Robotic imaging system with force-based collision avoidance mode

A robotic imaging system comprising:

• a camera configured to record one or more images of a target site;
• a robotic arm operatively connected to the camera, the robotic arm being adapted to selectively move the camera in a movement sequence, the robotic arm including one or more joints;
• a force-based sensor configured to detect and transmit sensor data related to at least one of force and/or torque imparted by a user for moving the camera;
• a controller configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded;
• wherein the controller is adapted to selectively execute a collision avoidance mode, including applying a respective correction force to modify the movement sequence when at least one of the camera and the robotic arm enter a predefined buffer zone, the predefined buffer zone being within a delta value of at least one keep-out zone;
• wherein the controller is adapted to apply the respective correction force to push at least one of the camera and the robotic arm away from the at least one keep-out zone;
• and
• wherein the respective correction force includes force contributions from a boundary plane limit calculation, a cart limit calculation and a joint limit calculation.