Abstract: A robotic body scanning system includes a robotic manipulator, a force sensor, a probe, a surface sensing system, and a computing device. The probe is attached to the robotic manipulator and configured to scan the portion of the human body. The surface sensing system is configured to detect a surface of the portion of the human body and generate data representing the portion of the human body. The computing device is configured to receive data representing the portion of the human body from said surface sensing system and generate two or three-dimensional representations of the portion of the human body. The computing device includes a trajectory generation module configured to generate an adapted trajectory for the probe to follow based on the two or three-dimensional representations. The robotic manipulator is configured to move the probe along the adapted trajectory along the portion of the human body.

Abstract: A method includes generating a three-dimensional (3D) surface map associated with a patient from a patient sensor, generating a 3D patient space from the 3D surface map associated with the patient, determining a current pose associated with the patient based on the 3D surface map associated with the patient, comparing the current pose with a desired pose associated with the patient with respect to an imaging system, determining a recommended movement based on the comparison between the current pose and the desired pose, and providing an indication of the recommended movement. The desired pose facilitates imaging of an anatomical feature of the patient by the imaging system and the recommended movement may reposition the patient in the desired pose.

Abstract: A method includes generating a three-dimensional (3D) surface map associated with a patient from a patient sensor, generating a 3D patient space from the 3D surface map associated with the patient, determining a current pose associated with the patient based on the 3D surface map associated with the patient, comparing the current pose with a desired pose associated with the patient with respect to an imaging system, determining a recommended movement based on the comparison between the current pose and the desired pose, and providing an indication of the recommended movement. The desired pose facilitates imaging of an anatomical feature of the patient by the imaging system and the recommended movement may reposition the patient in the desired pose.