Path planning with collision avoidance

Abstract

A surgical system includes an imaging system configured to acquire an image of a region within a line of sight of the imaging system. A robotic arm is movable relative to the region. A robotic arm control module is configured to control movement of the robotic arm and to prevent movement of the robotic arm into the line of sight.

Description

Technical Field

[0001] This disclosure relates to optical navigation of a subject, and more particularly to systems and methods for maintaining a line of sight between an optical locator and an optical tracker. Background Technology

[0002] This section provides background information in connection with this disclosure, which is not necessarily prior art.

[0003] The instrument can be navigated relative to a subject for various surgical procedures. For example, the subject may include a patient undergoing surgery. During surgery, the instrument can be tracked within the subject or subject space. In various embodiments, the subject space may be a patient space defined by the patient. The position of the tracked instrument can be displayed on a display device relative to an image of the patient.

[0004] Patient localization can be determined using a tracking system. Typically, the patient is registered to an image via a transformation mapping relative to the patient tracking device to generate an object or target space (e.g., patient space) and an image space. This usually requires time during surgery for the user (such as a surgeon) to identify one or more points in the subject space and associate them with the typically identical points in the image space. During navigational or robotic-navigated surgery, the robotic arm may move into the line of sight between the optical locator and the optical tracking device, potentially disrupting tracking.

[0005] After registration, the instrument's position can be appropriately displayed on the display device while tracking the instrument. The instrument's position relative to the subject can be displayed graphically, sometimes referred to as an icon on the display device. Summary of the Invention

[0006] This section provides a general overview of this disclosure and is not a full disclosure of the complete scope or all features of this disclosure.

[0007] This disclosure includes a surgical system having an imaging system configured to acquire images of a region within the imaging system's line of sight. The imaging system may include systems for capturing images for various other purposes, such as diagnosis, surgical confirmation, or other activities. A robotic arm is movable relative to the region. A robotic arm control module is configured to control the movement of the robotic arm and prevent the robotic arm from obstructing the line of sight.

[0008] This disclosure also includes a surgical system having a tracking device and a locator configured to track the tracking device when it is within the locator's line of sight. A tracking system control module is configured to track the movement of the tracking device relative to the locator. A robotic arm is movable relative to the tracking device. A robotic arm control module is configured to control the movement of the robotic arm and prevent the robotic arm from moving out of the line of sight.

[0009] This disclosure also includes a method for preventing a robotic arm from obstructing the line of sight of any appropriate system, such as a locator or imaging system, during a selected surgical procedure. The method includes the steps of: tracking the movement of the tracking device relative to the locator using a tracking system control module when the tracking device is within the locator's line of sight; identifying the location of a restricted area of ​​the robotic arm that includes the line of sight; and controlling the movement of the robotic arm relative to the tracking device and the locator using a robotic arm control module to prevent the robotic arm from obstructing the line of sight between the tracking device and the locator.

[0010] Further areas of applicability will become apparent from the description provided herein. The descriptions and specific examples in this overview are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0011] The accompanying drawings described herein are for illustrative purposes only, and not for all possible implementations, and are not intended to limit the scope of this disclosure.

[0012] Figure 1 This is a schematic diagram showing an overview of robot systems and navigation systems according to various implementation schemes;

[0013] Figure 2 It is a detailed environmental view of the robot system and tracking system according to various implementation schemes;

[0014] Figure 3 This is a detailed view of a robot system with a snapshot tracking device according to various implementation schemes;

[0015] Figure 4 The line of sight between the optical locator and the optical tracking device of the navigation system is shown.

[0016] Figure 5 The present disclosure illustrates the use of a handheld designator to identify the restricted area of ​​the robot arm of a robot system to prevent the robot arm from obstructing the line of sight.

[0017] Figure 6 The restricted area of ​​the robotic arm is shown on the display screen according to this disclosure; and

[0018] Figure 7This is a flowchart of a method for preventing a robotic arm from obstructing the line of sight of an imaging system, according to the present disclosure.

[0019] In several views of all the accompanying drawings, the corresponding reference numerals indicate the corresponding components. Detailed Implementation

[0020] Exemplary embodiments will now be described more fully with reference to the accompanying drawings.

[0021] This subject matter disclosure relates to exemplary embodiments of surgical procedures performed on subjects such as human patients. However, it should be understood that the systems and methods described herein are merely exemplary and are not intended to limit the scope of the claims included herein.

[0022] Figure 1 This is a schematic diagram illustrating an overview of an operating room or surgical environment. In various embodiments, the operating room may include a surgical area where a robotic system 20 and a navigation system 26, which can be used for various surgical procedures, can be housed. The robotic system 20 may include the Mazor X series sold by Medtronic. ™ Robotic guidance system. Robotic system 20 can be used to assist in guiding selected instruments, such as drills, screws, etc., relative to subject 30. Robotic system 20 may include a mount 34 that fixes a portion, such as a robot base 38, relative to subject 30. Robotic system 20 may include one or more arms 40, such as end effectors 44, which are movable or pivotable relative to subject 30. The end effector can be any suitable component, such as a tube, guide, or channel member. End effector 44 can be moved relative to base 38 by one or more motors. The positioning of end effector 44 can be known or determined relative to base 38 using one or more encoders, wherein the one or more encoders are located at one or more joints of robotic system 20, such as wrist joint 48 and / or elbow joint 52.

[0023] Navigation system 26 can be used to track the position of one or more tracking devices, which may include robotic tracking device 54, subject tracking device 58, imaging system tracking device 62, and / or tool tracking device 66. Tool 68 can be any suitable tool, such as a drill, forceps, or other tool operated by user 72. Tool 68 may also include implants, such as spinal implants or orthopedic implants. It should be further noted that navigation system 26 can be used to navigate any type of instrument, implant, or delivery system, including: guidewires, arthroscopic systems, orthopedic implants, spinal implants, deep brain stimulation (DBS) probes, etc. Furthermore, these instruments can be used to navigate or map any area of ​​the body. Navigation system 26 and the various instruments can be used in any suitable surgical procedure, such as typically minimally invasive or open surgery.

