Collision avoidance in surgical robotics based on detection of contact information
AssigneeAuris Health, Inc.
InventorsBo Yang, Yanan Huang, Hossein Taheri, Babak Kianmajd, Ying Mao
Life of this patent
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Abstract
Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors.
Claims19
A medical robotic system, comprising:
- a first kinematic chain;
- one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain, the contact including actual contact between the one or more portions of the first kinematic chain and another object;
- one or more processors in communication with the one or more sensors;
- and
- memory storing instructions, which, when executed by the one or more processors, cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors after the actual contact between the one or more portions of the first kinematic chain and the other object has occurred;
- wherein the one or more parameters of contact form part of a probabilistic map.
A method performed by an electronic device in communication with a medical robotic system including a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with the first kinematic chain, the method comprising:
- receiving one or more parameters of contact with the first kinematic chain detected by the one or more sensors;
- the one or more parameters of contact being associated with contact that has occurred between the first kinematic chain and another object, wherein the one or more parameters of contact form part of a probabilistic map;
- determining a constraint associated with the first kinematic chain based on the one or more parameters of contact with the first kinematic chain and the probabilistic map;
- and
- causing adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on the constraint.
An electronic device, comprising:
- one or more processors;
- and
- memory storing instructions, which, when executed by the one or more processors, cause the one or more processors to:
- receive one or more parameters of contact, detected by the one or more sensors, with a first kinematic chain of a medical robotic system, the one or more parameters of contact with contact that has occurred between the first kinematic chain and another object, wherein the one or more parameters of contact form part of a probabilistic map;
- determine a constraint associated with the first kinematic chain based on the one or more parameters of contact with the first kinematic chain and the probabilistic map;
- and
- cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on the constraint.
Dependencies are inferred from the claim text.