#$%^&*AU2020201255A120200312.pdf#####ABSTRACT A method for schematically representing a spatial position of an instrument used in a robotic surgery system, the instrument including an end effector coupled to a positioning device for spatially positioning the end effector in a surgical workspace in response to input signals generated by movement of a hand controller of an input device in an input device workspace, the method comprising: calculating, by a processor circuit, a current three-dimensional spatial position of the instrument within the surgical workspace for current input signals received from the input device； generating, by the processor circuit, display signals for displaying a graphical depiction of the surgical workspace on a display in communication with the processor circuit, the graphical depiction including a planar representation comprising: an instrument movement region having a boundary indicating limitations to transverse movement of the instrument within the surgical workspace； and a two-dimensional projection of the current spatial position of the positioning device and the end effector onto the planar representation, the method further comprising, in response to a determination that the instrument is proximate the boundary of the instrument movement region, causing the processor circuit to display an active constraint indication at the boundary.4/11 138 1444 415413 1383 40442 448 440 418 428 -- 446 -- 424 416 406 436 456 08432 410 ~4044043 434 - 420 422 0402 -9412 vi 430 2 450 426 FIG. 5 480 492 494 488 1 CC tc 489- -485 4909 484 11 482 z 208 496 -498 L x 486 1 1 202 FIG. 6
