Collision avoidance in surgical robotics based on detection of contact information

A medical robotic system, comprising:

• a first robotic arm;
• one or more sensors positioned to detect one or more parameters, the one or more parameters including at least one of:
• presence of objects in vicinity to the first robotic arm, or
• one or more parameters of contact with one or more portions of the first robotic arm;
• 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 robotic arm from a first configuration to a second configuration based on a constraint determined from the one or more parameters,
• the one or more parameters forming part of a probabilistic map.

A method performed by an electronic device in communication with a medical robotic system including a first robotic arm and one or more sensors positioned to detect one or more parameters, the one or more parameters including at least one of presence of objects in vicinity to the first robotic arm or one or more parameters of contact with the first robotic arm, the method comprising:

• receiving the one or more parameters detected by the one or more sensors, wherein the one or more parameters form part of a probabilistic map;
• determining a constraint associated with the first robotic arm based on the one or more parameters and the probabilistic map;
• and
• causing adjustment of a configuration of the first robotic arm 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, detected by one or more sensors, the one or more parameters including at least one of presence of objects in vicinity to a first robotic arm of a medical robotic system or one or more parameters of contact with the first robotic arm of the medical robotic system, wherein the one or more parameters form part of a probabilistic map;
• determine a constraint associated with the first robotic arm based on the one or more parameters and the probabilistic map;
• and
• cause adjustment of a configuration of the first robotic arm from a first configuration to a second configuration based on the constraint.