| CPC A61B 34/10 (2016.02) [A61B 6/4441 (2013.01); A61B 6/547 (2013.01); A61B 34/30 (2016.02); A61B 2034/107 (2016.02)] | 6 Claims |
|
1. A method of trajectory planning for a medical robot system, wherein a pose of a first component of the medical robot system is configured to be changed independently of a pose of a second component of the medical robot system, the method comprising:
determining, by at least one processor of a robotic apparatus having the medical robot system, an initial status of the medical robot system for each degree of freedom of a plurality of degrees of freedom of the medical robot system, wherein an initial value is measured;
determining, by the at least one processor and based on the initial status, items of position information of at least two discrete reference points of the first component in respect of one another;
determining, by the at least one processor and based on the initial status, further items of position information of at least two discrete further reference points of the second component in respect of one another;
planning, by the at least one processor, a trajectory for the medical robot system dependent on the initial status, the items of position information, and the further items of position information; and
transferring, by the robotic apparatus, the medical robot system from the initial status into a target status of the medical robot system along the trajectory,
wherein the medical robot system comprises a medical imaging modality that has the first component,
wherein the medical robot system comprises a patient couch that has the second component,
wherein the first component corresponds to a C-arm for X-ray-based imaging or is rigidly attached to the C-arm,
wherein a first reference point of the at least two discrete reference points corresponds to a center of the C-arm and a second reference point of the at least two discrete reference points lies on a line connecting an X-ray detector of the C-arm to an X-ray collimator of the C-arm and running through the center of the C-arm,
wherein the trajectory for the medical robot system is planned dependent on a first reference vector, which points from the first reference point to the second reference point,
wherein, dependent on the initial status, a second reference vector is calculated, which is perpendicular to a supporting plate of the patient couch, and/or a third reference vector is calculated, which is parallel to the supporting plate,
wherein, for the planning of the trajectory, an alignment of the first reference vector is controlled or regulated in respect of the second reference vector and/or of the third reference vector, and
wherein the planning of the trajectory is carried out in such a way that an angle between the second reference vector and a projection of the first reference vector is minimized in a plane perpendicular to the third reference vector, and/or an angle between the third reference vector and the projection of the first reference vector is minimized in a plane perpendicular to the second reference vector.
|