System and method for controlling a position of an articualted robotic arm

A system for controlling the position of an articulated robotic arm, the system comprising:

• a robotic catheter procedure system comprising:
• the articulated robotic arm;
• and
• a controller coupled to the articulated robotic arm;
• and
• a tracking system coupled to the controller and configured to measure a change in a position of a fiducial target, the fiducial target being provided on a patient table positioned proximate to and separate from the articulated robotic arm, the change in the position of the fiducial target being indicative of a change in position of the patient table;
• wherein the controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the fiducial target,
• wherein the tracking system includes a visual tracking system configured to measure the change in position of the fiducial target, and
• wherein the controller is configured to generate a control signal to lock movement of the patient table based on an error from the tracking system.

A system for controlling the position of an articulated robotic arm, the system comprising:

• a controller coupled to the articulated robotic arm;
• and
• a tracking system coupled to the controller and configured to measure a change in a position of a patient table positioned proximate to and separate from the articulated robotic arm,
• wherein the controller is configured to adjust the position of the articulated robotic arm based on the measured change in the position of the patient table,
• wherein the tracking system includes a visual tracking system, and
• wherein the controller is configured to generate a lock signal to lock movement of the patient table based on a tracking signal from the tracking system.

A method for controlling the position of an articulated robotic arm, the method comprising:

• measuring a change in a position of a patient table positioned proximate to and separate from an articulated robotic arm;
• adjusting the position of the articulated robotic arm based on the measured change in position of the patient table;
• identifying an error in the measuring a change in a position of the patient table;
• wherein the change in a position of a patient table is measured by measuring a change in position of at least one fiducial target provided on the patient table, and
• locking movement of the patient table based on the error.