[0024] Imaging device 80 can be used to acquire preoperative, intraoperative, or postoperative or real-time image data of a subject (such as subject 30). However, it should be understood that imaging can be performed on any suitable subject, and any suitable surgery can be performed relative to the subject. In the example shown, imaging system 80 includes an O-arm sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado, USA. ® Imaging apparatus 80. Imaging apparatus 80 may have a generally annular gantry housing 82 in which an image capture portion is movably disposed. The image capture portion may include an x-ray source or emitting portion, and x-ray receiving portions or image receiving portions are positioned substantially or substantially as far as possible 180 degrees apart from each other and mounted on a rotor relative to a track or guide rail. The image capture portion may be operable to rotate 360 ​​degrees during image acquisition. The image capture portion may rotate about a central point or axis, allowing image data of the patient 80 to be acquired from multiple directions or in multiple planes. Imaging apparatus 80 may include those disclosed in: U.S. Patent Nos. 7,188,998; 7,108,421; 7,106,825; 7,001,045; and 6,940,941; all of which are incorporated herein by reference in any appropriate portion thereof. In one example, imaging apparatus 80 may utilize flat panel technology with a viewing area of ​​1,720 × 1,024 pixels.

[0025] The precise location of the imaging device 80 and / or its portions (such as the image capture portion) relative to any other part of the imaging device 80 can be known. According to various embodiments, the imaging device 80 can know and recall precise coordinates relative to a fixed or selected coordinate system. This allows the imaging system 80 to know its location relative to the patient 30 or other references. Furthermore, precise knowledge of the location of the image capture portion can be used in conjunction with a tracking system to determine the location of the image capture portion and image data relative to the tracked subject (such as the patient 30).

[0026] The tracking device 62 can also be used to track the imaging device 80. According to various embodiments, image data defining the acquired image space of the patient 30 can be inherently or automatically registered relative to the object space. The object space can be the space defined by the patient 30 in the navigation system 26. Automatic registration can be achieved by including a determinable, precise location on the imaging device 80 including the tracking device 62 and / or the image capture portion. According to various embodiments, as discussed herein, imageable portions, virtual reference points, and other features can also be used to allow automatic or otherwise registration. However, it will be understood that image data of any subject that will define the subject space can be acquired. The patient space is an exemplary subject space. Registration allows determining a transformation mapping between the patient space and the image space to correlate points in each space with each other.

[0027] Patient 30 can also be tracked using a patient tracking device, DRF, or tracker 58 as the patient moves. Alternatively or otherwise, patient 30 can be fixed within a navigation space defined by navigation system 26 to allow for registration. As further discussed herein, registration of the image space with the patient space or subject space allows for navigation of device 68 using image data. When navigating device 68, the positioning of device 68 can be illustrated on display device 84 relative to the acquired image data of patient 30. Various tracking systems, such as those including optical locator 88 or electromagnetic (EM) locator 94, can be used to track device 68.

[0028] More than one tracking system may be used to track the device 68 in the navigation system 26. According to various embodiments, these may include an electromagnetic tracking (EM) system with an EM locator 94 and / or an optical tracking system with an optical locator 88. As discussed herein, either or both of the tracking systems may be used to track the selected tracking device. It should be understood that, unless otherwise discussed, a tracking device may be a portion capable of being tracked using the selected tracking system. A tracking device does not necessarily refer to the entire component or structure to which the tracking device is attached or associated.

[0029] It should also be understood that the imaging device 80 may be different from the O-arm. ® The imaging apparatus includes an imaging device, and may additionally or alternatively include a C-arm fluoroscope. Other exemplary imaging apparatuses may include fluoroscopes, such as dual-plane fluoroscope systems, ceiling-mounted fluoroscope systems, catheterization lab fluoroscope systems, fixed C-arm fluoroscope systems, isocentric C-arm fluoroscope systems, 3D fluoroscope systems, etc. Other suitable imaging apparatuses may also include MRI, CT, ultrasound, etc.

[0030] In various embodiments, the imaging device controller 96 can control the imaging device 80, receive image data generated at the image capture section, and store the images for later use. The controller 96 can also control the rotation of the image capture section of the imaging device 80. It should be understood that the controller 96 does not need to be integrated with the rack housing 82, but can be detached from it. For example, the controller can be part of a navigation system 26, which may include a processing system and / or a control system 98, including a processing unit or processing section 102. However, the controller 96 can be integrated with the rack 82 and may include, for example, a second processor in a laptop computer and a separate processor.

[0031] The patient 30 can be secured to the operating table 104. As an example, the operating table 104 can be an Axis Jackson system sold by OSI, a subsidiary of Mizuho Ikakogyo Corporation with a business location in Tokyo, Japan, or Orthopedic Systems, a company with a business location in California, USA. ® Operating table. Patient positioning devices can be used with the operating table and include Mayfield. ® The clamps or those described in U.S. Patent Application No. 10 / 405,068, filed April 1, 2003, entitled “An Integrated Electromagnetic Navigation And Patient Positioning Device,” are incorporated herein by reference.

[0032] The position of patient 30 relative to imaging device 80 can be determined by navigation system 26. Tracking device 62 can be used to track and position at least a portion of imaging device 80, such as the frame or housing 82. As discussed further herein, patient 30 can be tracked using dynamic reference frame 58. Therefore, the position of patient 30 relative to imaging device 80 can be determined. Furthermore, the position of the imaging portion can be determined relative to housing 82 due to the precise positioning of the imaging portion on guide rails within housing 82, the substantially inflexible rotor, etc. If imaging device 80 is an O-Arm system sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado... ® Imaging apparatus, wherein imaging apparatus 80 may have an accuracy, for example, within 10 micrometers. The precise positioning of the imaging portion is further described below in U.S. Patent Nos. 7,188,998, 7,108,421, 7,106,825, 7,001,045, and 6,940,941, all of which are incorporated herein by reference.

[0033] According to various embodiments, the imaging device 80 can generate and / or emit x-rays from an x-ray source, which propagate through the patient 30 and are received by an x-ray imaging receiving section. An image capture section generates image data representing the intensity of the received x-rays. Typically, the image capture section may include an image intensifier that first converts the x-rays into visible light and a camera (e.g., a charge-coupled device) that converts the visible light into digital image data. The image capture section may also be a digital device that directly converts the x-rays into digital image data for forming an image, thereby potentially avoiding distortion caused by first converting them into visible light.

[0034] Two-dimensional and / or three-dimensional fluorescence microscopy image data that can be captured by imaging device 80 can be captured and stored in imaging device controller 96. Multiple image data acquired by imaging device 80 can also be captured and combined to provide a larger view or image of the entire area of ​​patient 30, rather than focusing on only a portion of patient 30. For example, multiple image data of the spine of patient 30 can be appended together to provide a complete view of the spine or a complete set of image data.

