| CPC A61B 90/06 (2016.02) [A61B 34/25 (2016.02); A61B 34/35 (2016.02); A61B 2034/305 (2016.02); A61B 2090/061 (2016.02)] | 18 Claims |
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1. A computer-implemented method for performing real-time robotic-assisted length measurements within a robotic surgical system, the method comprising:
after initiating a length measurement during a surgical procedure on a patient, calibrating measurement errors associated with using a tool-tip of a first surgical tool with a known length of a second surgical tool of the robotic surgical system, wherein the first surgical tool is attached to a robotic arm comprising a plurality of arm joints, wherein the measurement errors include an accumulated encoder error associated with a plurality of encoders of the plurality of arm joints;
obtaining a first set of kinematic data of a wrist joint of the first surgical tool corresponding to placing the tool-tip of the first surgical tool at a first location on an anatomy, wherein the first set of kinematic data are measured relative to a base reference frame;
obtaining a second set of kinematic data of the wrist joint of the first surgical tool corresponding to placing the tool-tip of the first surgical tool at a second location on the anatomy, wherein the second set of kinematic data are measured relative to the base reference frame;
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 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.
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