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US 12,575,901 B2Granted
Systems and methods for collision detection and avoidance
AssigneeAuris Health, Inc.
InventorsYanan Huang, Benjamin Robert Fredrickson, Ryan J. Murphy, Ying Mao
Life of this patent
Estimating the term…
Abstract
In examples, a robotic medical system comprises a link of a robotic arm and a processor configured to control movement of the link based on a received input; determine a distance between the link and another object during the movement; and, responsive to the distance being within a threshold, adjust the movement of the link to avoid a collision between the link and the another object.
Claims20
A robotic medical system, comprising:
- a link of a robotic arm;
- and
- a processor configured to:
- control movement of the link based on a received input;
- determine a distance between the link and an object during the movement;
- and
- responsive to the distance being within a threshold, reposition the link to avoid a collision between the link and the object.
4 more elements
A robotic medical system, comprising:
- a link of a robotic arm;
- and
- a processor configured to:
- control movement of the link based on a received input;
- determine a distance between the link and another object during the movement;
- and
- responsive to the distance being within a threshold, reposition the link in null space to avoid a collision between the link and the object.
4 more elements
A robotic medical system, comprising:
- a link of a robotic arm;
- and
- a processor configured to:
- receive an input commanding motion of the link;
- predict whether moving the link according to the received input commanding motion would place the link within a threshold distance of another object;
- and
- reposition the link based on the prediction to avoid placing the link within a threshold distance of the other object.
4 more elements
Dependencies are inferred from the claim text.