US 12,220,195 B2
Systems, methods, and devices for defining a path for a robotic arm
Dany Junio, Tel Aviv-Jaffa (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Oct. 13, 2021, as Appl. No. 17/500,559.
Prior Publication US 2023/0113312 A1, Apr. 13, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 34/20 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/70 (2016.02) [A61B 34/20 (2016.02); B25J 9/1666 (2013.01); B25J 9/1676 (2013.01); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A system for defining a path for a robotic arm, the system comprising:
a robotic arm;
an object;
a tool oriented by the robotic arm;
a processor; and
a memory storing data for processing by the processor, the data, when processed, causing the processor to:
scan an operating room to determine one or more physical boundaries within the operating room;
generate one or more no-fly zones based on the physical boundaries within the operating room, wherein the one or more no-fly zones correspond to a section of a work volume defined as inaccessible to the robotic arm, wherein the work volume is defined as accessible to the robotic arm;
determine a pose of the object;
generate an obstacles map based on the determined pose and known dimensions of the object; and
define a path for the robotic arm to orient along within the operating room, the path avoiding collision with the object identified in the obstacles map and avoiding the one or more no-fly zones,
wherein the path orients the tool from a first position outside of a patient and within the operating room to a second position inside of the patient.