Systems and methods for optimizing a configuration of a computer-assisted surgical system for accessibility to a target object

Abstract

A configuration optimization system determines reachability of a target object in a surgical space by a robotic instrument of a computer-assisted surgical system for a first configuration of the computer-assisted surgical system. The configuration optimization system determines a second configuration of the computer-assisted surgical system that improves the reachability of the target object by the robotic instrument. The configuration optimization system provides data indicative of the second configuration to the computer-assisted surgical system.

Description

Technical Field

[0001] This application claims priority to U.S. Provisional Patent Application No. 62 / 993,568, filed March 23, 2020, the contents of which are incorporated herein by reference in their entirety. Background Technology

[0002] Various technologies, including computing, robotics, medical technology, and extended reality (e.g., augmented reality, virtual reality), enable users (such as surgeons) to perform and be trained to perform a wide range of medical procedures and operations. For example, users can perform and be trained to perform minimally invasive medical procedures (such as computer-assisted surgery) in clinical settings (e.g., procedures on living or animal patients), non-clinical settings (e.g., procedures on human or animal carcasses, tissues removed from human or animal anatomy), and training settings (e.g., procedures on physical anatomical training models, virtual anatomical models in extended reality environments), etc.

[0003] In any procedure within such an environment, as the user instructs the instruments of the computer-assisted surgical system to perform surgery relative to the body in the surgical space, the user can view images of the surgical space (e.g., areas inside the body) associated with the body. These images may be provided by imaging devices (such as endoscopes) included within or attached to the computer-assisted surgical system. Because various procedures are performed in this manner, the configuration of the computer-assisted surgical system may affect the efficiency and / or effectiveness with which the user is able to perform the procedures. Summary of the Invention

[0004] The following description presents a simplified summary of one or more aspects of the systems and methods described herein. This summary is not a comprehensive overview of all anticipated aspects, nor is it intended to identify key or critical elements of all aspects, nor to depict the scope of any or all aspects. Its sole purpose is to present one or more aspects of the systems and methods described herein as a prelude to the detailed descriptions that follow.

[0005] An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory and configured to execute the instructions to: determine the reachability of the robotic instruments of the computer-assisted surgical system to a target object in the surgical space for a first configuration of the computer-assisted surgical system; determine a second configuration of the computer-assisted surgical system that improves the reachability of the robotic instruments to the target object; and provide data instructing the computer-assisted surgical system on the second configuration.

[0006] An exemplary method includes a processor (e.g., a processor of a configuration optimization system) that performs the following operations: determining the accessibility of the robotic instruments of the computer-assisted surgical system to a target object in the surgical space for a first configuration of the computer-assisted surgical system; determining a second configuration of the computer-assisted surgical system that improves the accessibility of the robotic instruments to the target object; and providing data indicative of the second configuration to the computer-assisted surgical system.

[0007] An exemplary computer-readable medium includes instructions that, when executed by a processor, cause the processor to: determine the accessibility of the robotic instruments of the computer-assisted surgical system to a target object in the surgical space for a first configuration of the computer-assisted surgical system; determine a second configuration of the computer-assisted surgical system that improves the accessibility of the robotic instruments to the target object; and provide data instructing the computer-assisted surgical system to the second configuration. Attached Figure Description

[0008] The accompanying drawings illustrate various embodiments and are part of the specification. The illustrated embodiments are merely examples and do not limit the scope of this disclosure. Throughout the drawings, the same or similar reference numerals denote the same or similar elements.

[0009] Figure 1 An exemplary configuration optimization system based on the principles described herein is shown.

[0010] Figure 2 A display device is shown that displays images from an exemplary configuration in accordance with the principles described herein.

[0011] Figure 3 An exemplary portion of a computer-assisted surgical system based on the principles described herein is shown.

[0012] Figure 4 An exemplary workspace is shown for optimizing configuration based on the principles described herein.

[0013] Figure 5 An exemplary viewpoint of the configuration is shown, from which the imaging device captures images according to the principles described herein.

[0014] Figure 6A An imaging apparatus of a computer-assisted surgical system is shown that captures images of an anatomical object from exemplary viewpoints of different configurations of the computer-assisted surgical system during surgery, according to the principles described herein.

[0015] Figure 6B An exemplary display device is shown, displaying according to the principles described herein. Figure 6A The anatomical objects in the video are in different configurations of the computer-assisted surgical system.

[0016] Figure 6C This demonstrates the principles described herein, which are used by the user. Figure 6A and Figure 6B Exemplary wrist postures for different configurations of a computer-assisted surgical system.

[0017] Figure 7 An exemplary configuration of a computer-assisted surgical system based on the principles described herein is shown.

[0018] Figure 8 An exemplary method is shown for optimizing the configuration of a computer-assisted surgical system for the accessibility of a target object, based on the principles described herein.

[0019] Figure 9 An exemplary computer-assisted surgical system based on the principles described herein is shown.

[0020] Figure 10 An exemplary computing device is shown based on the principles described herein. Detailed Implementation

[0021] This paper describes systems and methods for optimizing the configuration of a computer-assisted surgical system for the accessibility of target objects. During a computer-assisted surgical procedure, a user (e.g., a surgeon) can interact with various target objects using surgical instruments (e.g., remotely operated). These target objects can include any suitable object in the surgical space, such as anatomical objects, robotic instruments, non-robotic instruments, etc. In order to interact with a target object using surgical instruments, the surgical instruments must reach the target object. Moving the surgical instruments to the target object may require multiple steps, such as activating the clutch mode of the computer-assisted surgical system to reposition the main controls of the computer-assisted surgical system if the target object is initially inaccessible.

[0022] A configuration optimization system can determine and optimize the accessibility of a target object based on various parameters as described herein. Reachability can be defined as the effectiveness and / or efficiency with which components of a computer-assisted surgical system (e.g., instruments, manipulators, setup structures, or input devices) can be moved to a target destination. The target destination to which the components of the computer-assisted surgical system are to be moved can be a target object, a target location, a target configuration, or any other desired target. Therefore, reachability can be characterized by any suitable parameter, such as distance (e.g., travel distance from point to point), deviation from a desired direction (e.g., the difference between the current and desired directions of an instrument, end effector, robot link, etc.), efficiency (e.g., the total amount of motion required to reach the target destination, the ergonomic efficiency of manipulating user controls to reach the target destination, the ergonomic efficiency of a user manipulating user controls to move one point to another, a measure of the different types of motion and / or input required to reach the target destination, etc.), or other measures as described herein, each characterized independently or in any combination. The determined configuration may include configurations that make the target object more accessible compared to other configurations (e.g., the current configuration). The configuration that provides improved accessibility compared to other configurations can be considered the optimal configuration for the accessibility of the target object. The configuration optimization system can also provide data indicating one or more recommended configurations, such as suggesting alternative configurations to users and / or automatically implementing improved or optimized configurations to facilitate efficient and / or effective interaction with the target object.

