Robotic collision boundary determination
AssigneeAuris Health, Inc.
InventorMingyen Ho
Life of this patent
Estimating the term…
Abstract
Techniques relate to determining a region associated with an object to assist in controlling a robotic arm. For example, a system can determine that the robotic arm is positioned adjacent to an object within an environment. The system can determine a region in the environment that is associated with the object based at least in part on a position of a distal end of the robotic arm. The system can control the robotic arm or another robotic arm to move in the environment based at least in part on the region.
Claims22
A method comprising:
- enabling a first robotic arm to be moved within an environment;
- determining, by control circuitry, that an end of the first robotic arm is in a first position adjacent to one or more objects in the environment;
- determining a first plane within the environment based on the first position;
- determining, by the control circuitry, that a second robotic arm is in a second position adjacent to the one or more objects;
- determining a second plane within the environment based on the second position;
- determining, by the control circuitry, a collision region associated with the one or more objects, the collision region including at least a first boundary that extends in a first direction from an intersection of the first plane with the second plane;
- and
- controlling, by the control circuitry, movement of at least one of the first robotic arm or the second robotic arm within the environment, while avoiding the collision region, during a medical procedure.
A control system comprising:
- a communication interface configured to communicate with a first robotic arm and a second robotic arm;
- and
- control circuitry communicatively coupled to the communication interface and configured to:
- determine that an end of the first robotic arm is in a first position adjacent to one or more objects in an environment;
- determine a first plane within the environment based on the first position;
- determine that the second robotic arm is in a second position adjacent to the one or more objects;
- determine a second plane within the environment based on the second position;
- determine a collision region associated with the one or more objects, the collision region including at least a first boundary that extends in a first direction from an intersection of the first plane with the second plane;
- and
- control movement of at least one of the first robotic arm or the second robotic arm within the environment, while avoiding the collision region, during a medical procedure.
One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by control circuitry, cause the control circuitry to perform operations comprising:
- determining that an end of a first robotic arm is in a first position adjacent to one or more objects in an environment;
- determining a first plane within the environment based on the first position;
- determining that a second robotic arm is in a second position adjacent to the one or more objects;
- determining a second plane within the environment based on the second position;
- determining a collision region associated with the one or more objects, the collision region including at least a first boundary that extends in a first direction from an intersection of the first plane with the second plane;
- and
- control movement of at least one of the first robotic arm or the second robotic arm within the environment, while avoiding the collision region, during a medical procedure.
Dependencies are inferred from the claim text.