US 12,324,645 B2
Systems and methods for collision avoidance using object models
Benjamin Robert Fredrickson, Belmont, CA (US); Nicholas J. Eyre, Redwood City, CA (US); Alexander Tarek Hassan, San Francisco, CA (US); and Eloi Le Roux, San Francisco, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Sep. 18, 2020, as Appl. No. 17/025,248.
Claims priority of provisional application 62/906,613, filed on Sep. 26, 2019.
Prior Publication US 2021/0093407 A1, Apr. 1, 2021
Int. Cl. B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); B25J 9/02 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 34/37 (2016.02); A61B 34/74 (2016.02); B25J 9/02 (2013.01); B25J 9/1676 (2013.01); B25J 9/1694 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A robotic medical system, comprising:
a platform;
one or more robotic arms coupled to the platform;
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:
control movement of the one or more robotic arms in a workspace based on the input received by the console,
receive an indication of a plurality of objects being within reach of the one or more robotic arms, wherein the objects comprise a rigid object and a non-rigid object,
update the model to include a representation of the objects in the workspace, wherein the representation of the rigid object is based on a pre- modeled representation stored on the computer-readable memory, and wherein the representation of the non-rigid object comprises one or more zones corresponding to the non-rigid object within the workspace based on a user input received at the console,
receive a mounting location of the rigid object, wherein the rigid object is attached to the platform,
detect a collision between the one or more robotic arms and the rigid object, and
in response to the collision being detected, update the model by moving a location of the representation of the rigid object based on a position of the collision, wherein the position of the collision is based on the mounting location of the rigid object.