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 |
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.
|