[0023] The systems and methods described herein can advantageously improve the efficiency and / or effectiveness of surgical instruments in reaching target objects within the surgical space. In some examples, the systems and methods can provide guidance for the interaction of surgical instruments with target objects during medical procedures. Such guidance can facilitate the automated implementation of configurations in which the accessibility of target objects is optimized. Furthermore, the systems and methods described herein can minimize the amount of time required to reach target objects and / or determine configurations in which the accessibility of target objects is optimized, which can benefit patients and / or the surgical team involved in interacting with target objects. These and other advantages and benefits of the systems and methods described herein will become apparent herein.

[0024] Various embodiments will now be described in more detail with reference to the accompanying drawings. The disclosed systems and methods may provide one or more of the benefits mentioned above and / or various additional and / or alternative benefits that will become apparent herein.

[0025] Figure 1An exemplary configuration optimization system 100 (“System 100”) is illustrated for optimizing the configuration of a computer-assisted surgical system for the accessibility of a target object. System 100 may be included in, implemented by, or connected to one or more components of a computer-assisted surgical system, as will be described below in relation to... Figure 9 An exemplary computer-assisted surgical system is described. For example, system 100 may be implemented by one or more components of a computer-assisted surgical system, such as a control system, a user control system, or ancillary systems. As another example, system 100 may be implemented by a separate computing system communicatively coupled to the computer-assisted surgical system.

[0026] like Figure 1 As shown, system 100 may include, but is not limited to, storage facility 102 and processing facility 104 selectively and communicatively coupled to each other. Facilities 102 and 104 may each include or be implemented by one or more physical computing devices, which include hardware and / or software components such as processors, memory, storage drives, communication interfaces, instructions stored in memory for execution by the processor, etc. Although facilities 102 and 104 are... Figure 1 While facilities 102 and 104 are shown as independent facilities, they can be combined into fewer facilities, such as a single facility, or divided into more facilities to serve a particular implementation. In some examples, each of facilities 102 and 104 can be distributed among multiple devices and / or multiple locations to serve a particular implementation.

[0027] Storage facility 102 may maintain (e.g., store) executable data used by processing facility 104 to perform any of the functionalities described herein. For example, storage facility 102 may store instructions 106 that can be executed by processing facility 104 to perform one or more of the operations described herein. Instructions 106 may be implemented by any suitable application, software, code, and / or other instance of executable data. Storage facility 102 may also maintain any data received, generated, managed, used, and / or transmitted by processing facility 104.

[0028] Processing facility 104 may be configured to implement (e.g., execute instructions 106 stored in storage facility 102 to implement) various operations associated with optimizing the configuration of a computer-assisted surgical system for the accessibility of a target object. For example, processing facility 104 may be configured to determine the accessibility of the robotic instruments of the computer-assisted surgical system to a target object in the surgical space for a first configuration of the computer-assisted surgical system. Processing facility 104 may further determine (e.g., based on determining the accessibility of the target object for the first configuration of the computer-assisted surgical system) a second configuration of the computer-assisted surgical system that improves the accessibility of the robotic instruments to the target object (e.g., the target object is more easily reached in the second configuration than in the first configuration). Processing facility 104 may further provide the computer-assisted surgical system with data indicative of the second configuration.

[0029] This document describes these and other operations that may be implemented by system 100 (e.g., by processing facility 104 of system 100). In the following description, any reference to the functionality implemented by system 100 shall be understood as being implemented by processing facility 104 based on instructions 106 stored in storage facility 102.

[0030] Figure 2 Exemplary images 200 (e.g., first image 200-1 and second image 200-2) of a surgical procedure as displayed by a display device 202 (e.g., a display device of a computer-assisted surgical system). Images 200 depict a surgical space including an anatomical object 204, surgical instruments 206, and non-robotic instruments 208. Images 200 can be provided by an imaging device (e.g., an imaging device of a computer-assisted surgical system) that captures images from a specific viewpoint. For example, image 200-1 shows the surgical space from a first viewpoint, while image 200-2 shows the surgical space from a second viewpoint different from the first viewpoint. A viewpoint (such as the first and second viewpoints of image 200) can refer to a combination of aspects such as position, orientation, configuration, resolution, etc., which together define what image the imaging device captures at a particular moment. Other aspects of viewpoints are also described herein. As shown on the coordinate axes in each of images 200-1 and 200-2 (these coordinate axes may or may not actually be shown on the display device 202), the viewpoint of image 200-2 is a rotation about the z-axis of the viewpoint of image 200-1.

[0031] The surgical space includes an anatomical object 204, which can be any anatomical part of the patient's body on which a surgical procedure is being performed. For example, the anatomical object 204 may include internal organs or a portion of internal organs.

[0032] Surgical instrument 206 can be implemented from any suitable therapeutic instrument (e.g., a tool with tissue interaction capabilities), imaging device (e.g., an endoscope), diagnostic instrument, etc., which can be used in computer-assisted surgical procedures performed on a patient (e.g., by being at least partially inserted into and manipulated to perform a computer-assisted surgical procedure on the patient). Surgical instrument 206 can also be configured to interact (e.g., grasp, manipulate, move, image, etc.) with target objects such as anatomical structures (e.g., anatomical object 204) and / or non-robotic instruments (e.g., non-robotic instrument 208) in the surgical space. In some examples, surgical instrument 206 may include force sensing and / or other sensing capabilities. Surgical instrument 206 can be coupled to and configured to be manipulated by a manipulator arm of a computer-assisted surgical system, which is controlled (e.g., remotely controlled) by a user of the computer-assisted surgical system (e.g., a surgeon) using a set of master controls of the computer-assisted surgical system.

[0033] The non-robotic instrument 208 can be any suitable instrument that is not coupled to the manipulator arm of the computer-assisted surgical system. As shown in image 200, an example non-robotic instrument 208 is a sensor (e.g., an ultrasound probe). Other example non-robotic instruments may include any other suitable sensor (e.g., an insertion optical coherence tomography (OCT) sensor, an insertion rapid evaporation ionization mass spectrometry (REIMS) device, etc.), imaging device, fixation device or instrument (e.g., sutures, staples, anchors, suture devices, etc.).

[0034] Non-robotic instruments 208 can be examples of target objects that interact with the computer-assisted surgical system. Other target objects can include any suitable object found in the surgical space that can interact with surgical instruments 206. Such suitable objects can include anatomical objects, other robotic instruments (e.g., robotic instruments coupled to a system different from the computer-assisted surgical system), other non-robotic instruments, etc.

[0035] During surgical procedures performed using a computer-assisted surgical system (e.g., performed by a user using the computer-assisted surgical system), a configuration optimization system (e.g., system 100) can identify target objects in the surgical space. For example, system 100 can identify a non-robotic instrument 208 as a target object that the user may want to interact with using surgical instrument 206. System 100 can identify target objects in any suitable manner. For example, system 100 can use image processing and object recognition algorithms to determine that non-robotic instrument 208 is a potential target object. System 100 can be configured to consider any and / or specific non-robotic instrument or instrument type as a potential target object. Additionally or alternatively, system 100 may receive indications of target objects from the user.

