Path planning based on work volume mapping
US12213744B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 15, 2021 |
| Grant date | Feb 4, 2025 |
| Priority date | — |
| Expiry date | Jan 31, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N20/00
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.