METHOD AND SYSTEM FOR GUIDING POSITION AND ORIENTATION OF A ROBOTIC DEVICE HOLDING A SURGICAL TOOL

摘要

The disclosure relates to a method for guiding position and orientation of a robotic device holding a surgical tool configured for working a planned region of an anatomical structure, the robotic device comprising a base and an actuation unit coupled to the base and configured to move the surgical tool relative to the base, the method comprising:providing a user interface displaying a virtual representation (1) of the anatomical structure and a virtual representation (2) of a target region on the anatomical structure;detecting a presence of a distal tip (3) of the tool in the target region;changing a visual aspect of the virtual representation (2) of the target region when the tool tip (3) is detected in said target region;based on the position of the target region, computing a virtual goal (4) defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region of the anatomical structure;displaying the virtual goal (4) and a virtual representation of an axis of the base on the user interface, and changing position and orientation of said virtual representation of the base axis as a user changes position and orientation of the robotic device while maintaining the tool tip in the target area;changing a visual aspect of the virtual goal (4) when the virtual representation of the base axis is inside the virtual goal.