[0035] Image data can then be forwarded from the image device controller 96 to a navigation computer and / or processor system 102, which may be part of a controller or workstation 98 having a display 84 and a user interface 106. It is also understood that the image data does not necessarily need to be stored in the controller 96 first, but may be directly transmitted to the workstation 98. The workstation 98 may provide facilities for displaying the image data as image 108 on the display 84 and for saving, digitally processing, or printing a hard copy of the received image data. The user interface 106, which may be a keyboard, mouse, stylus, touchscreen, or other suitable device, allows the user 72 to provide input to control the imaging device 80 or adjust the image settings of the display 84 via the image device controller 96. The workstation 98 may also instruct the image device controller 96 to adjust the image capture portion of the imaging device 80 to obtain various two-dimensional images along different planes, thereby generating representative two-dimensional and three-dimensional image data.

[0036] Continue to refer to Figure 1 The navigation system 26 may also include a tracking system comprising either or both of an electromagnetic (EM) locator 94 and / or an optical locator 88. The tracking system may include a controller and an interface portion 110. The controller 110 may be connected to a processor portion 102, which may include a processor contained within a computer. The EM tracking system may include a Stealth Station sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado. ®AXIEM ™ The navigation system may be, or may be, the EM tracking system described in the following patents: U.S. Patent Application Serial No. 10 / 941,782, filed September 15, 2004, entitled “METHOD AND APPARATUS FOR SURGICAL NAVIGATION”; U.S. Patent No. 5,913,820, granted June 22, 1999, entitled “Position Location System”; and U.S. Patent No. 5,592,939, granted January 14, 1997, entitled “Method and System for Navigating a Catheter Probe”; all of which are incorporated herein by reference. It should be understood that the navigation system 26 may also be or include any suitable tracking system, including STEALTHSTATION with an optical locator. ® TREON ® or S7 ™ The tracking system, which can be used as an optical locator 88, is sold by Medtronic Navigation, Inc., located in Louisville, Colorado. Other tracking systems include acoustic systems, radiation systems, radar systems, etc. The tracking system can be used according to techniques generally known or described in the references combined above. Details are not included herein unless the chosen operation disclosed in the subject matter is clearly explained.

[0037] Wired or physical connectors can interconnect the tracking system, imaging device 80, etc. Alternatively, instead of being directly coupled to the controller 110, various components such as instrument 68 can utilize wireless communication channels, as disclosed, for example, in U.S. Patent No. 6,474,341, entitled "Surgical Communication Power System," published November 5, 2002, which is incorporated herein by reference. Furthermore, tracking devices 62, 66, 54 can generate fields and / or signals sensed by locators 88, 94.

[0038] Various parts of the navigation system 26, such as device 68, and other parts described in detail below, may be equipped with at least one and typically multiple tracking devices 66. The device may also include more than one type or form of tracking device 66, such as EM tracking devices and / or optical tracking devices. Device 68 may include a grippable or manipulable portion at its proximal end, and the tracking device may be fixed near the manipulable portion of device 68.

[0039] Another representative or alternative positioning and tracking system is described in U.S. Patent No. 5,983,126, entitled “Catheter Location System and Method,” issued November 9, 1999, which is incorporated herein by reference. Navigation system 26 may be a hybrid system including components from various tracking systems.

[0040] According to various implementation schemes, navigation system 26 can be used to track device 68 relative to patient 30. As discussed above, tracking system can be used to track device 68. Image data of patient 30 or appropriate subject can be used to assist user 72 in guiding device 68. However, the image data is registered to patient 30. The image data defines an image space that is registered to patient space defined by patient 30.

[0041] Typically, registration allows for the generation of a transformation mapping of the physical position of the instrument 68 relative to the image space of the image data. This transformation mapping allows the tracked position of the instrument 68 to be displayed on the display device 84 relative to the image data 108. A graphical representation 68i, also known as an icon, can be used to illustrate the position of the instrument 68 relative to the image data 108.

[0042] Continue to refer to Figure 1 And refer to other sources Figure 2 and Figure 3 The subject registration system or method may use tracking device 58. Tracking device 58 may include a trackable portion or component 120, but may also serve as or be operable as a reference point assembly. Reference point assembly 120 may include a clamp or other fixation portion 124 and an imageable reference point body 120. However, it should be understood that component 120 may be separate from tracking device 58. Fixation portion 124 may be provided to fix any suitable portion, such as a part of an anatomical structure. Figure 1 and Figure 2 As illustrated, the reference point assembly 120 can be interconnected with a portion of the spine 126, such as the spinous process 130.

[0043] The fixing portion 124 can be interconnected with the spinous process 130 in any suitable manner. For example, a pin or screw can be driven into the spinous process 130. Alternatively or otherwise, a clamping portion 124 can be provided to interconnect the spinous processes 130. The reference point portion 120 can be imaged by the imaging device 80. However, it should be understood that various parts of the subject, such as the spinous process, can also be used as reference point portions.

[0044] In various embodiments, when the reference point portion 120 is imaged by the imaging device 80, image data including or identifying the reference point portion 120 is generated. The reference point portion 120 can be identified automatically (e.g., by a processor executing a program), manually (e.g., by selecting an identifier of user 72), or a combination thereof (e.g., by selecting an identifier of user 72 as a seed point and a segmentation executed by the processor executing the program) in the image data. Methods for automatic imageable portion identification include those disclosed in U.S. Patent No. 8,150,494, published April 3, 2012, which is incorporated herein by reference. Manual identification may include selecting elements (e.g., pixels) or regions in the image data where the imageable portion has been imaged. In any case, the reference point portion 120 identified in the image data can be used as a reference point or reference point localization that can be used to register the image data or image space of the image data with patient space.

[0045] In various embodiments, in order to register an image space or coordinate system to another space or coordinate system, such as a navigation space, the reference point portion 120 identified in image 108 can then be identified in a suitable manner within the subject space defined by subject 30. For example, if the reference point portion is attached to subject 30 at the same location during image data acquisition to generate image 108, user 72 can move instrument 68 relative to subject 30 to contact reference point portion 120. It should be understood that, as discussed above in various embodiments, reference point portion 120 may be attached to subject 30 and / or may include anatomical portions of subject 30. Additionally, tracking devices may be incorporated into reference point portion 120, and they may be maintained with subject 30 after image acquisition. In this case, registration or identification of reference point portion 120 can be performed within subject space. However, according to various embodiments, user 72 can move instrument 68 to contact reference point portion 120. Due to the tracking device 66 attached to instrument 68, such as a tracking system with optical locator 88, the positioning of the instrument can be tracked. This allows user 72 to identify the location of the reference point portion 120 identified in image 108 within the navigation space. After identifying the location of the reference point portion 120 in the navigation space, which may include the subject space, a transformation mapping can be made between the subject space defined by subject 30 and the image space defined by image 108 within the navigation space. Thus, identical or known locations allow for registration, as discussed further herein.

