US 11,701,187 B2
Systems and methods for collision detection and avoidance
Yanan Huang, Sunnyvale, CA (US); Benjamin Robert Fredrickson, Belmont, CA (US); Ryan J. Murphy, Mountain View, CA (US); and Ying Mao, San Mateo, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Jan. 29, 2021, as Appl. No. 17/162,498.
Application 17/162,498 is a continuation of application No. 17/025,718, filed on Sep. 18, 2020, granted, now 10,959,792.
Claims priority of provisional application 62/906,612, filed on Sep. 26, 2019.
Prior Publication US 2021/0145529 A1, May 20, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); B25J 9/04 (2006.01); B25J 9/10 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/76 (2016.02); B25J 9/04 (2013.01); B25J 9/106 (2013.01); B25J 9/1666 (2013.01); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic medical system, comprising:
one or more robotic arms;
a console configured to receive input commanding motion of the one or more robotic arms;
a processor; and
at least one computer-readable memory in communication with the processor and having stored thereon a model of the one or more robotic arms and computer-executable instructions to cause the processor to:
receive an indication of one or more objects that are within reach of the one or more robotic arms;
control movement of the one or more robotic arms based on the input received by the console;
determine a distance between at least one of the one or more robotic arms and at least one of the one or more objects based on the mode; and
adjust the movement of the one or more robotic arms to prevent a collision between the at least one of the one or more robotic arms and the at least one of the one or more objects based on the determined distance.