[0036] For a user to interact with the non-robot instrument 208 using surgical instrument 206, surgical instrument 206 must reach the non-robot instrument 208. To facilitate efficient and / or effective access to the non-robot instrument 208 by surgical instrument 206, system 100 can determine the accessibility of surgical instrument 206 to the non-robot instrument 208 for a first configuration of the computer-assisted surgical system (such as the current configuration of the computer-assisted surgical system). This configuration may include any suitable information and / or parameters relating to the accessibility of surgical instrument 206 to the non-robot instrument 208. For example, a configuration may include the posture (e.g., position and / or orientation) of the non-robot instrument 208, the posture of surgical instrument 206, the posture of a set of master controls of the computer-assisted surgical system, the viewpoint provided by the imaging device of the computer-assisted surgical system, target interaction with the non-robot instrument 208, etc.

[0037] System 100 can determine the accessibility of non-robot instrument 208 based on parameters of the current configuration. For example, Figure 200-1 illustrates a first configuration of a computer-assisted surgical system for which system 100 can determine the accessibility of non-robot instrument 208. This accessibility may depend on the current position of non-robot instrument 208 relative to the current position of surgical instrument 206 (e.g., the distance between the current positions of non-robot instrument 208 and surgical instrument 206). This accessibility may further depend on the current orientation of non-robot instrument 208 relative to the current orientation of surgical instrument 206. For example, the orientation of non-robot instrument 208 can affect the distance that surgical instrument 206 travels to be able to interact with non-robot instrument 208. Accessibility may further depend on interaction with a target of non-robot instrument 208. For example, target interaction may affect which part of non-robot instrument 208 will be reached, which may also affect the distance that surgical instrument 206 will travel. Accessibility may further depend on the gesture of a master control manipulated by a user to control the movement of surgical instrument 206. For example, the orientation of surgical instrument 206 may correspond to the orientation of a set of master controls, which in turn may affect the hand and wrist posture of the user (e.g., a surgeon) (e.g., posture 210-1 or posture 210-2). In this example, posture 210-1 might be a relatively difficult posture from which the user manipulates the master controls in a direction toward the non-robotic instrument 208. Additionally, the position of the master controls can determine how far the master controls can be configured to move in the direction toward the non-robotic instrument 208. Accessibility can further depend on the viewpoint provided by the imaging device of the computer-assisted surgical system. For example, the visibility of the target object may affect its accessibility. The examples of the parameters described above are illustrative. System 100 may use any suitable additional or alternative parameters to determine the accessibility of the target object. Examples of determining the accessibility of the target object are discussed herein.

[0038] System 100 may determine (e.g., based on the determined accessibility of surgical instrument 206 to non-robotic instrument 208 in the current configuration) a second configuration, such as a recommended configuration that improves the accessibility of surgical instrument 206 to non-robotic instrument 208 (e.g., the non-robotic instrument 208 may be more easily accessible in the recommended configuration than in the current configuration). For example, Figure 200-2 illustrates a second configuration of a computer-assisted surgical system in which the non-robotic instrument 208 is more easily accessible than in the first configuration shown in Figure 200-1. This may be at least partly because the posture of surgical instrument 206 has been altered to allow the user to change the user's hand and wrist to posture 210-2, which may make the non-robotic instrument 208 more easily accessible in the second configuration. Given the kinematics of a human hand, wrist, and / or arm, posture 210-2 may be an easier posture to move the master controls from that posture toward the non-robotic instrument 208, compared to posture 210-1. Therefore, although the distance between the surgical instrument 206 and the non-robotic instrument 208 may not change between the first and second configurations, a change in the orientation of the surgical instrument 206 may result in a configuration in which the non-robotic instrument 208 is more easily accessible. Furthermore, such a change in orientation can correspond to a change in viewpoint, allowing the user's hand to remain in the orientation corresponding to the surgical instrument 206.

[0039] System 100 may further provide data indicative of a second configuration, such as by displaying a second configuration on display device 202 (as shown in image 200-2). Such a display can depict the actual corresponding changes in the configuration of the computer-assisted surgical system. Additionally or alternatively, image 200-2 may be displayed in a manner indicating a suggestion to change the first configuration (e.g., using different opacities, different sizes, utilizing any suitable indicators indicating different display modes, etc.), which is accepted by the user before the actual change in configuration is implemented. Additionally or alternatively, the data may include other suggestions or instructions (e.g., visual, auditory, tactile, etc.) to implement the second configuration from the first configuration. Additionally or alternatively, the data may include commands instructing the computer-assisted surgical system to automatically change the configuration of the computer-assisted surgical system, such as upon receiving an instruction from the user to implement a configuration in which the accessibility of the non-robotic instruments 208 is optimized (e.g., the user accepts the suggested new configuration).

[0040] Figure 3A portion of an exemplary computer-assisted surgical system (e.g., a user control system 300) is illustrated. A user 302 is shown manipulating a set of master controls 304 (e.g., left master control 304-1 and right master control 304-2) and viewing images provided by an imaging system (e.g., the imaging apparatus of a computer-assisted surgical system) via a viewer 306. Further exemplary embodiments of the computer-assisted surgical system are shown in... Figure 9 As described in the text.

[0041] The accessibility of the target object can be based on the dexterity (e.g., kinematic dexterity and / or dynamic dexterity) of the main control 304 (e.g., main control 304-1). Dexterity can be based on constraints imposed on the main control 304-1 by the computer-assisted surgical system. Such constraints can be electromechanical (e.g., based on the physical structure of the computer-assisted surgical system, the location of surrounding equipment, the size of the room, the user's location, etc.), based on the surgical space, based on the anatomical object, etc. A set of coordinate axes 308 represents the dexterity of the main control 304-1 from a given pose.

[0042] Accessibility can be further based on the dexterity of user 302. Dexterity can be based on the biomechanical limitations of user 302 in moving user 302's hand 310 to a specific posture. Dexterity can be determined based on a motion model of user 302's arm (e.g., modeling the joints from the shoulder to the elbow to the wrist, etc.). Additionally or alternatively, dexterity can be determined using a camera that captures images of user 302, along with image processing algorithms and / or machine learning algorithms, to track user 302's movement, user 302's current position, a set of possible postures of user 302, a set of preferred postures of user 302, a set of ergonomically advantageous postures of user 302, etc. A set of coordinate axes 312 represents the dexterity of user 302 from a given posture.

[0043] Based at least in part on the dexterity of the main control 304 and the dexterity of the user 302, the system 100 can determine the accessibility of the target object. For example, Figure 4 An exemplary model 400 is shown, depicting a workspace 402 of a set of master controls (e.g., master control 304-1) and a workspace 404 of a user (e.g., user 302).

