Systems and methods for optimizing configurations of a computer-assisted surgical system for reachability of target objects

A method comprising:

• determining, by a processor, a reachability of a target object by a robotic instrument of a computer-assisted surgical system for a first configuration of the computer-assisted surgical system, the first configuration comprising:
• a first master control pose of a set of master controls of the computer-assisted surgical system, the set of master controls configured to control the robotic instrument via a manipulator arm of the computer-assisted surgical system coupled to the robotic instrument,
• a first robotic instrument pose of the robotic instrument of the computer-assisted surgical system, and
• a first viewpoint provided by an imaging device of the computer-assisted surgical system,
• wherein the determining of the reachability of the target object by the robotic instrument includes:
• determining, based on the first master control pose, a master control workspace defining an area in which the set of master controls is configured to move,
• determining a user workspace defining an area in which a user of the set of master controls is able to maneuver the set of master controls,
• determining a subspace that includes an overlap of the master control workspace and the user workspace, and
• determining whether a movement of the set of master controls from the first master control pose that corresponds to a movement of the robotic instrument from the first robotic instrument pose to the target object is contained within the subspace;
• determining a second configuration of the computer-assisted surgical system that improves the reachability of the target object by the robotic instrument compared to the first configuration, the second configuration comprising a second master control pose that is different from the first master control pose and that improves the reachability of the target object by the robotic instrument controlled by the set of master controls and such that a movement of the set of master controls from the second master control pose that corresponds to the movement of the robotic instrument from the first robotic instrument pose to the target object is contained within the subspace;
• and
• facilitating implementation of the second configuration, including directing a decoupling of the master controls from controlling the robotic instrument and, while decoupled, an adjustment of the master controls from the first master control pose to the second master control pose.

A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause the processor to:

• determine a reachability of a target object in a surgical space by a robotic instrument of a computer-assisted surgical system for a first configuration of the computer-assisted surgical system, the first configuration comprising:
• a first master control pose of a set of master controls of the computer-assisted surgical system, the set of master controls configured to control the robotic instrument via a manipulator arm of the computer-assisted surgical system coupled to the robotic instrument,
• a first robotic instrument pose of the robotic instrument of the computer-assisted surgical system, and
• a first viewpoint provided by an imaging device of the computer-assisted surgical system,
• wherein the determining of the reachability of the target object by the robotic instrument includes:
• determining, based on the first master control pose, a master control workspace defining an area in which the set of master controls is configured to move,
• determining a user workspace defining an area in which a user of the set of master controls is able to maneuver the set of master controls,
• determining a subspace that includes an overlap of the master control workspace and the user workspace, and
• determining whether a movement of the set of master controls from the first master control pose that corresponds to a movement of the robotic instrument from the first robotic instrument pose to the target object is contained within the subspace;
• determine a second configuration of the computer-assisted surgical system that improves the reachability of the target object by the robotic instrument compared to the first configuration, the second configuration comprising a second master control pose that is different from the first master control pose and that improves the reachability of the target object by the robotic instrument controlled by the set of master controls and such that a movement of the set of master controls from the second master control pose that corresponds to the movement of the robotic instrument from the first robotic instrument pose to the target object is contained within the subspace;
• and
• facilitate implementation of the second configuration, including directing a decoupling of the master controls from controlling the robotic instrument and, while decoupled, an adjustment of the master controls from the first master control pose to the second master control pose.