| CPC B25J 9/1676 (2013.01) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/70 (2016.02); A61B 2034/2074 (2016.02)] | 17 Claims |
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1. A system for positioning a surgical tool, the system comprising:
a surgical robotic system comprising a robot arm, the robot arm comprising a guide sleeve, the guide sleeve defining axial and lateral directions;
one or more computer readable storage devices configured to store a plurality of computer executable instructions; and
one or more hardware computer processors in communication with the one or more computer readable storage devices and configured to execute the plurality of computer executable instructions, causing the system to:
receive a surgical plan associated with a subject, the surgical plan comprising three-dimensional preoperative data related to the subject;
determine, based on the surgical plan, a desired trajectory of a distal end of the surgical tool as the surgical tool is inserted into the guide sleeve;
determine, based on the surgical plan, a desired position of the distal end of the surgical tool;
transmit one or more control signals to the surgical robotic system, causing the surgical robotic system to orient and position the guide sleeve based on one or more dimensions of the surgical tool and the desired trajectory and position of the distal end of the surgical tool, such that the distal end of the surgical tool follows the desired trajectory when the surgical tool is inserted in the guide sleeve, and such that the distal end of the surgical tool achieves the desired position when the surgical tool is fully inserted in the guide sleeve;
determine, based on the surgical plan, a second desired trajectory of a distal end of a second surgical tool as the second surgical tool is inserted into the guide sleeve;
determine, based on the surgical plan, a second desired position of the distal end of the second surgical tool; and
transmit one or more second control signals to the surgical robotic system, causing the surgical robotic system to reorient and/or reposition the guide sleeve based on one or more second dimensions of the second surgical tool and the second desired trajectory and position, such that the distal end of the second surgical tool follows the second desired trajectory when the second surgical tool is inserted in the guide sleeve, replacing the surgical instrument, and such that the distal end of the second surgical tool achieves the second desired position when the second surgical tool is fully inserted in the guide sleeve.
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