# US 11,992,279 B2 · Proximity sensors for surgical robotic arm manipulation

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,992,279 B2
- Document ID: US11992279B2
- Status: Granted
- Kind: B2
- Application number: 17/961,459
- Filed: 2022-10-06
- Published: 2023-04-06
- Granted: 2024-05-28
- Earliest claimed: 2019-05-21
- Assignees: Verb Surgical Inc.
- Applicants: Verb Surgical Inc.
- Inventors: Xin Liu; Berk Gonenc; Bernhard A. Fuerst; Jose Luis Cordoba; Pablo E. Garcia Kilroy
- Web page: https://patentgrep.com/patent/US11992279B2

## CPC

- A61B 34/30: Surgical robots
- B25J 9/1676: {Avoiding collision or forbidden zones}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- B25J 13/086: {Proximity sensors}
- H03K 17/955: using a capacitive detector
- A61B 2017/00119: {alarm; indicating an abnormal situation}
- A61B 2017/00199: {with a console, e.g. a control panel with a display}
- A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2090/061: {for measuring dimensions, e.g. length}
- A61B 2562/0257: Proximity sensors
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- H03K: PULSE TECHNIQUE (measuring pulse characteristics G01R; modulating sinusoidal oscillations with pulses H03C; transmission of digital information H04L; discriminator circuits detecting phase difference between two signals by counting or integrating cycles of oscillation H03D3/04; automatic control, starting, synchronisation or stabilisation of generators of electronic oscillations or pulses where the type of generator is irrelevant or unspecified H03L; coding, decoding or code conversion, in general H03M)

## Abstract

A surgical robotic system including a surgical table, a surgical robotic manipulator coupled to the surgical table and comprising a plurality of links coupled together by a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator, at least one of the plurality of links or the plurality of joints having a portion that faces another of the plurality of links or the plurality of joints, a proximity sensing assembly coupled to the portion of the at least one of the plurality of links or the plurality of joints, the proximity sensing assembly operable to detect an object prior to the surgical robotic manipulator colliding with the object and to output a corresponding detection signal, and a processor operable to receive the corresponding detecting signal and cause the manipulator or the object to engage in a collision avoidance operation.

## Claims

### Claim 1

A collision avoidance method for a surgical robotic manipulator, the method comprising:
detecting a distance of an object to the surgical robotic manipulator using a proximity sensing assembly coupled to at least one of a plurality of links or a plurality of joints of the surgical robotic manipulator;
determining whether a collision between the object and the surgical robotic manipulator is imminent by comparing the detected distance of the object to a predetermined collision avoidance distance;
determining whether the object is a human obstacle based on a capacitance value change detected by the proximity sensing assembly that is lower than a capacitance value change detected by the proximity sensing assembly when the object is a non-human obstacle; and
based on the determining of an imminent collision and the object is a human obstacle, causing the surgical robotic manipulator to engage in a collision avoidance operation that prevents the surgical robotic manipulator from colliding with the human obstacle.

### Claim 2 (depends on 1)

The method of claim 1 wherein the collision avoidance operation comprises terminating movement of the surgical robotic manipulator.

### Claim 3 (depends on 1)

The method of claim 1 further comprising determining the object is a non-human obstacle based on the capacitance value change detected by the proximity sensing assembly, and determining a type of non-human obstacle.

### Claim 4 (depends on 3)

The method of claim 3 determining the type of non-human obstacle is another surgical robotic manipulator and terminating movement of the another surgical robotic manipulator.

### Claim 5 (depends on 3)

The method of claim 3 wherein the predetermined collision avoidance distance is different depending on whether the object is a human obstacle or a non-human obstacle.

### Claim 6 (depends on 1)

The method of claim 1 further comprising determining a location of the human obstacle with respect to a particular one of the plurality of links using the proximity sensing assembly, and based on the distance of the human obstacle and the location of the human obstacle to the surgical robotic manipulator, determining the collision avoidance operation.