[0044] In some examples, workspace 402 may represent an area that defines where the master control 304-1 is configured to be movable (e.g., within the constraints imposed by the computer-assisted surgical system 300). Workspace 404 may represent an area that defines where the user 302 can manipulate some or all of the points of the master control 304-1. The accessibility of a target object may depend on whether and / or where the target object is located within and / or where workspaces 402 and 404 overlap in a joint workspace 406, since joint workspace 406 may represent a space in which the master control 304-1 is configured to be movable and where the user 302 can manipulate points of the master control 304-1. Therefore, a configuration that results in the target object being more concentrated in joint workspace 406 may be considered a configuration where the target object is more accessible compared to another configuration.

[0045] Additionally or alternatively, workspace 402 may represent an area defined in which the master control 304-1 is configured to move based on the current posture of the master control 304-1. Similarly, workspace 404 may represent an area defined in which the user 302 can manipulate points of the master control 304-1 based on the current posture of the master control 304-1 (which may correspond to the current posture of the user 302's wrist and hand). Therefore, workspaces 402 and / or 404 can dynamically change as the master control 304-1 moves. Thus, the joint workspace 406 can also dynamically change based on changes to workspaces 402 and / or 404. In such examples, one or more of workspaces 402, 404, or 406 can be optimized to determine the configuration in which the accessibility of a target object is optimized. For example, system 100 may define a cost function that determines the posture of the master control 304-1 to optimize one or more dynamic characteristics of workspaces 402 and / or the master control 304-1. These dynamic characteristics can include any suitable characteristics, such as the area of ​​workspace 402, the center of gravity of main control 304-1, the motion economy of main control 304-1, etc. Additionally or alternatively, the cost function can optimize one or more dynamic characteristics of workspace 404 and / or user 302. These dynamic characteristics can include any suitable characteristics, such as the area of ​​workspace 404, ergonomic optimization of user 302, the motion economy of user 302, etc. Additionally or alternatively, the cost function can optimize the dynamic characteristics of both workspaces 402 and 404 (e.g., combining workspace 406, main control 304-1, and / or one or more dynamic characteristics of user 302). Therefore, placing main control 304-1 in the optimal pose defined by such cost functions can result in a configuration where the accessibility of the target object is optimized.

[0046] Furthermore, system 100 can optimize the configuration for the accessibility of more than one target object. For example, user 302 may want to alternately engage in a series of interactions with two target objects, back and forth. System 100 can optimize the configuration by taking into account the accessibility of two (or any number) target objects.

[0047] As described above, system 100 can optimize configuration by changing the pose of a set of master controls (e.g., master control 304). System 100 can place master control 304-1 (and / or master control 304) in different poses (e.g., the optimal pose for target object accessibility) by guiding the computer-assisted surgical system to operate in a clutch mode. The clutch mode can decouple master control 304 from surgical instruments (e.g., surgical instrument 206), allowing master control 304 to be repositioned without corresponding movement of the surgical instruments. In this way, in some examples, system 100 can provide data indicating suggested configurations by automatically changing the pose of master control 304 to a better pose that results in optimized accessibility of the surgical instruments to the target object. For example, if user 302's arm is fully extended in the first pose of master control 304-1 and the target object is located further away in the same direction as the arm extension, user 302 may not be able to reach the target object. However, if system 100 moves main control 304-1 in clutch mode so that user 302's arm is no longer fully extended while maintaining the relative posture of the surgical instrument and the target object, user 302 can easily extend their arm in the same direction to reach the target object. In this case, the first configuration may include a first posture of main control 304-1 and a first posture of the surgical instrument. The second configuration may include a second posture of main control 304-1, which subsequently corresponds to the first posture of the surgical instrument, since main control 304-1 has been moved in clutch mode while the surgical instrument has not moved.

[0048] As previously mentioned, in certain situations, a change in the posture of the main control 304-1 may cause a change in the viewpoint provided by the computer-assisted surgical system, and vice versa. Such corresponding changes can allow the user 302 to keep the orientation of the user's hand and / or wrist consistent with the orientation of the corresponding surgical instrument as seen by the user 302 on the display device.

[0049] For example, Figure 5 An exemplary viewpoint 500 is shown, from which an imaging device 502 (e.g., an imaging device of a computer-assisted surgical system 300) captures an image of an anatomical object (e.g., anatomical object 204). Figure 5 Viewpoint 500 is depicted as an arrow extending along the axis of imaging device 502 to imply that viewpoint 500 will be adjusted accordingly as the position, orientation, configuration, resolution, etc. of imaging device 502 change.

[0050] The viewpoint 500 can be defined by various aspects of the position, orientation, configuration, resolution, etc. of the imaging device 502. Each of these aspects will be referred to herein as a different directional aspect or different directional type 504 of the viewpoint 500 (e.g., directional 504-1 to 504-5).

[0051] As shown, the zoom direction 504-1 of viewpoint 500 is related to the apparent position of viewpoint 500 along the longitudinal axis of the imaging device 502. Therefore, for example, an adjustment in the zoom direction 504-1 compared to the initial zoom direction 504-1 before adjustment can result in an image that appears larger (closer) or smaller (farther). In some embodiments, the zoom direction 504-1 can be adjusted by physically moving or sliding the imaging device 502 closer to or further away from a portion of the anatomical object 204 being captured. This type of zoom adjustment may be referred to herein as optical zoom adjustment. In other embodiments, adjustments can be made without physically moving or adjusting the physical orientation of the imaging device 502. For example, optical zoom adjustments can be made by internally changing the lens, lens configuration, or other optical aspects of the imaging device 502, or by applying a digital zoom operation to the image data captured by the imaging device 502.

[0052] The horizontal direction 504-2 of viewpoint 500 relates to the longitudinal axis of imaging device 502 along the axis of imaging device 502 (i.e., according to...). Figure 5 The rotation of the z-axis of the coordinate system shown. Therefore, for example, an adjustment of 180° in the horizontal direction 504-1 will result in an image that is upside down compared to the horizontal direction of 0°. In some embodiments, the adjustment of the horizontal direction 504-1 can be made by physically rotating the imaging device 502, while in other embodiments, such adjustments can be made without physically moving or adjusting the physical orientation of the imaging device 502. For example, the horizontal adjustment can be made by digitally manipulating or processing the image data captured by the imaging device 502.

[0053] The planar orientation 504-3 of viewpoint 500 relates to the position of the imaging device relative to the plane of the anatomical object 204 being captured. This allows imaging to be performed perpendicular to the longitudinal axis (i.e., according to...). Figure 5 The coordinate system shown is parallel to the xy plane. The imaging device 502 is panned left, right, up, or down to adjust the planar orientation 504-3. When the planar orientation 504-3 is adjusted, the image of the body is scrolled, so that different parts of the body are depicted using image data after the adjustment of the planar orientation 504-3, rather than before.

[0054] As described above, some embodiments of the imaging device 502 may be combined, flexible, or otherwise have the capability to articulate to capture images in directions away from the longitudinal axis of the imaging device 502. Furthermore, even if a specific embodiment of the imaging device 502 is rigid and upright, angled view settings (e.g., 30° upward or downward angled views, etc.) can be used to similarly allow the imaging device 502 to capture images in directions other than straight forward. Therefore, for any of these embodiments of the imaging device 502, the yaw direction 504-4 affecting the heading of the imaging device 502 along the normal axis (i.e., the y-axis of the coordinate system shown) and the pitch direction 504-5 affecting the tilt of the imaging device along the lateral axis (i.e., the x-axis of the coordinate system shown) can also be adjustable.

