Intelligent positioning system and methods therefore

Abstract

Systems and methods for adaptively and intraoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam.

What is claimed: 
     
         1 . A method of fabricating an arm assembly, the method comprising:
 providing a multi joint arm configured to operably couple with a positioning control system, the positioning control system configured to:   operably couple with a surgical navigation system,   receive input from the surgical navigation system, the input comprising information relating to a target,   based on the input:
 identify a position and an orientation for the target in a predetermined coordinate frame in relation to an anatomical part; 
 obtain a position and an orientation of the imaging device; 
 obtain a desired standoff distance and a desired orientation between the target and the imaging device; and 
 instruct the multi joint arm to move the imaging device to the desired standoff distance and desired orientation; and 
   upon movement of the target,
 determine a new desired standoff distance and a new desired orientation between the imaging device and a preselected portion of the target, the preselected portion of the target located in a field of view of the imaging device; and 
 instruct the multi joint arm to move the imaging device to the new desired standoff distance and the new desired orientation. 
   
     
     
         2 . The method of  claim 1 , wherein providing the multi joint arm further comprises at least one of:
 providing the multi joint arm with a distal end configured to detachably couple with an end effector, the end effector configured to couple with an imaging device, and the end effector comprising at least one of an external video scope, an abrasion laser, a gripper, an insertable probe, and a micromanipulator;   configuring the multi joint arm to operably couple with a base frame, a counterweight comprising an adjustable counterweight adjustment feature configured to compensate for any weight change in at least one of the arm and the imaging device, and a grabbing feature for facilitating manual movement of at least one of the multi-joint arm and the end effector, and a tower extending upwardly from the base frame;   configuring the multi joint arm to extend outwardly from the tower;   configuring the multi joint arm as upwardly movable and downwardly movable relative to the tower; and   configuring the multi joint arm as adjustable in at least one of weight and size.   
     
     
         3 . The method of  claim 2 , further comprising providing at least one of:
 a supporting beam having an end movably coupled with the tower and another end coupled with the arm;   a vibration suppression feature; and   a braking feature.   
     
     
         4 . The method of  claim 1 , further comprising providing at least one of:
 a radial arrangement coupled with the distal end of the arm and the end effector, wherein the radial arrangement is operable by the positioning control system and is configured to move the end effector;   a joystick operably coupled with the positioning control system, wherein the joy stick facilitates movement of the arm;   a protective dome coupled with the arm, the protective dome constraining movement of the distal end of the arm; and   a display device configured to display a real-time image of the preselected portion of the target with at least one of a desired focus level, a desired zoom level, a desired color balance, a desired white balance, a desired dynamic range, a desired illumination uniformity, a desired contrast level, and a desired inter-pixel correction of the imaging device in response to movement of the arm, wherein the real-time image comprises a real-time 3D image, the real-time 3D image enhanceable by using 3D eyewear.   
     
     
         5 . The method of  claim 1 ,
 wherein providing the multi joint arm comprises providing the multi joint arm with the distal end configured to detachably couple with the end effector configured to couple with the imaging device comprising at least one of a recording device and a memory device, and   wherein providing the multi joint arm comprises providing the multi joint arm with the distal end configured to detachably couple with the end effector configured to couple with the imaging device comprising at least one of the recording device and the memory device configured to respectively facilitate at least one of capturing and sorting at least one real-time video stream of a medical procedure for later use in at least one of surgical training and medical procedure development.   
     
     
         6 . The method of  claim 2 , wherein the position and the orientation of the imaging device is spaced away from the anatomical part and the target, the position and orientation of the imaging device defined in the predetermined coordinate frame. 
     
     
         7 . The method of  claim 3 , wherein at least one of providing the vibration suppression feature and providing the braking feature comprises providing at least one of a transmission mechanism, an electronic actuator, a mechanical actuator, and an electromechanical actuator. 
     
     
         8 . The method of  claim 7 , wherein providing the transmission mechanism comprises providing at least one of a belt, a chain, at least one pulley, an axle, and a transaxle. 
     
     
         9 . The method of  claim 2 , wherein further configuring the multi joint arm comprises at least one of:
 configuring the multi joint arm to operably couple with the counterweight being detachably operatively coupled with the multi joint arm, and   configuring the multi joint arm to operably couple with the counterweight comprising a plurality of counterweights, each counterweight of the plurality of counterweights having a distinct mass, wherein each counterweight of the plurality of counterweights is selectable based on its mass to compensate for the weight change in at least one of the arm and the optical imaging device.   
     
     
         10 . The method of  claim 2 , wherein further configuring the multi joint arm comprises further configuring the multi joint arm to operably couple with the counterweight comprising the adjustable counterweight adjustment feature comprising at least one of an electronic adjustment feature, a mechanical adjustment feature, and an electromechanical adjustment feature. 
     
