:
- predict, at a first time, a motion of an object from a first location to a second location during a surgical procedure at a second time following the first time;
- generate a three-dimensional (3D) map of a working volume in which a surgical tool performs at least a portion of the surgical procedure and that is proximate to at least one of a patient and a surgeon, wherein the 3D map comprises a heat map with at least one sub-volume to be avoided by a robotic arm, wherein the heat map comprises at least one error boundary that is defined based on a predetermined threshold distance around the predicted second location of the object at the second time, and wherein the robotic arm is positioned within the at least one error boundary of the predicted second location;
- and
- update, based on the predicted motion of the object and the at least one error boundary, a surgical navigation path of the robotic arm, wherein the updating comprises generating a plurality of surgical navigation paths and selecting an alternative surgical navigation path of the plurality of surgical navigation paths that avoids passing through the at least one sub-volume, and wherein the alternative surgical navigation path moves the robotic arm out of the predicted second location.
4 more elements
A method, comprising:
- receiving, from a first sensor, data comprising information related to a motion of an object at a first time away from a first position;
- predicting, at the first time, a second position of an object at a second time later than the first time;
- generating a three-dimensional (3D) map of a working volume in which a surgical tool performs at least a portion of a surgical procedure and that is proximate at least one of a patient and a surgeon, wherein the 3D map comprises a heat map with at least one first sub-volume to be avoided by a robotic arm and a second sub-volume that the robotic arm passes through, wherein the heat map comprises at least one error boundary that is defined based on a predetermined threshold distance around the predicted second position of the object at the second time, and wherein the robotic arm is positioned within the at least one error boundary of the predicted second position;
- and
- updating, based on the predicted motion of the object and the at least one error boundary, a surgical navigation path of the robotic arm, wherein the updating comprises generating a plurality of surgical navigation paths and selecting an alternative surgical navigation path of the plurality of surgical navigation paths that avoids passing through the at least one first sub-volume, and wherein the alternative surgical navigation path moves the robotic arm out of the predicted second position.
2 more elements
A system, comprising:
- a processor;
- a first robotic arm;
- and
- a memory coupled with the processor and comprising data stored thereon that, when processed by the processor, enables the processor to:
- determine, at a first time, a first position of an object during a surgical procedure;
- predict, at the first time and based on the first position of the object, a second position of the object at a second time;
- generate a three-dimensional (3D) map of a working volume in which a surgical tool performs at least a portion of the surgical procedure and that is proximate to at least one of a patient and a surgeon, wherein the 3D map comprises a heat map with at least one sub-volume to be avoided by the first robotic arm, wherein the heat map comprises at least one error boundary that is defined based on a predetermined threshold distance around the predicted second position of the object at the second time, and wherein the first robotic arm is positioned within the at least one error boundary of the predicted second position of the object;
- and
- update, based on the predicted second position of the object and the at least one error boundary, a surgical navigation path of the first robotic arm, wherein the updating comprises generating a plurality of surgical navigation paths and selecting an alternative surgical navigation path of the plurality of surgical navigation paths that avoids passing through the at least one sub-volume, wherein the alternative surgical navigation path moves the first robotic arm out of the predicted second position of the object.
6 more elements
Dependencies are inferred from the claim text.