US 12,447,621 B2
Robotic imaging system with velocity-based collision avoidance mode
Patrick Terry, Goleta, CA (US)
Assigned to Alcon Inc., Fribourg (CH)
Filed by Alcon Inc., Fribourg (CH)
Filed on Feb. 22, 2023, as Appl. No. 18/112,599.
Claims priority of provisional application 63/315,130, filed on Mar. 1, 2022.
Prior Publication US 2023/0278218 A1, Sep. 7, 2023
Int. Cl. B25J 9/16 (2006.01); A61B 34/30 (2016.01)
CPC B25J 9/1676 (2013.01) [B25J 9/1666 (2013.01); B25J 9/1682 (2013.01); B25J 9/1697 (2013.01); A61B 34/30 (2016.02); G05B 2219/40504 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robotic imaging system comprising:
a camera configured to record one or more images of a target site;
a robotic arm operatively connected to the camera, the robotic arm being adapted to selectively move the camera in a movement sequence, the robotic arm including one or more joints;
a sensor configured to detect and transmit sensor data related to a respective position and/or a respective speed of the camera;
a controller configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded;
an orbital scan mode executable by the controller to enable the robotic arm to sweep an orbital trajectory at least partially circumferentially around the target site;
wherein the controller is adapted to selectively execute a collision avoidance mode based on the sensor data, including:
determining a trajectory scaling factor for the camera;
applying the trajectory scaling factor to modulate the respective speed when at least one of the camera and the robotic arm is in a predefined buffer zone; and
generating an adjusted orbital trajectory based in part on the trajectory scaling factor;
wherein the controller is adapted to generate the adjusted orbital trajectory from the orbital trajectory via a limiting feedback term and a resetting feedback term; and
wherein the limiting feedback term causes a cycle radius in the adjusted orbital trajectory to decrease while near a joint limit, and the resetting feedback term causes the cycle radius in the adjusted orbital trajectory to reset back when the joint limit has been cleared.