Collision handling algorithms for robotic surgical systems

A method of collision handling for a robotic surgical system, the method comprising:

• slipping an input handle of a user interface of the robotic surgical system relative to a pose of a tool of a surgical robot of the robotic surgical system when a portion of the surgical robot collides with an obstruction and the input handle is moved in a direction corresponding to moving the tool towards the obstruction, the input handle having an offset relative to a desired pose of the tool in response to slipping of the input handle;
• in response to a moving of the input handle in a direction away from the obstruction, after the slipping the input handle, moving the tool in a direction away from the obstruction maintaining a trim between a position of the input handle and a pose of the tool;
• and
• dynamically scaling movement of the input handle relative to the pose of the tool in a direction parallel to the offset until the trim reaches a predetermined value.

A method of collision handling of a robotic surgical system with a processing unit of the robotic surgical system, the method comprising:

• receiving a first input signal from a user interface of the robotic surgical system to move a tool of a surgical robot of the robotic surgical system to a desired pose of the tool;
• transmitting an input control signal to the surgical robot to move the tool towards the desired pose;
• receiving a feedback signal from the surgical robot that a force to move the tool towards the desired pose is greater than a predetermined threshold;
• maintaining the tool at a threshold pose when the predetermined threshold is reached;
• and
• slipping a position of the input handle relative to the threshold pose to a second position of the input handle to define an offset between the second position of the input handle and a desired pose of the tool corresponding to the second position of the input handle.