Real-time robotic-assisted dimension measurement system

An apparatus for performing real-time robotic-assisted length measurements, the apparatus comprising:

• one or more processors;
• a memory coupled to the one or more processors and storing instructions that, when executed by the one or more processors, cause the apparatus to;
• obtain a first set of kinematic data of a wrist joint of a surgical tool corresponding to placing a tool-tip of the surgical tool at a first location on an anatomy, wherein the first set of kinematic data are measured relative to a base reference frame;
• obtain a second set of kinematic data of the wrist joint of the surgical tool corresponding to placing the tool-tip of the surgical tool at a second location on the anatomy, wherein the second set of kinematic data are measured relative to the base reference frame;
• transform the first set of kinematic data into a first position vector of the tool-tip at the first location and the second set of kinematic data into a second position vector of the tool-tip at the second location;
• and
• compute a first distance between the first position vector and the second position vector as a measured length of a straight line between the first location and the second location on the anatomy.

A robotic surgical system, comprising:

• a robotic arm;
• a surgical tool attached to the robotic arm;
• and
• a computer coupled to the robotic arm and the surgical tool and configured to perform real-time length measurements on an anatomy by:
• obtaining a first set of kinematic data of a wrist joint of the surgical tool corresponding to placing a tool-tip of the surgical tool at a first location on the anatomy;
• obtaining a second set of kinematic data of the wrist joint of the surgical tool corresponding to placing the tool-tip of the surgical tool at a second location on the anatomy;
• transforming the first set of kinematic data into a first position vector of the tool-tip at the first location and the second set of kinematic data into a second position vector of the tool-tip at the second location;
• and
• computing a distance between the first position vector and the second position vector as a measured length of a straight line between the first location and the second location on the anatomy.