[0055] Although various orientations 504 have been clearly described, it should be understood that various other aspects of how the imaging device 502 captures images of the anatomical object 204 can similarly be included as adjustable aspects of the orientation of the imaging device 502 in some embodiments.

[0056] Based on viewpoint 500, imaging device 502 is shown as a specific field of view 506 for capturing anatomical object 204. It should be understood that field of view 506 can be changed in various ways (e.g., moved left and right, enlarged or reduced, etc.) as the various orientations 504 of viewpoint 500 of imaging device 502 are adjusted.

[0057] Figure 6A An exemplary procedure 600 is illustrated, during which a computer-assisted surgical system performs multiple operations on an anatomical object (e.g., anatomical object 204) while an imaging device (e.g., imaging device 502, which may be included within the computer-assisted surgical system) captures images of the anatomical object 204 from different exemplary viewpoints 500 (e.g., viewpoints 500-1 and 500-2). More specifically, Figure 6A A side perspective view showing the location of the imaging device 502 depicts a specific portion of the anatomical object 204 with an incision already formed, and the relative position of the distal end of the imaging device 502 with respect to the incision. As shown, various surgical instruments 602, 604, and 606 are used to perform one or more operations on the anatomical object 204 in the surgical space. For example, surgical instruments 602 and 604 may be primarily used to manipulate tissues and / or tools to facilitate the ongoing surgery, while surgical instrument 606 may be used to keep certain portions of the tissue out of the way or otherwise facilitate the performance of the operation.

[0058] exist Figure 6AIn the figure, the distal end of the imaging device 502 is depicted in a first configuration (depicted using solid lines) and a second configuration (depicted using dashed lines). As shown, the imaging device 502 has a first viewpoint 500-1 in the first configuration and a second viewpoint 500-2 in the second configuration. Small arrows depicted on the back of each viewpoint 500-1 and 500-2 indicate the horizontal direction of the viewpoint relative to the three-dimensional (“3D”) coordinate system shown as having X, Y, and Z dimensions (i.e., how the imaging device 502 rotates along the longitudinal axis). More specifically, the horizontal direction of viewpoint 500-1 is shown as having an upward positive X dimension, while the horizontal direction of viewpoint 500-2 is shown as having an upward positive Y dimension. As viewpoints 500-1 and 500-2 differ in their respective horizontal directions, the zoom direction from viewpoint 500-1 to 500-2 is also shown as being adjusted because viewpoint 500-2 is closer (i.e., optically magnified) to the tissue of the anatomical object 204.

[0059] Figure 6B An exemplary display device 612 is shown, on which images 610 (e.g., images 610-1 and 610-2) captured from viewpoints 500-1 and 500-2 during program 600 are displayed. Specifically, image 610-1, captured by imaging device 502 from viewpoint 500-1, is displayed on display device 612 in a first configuration, while image 610-2, captured by imaging device 502 from viewpoint 500-2, is displayed on display device 612 in a second configuration when the viewpoint of imaging device 502 has been adjusted (i.e., magnified and rotated 90 degrees). To help illustrate what is depicted in images 610-1 and 610-2 and how they differ from each other, Figure 6A The same coordinate system included in it is also shown in Figure 6B Next to each of the images 610-1 and 610-2. In both cases, the Z dimension is represented by a dotted symbol to indicate that the z-axis comes directly out of the imaging device screen (i.e., parallel to the longitudinal axis of the imaging device 502 in this example). However, while the X dimension is shown upward in image 610-1, a 90° adjustment in the horizontal direction from viewpoint 500-1 to viewpoint 500-2 is shown to result in the Y dimension being upward in image 610-2. As described above, switching from the first viewpoint to the second viewpoint results in a second configuration that includes a more natural, comfortable, and effective wrist posture, which makes it easier to reach the target object 608 than the first configuration.

[0060] For illustrative purposes, Figure 6CExemplary wrist postures 614-1 and 614-2 are shown for a user (e.g., user 302) to execute a program when viewing image 610 from viewpoints 500-1 and 500-2, respectively. For each of wrist postures 614-1 and 614-2, the left and right wrists are positioned to mimic the postures of surgical instruments 602 and 604, respectively. Once the computer-assisted surgical system 300 is in normal operating mode (e.g., the opposite of clutch operating mode), surgical instrument 602 can thus be configured to follow and be guided by the user's left hand and wrist, while surgical instrument 604 can be configured to follow and be guided by the user's right hand and wrist (e.g., via a set of master controls of the computer-assisted surgical system 300). However, as Figure 6C As shown, the wrist posture required to guide the device to its position in image 610-1 is significantly different from that required to guide the device to its position in image 610-2.

[0061] Specifically, as shown in the figure, the wrist posture 614-1 associated with a first configuration of surgical instruments 602 and 604, including the postures in viewpoint 500-1 and posing image 610-1, may limit accessibility in certain directions (e.g., toward the target object 608). Therefore, system 100 can determine a second configuration of surgical instruments 602 and 604, including the postures in viewpoint 500-2 and posing image 610-2, in which the target object 608 is more easily accessible than in the first configuration.

[0062] although Figures 6A-6C Viewpoint adjustments, including changes in the horizontal and zoom directions, are shown, but it should be understood that system 100 may define the second viewpoint in any suitable manner to optimize the accessibility of the target object 608.

[0063] As another example, Figure 7The illustration shows a display device 612 displaying image 700-1 from a first viewpoint in a first configuration, and subsequently image 700-2 from a second viewpoint in a second configuration having a different zoom direction than the first viewpoint. In this example, system 100 can identify that a target object (e.g., target object 608) is more accessible in the second configuration than in the first configuration because it is more visible in the second viewpoint than in the first viewpoint. Furthermore, the second viewpoint can also correspond to a different scale of movement of a surgical instrument (e.g., surgical instrument 602) relative to the target object 608. Regardless of whether the scale of movement (and the corresponding distance for movement of a set of master controls) changes, the increased visibility of the target object 608 and / or the path to the target object 608 can be considered as a configuration in which the accessibility of the target object 608 is optimized. In image 700, system 100 can determine that the first viewpoint is magnified too closely to provide visibility of the target object 608, and therefore can determine that a more optimized viewpoint will have a zoom direction region that is reduced to provide more visible area. Although image 700 displays different zoom levels, any appropriate change in viewpoint (e.g., any direction described) could result in a configuration with optimized accessibility for target object 608.

[0064] Figure 8 An exemplary method 800 for optimizing the configuration of a computer-assisted surgical system for the accessibility of a target object is shown. Although Figure 8 Exemplary operation according to one embodiment is shown, but other embodiments may omit, add, reorder, combine and / or modify it. Figure 8 Any operation shown. Figure 8 One or more of the operations shown can be performed by a configuration optimization system (such as system 100, any components included therein, and / or any implementation thereof).

