US 11,779,415 B2
System and method for rapid halt and recovery of motion deviations in repositionable arms
Goran A. Lynch, Oakland, CA (US); Paul G. Griffiths, Santa Clara, CA (US); and Michael Turner, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 5, 2022, as Appl. No. 17/569,405.
Application 17/569,405 is a continuation of application No. 16/069,875, granted, now 11,246,669, previously published as PCT/US2016/067755, filed on Dec. 20, 2016.
Claims priority of provisional application 62/281,142, filed on Jan. 20, 2016.
Prior Publication US 2022/0125532 A1, Apr. 28, 2022
Int. Cl. A61B 34/32 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); B25J 9/16 (2006.01); A61B 90/50 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/32 (2016.02) [A61B 17/00234 (2013.01); A61B 34/30 (2016.02); B25J 9/1664 (2013.01); A61B 2017/00123 (2013.01); A61B 2017/00991 (2013.01); A61B 2034/2059 (2016.02); A61B 2090/508 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a first repositionable arm, the first repositionable arm configured to support a first end effector;
a second repositionable arm, the second repositionable arm configured to support a second end effector; and
a control unit communicably coupled to the first repositionable arm and the second repositionable arm, wherein the control unit is configured to:
monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector;
determine a deviation threshold based on at least one mode of operation selected from the group consisting of: a mode of operation of the first end effector and a mode of operation of the computer-assisted device; and
in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.