US 12,290,938 B2
Robotic arm system, method and computer program
Christopher Wright, London (GB); Bernadette Elliott-Bowman, London (GB); and Naoyuki Hirota, Tokyo (JP)
Assigned to Sony Group Corporation, Tokyo (JP)
Appl. No. 17/784,125
Filed by Sony Group Corporation, Tokyo (JP)
PCT Filed Dec. 11, 2020, PCT No. PCT/JP2020/046432
§ 371(c)(1), (2) Date Jun. 10, 2022,
PCT Pub. No. WO2021/125115, PCT Pub. Date Jun. 24, 2021.
Claims priority of application No. 19218114 (EP), filed on Dec. 19, 2019.
Prior Publication US 2023/0029184 A1, Jan. 26, 2023
Int. Cl. B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); G06F 3/01 (2006.01)
CPC B25J 9/1676 (2013.01) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); G06F 3/017 (2013.01); A61B 2017/00207 (2013.01); G05B 2219/36454 (2013.01); G05B 2219/39001 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A robotic arm system for surgery, comprising:
processing circuitry configured to
apply a virtual barrier that prevents a human controlled surgical device from entering an area within a surgical scene and to restrict movement of a robotic arm holding a surgical device, and
on condition that the surgical device held by the robotic arm corresponds to a surgical device to perform a next surgical procedure, release the virtual barrier in response to a gesture, wherein the gesture is selected based on a starting position of the human controlled surgical device of the next surgical procedure.