[0046] During registration, a transformation mapping is determined between the image data coordinate system of image data, such as image 108, and the patient space defined by patient 30. Once registration occurs, device 68 can be tracked using a tracking system registered to the image data, allowing the location of the tracked device 68 to be identified and instanced as an icon superimposed on the image data. Registration of image 108 (or any selected image data) to subject 30 can occur at any appropriate time.

[0047] After registering the image space to the patient space, it can be tracked relative to the image 108 by the device 68. For example... Figure 1 As illustrated, an icon 68i representing the positioning or orientation of the instrument 68 (which may include 6-DOF positioning (including 3D positioning and orientation)) can be displayed on the display 84 relative to the image 108. Due to the registration from image space to patient space, the positioning of the icon 68i relative to the image 108 can substantially identify or simulate the position of the instrument 68 relative to the patient 30 in patient space. As discussed above, this can allow for guided surgery.

[0048] As discussed herein, the robot system 20, having a robot system coordinate system, can be registered to the navigation space coordinate system due to the reference tracking device 54 (e.g., if fixed to the robot system 20 or with a known location relative to the robot system) and / or due to the tracking of the snapshot tracking device 160. Due to registration, or during registration, a transformation mapping is determined between the robot system coordinate system and the patient space navigation space coordinate system defined by the patient 30. The snapshot tracking device 160 may include one or more trackable portions 164 that can be tracked using a locator 88 or any suitable locator (e.g., optical, EM, radar). However, it should be understood that any suitable tracking system can be used to track the snapshot tracking device 160. A fixed reference tracking device may also be positioned within the navigation space. A fixed navigation tracker may include a patient tracker 58 that can be attached to the patient 30 and / or a robot tracker 54 that can be fixed to a mounting 34 of the robot system 20. Thus, the reference tracker may be any suitable tracker positioned relative to the snapshot tracker 160 within the navigation coordinate space during registration. For the discussion here, robot tracker 54 will be mentioned; however, patient tracker 58 can also be used as a reference tracker. Furthermore, the reference tracker 160 can be positioned anywhere in the coordinate system relative to the snapshot tracker 160, as long as it can be tracked relative to the reference tracker.

[0049] In various implementations, the snapshot tracker 160 may be positioned at a known location relative to the end effector 44. For example, as Figure 3As illustrated, a snapshot tracker 160, including a trackable portion 164, extends from a rod or connecting member 168. The connecting member 168 may include a keying portion, such as a protrusion 172 that engages a slot 174 of an end effector 44. The end effector 44 may form or define a sleeve or channel 176 that engages the connector 168. The connector 168 may be positioned within the channel 176 of the end effector 44. The connector 168 may then be secured to the end effector 44, for example, using a fixing member including a fixing screw or a clamping member of the end effector 44, such as a fixing screw or clamping member 180. The protrusion 172 may engage within the slot 174 to rotatably secure the snapshot tracker 160 relative to the end effector 44. The connector 168, positioned within the channel 176 and locked in place using a positioning screw 180, may then rigidly secure the snapshot tracking device 160 relative to the end effector 44. Thus, the positioning of the snapshot tracker 160 relative to the end effector 44 can be fixed.

[0050] The locator 88 can then view or determine the position of the snapshot tracking device 160 relative to the reference tracking device 54 and / or the reference tracking device 58. Since the locator 88 defines or can be used to define the navigation space, determining or tracking the position of the snapshot tracking device 160 relative to the reference frame 54 can be used to determine the relationship between the position within the navigation space and the robot space of the end effector 44.

[0051] Therefore, continue to refer to Figure 3 The navigation space defined by locator 88 may include a complete navigation space 170, which may include a portion relative to the subject, such as subject tracker 58, and other movable portions therein (such as device 68). The robot registration space may be smaller and may include a robot registration space 174, which may include reference frame 54 and snapshot tracker 160. However, as discussed above, the robot registration navigation space may include snapshot tracker 160 and patient tracker 58 for registration. Therefore, the exemplary registration navigation space 174 is only used for the present discussion. It is not necessary to use both robot reference tracker 54 and patient tracker 58 simultaneously. This is especially true when the patient 30 is fixed in the space, for example, relative to robot system 20.

[0052] In navigation space, for the optical locator 88 to optically track the optical tracking device, an optical line of sight must be maintained between the optical locator 88 and the tracking device. The optical locator 88 is configured to track any suitable tracking device, such as, but not limited to, optical tracking devices 160, 58, 66, 410A, and 410B. Tracking cannot occur when the optical line of sight is obstructed. Figure 4An exemplary line-of-sight 150 between the optical locator 88 and the optical tracking device 58 is shown. For example, if the robotic arm 40 enters the line-of-sight 150, tracking may be interrupted. Regarding this optical tracking, the optical locator 88 tracks the reflector or light-emitting diode (LED) of the optical tracking device 58. For example, infrared (IR) illumination from the optical locator 88 can be reflected from the reflector of the optical tracking device 58 and tracked by the IR camera of the optical locator 88. Therefore, if the line-of-sight 150 of the optical locator 88 is obstructed, tracking may be interrupted, including a reduction in the accuracy of the tracked posture.

[0053] Processor 102 is configured as a tracking system control module, and will subsequently be referred to herein as such. Tracking system control module 102 is connected in any suitable manner to robot arm control module 152 (see [link to documentation]). Figure 4 Communication. The tracking system control module 102 tracks the robot arm 40 and thus knows the orientation and position of the robot arm 40 in the three-dimensional coordinate system of the arm 40. For example, the position of the snapshot tracking device 160 relative to the robot arm 40 in the end effector 44 is input to the tracking system control module 102. Therefore, the tracking system control module 102 knows explicitly the positions of the snapshot tracking device 160 and the end effector 44 in the three-dimensional coordinate system of the arm 40. Alternatively, the robot arm 40 can be physically tracked using any suitable encoder, etc. For example, encoders included in selected motors and / or encoders included at the various joints of the arm 40 can be used to determine the position of the robot arm 40 (including the end effector). The encoder can determine the relative and / or total amount of movement of the corresponding portions of the arm 40 to determine the attitude of the end effector at a selected time. The encoder can generate signals that are sent to the processor 102 to allow the determination and navigation of the end effector of the arm 40.

