Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

Surgical systems and methods of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system include generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode and generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy. The demonstrative parameters are less invasive to the anatomy than the manipulation parameters. The tool is moved in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.

A robot control device according to an aspect of the invention is a robot control device that controls a robot on the basis of a simulation result of a simulation device that performs a simulation of operation of a virtual robot on a virtual space. In the simulation, a first region and a second region located on an inside of the first region can be set on the virtual space. In the case where the virtual robot operates, when a specific portion of the virtual robot intrudes into the first region, operating speed of the virtual robot is limited. When the specific portion of the virtual robot intrudes into the second region, the operation of the virtual robot stops or the virtual robot retracts from the second region.

A robot control device according to an aspect of the invention is a robot control device that controls a robot on the basis of a simulation result of a simulation device that performs a simulation of operation of a virtual robot on a virtual space. In the simulation, a first region and a second region located on an inside of the first region can be set on the virtual space. In the case where the virtual robot operates, when a specific portion of the virtual robot intrudes into the first region, operating speed of the virtual robot is limited. When the specific portion of the virtual robot intrudes into the second region, the operation of the virtual robot stops or the virtual robot retracts from the second region.

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

A robot control device according to an aspect of the invention is a robot control device that controls a robot on the basis of a simulation result of a simulation device that performs a simulation of operation of a virtual robot on a virtual space. In the simulation, a first region and a second region located on an inside of the first region can be set on the virtual space. In the case where the virtual robot operates, when a specific portion of the virtual robot intrudes into the first region, operating speed of the virtual robot is limited. When the specific portion of the virtual robot intrudes into the second region, the operation of the virtual robot stops or the virtual robot retracts from the second region.

A robot control device according to an aspect of the invention is a robot control device that controls a robot on the basis of a simulation result of a simulation device that performs a simulation of operation of a virtual robot on a virtual space. In the simulation, a first region and a second region located on an inside of the first region can be set on the virtual space. In the case where the virtual robot operates, when a specific portion of the virtual robot intrudes into the first region, operating speed of the virtual robot is limited. When the specific portion of the virtual robot intrudes into the second region, the operation of the virtual robot stops or the virtual robot retracts from the second region.

Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.