Systems and methods for collision avoidance using object models

A robotic medical system, comprising:

• a platform;
• one or more robotic arms coupled to the platform;
• a console configured to receive input commanding motion of the one or more robotic arms;
• a processor;
• and
• at least one computer-readable memory in communication with the processor and having stored thereon a model of the one or more robotic arms, a database of pre-modeled objects, and computer-executable instructions to cause the processor to:
• control movement of the one or more robotic arms based on the input received by the console,
• receive an indication of a rigid object being within reach of the one or more robotic arms,
• receive an indication of a non-rigid object being within reach of the one or more robotic arms,
• receive a mounting location of the rigid object, wherein the rigid object is attached to the platform,
• update the model to include a representation of the rigid object based on a pre-modeled representation stored on the computer-readable memory,
• update the model to include a representation of the non-rigid object, wherein the representation of the non-rigid object comprises a zone corresponding to the non-rigid object within a workspace based on a user input received at the console,
• detect a collision between the one or more robotic arms and the rigid object, and
• in response to the collision being detected, update the model by moving a location of the representation of the rigid object based on a position of the collision, wherein the position of the collision is based on the mounting location of the rigid object.

A robotic medical system, comprising:

• a platform;
• one or more robotic arms coupled to the platform;
• a console configured to receive user input;
• a processor;
• and
• at least one computer-readable memory in communication with the processor and having stored thereon a model of the one or more robotic arms and the platform and computer-executable instructions to cause the processor to:
• receive an indication of one or more keep-out zones based on the user input received at the console, wherein the user input indicates a region of the model,
• update the model to include the one or more keep-out zones,
• detect a collision between the one or more robotic arms and an object, and
• in response to the collision being detected, update a keep-out zone of the one or more keep-out zones by expanding the keep-out zone to include a position of the collision.

A robotic medical system, comprising:

• a platform;
• one or more robotic arms coupled to the platform;
• one or more sensors positioned on the platform and configured to detect a plurality of objects in a workspace of the robotic arms;
• a processor;
• and
• at least one computer-readable memory in communication with the processor and having stored thereon a model of the one or more robotic arms and the platform and computer-executable instructions to cause the processor to:
• receive an indication of the objects from the one or more sensors, wherein the objects comprise rigid objects and non-rigid objects,
• update the model, based on the indication, to include a representation of the objects within the workspace, wherein the representation of the rigid objects is based on a pre-modeled representation stored on the computer-readable memory, and wherein the representation of the non-rigid objects comprises one or more zones corresponding to the non-rigid objects within the workspace based on a user input received at a console,
• detect a collision between the one or more robotic arms and at least one of the objects, receive a confirmation via a user input to update the model based on the collision;
• and
• in response to the confirmation being received, update the model by adjusting at least one of a location or a size of the representation of the at least one of the objects based on a position of the collision.

A robotic medical system, comprising:

• a platform;
• one or more robotic arms coupled to the platform;
• a console configured to receive input commanding motion of the one or more robotic arms;
• a processor;
• and
• at least one computer-readable memory in communication with the processor and having stored thereon a model of the one or more robotic arms and computer-executable instructions to cause the processor to:
• control movement of the one or more robotic arms in a workspace based on the input received by the console,
• receive an indication of a plurality of objects being within reach of the one or more robotic arms, wherein the objects comprise a rigid object and a non-rigid object,
• update the model to include a representation of the objects in the workspace, wherein the representation of the rigid object is based on a pre-modeled representation stored on the computer-readable memory, and wherein the representation of the non-rigid object comprises one or more zones corresponding to the non-rigid object within the workspace based on a user input received at the console, wherein the one or more zones comprise a keep-out zone as a geometric representation,
• detect a collision between the one or more robotic arms and at least one of the objects,
• in response to the collision being detected, update the model by moving a location of the representation of the at least one of the objects based on a position of the collision,
• in response to the collision being detected, determine that the model does not accurately reflect a position of the at least one of the objects, and
• increase a size of the keep-out zone to include the position of the collision.