[0054] When the snapshot optical tracking device 160 is visible to the optical locator 88, the position of the optical tracking device 160 (and typically the end effector 44 and robotic arm 40) in the coordinate system of the optical locator 88 is known and input to the processor 102. That is, the tracking system control module 102 is configured to execute instructions to know the attitude (including spatial coordinates and orientation) of the optical tracking device when it is visible to the optical locator 88. The relative positions of the parts attached to or fixed to the optical tracking device 160 can also be known or retrieved from a selected memory system, such as a part of the arm 40 or a device or part thereof attached to the tracking device 160. For example, if the distal end of the device is known to be 5 cm from the tracking device 160, the attitude of the distal end can also be tracked or navigated. The tracking system control module 102 also always knows the position of the snapshot tracking device 160 in the coordinate system of the robotic arm 40. Based on the known position of the snapshot optical tracking device 160 in both the coordinate system of the robot arm 40 and the coordinate system of the optical locator 88, the tracking system control module 102 is configured to execute instructions to determine the position of any appropriate part associated with the robot arm 40 in the coordinate system of the robot arm 40. This is at least in part due to the registration or association between the coordinate system of the optical locator 88 and the coordinate system of the robot arm 40, as described above.

[0055] Figure 4 A line of sight 150 between the locator 88 and the tracking device 58 is shown. Line of sight 150 is typically a three-dimensional volume between the locator 88 and the tracking device 58, where the tracking device 58 is visible to the locator 88. Although line of sight 150 is shown as... Figures 4 to 6 The line of sight 150 is the area between the two lines, but the line of sight 150 typically includes a three-dimensional area between the two lines on opposite sides of the reference numeral 150. The line of sight volume 150 is typically defined between at least one camera (typically two cameras) of the optical locator 88. Each camera may include a visible area or volume as well as overlapping areas that allow for stereoscopic viewing or the line of sight. The stereoscopic field of view or line of sight allows for triangulation of the attitude of a tracking device (such as tracking device 56) within the navigation volume.

[0056] The tracking system control module 102 is configured to track the movement of the tracking device 58 relative to the locator 88. The tracking system control module 102 is further configured to identify a line of sight 150 between the locator 88 and the tracking device 58. The locator 88 may be an optical locator or any other suitable locator configured to track the tracking device 58. The tracking device 58 may be an optical tracking device or any other suitable tracking device. At least one of the locator 88 and the tracking device 58 may include a depth camera, a laser emitter, and an optical wavelength camera. The laser emitter may have a laser receiver portion for receiving reflected laser beams. The optical wavelength camera may include a sensor for sensing visible light wavelengths. The locator may include at least two receivers (e.g., at least two laser receivers, an optical wavelength camera, etc.) to generate a stereoscopic image or view.

[0057] The robot system 20 includes a robot arm control module 152 configured to control the movement of the robot arm 40. As described above, the robot arm control module 152 can receive encoder signals. Therefore, the robot arm control module 152 can know or determine the attitude of the end effector 44 at a selected time based on inputs from its controller and sensors. The attitude can be relative to the base and / or navigation space of the robot system 20.

[0058] The robot arm control module 152 is further configured to receive (and the tracking system control module 102 is configured to input to the robot arm control module 152) the position of the line of sight 150 from the tracking system control module 102, as discussed in the method below. Knowing the position of the line of sight 150, the robot arm control module 152 is configured to prevent the robot arm 40 from moving into the line of sight 150. In other words, the robot arm control module 152 is configured to restrict the movement of the robot arm 40 to an area outside the line of sight 150 so as not to obstruct the line of sight 150 between the locator 88 and the optical tracking device 58. Therefore, the robot arm 40 will not automatically move to a position that obstructs the line of sight 150, where tracking of the tracking device 58 may be interrupted. Furthermore, in applications where the robot arm 40 is configured to be manually movable, if the robot arm 40 moves to a position that obstructs the line of sight 150, any appropriate warnings (such as any appropriate auditory warning, visual warning, tactile warning, etc.) will be generated. The robotic arm 40 can also be configured to prevent manual movement to a position that obstructs the line of sight 150.

[0059] The locator 88 can be an optical locator as described above and is used in various tracking systems, including the STEALTHSTATION system with an optical locator sold by Medtronic Navigation, Inc. of Colorado. ® TREON ®or S7 ™ Tracking system. Other tracking systems that may require line of sight, at least for accuracy and / or speed, may include acoustic, radar, etc. The tracking system control module 102 is also configured to input the line of sight of any system other than the optical imaging system to the robot arm control module 152, which may include, for example... Figure 4 Positioners in the various embodiments shown. Exemplary additional systems include, but are not limited to, radiation imaging systems, visual imaging systems, and ultrasound imaging systems. The robot arm control module 152 is configured to also prevent the robot arm 40 from moving into the line of sight of these additional imaging systems. Such imaging and tracking systems are also affected by the path of the robot arm 40 in the line of sight. For example, the robot arm 40 may include a metal arm that may block light, X-rays, sound waves, etc.

[0060] refer to Figure 5 During the setup or calibration mode of the tracking system, user 72 can manually identify restricted areas 250 where the robotic arm 40 is not permitted to travel. Restricted areas 250 include line-of-sight 150 and any other areas where the robotic arm 40 is not expected to travel. For example, restricted areas may include the gantry housing 82 or any other part of the imaging device 80. Restricted areas may also include other equipment in the operating room, and therefore preventing the robotic arm 40 from entering such restricted areas will eliminate any potential collisions with such equipment.

[0061] To identify the restricted area 250, user 72 will manipulate any suitable designation device 210 visible to locator 88 and trackable by the respective locator. For example, designation device 210 could be an optical designation device visible to locator 88, configured as an optical tracking device, similar to optical tracking device 58. To designate the restricted area 250 including tracking device 58, user 78 will use the movement of designation device 210 to circle around tracking device 58. Tracking system control module 102 uses locator 88 to view and record the movement of designation device 210. Tracking system control module 102 inputs the position of restricted area 250 to robot arm control module 152. Robot arm control module 152 is configured to restrict robot arm 40 from moving into restricted area 250, thereby preventing robot arm 40 from potentially obstructing line of sight 150.