     
         11 . A method of positioning an imaging device by way of an arm assembly, the method comprising:
 providing the arm assembly, providing the arm assembly comprising providing a multi joint arm configured to operably couple with a positioning control system, the positioning control system configured to:   operably couple with a surgical navigation system,   receive input from the surgical navigation system, the input comprising information relating to a target,   based on the input:
 identify a position and an orientation for the target in a predetermined coordinate frame in relation to an anatomical part; 
 obtain a position and an orientation of the imaging device; 
 obtain a desired standoff distance and a desired orientation between the target and the imaging device; and 
 instruct the multi joint arm to move the imaging device to the desired standoff distance and desired orientation; 
   upon movement of the target,
 determine a new desired standoff distance and a new desired orientation between the imaging device and a preselected portion of the target, the preselected portion of the target located in a field of view of the imaging device; and 
   instruct the multi joint arm to move the imaging device to the new desired standoff distance and the new desired orientation; and   operating the arm assembly by operating the positioning control system, operating the positioning control system comprising:   operably coupling the positioning control system with the surgical navigation system;   receiving input from the surgical navigation system, the input comprising information relating to the target;   based on the input:
 identifying the position and the orientation for the target in the predetermined coordinate frame in relation to the anatomical part; 
 obtaining the position and the orientation of the imaging device; 
 obtaining the desired standoff distance and the desired orientation between the target and the imaging device; and 
 instructing the multi joint arm to move the imaging device to the desired standoff distance and desired orientation; and 
   upon movement of the target,   determining the new desired standoff distance and the new desired orientation between the imaging device and the preselected portion of the target, the preselected portion of the target located in the field of view of the imaging device; and   instructing the multi joint arm to move the imaging device to the new desired standoff distance and the new desired orientation.   
     
     
         12 . The method of  claim 11 , wherein providing the multi joint arm further comprises at least one of:
 providing the multi joint arm with a distal end configured to detachably couple with an end effector, the end effector configured to couple with an imaging device, and the end effector comprising at least one of an external video scope, an abrasion laser, a gripper, an insertable probe, and a micromanipulator;   configuring the multi joint arm to operably couple with a base frame, a counterweight comprising an adjustable counterweight adjustment feature configured to compensate for any weight change in at least one of the arm and the imaging device, and a grabbing feature for facilitating manual movement of at least one of the multi joint arm and the end effector, and a tower extending upwardly from the base frame;   configuring the multi joint arm to extend outwardly from the tower;   configuring the multi joint arm as upwardly movable and downwardly movable relative to the tower; and   configuring the multi joint arm as adjustable in at least one of weight and size.   
     
     
         13 . The method of  claim 12 , further comprising providing at least one of:
 a supporting beam having an end movably coupled with the tower and another end coupled with the arm;   a vibration suppression feature; and   a braking feature.   
     
     
         14 . The method of  claim 11 , further comprising providing at least one of:
 a radial arrangement coupled with the distal end of the arm and the end effector, wherein the radial arrangement is operable by the positioning control system and is configured to move the end effector;   a joystick operably coupled with the positioning control system, wherein the joy stick facilitates movement of the arm;   a protective dome coupled with the arm, the protective dome constraining movement of the distal end of the arm; and   a display device configured to display a real-time image of the preselected portion of the target with at least one of a desired focus level, a desired zoom level, a desired color balance, a desired white balance, a desired dynamic range, a desired illumination uniformity, a desired contrast level, and a desired inter-pixel correction of the imaging device in response to movement of the arm, wherein the real-time image comprises a real-time 3D image, the real-time 3D image enhanceable by using 3D eyewear.   
     
     
         15 . The method of  claim 11 ,
 wherein providing the multi joint arm comprises providing the multi joint arm with the distal end configured to detachably couple with the end effector configured to couple with the imaging device comprising at least one of a recording device and a memory device, and   wherein providing the multi joint arm comprises providing the multi joint arm with the distal end configured to detachably couple with the end effector configured to couple with the imaging device comprising at least one of the recording device and the memory device configured to respectively facilitate at least one of capturing and sorting at least one real-time video stream of a medical procedure for later use in at least one of surgical training and medical procedure development.   
     
     
         16 . The method of  claim 12 , wherein the position and the orientation of the imaging device is spaced away from the anatomical part and the target, the position and orientation of the imaging device defined in the predetermined coordinate frame. 
     
     
         17 . The method of  claim 13 , wherein at least one of providing the vibration suppression feature and providing the braking feature comprises providing at least one of a transmission mechanism, an electronic actuator, a mechanical actuator, and an electromechanical actuator. 
     
     
         18 . The method of  claim 17 , wherein providing the transmission mechanism comprises providing at least one of a belt, a chain, at least one pulley, an axle, and a transaxle. 
     
     
         19 . The method of  claim 12 , wherein further configuring the multi joint arm further comprises at least one of:
 configuring the multi joint arm to operably couple with the counterweight being detachably operatively coupled with the multi joint arm,   configuring the multi joint arm to operably couple with the counterweight comprising a plurality of counterweights, each counterweight of the plurality of counterweights having a distinct mass, wherein each counterweight of the plurality of counterweights is selectable based on its mass to compensate for the weight change in at least one of the arm and the optical imaging device; and   configuring the multi joint arm to operably couple with the counterweight comprising the adjustable counterweight adjustment feature comprising at least one of an electronic adjustment feature, a mechanical adjustment feature, and an electromechanical adjustment feature.   
     
     
         20 . An arm assembly, comprising:
 a multi joint arm configured to operably couple with a positioning control system, the positioning control system configured to:   operably couple with a surgical navigation system,   receive input from the surgical navigation system, the input comprising information relating to a target,   based on the input:
 identify a position and an orientation for the target in a predetermined coordinate frame in relation to an anatomical part; 
 obtain a position and an orientation of the imaging device; 
 obtain a desired standoff distance and a desired orientation between the target and the imaging device; and 
 instruct the multi joint arm to move the imaging device to the desired standoff distance and desired orientation; 
   upon movement of the target,
 determine a new desired standoff distance and a new desired orientation between the imaging device and a preselected portion of the target, the preselected portion of the target located in a field of view of the imaging device; and 
 instruct the multi joint arm to move the imaging device to the new desired standoff distance and the new desired orientation.