Abstract: A method may comprise receiving a model of a patient, identifying a kinematic measure for a teleoperated system, and receiving a human factors constraint for use of the teleoperated system. The method may also comprise establishing a set of port placement locations for the teleoperated system on the model based on the kinematic measure and the human factors constraint.

Abstract: A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.

Abstract: A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.