[0062] The designator 210 can be any other suitable designator whose movement is visible and tracked by the locator 88. For example, the designator may include the user 72's hand. Therefore, the tracking system control module 102 is configured to recognize the movement of the user's hand during setup or calibration modes. The user 72 may surround the tracking device 58 to identify a restricted area including the line of sight 150.

[0063] The restricted area of ​​the robotic arm 40 may include any other area surrounding the operating room where the robotic arm 40 is not expected to travel. For example, during setup or calibration, the restricted area may be identified as including the line of sight of any other imaging equipment, such as, but not limited to, ultrasound imaging equipment, radiation imaging equipment, etc., using the designator 210 or the hand of the user 72. The restricted area can be defined by moving the designator 210 to delineate or set the boundary of the area preventing the robotic arm 40 from entering, thereby maintaining a clear line of sight. Furthermore, the system is configured to locate the tracking device 58 so as to automatically identify the tracking device 58 and the surrounding area as restricted areas to be avoided. Additional restricted areas may be manually identified. Therefore, the identification of restricted areas can be automatic, manual, or a combination of automatic and manual identification.

[0064] Figure 6 Another method for identifying the restricted area (including line of sight 150) of the robotic arm 40 is shown. Figure 6 A display 84 is shown, including an icon 58i for the optical tracking device 58. Icons for the optical locator 88i and the line of sight 150i are also shown. The display 84 can be configured by the tracking system control module 102 to display icons of any other objects in the operating room to facilitate identification of the restricted area 250. For example, the display 84 may also display an icon for the robotic arm 40. The user 72 uses any suitable input device / user interface to input the restricted area 250. For example, the display 84 may be configured as a touchscreen. The user 72 can manually draw or define the restricted area 250 on the display 84 using his or her hand 74. The restricted area 250 can be a three-dimensional area. For example, Figure 6 The restricted area 250 is shown as a three-dimensional box surrounding icon 58i of the optical tracking device 58. The tracking system control module 102 is configured to input the restricted area 250 (or any other restricted area identified by the user 72) into the robot arm control module 152. The robot arm control module 152 is configured to prevent the robot arm 40 from moving into the restricted area 250 so as not to obstruct the view 150. The restricted area 250 can also be drawn using a mouse, stylus, trackball, etc. The restricted area 250 will typically cover the area required to track the optical tracker, including the places where the tracking device will be used.

[0065] like Figure 6As shown, a volume, such as a cube, can be defined. This volume can be any suitable shape, such as a cylinder or a sphere. The defined shape can also be defined in real space by tracking device 210 as user 72 moves device 210. This volume can be a volume that should or should be avoided in order to maintain the line of sight of DRF 58 to any other possible tracking portion or surgical volume or other system (e.g., subject imaging system). An avoidance volume or area can be arranged using a volume defined in any suitable manner. In other words, a defined volume (such as volume 250) can be defined as a collision avoidance volume of robotic system 20. A defined volume that includes any portion or volume to be tracked and is within the line of sight of an imaging system (such as locator 88) can also be an area to be avoided or prevented from colliding with robotic system 20, including robotic arm 40.

[0066] Figure 7 An exemplary method 410 according to this disclosure is shown for preventing a robotic arm 40 from obstructing the line of sight 150 of any suitable imaging system (such as between the locator 88 and the tracking device 58). Method 410 is also configured to prevent the robotic arm 40 from moving into the line of sight of any other suitable imaging system (such as, but not limited to, radiation imaging systems, ultrasound imaging systems, etc.) capable of acquiring images of a subject. Furthermore, the method is applicable to eliminating or reducing obstruction of the line of sight to any suitable tracking system (such as visual tracking systems, acoustic tracking systems, optical tracking systems, etc.).

[0067] At block 412 of method 410, the tracking system control module 102 is configured to track the movement of any suitable tracking device relative to the locator when it is within the locator's line of sight. For example, the tracking system control module 102 is configured to track the movement of tracking device 58 relative to the locator 88 when tracking device 58 is within the line of sight 150. At block 414, the tracking system control module 102 is configured to identify the location of a restricted area of ​​the robotic arm 40. The restricted area includes the line of sight 150 and is an area that restricts the movement of the robotic arm 40 so as not to obstruct the line of sight 150. The restricted area can be area 250 and / or any other area where movement of the robotic arm 40 is not desired. For example, another restricted area may include within and / or near the gantry housing 82, or any other part of the imaging device 80. The restricted area may also include other equipment in the operating room. The restricted area can be determined in any suitable manner as described above. For example, as Figure 5 and Figure 6 As shown, the restricted area can be determined manually, or automatically by identifying the tracking device 58 visible to the locator 88 and the corresponding predetermined or known viewing area.

[0068] At block 416, the robot arm control module 152 is configured to receive a restricted area from the tracking system control module 102 and to operate the robot arm 40 in areas outside the restricted area 250 and in any other designated restricted areas. As discussed above, the robot system 20 may include a base 34. The orientation of the arm 40, including the end effector 44, relative to the base 34 can be known through a suitable system. As described above, an encoder can be used to determine the orientation of the arm 40 relative to the base. Furthermore, since the robot coordinate system (including the orientation of the arm 40 relative to the base) can be registered to a locator navigation coordinate system (such as locator 88), the restricted area 250 can be known in both the robot coordinate system and the locator 88 coordinate system. Therefore, based on the coordinate system of the robot system 20 itself, the orientation of the robot arm 40 can be restricted to not moving within the restricted area.

[0069] If the robotic arm 40 approaches or enters the restricted area 250, the robotic arm control module 152 is configured to generate any suitable alarm, such as an auditory alarm, a visual alarm, a tactile alarm, etc. The robotic arm control module 152 can be configured to slow the movement of the robotic arm 40 when it approaches the restricted area 250, and within a selected distance, the robotic arm 40 can be limited to a selected maximum speed of movement, such as 50%. Advantageously, this disclosure prevents such intrusion by recognizing virtual barriers or walls to automatically prevent the robotic arm 40 from entering the line of sight and colliding with items in the operating room.

