Efficient positioning of a mechatronic arm

A medical system for controlling a geometric status of a mechatronic articulable arm, the medical system comprising:

• at least one output device;
• the mechatronic articulable arm comprising connected elements;
• and
• a computer configured to:
• acquire current device position data describing a current relative position between a utility element of the mechatronic articulable arm and an anatomical body part of a patient's body;
• acquire current geometric status data describing a current geometric status of the mechatronic articulable arm defined by a set of at least one current spatial relationship between the connected elements of the mechatronic articulable arm;
• acquire changed device position data describing a changed relative position between the utility element and the anatomical body part that is a relative position that has changed compared to the current relative position;
• acquire device definition data describing movability of the mechatronic articulable arm;
• determine, based on the current device position data and the current geometric status data and the changed device position data and the device definition data, changed geometric status data describing a changed geometric status of the mechatronic articulable arm defined by a set of at least one changed spatial relationship between the connected elements, wherein the set of at least one changed geometric relationship is different from the set of at least one current spatial relationship, the set of at least one changed spatial relationship between the connected elements comprising a minimized number of spatial relationships changed to achieve the changed geometric status;
• determine, based on the current geometric status data and the changed geometric status data, instruction data describing an instruction for manually changing the geometric status of the mechatronic articulable arm from the current geometric status to the changed geometric status, the instruction describing changes from the respective at least one current spatial relationship to the respective at least one changed spatial relationship;
• and
• output the instruction to the at least one output device.

A non-transitory computer readable storage medium storing a program for controlling a geometric status of a mechatronic articulable arm, which when run on at least one processor of a computer or loaded onto the at least one processor of the computer, causes the computer to:

• acquire current device position data describing a current relative position between a utility element of the mechatronic articulable arm and an anatomical body part of a patient's body;
• acquire current geometric status data describing a current geometric status of the mechatronic articulable arm defined by a set of at least one current spatial relationship between the connected elements of the mechatronic articulable arm;
• acquire changed device position data describing a changed relative position between the utility element and the anatomical body part that is a relative position that has changed compared to the current relative position;
• acquire device definition data describing movability of the mechatronic articulable arm;
• determine, based on the current device position data and the current geometric status data and the changed device position data and the device definition data, changed geometric status data describing a changed geometric status of the mechatronic articulable arm defined by a set of at least one changed spatial relationship between the connected elements, wherein the set of at least one changed geometric relationship is different from the set of at least one current spatial relationship, the set of at least one changed spatial relationship between the connected elements comprising a minimized number of spatial relationships changed to achieve the changed geometric status;
• determine, based on the current geometric status data and the changed geometric status data, instruction data describing an instruction for manually changing the geometric status of the mechatronic articulable arm from the current geometric status to the changed geometric status, the instruction describing changes from the respective at least one current spatial relationship to the respective at least one changed spatial relationship;
• and
• output the instruction to at least one associated output device.