[0065] In operation 802, the configuration optimization system can identify target objects in the surgical space. Operation 802 can be performed in any of the manner described herein.

[0066] In operation 804, the configuration optimization system can determine the accessibility of the robotic instruments of the computer-assisted surgical system to the target object for a first configuration of the computer-assisted surgical system. Operation 804 can be performed in any of the manner described herein.

[0067] In operation 806, the configuration optimization system may determine (e.g., based on accessibility) a second configuration of the computer-assisted surgical system that improves the accessibility of the robotic instruments to the target object. Operation 806 may be performed in any of the manner described herein.

[0068] In operation 808, the configuration optimization system may provide data instructing a second configuration to the computer-assisted surgical system. Operation 808 may be performed in any of the manner described herein.

[0069] Figure 9 An exemplary computer-assisted surgical system 900 (“Surgical System 900”) is shown. System 100 may be implemented by, connected to, and / or otherwise used in conjunction with the Surgical System 900.

[0070] As shown in the figure, the surgical system 900 may include an operating system 902, a user control system 904, and an auxiliary system 906, which are communicatively coupled to each other. The surgical team can use the surgical system 900 to perform computer-assisted surgery on the patient 908. As shown in the figure, the surgical team may include a surgeon 910-1, an assistant 910-2, a nurse 910-3, and an anesthesiologist 910-4, all of whom can be collectively referred to as "surgical team members 910". Additional or alternative surgical team members may appear during the operation as they may serve the specific implementation.

[0071] although Figure 9 A minimally invasive surgical procedure is illustrated; however, it should be understood that the surgical system 900 can be similarly used to perform open surgical procedures or other types of surgical procedures that can similarly benefit from the accuracy and convenience of the surgical system 900. Furthermore, it should be understood that the surgical periods in which the surgical system 900 can be used include not only those such as… Figure 9 The surgical procedure shown may also include preoperative, postoperative and / or other appropriate stages of the surgical procedure.

[0072] like Figure 9 As shown, the manipulation system 902 may include a plurality of manipulator arms 912 (e.g., manipulator arms 912-1 to 912-4), to which a plurality of surgical instruments may be coupled. Each surgical instrument may be implemented by any suitable therapeutic instrument (e.g., a tool with tissue interaction capabilities), medical instrument, imaging device (e.g., an endoscope), diagnostic instrument, etc., which may be used to perform computer-assisted surgical procedures on patient 908 (e.g., by being at least partially inserted into and manipulated to perform computer-assisted surgical procedures on patient 908). In some examples, one or more surgical instruments may include force sensing and / or other sensing capabilities. While the manipulation system 902 is depicted and described herein as including four manipulator arms 912, it should be recognized that the manipulation system 902 may include only a single manipulator arm 912 or any other number of manipulator arms that may be used in a particular embodiment.

[0073] The manipulator arm 912 and / or surgical instruments attached to the manipulator arm 912 may include one or more displacement sensors, orientation sensors, and / or position sensors for generating raw (i.e., uncorrected) kinematic information. One or more components of the surgical system 900 may be configured to use kinematic information to track (e.g., determine position) and / or control the surgical instruments.

[0074] User control system 904 can be configured to facilitate surgeon 910-1's control of manipulator arm 912 and surgical instruments attached to manipulator arm 912. For example, surgeon 910-1 can interact with user control system 904 to remotely move or manipulate manipulator arm 912 and surgical instruments. To this end, user control system 904 can provide surgeon 910-1 with images (e.g., high-resolution 3D images) of the surgical area associated with patient 908 captured by an imaging system (e.g., any medical imaging system described herein). In some examples, user control system 904 may include a stereoscopic viewer with two displays, where surgeon 910-1 can view a stereoscopic image of the surgical area associated with patient 908 and generated by a stereoscopic imaging system. Surgeon 910-1 can use the images to perform one or more procedures via one or more surgical instruments attached to manipulator arm 912.

[0075] To facilitate control of surgical instruments, the user control system 904 may include a set of master controls. These master controls can be manipulated by the surgeon 910-1 to control the movement of surgical instruments (e.g., by utilizing robotic and / or teleoperation technologies). These master controls can be configured to detect various hand, wrist, and finger movements of the surgeon 910-1. In this way, the surgeon 910-1 can intuitively perform procedures using one or more surgical instruments.

[0076] The auxiliary system 906 may include one or more computing devices configured to perform primary processing operations of the surgical system 900. In such a configuration, the one or more computing devices included in the auxiliary system 906 may control and / or coordinate operations performed by various other components of the surgical system 900 (e.g., the manipulation system 902 and the user control system 904). For example, the computing devices included in the user control system 904 may send instructions to the manipulation system 902 via one or more computing devices included in the auxiliary system 906. As another example, the auxiliary system 906 may receive and process image data representing images captured by an imaging device attached to one of the manipulator arms 912 from the manipulation system 902.

[0077] In some examples, the auxiliary system 906 may be configured to present visual content to surgical team members 910 who may not have access to the images provided to surgeon 910-1 at the user control system 904. For this purpose, the auxiliary system 906 may include a display monitor 914 configured to display one or more user interfaces, such as images of the surgical area (e.g., 2D images, 3D images), information associated with patient 908 and / or surgical procedures, and / or any other visual content that may be available for a particular implementation. For example, the display monitor 914 may display an image of the surgical area along with additional content displayed concurrently with the image (e.g., graphical content, contextual information, etc.). In some embodiments, the display monitor 914 is implemented as a touchscreen display, with which surgical team members 910 may interact (e.g., via touch gestures) to provide user input to the surgical system 900.

[0078] The operating system 902, the user control system 904, and the auxiliary system 906 can be communicatively coupled to each other in any suitable manner. For example, Figure 9 As shown, the operating system 902, the user control system 904, and the auxiliary system 906 can be communicatively coupled via a control line 916, which can represent any wired or wireless communication link that can serve a specific implementation. Therefore, the operating system 902, the user control system 904, and the auxiliary system 906 can each include one or more wired or wireless communication interfaces, such as one or more local area network interfaces, Wi-Fi network interfaces, cellular interfaces, etc.

[0079] In some examples, a non-transitory computer-readable medium may be provided for storing computer-readable instructions, based on the principles described herein. When executed by a processor of a computing device, the instructions may direct the processor and / or computing device to perform one or more operations, including one or more operations described herein. Such instructions may be stored and / or transmitted using any of a variety of known computer-readable media.

[0080] As used herein, a non-transitory computer-readable medium may include any non-transitory storage medium that contributes to providing data (e.g., instructions) that can be read and / or executed by a computing device (e.g., a computer's processor). For example, a non-transitory computer-readable medium may include, but is not limited to, any combination of non-volatile storage media and / or volatile storage media. Exemplary non-volatile storage media include, but are not limited to, read-only memory, flash memory, solid-state drives, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), ferroelectric random access memory (“RAM”), and optical discs (e.g., optical discs, digital video discs, Blu-ray discs, etc.). Exemplary volatile storage media include, but are not limited to, RAM (e.g., dynamic RAM).