[0070] At box 418, the tracking system control module 102 is configured to update the position of the restricted area 250 (and any other designated restricted areas) in response to movement of the tracking device 58. Movement of the tracking device 58 may result, for example, the subject's position on the operating table being adjusted to the extent that the restricted areas need to be adjusted and updated to the robot controller 152. The restricted areas may be adjusted and updated manually by the user or automatically by the tracking system control module 102 based on the new position of the tracking device 58 as observed by the locator 88. The tracking system control module 102 is configured to input the updated position of the restricted areas to the robot arm control module 152. Based on the updated position of the restricted area 250, the robot arm control module 152 is configured to restrict movement of the robot arm to prevent the robot arm 40 from entering the restricted area 250 and obstructing the line of sight 150.

[0071] Example embodiments are provided to make this disclosure thorough and to fully communicate the scope of this disclosure to those skilled in the art. Numerous specific details, such as examples of particular components, apparatus, and methods, are set forth to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that specific details are not required, exemplary embodiments may be embodied in many different forms, and should not be construed as limiting the scope of this disclosure. In some exemplary embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.

[0072] Instructions can be executed by a processor and may include software, firmware, and / or microcode, and may refer to programs, routines, functions, classes, data structures, and / or objects. The term "shared processor circuitry" covers a single processor circuitry that executes some or all of the code from multiple modules. The term "group processor circuitry" covers processor circuitry that, in conjunction with additional processor circuitry, executes some or all of the code from one or more modules. References to multiple processor circuitry cover multiple processor circuitry on a discrete die, multiple processor circuitry on a single die, multiple cores of a single processor circuitry, multiple threads of a single processor circuitry, or a combination thereof. The term "shared memory circuitry" covers a single memory circuitry that stores some or all of the code from multiple modules. The term "group memory circuitry" covers memory circuitry that, in conjunction with additional memory, stores some or all of the code from one or more modules.

[0073] Example

[0074] Example 1. A surgical system comprising: an imaging system configured to acquire an image of a region within the field of view of the imaging system; a robotic arm capable of moving relative to the region; and a robotic arm control module configured to control the movement of the robotic arm and prevent the robotic arm from moving within the field of view.

[0075] Example 2. The surgical system according to Example 1, the surgical system further includes: a tracking device; and a tracking system control module configured to track the movement of the tracking device; wherein the imaging system includes a locator configured to track the tracking device when the tracking device is within the line of sight of the locator; wherein the tracking system is configured to navigate the movement of the tracking device within the line of sight of the locator.

[0076] Example 3. The surgical system according to Example 2, wherein the tracking device is an optical tracking device and the locator is an optical locator configured to generate or receive optical signals within a navigation domain defined by the line of sight of the locator.

[0077] Example 4. The surgical system according to Example 2, wherein at least one of the tracking device and the locator includes a depth camera, a laser emitter, and an optical wavelength camera.

[0078] Example 5. The surgical system according to Example 2, wherein the tracking device is configured to be installed on the subject.

[0079] Example 6. The surgical system according to Example 2, wherein the robotic arm control module is configured to prevent the robotic arm from moving into contact with the tracking device and the locator.

[0080] Example 7. The surgical system according to Example 1, wherein the imaging system includes at least one of a radiation imaging device and an ultrasound imaging device, the radiation imaging device and the ultrasound imaging device being configured to acquire images of the subject within the line of sight.

[0081] Example 8. The surgical system according to Example 7, wherein the robotic arm control module is configured to restrict the movement of the robotic arm to limit or eliminate contact between the robotic arm and the radiation imaging device.

[0082] Example 9. A surgical system comprising: a tracking device; a locator configured to track the tracking device when the tracking device is within the locator's line of sight; a tracking system control module configured to track movement of the tracking device relative to the locator; a robotic arm movable relative to the tracking device; and a robotic arm control module configured to control the movement of the robotic arm and prevent the robotic arm from moving into the line of sight.

[0083] Example 10. The surgical system according to Example 9, wherein the tracking device is an optical tracking device and the locator is an optical locator configured to generate or receive optical signals within the navigation domain.

[0084] Example 11. The surgical system according to Example 9, wherein at least one of the tracking device and the locator includes a depth camera, a laser emitting system and a visible light camera.

[0085] Example 12. The surgical system according to Example 9, wherein the tracking system control module is configured to identify the position of the line of sight of the locator to the tracking device; and the robotic arm control module is configured to receive the position of the line of sight from the tracking system control module to control the movement of the robotic arm and prevent the robotic arm from moving into the line of sight.

[0086] Example 13. The surgical system according to Example 9, the surgical system further includes: a locator; wherein the tracking system control module is configured to track the movement of the locator using the locator to define a restricted area of ​​the robotic arm, the restricted area including the line of sight; and wherein the robotic arm control module is configured to receive the restricted area from the tracking system control module and restrict the movement of the robotic arm into the restricted area.

[0087] Example 14. The surgical system according to Example 13, wherein the designator is either an optical designator or a designator in the hand.

[0088] Example 15. The surgical system according to Example 9 further includes a user interface configured to receive input from a user corresponding to a restricted area of ​​the robotic arm, the restricted area including the line of sight; and the robotic arm control module is configured to receive the restricted area from the tracking system control module and restrict the robotic arm from moving into the line of sight.

[0089] Example 16. The surgical system according to Example 15, wherein the input includes drawing the restricted area on the screen.

[0090] Example 17. The surgical system according to Example 15, wherein the restricted area includes three dimensions.

[0091] Example 18. The surgical system according to Example 9, wherein: the tracking system control module is configured to input the position of the line of sight to the robot arm control module; the tracking system control module is configured to input the updated position of the line of sight to the robot arm control module when at least one of the tracking device and the locator changes position; and the robot arm control module is configured to restrict the robot arm from moving to the updated position of the line of sight.

[0092] Example 19. A method for preventing a robotic arm from obstructing the line of sight of an imaging system during medical surgery, the method comprising: tracking the movement of the tracking device relative to the locator using a tracking system control module when the tracking device is within the line of sight of a locator; identifying the location of a restricted area of ​​the robotic arm, the restricted area including the line of sight; and controlling the movement of the robotic arm relative to the tracking device and the locator using a robotic arm control module to prevent the robotic arm from obstructing the line of sight between the tracking device and the locator.

[0093] Example 20. The method according to Example 19, wherein identifying the location of the restricted area includes at least one of: identifying the restricted area using an optical designator; entering the restricted area using a user interface; and identifying the restricted area using a hand gesture visible to the locator.