### Claim 7 (depends on 1)

The method of claim 1 wherein at least one of the plurality of links is operable to move in a first direction, and the proximity sensing assembly is coupled to a curved portion of the at least one of the plurality of links that faces the first direction.

### Claim 8 (depends on 1)

The method of claim 1 wherein the surgical robotic manipulator comprises a surgical robotic arm comprising at least seven links and at least seven joints that cause the at least seven links to move with respect to one another, and the proximity sensing assembly is coupled to a portion of a first link that faces a second link when the first link pivots about a first joint.

### Claim 9 (depends on 1)

The method of claim 1 wherein the surgical robotic manipulator comprises a tool drive coupled to a surgical robotic arm that is coupled to a surgical table, and the proximity sensing assembly is coupled to a proximal portion or a distal portion of the tool drive, wherein the proximal portion of the tool drive faces the surgical table during a surgical robotic operation or the distal portion of the tool drive that faces away from the table.

### Claim 10 (depends on 1)

The method of claim 1 wherein the predetermined collision avoidance distance corresponds to a predetermined distance to be maintained between the human obstacle and the surgical robotic manipulator to avoid a collision.

### Claim 11 (depends on 1)

The method of claim 1 wherein the proximity sensing assembly is coupled to a portion of at least one of the plurality of links that faces another link of the plurality of links when the surgical robotic manipulator is moving.

### Claim 12

A collision avoidance method for a surgical robotic system, the method comprising:
determining a first capacitance value detected by a hover sensing assembly corresponds to a human object by comparing the first capacitance value to a second capacitance value corresponding to a non-human object and determining the first capacitance value is lower than that of the non-human object;
detecting a distance of the human object to a surgical robotic manipulator using the hover sensing assembly, wherein the surgical robotic manipulator comprises a plurality of links coupled together by a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator and the hover sensing assembly is coupled to a portion of at least one of the plurality of links that faces another link of the plurality of links when the surgical robotic manipulator is moving;
determining whether a collision between the human object and the surgical robotic manipulator is imminent by comparing the detected distance of the human object to a predetermined collision avoidance distance, the predetermined collision avoidance distance corresponding to a predetermined distance to be maintained between the human object and the surgical robotic manipulator to avoid a collision; and
based on the determining that the collision is imminent, transitioning the surgical robotic system to a collision avoidance mode to prevent the surgical robotic manipulator from colliding with the human object.

### Claim 13 (depends on 12)

The method of claim 12 wherein the collision avoidance mode comprises terminating movement of the surgical robotic manipulator.

### Claim 14 (depends on 12)

The method of claim 12 further comprising determining a location of the human object with respect to a particular one of the plurality of links coupled together by a plurality of joints using the hover sensing assembly, and based on the distance of the human object and the location of the human object to the surgical robotic manipulator, determining a collision avoidance operation in the collision avoidance mode.

### Claim 15 (depends on 12)

The method of claim 12 wherein at least one of the plurality of links is operable to move in a first direction, and the hover sensing assembly is coupled to a portion of the at least one of the plurality of links that faces the first direction.

### Claim 16 (depends on 12)

The method of claim 12 wherein the hover sensing assembly is coupled to a portion of at least one of the plurality of links or at least one of the plurality of joints that forms an interior angle of the surgical robotic manipulator.

### Claim 17 (depends on 12)

The method of claim 12 wherein the hover sensing assembly comprises a capacitive sensor.

### Claim 18 (depends on 17)

The method of claim 17 wherein the capacitive sensor comprises a conductive material formed on a curved surface of at least one of the plurality of links or at least one of the plurality of joints.

### Claim 19 (depends on 12)

The method of claim 12 wherein the method further comprising detecting the second capacitance value corresponding to the non-human object and a distance of the non-human object to the surgical robotic manipulator using the hover sensing assembly, and wherein the collision avoidance mode comprises terminating movement of the non-human object to prevent the non-human object from colliding with the surgical robotic manipulator.