[0081] Figure 10 An exemplary computing device 1000 is illustrated, which may be specifically configured to perform one or more processes described herein. Any system, unit, computing device, and / or other component described herein may be implemented by computing device 1000.

[0082] like Figure 10 As shown, computing device 1000 may include a communication interface 1002, a processor 1004, a storage device 1006, and an input / output (“I / O”) module 1008, which are communicatively connected to each other via communication infrastructure 1010. Although the exemplary computing device 1000... Figure 10 As shown in the image, but Figure 10 The components shown are not intended to be limiting. Additional or alternative components may be used in other embodiments. A more detailed description will follow. Figure 10 The components of the computing device 1000 shown.

[0083] Communication interface 1002 can be configured to communicate with one or more computing devices. Examples of communication interface 1002 include, but are not limited to, wired network interfaces (e.g., network interface cards), wireless network interfaces (e.g., wireless network interface cards), modems, audio / video connections, and any other suitable interfaces.

[0084] Processor 1004 generally refers to any type or form of processing unit capable of processing data and / or interpreting, executing, and / or directing the execution of one or more of the instructions, procedures, and / or operations described herein. Processor 1004 can perform operations by executing computer-executable instructions 1012 (e.g., application programs, software, code, and / or other executable data instances) stored in storage device 1006.

[0085] Storage device 1006 may include one or more data storage media, devices, or configurations, and may take any type, form, and combination of data storage media and / or devices. For example, storage device 1006 may include, but is not limited to, any combination of non-volatile media and / or volatile media described herein. Electronic data (including the data described herein) may be stored temporarily and / or permanently in storage device 1006. For example, data representing computer-executable instructions 1012 configured to bootstrap processor 1004 to perform any of the operations described herein may be stored within storage device 1006. In some examples, data may be arranged in one or more databases residing within storage device 1006.

[0086] I / O module 1008 may include one or more I / O modules configured to receive user input and provide user output. I / O module 1008 may include any hardware, firmware, software, or a combination thereof that supports input and output capabilities. For example, I / O module 1008 may include hardware and / or software for capturing user input, including but not limited to a keyboard or keypad, a touchscreen component (e.g., a touchscreen display), a receiver (e.g., an RF or infrared receiver), a motion sensor, and / or one or more input buttons.

[0087] I / O module 1008 may include one or more means for presenting output to a user, including but not limited to a graphics engine, a display (e.g., a screen), one or more output drivers (e.g., display drivers), one or more audio speakers, and one or more audio drivers. In some embodiments, I / O module 1008 is configured to provide graphical data to the display for presentation to the user. The graphical data may represent one or more graphical user interfaces and / or any other graphical content, as may be required by the specific implementation.

[0088] In some examples, any of the facilities described herein may be implemented by or within one or more components of computing device 1000. For example, one or more applications 1012 residing within storage device 1006 may be configured to direct the implementation of processing 1004 to perform one or more operations or functions associated with the processing facility 104 of system 100. Similarly, storage facility 102 of system 100 may be implemented by or within storage device 1006.

[0089] Various exemplary embodiments have been described in the foregoing description with reference to the accompanying drawings. However, it will be apparent that various modifications and changes can be made thereto, and other embodiments can be implemented without departing from the scope of the invention as set forth in the appended claims. For example, certain features of one embodiment described herein may be combined with or substituted for features of another embodiment described herein. Therefore, the specification and drawings are to be considered illustrative rather than restrictive.

Claims

1. A system comprising: Memory that stores instructions; A processor, communicatively coupled to the memory and configured to execute the instructions to perform the following operations: For a first configuration of a computer-assisted surgical system, the accessibility of the robotic instruments of the computer-assisted surgical system to the target object is determined, wherein: The first configuration includes: The first master control gesture of a set of master controls of the computer-assisted surgical system, the set of master controls being configured to control the robotic instrument via a manipulator arm of the computer-assisted surgical system coupled to the robotic instrument, and The first robotic instrument posture of the robotic instrument in the computer-assisted surgical system; The determination of accessibility includes: Based on the first main control's pose, a main control workspace is determined, which defines the area within which the group of main controls are configured to move. Define a user workspace that restricts the area within which a user can manipulate the set of main controls. Determine the subspace including the overlapping area of ​​the main control workspace and the user workspace, and Determine whether the movement of the set of main controls from the first main control pose, corresponding to the movement of the robot from the first robot pose to the target object, is included in the subspace; A second configuration of the computer-assisted surgical system is determined, the second configuration improving the accessibility of the robotic instruments to the target object; and Provide the computer-assisted surgical system with data instructing the second configuration.

2. The system of claim 1, wherein the second configuration includes the second master control pose of the set of master controls of the computer-assisted surgical system.

3. The system according to any one of claims 1-2, wherein the second configuration includes a second robotic instrument posture of the robotic instrument of the computer-assisted surgical system.

4. The system according to any one of claims 1-2, wherein the first configuration includes a first viewpoint provided by the imaging device of the computer-assisted surgical system, and the second configuration includes a second viewpoint provided by the imaging device of the computer-assisted surgical system.

5. The system of claim 1, wherein determining the second configuration includes determining a second master control pose of the set of master controls such that the movement of the set of master controls from the second master control pose corresponding to the movement of the robot from the first robot pose to the target object is included within the subspace.

6. The system according to claim 1, wherein: The first configuration also includes a first viewpoint provided by the imaging device of the computer-assisted surgical system; and Determining the second configuration includes determining a second viewpoint provided by the imaging device of the computer-assisted surgical system, such that the movement of the master control from the first master control pose corresponding to the movement of the robotic instrument from the first robotic instrument pose to the target object is included within the subspace.

7. The system according to claim 1, wherein: The first configuration also includes a first viewpoint provided by the imaging device of the computer-assisted surgical system; and Determining the second configuration includes determining a second viewpoint provided by the imaging device of the computer-assisted surgical system that results in a corresponding second master control pose of the set of master controls, such that the movement of the master controls from the second master control pose corresponding to the movement of the robotic instrument from the first robotic instrument pose to the target object is included within the subspace.

8. The system according to claim 1, wherein: Determining the accessibility of the robotic device to the target object further includes: Define a first master control workspace that defines the area in which the set of master controls are configured to move from the pose of the first master control. A first user workspace is defined, which defines the area in which a user can manipulate the set of main controls from the first main control gesture. Determine a first subspace comprising the overlapping area of ​​the first main control workspace and the first user workspace, and Determine whether the movement of the set of main controls from the first main control pose, corresponding to the movement of the robot from the first robot pose to the target object, is included within the first subspace; and Determining the second configuration includes: Determine a second master control pose that causes the set of master controls in the second master control workspace and the second user workspace, the second master control workspace defining the area in which the set of master controls are configured to move from the second master control pose, and the second user workspace defining the area in which the user can manipulate the set of master controls from the second master control pose. Optimize one of the following: The second main control workspace, The second user workspace, or The second subspace, which includes the overlapping area of ​​the second master control workspace and the second user workspace, maximizes specific dynamic characteristics for the movement of the set of master controls from the second master control pose corresponding to the movement of the robot from the first robot pose to the target object.