[0094] The apparatus and methods described in this application may be implemented, in part or in whole, by a processor (also referred to as a processor module), which may include a special-purpose computer (e.g., created by configuring a processor) and / or a general-purpose computer for performing one or more specific functions embodied in a computer program. The computer program includes processor-executable instructions stored on at least one non-transitory, tangible computer-readable medium. The computer program may also include or depend on stored data. The computer program may include a basic input / output system (BIOS) that interacts with the hardware of the special-purpose computer, a device driver that interacts with a specific device of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0095] Computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time (JIT) compiler; and (v) descriptive text for parsing, such as HTML (Hypertext Markup Language) or XML (Extensible Markup Language). As an example only, source code may be in C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, or Java. ® ASP, Perl, Javascript ® HTML5, Ada, Active Server Pages (ASP), Perl, Scala, Erlang, Ruby, Flash ® Visual Basic ® Lua or Python ® To write it.

[0096] Communication may include the wireless communications described in this disclosure, which may be wholly or partially compliant with IEEE Standard 802.11-2012, IEEE Standard 802.16-2009, and / or IEEE Standard 802.20-2008. In various specific implementations, IEEE 802.11-2012 may be supplemented by draft IEEE Standard 802.11ac, draft IEEE Standard 802.11ad, and / or draft IEEE Standard 802.11ah.

[0097] The terms processor, processor module, module, or “controller” are used interchangeably herein (unless otherwise specifically disclosed) and each may be replaced by the term “circuit”. Any of these terms may refer to, be part of, or include the following: application-specific integrated circuit (ASIC); digital, analog, or mixed-signal analog / digital discrete circuit; digital, analog, or mixed-signal analog / digital integrated circuit; combinational logic circuit; field-programmable gate array (FPGA); processor circuitry (shared, dedicated, or grouped) that executes code; memory circuitry (shared, dedicated, or grouped) that stores code executed by the processor circuitry; other suitable hardware components that provide the described functionality; or some or all of the foregoing, such as in a system-on-a-chip.

[0098] Instructions may be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Therefore, the terms "processor" or "processor module" as used herein may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. Furthermore, these techniques may be fully implemented in one or more circuit or logic elements. The one or more processors may operate fully automatically and / or substantially automatically. In automatic operation, the processor may execute instructions based on received inputs and in accordance with received inputs. Therefore, various outputs can be made without additional or any manual (e.g., user) input.

[0099] The foregoing description of embodiments has been provided for illustrative and descriptive purposes. The foregoing description is not intended to be exhaustive or limiting of the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable and may also be used in chosen embodiments where applicable, even if not specifically shown or described. The same element or feature may be varied in many ways. Such variations are not considered to depart from the invention, and all such modifications are intended to be included within the scope of the invention.

Claims

1. A surgical system, the surgical system comprising: An imaging system (80) is configured to acquire images of the area within the line of sight (150) of the imaging system; A robotic arm (40) capable of moving relative to the region; and A robot arm control module (152) is configured to control the movement of the robot arm and prevent the robot arm from moving within the line of sight.

2. The surgical system according to claim 1, further comprising: Tracking device (58); and A tracking system control module (102) is configured to track the movement of the tracking device; The imaging system includes a locator (88) configured to track the tracking device when the tracking device is within the line of sight of the locator; The tracking system is configured to navigate the movement of the tracking device within the line of sight of the locator.

3. The surgical system of claim 2, wherein the tracking device is an optical tracking device, and the locator is an optical locator configured to generate or receive optical signals within a navigation domain defined by the line of sight of the locator.

4. The surgical system of claim 2, wherein at least one of the tracking device and the locator comprises a depth camera, a laser emitter, and an optical wavelength camera.

5. The surgical system of claim 2, wherein the tracking device is configured to be mounted on the subject (30).

6. The surgical system of claim 2, wherein the robotic arm control module is configured to prevent the robotic arm from moving into contact with the tracking device and the locator.

7. The surgical system of claim 1, wherein the imaging system comprises at least one of a radiation imaging device and an ultrasound imaging device, the radiation imaging device and the ultrasound imaging device being configured to acquire images of the subject within the line of sight.

8. A surgical system, the surgical system comprising: Tracking device (58); A locator (88) configured to track the tracking device when the tracking device is within the line of sight (150) of the locator; A tracking system control module (102) is configured to track the movement of the tracking device relative to the locator; A robotic arm (40) capable of moving relative to the tracking device; and A robot arm control module (152) is configured to control the movement of the robot arm and prevent the robot arm from moving into the line of sight.

9. The surgical system of claim 8, wherein the tracking device is an optical tracking device, and the locator is an optical locator configured to generate or receive optical signals within the navigation domain.

10. The surgical system of claim 8, wherein the tracking system control module is configured to identify the position of the line of sight of the locator to the tracking device; and The robot arm control module is configured to receive the position of the line of sight from the tracking system control module in order to control the movement of the robot arm and prevent the robot arm from moving into the line of sight.

11. The surgical system of claim 8, further comprising: Specifyer (210); The tracking system control module is configured to use the locator to track the movement of the pointer to define a restricted area (250) of the robotic arm, the restricted area including the line of sight; and The robot arm control module is configured to receive the restricted area from the tracking system control module and restrict the robot arm from moving into the restricted area.

12. The surgical system of claim 8, further comprising a user interface (84) configured to receive input from a user corresponding to a restricted area of ​​the robotic arm, the restricted area including the line of sight; and The robot arm control module is configured to receive the restricted area from the tracking system control module and restrict the robot arm from moving into the line of sight.

13. The surgical system according to claim 8, wherein: The tracking system control module is configured to input the position of the line of sight into the robot arm control module; The tracking system control module is configured to input the updated position of the line of sight to the robot arm control module when at least one of the tracking device and the locator changes position; and The robot arm control module is configured to restrict the robot arm from moving to the updated position of the line of sight.

14. A method for preventing a robotic arm (40) from obstructing the line of sight (150) of an imaging system (80) during medical surgery, the method comprising: When the tracking device (58) is within the line of sight of the locator (88), the tracking system control module (102) is used to track the movement of the tracking device relative to the locator. Identify the location of the restricted area (250) of the robotic arm, the restricted area including the line of sight; as well as A robot arm control module is used to control the movement of the robot arm relative to the tracking device and the locator to prevent the robot arm from obstructing the line of sight between the tracking device and the locator.

15. The method of claim 14, wherein identifying the location of the restricted area comprises at least one of: using an optical designator (210) to identify the restricted area; using a user interface (84) to enter the restricted area; and using a hand gesture visible to the locator to identify the restricted area.

Images