Patent ID: 8498691
Filing Date: 2013-07-30
Classification: A61B

Abstract:
1. A robotic instrument system, comprising: an elongate instrument; a controller configured to selectively actuate one or more motors operatively coupled to the instrument to thereby selectively move a distal end portion of the instrument, wherein the controller is further configured to determine a reach of the instrument distal end portion within an anatomical workspace in which the instrument is located, based at least in part upon a present relative position of the instrument distal end portion, wherein the controller is further configured to determine, based on the determined reach, a plurality of location zones and a reachability of each of the location zones, wherein the reachability of each of the location zones is displayed in a manner that indicates which areas of the workspace may be reached by the instrument distal end portion from the present position of the instrument, and which areas cannot be reached by the instrument distal end portion from the present position of the instrument; and a display in communication with the controller, wherein the controller causes the plurality of location zones and the reachability of each of the location zones to be indicated on the display, wherein the plurality of location zones include a first location zone highlighted on the display to indicate that the first location zone can be reached by the instrument distal end portion from the present position of the instrument by normal maneuvering, a second location zone highlighted on the display to indicate the second location zone may possibly be reached by the instrument distal end portion from the present position of the instrument by using additional or special maneuvering, and a third location zone highlighted on the display to indicate that the third location zone cannot be reached by the instrument distal end portion from the present position of the instrument.