Articulated robotic platform

A system for controlling a position of an articulated robotic platform in proximity to a patient comprising:

• an articulated robotic arm including a plurality of articulated arm sections, wherein a distal articulated arm section of the plurality of articulated arm sections is supported by a base support, wherein a proximal articulated arm section of the plurality of articulated arm sections comprises a second joint portion;
• and
• the articulated robotic platform including:
• a medical tool support;
• a plurality of support members connected to the medical tool support, wherein at least one support member comprises an articulated connection to the medical tool support, and a distal end configured to be connectable to an anchor member;
• and
• a first joint portion configured to secure the articulated robotic platform in a controlled spatial relationship to the articulated robotic arm,
• wherein the articulated robotic platform further comprises at least one positioning sensor configured for determining a position of the articulated robotic platform,
• wherein the first joint portion of the articulated robotic platform is connected to the second joint portion of the robotic arm to enable the articulated robotic platform to balance against a counterbalancing force provided, in operation, by the articulated robotic arm to stabilize the articulated robotic platform.

A computer-implemented method for controlling the position of an articulated robotic platform in proximity to a patient, the articulated robotic platform including at least one positioning sensor and a joint portion configured to secure the articulated robotic platform in a controlled spatial relationship to an articulated robotic arm, the method comprising:

• a) acquiring position data of the articulated robotic platform from the positioning sensor of the articulated robotic platform;
• b) acquiring position data of the articulated robotic arm supporting the articulated robotic platform;
• c) calculating a first balancing force to be applied by the articulated robotic platform to the articulated robotic arm based on the position data of the articulated robotic arm and the position data of the articulated robotic platform;
• d) calculating a second balancing force to be applied by the articulated robotic arm to the articulated robotic platform based on the position data of the articulated robotic arm and the position data of the articulated robotic platform;
• and
• e) applying the first and second balancing forces to the articulated robotic platform and the articulated robotic arm, respectively, such that the articulated robotic platform is held in a stable equilibrium in relation to the patient.