9. The system according to claim 8, wherein: The first configuration also includes a first viewpoint provided by the imaging device of the computer-assisted surgery system; The second configuration also includes a second viewpoint provided by the imaging device of the computer-assisted surgical system; and The second master control pose is determined by the change between the first viewpoint and the second viewpoint that causes a corresponding change between the first master control pose and the second master control pose.

10. The system of claim 8, wherein the dynamic characteristics include at least one of motion economy, center of gravity, number of accessible points, and size of workspace.

11. The system according to any one of claims 1-2, wherein providing the data indicating the second configuration includes providing a suggestion to change to the second configuration.

12. The system according to any one of claims 1-2, wherein providing the data indicating the second configuration includes providing instructions to automatically change to the second configuration.

13. The system according to any one of claims 1-2, wherein providing the data indicating the second configuration includes providing instructions to automatically adjust at least one of the poses of a set of master controls of the computer-assisted surgical system or viewpoints provided by the imaging device of the computer-assisted surgical system.

14. A method comprising: The accessibility of the robotic instruments of the computer-assisted surgical system to the target object is determined by a processor in a first configuration of the computer-assisted surgical system, wherein: The first configuration includes: The first master control gesture of a set of master controls of the computer-assisted surgical system, the set of master controls being configured to control the robotic instrument via a manipulator arm of the computer-assisted surgical system coupled to the robotic instrument, and The first robotic instrument posture of the robotic instrument in the computer-assisted surgical system; The determination of accessibility includes: Based on the first main control's pose, a main control workspace is determined, which defines the area within which the group of main controls are configured to move. Define a user workspace that restricts the area within which a user can manipulate the set of main controls. Determine the subspace including the overlapping area of ​​the main control workspace and the user workspace, and Determine whether the movement of the set of main controls from the first main control pose, corresponding to the movement of the robot from the first robot pose to the target object, is included in the subspace; The processor determines a second configuration of the computer-assisted surgical system, the second configuration improving the accessibility of the robotic instruments to the target object; and The processor provides data instructing the second configuration to the computer-assisted surgical system.

15. The method of claim 14, wherein the second configuration includes a second master control pose of the set of master controls of the computer-assisted surgical system.

16. The method according to any one of claims 14-15, wherein the second configuration includes a second robotic instrument posture of the robotic instrument of the computer-assisted surgical system.

17. The method of any one of claims 14-15, wherein the first configuration includes a first viewpoint provided by the imaging device of the computer-assisted surgical system, and the second configuration includes a second viewpoint provided by the imaging device of the computer-assisted surgical system.

18. The method of claim 14, wherein determining the second configuration includes determining a second master control pose of the set of master controls such that the movement of the set of master controls from the second master control pose corresponding to the movement of the robot from a first robot pose to the target object is included within the subspace.

19. The method of claim 14, wherein: The first configuration also includes a first viewpoint provided by the imaging device of the computer-assisted surgical system; and Determining the second configuration includes determining a second viewpoint provided by the imaging device of the computer-assisted surgical system, such that the movement of the master control from the first master control pose corresponding to the movement of the robotic instrument from the first robotic instrument pose to the target object is included within the subspace.

20. The method of claim 14, wherein: The first configuration also includes a first viewpoint provided by the imaging device of the computer-assisted surgical system; and Determining the second configuration includes determining a second viewpoint provided by the imaging device of the computer-assisted surgical system that results in a corresponding second master control pose of the set of master controls, such that the movement of the master controls from the second master control pose corresponding to the movement of the robotic instrument from the first robotic instrument pose to the target object is included within the subspace.

21. The method of claim 14, wherein: Determining the accessibility of the robotic device to the target object further includes: Define a first master control workspace that defines the area in which the set of master controls are configured to move from the pose of the first master control. A first user workspace is defined, which defines the area in which a user can manipulate the set of main controls from the first main control gesture. Determine a first subspace comprising the overlapping area of ​​the first main control workspace and the first user workspace, and Determine whether the movement of the set of main controls from the first main control pose, corresponding to the movement of the robot from the first robot pose to the target object, is included within the first subspace; and Determining the second configuration includes: Determine a second master control pose that causes the set of master controls in the second master control workspace and the second user workspace, the second master control workspace defining the area in which the set of master controls are configured to move from the second master control pose, and the second user workspace defining the area in which the user can manipulate the set of master controls from the second master control pose. Optimize one of the following: The second main control workspace, The second user workspace, or The second subspace, which includes the overlapping area of ​​the second master control workspace and the second user workspace, maximizes specific dynamic characteristics for the movement of the set of master controls from the second master control pose corresponding to the movement of the robot from the first robot pose to the target object.

22. The method according to claim 21, wherein: The first configuration also includes a first viewpoint provided by the imaging device of the computer-assisted surgery system. The second configuration also includes a second viewpoint provided by the imaging device of the computer-assisted surgical system, and The second master control pose is determined by the change between the first viewpoint and the second viewpoint that causes a corresponding change between the first master control pose and the second master control pose.

23. The method of claim 21, wherein the dynamic characteristics include at least one of motion economy, center of gravity, number of accessible points, and size of workspace.

24. The method of claim 21, wherein providing the data indicative of the second configuration includes providing a suggestion to change to the second configuration.

25. The method of any one of claims 14-15, wherein providing the data indicating the second configuration includes providing instructions to automatically change to the second configuration.

26. The method of any one of claims 14-15, wherein providing the data indicative of the second configuration comprises providing instructions to automatically adjust at least one of the poses of a set of master controls of the computer-assisted surgical system or viewpoints provided by the imaging device of the computer-assisted surgical system.

27. A computer-readable medium storing instructions that, when executed by a processor, cause the processor to perform the following operations: For a first configuration of a computer-assisted surgical system, the accessibility of the robotic instruments of the computer-assisted surgical system to a target object in the surgical space is determined, wherein: The first configuration includes: The first master control gesture of a set of master controls of the computer-assisted surgical system, the set of master controls being configured to control the robotic instrument via a manipulator arm of the computer-assisted surgical system coupled to the robotic instrument, and The first robotic instrument posture of the robotic instrument in the computer-assisted surgical system; The determination of accessibility includes: Based on the first main control's pose, a main control workspace is determined, which defines the area within which the group of main controls are configured to move. Define a user workspace that restricts the area within which a user can manipulate the set of main controls. Determine the subspace including the overlapping area of ​​the main control workspace and the user workspace, and Determine whether the movement of the set of main controls from the first main control pose, corresponding to the movement of the robot from the first robot pose to the target object, is included in the subspace; A second configuration of the computer-assisted surgical system is determined, the second configuration improving the accessibility of the robotic instruments to the target object; and Provide the computer-assisted surgical system with data instructing the second configuration.

Images