US 12,459,125 B2
Simultaneous direct relative measurement and calculated positions of equipment bases
Kevin Hufford, Cary, NC (US); and Lior Alpert, Haifa (IL)
Assigned to Asensus Surgical US, Inc., Durham, NC (US)
Filed by Asensus Surgical US, Inc.
Filed on Sep. 1, 2023, as Appl. No. 18/460,458.
Application 18/460,458 is a continuation in part of application No. 18/092,194, filed on Dec. 30, 2022.
Application 18/460,458 is a continuation in part of application No. 17/944,170, filed on Sep. 13, 2022, granted, now 12,193,772.
Claims priority of provisional application 63/295,185, filed on Dec. 30, 2021.
Claims priority of provisional application 63/403,286, filed on Sep. 1, 2022.
Claims priority of provisional application 63/295,258, filed on Dec. 30, 2021.
Claims priority of provisional application 63/295,380, filed on Dec. 30, 2021.
Claims priority of provisional application 63/294,765, filed on Dec. 29, 2021.
Claims priority of provisional application 63/243,716, filed on Sep. 13, 2021.
Prior Publication US 2024/0091942 A1, Mar. 21, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1676 (2013.01) [B25J 9/1697 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A method of determining the relative positions of robotic manipulators, comprising:
providing a first robotic manipulator comprising a first base portion and a first arm portion, the first arm portion moveable relative to the first base portion to maneuver a first surgical instrument;
providing a second robotic manipulator comprising a second base portion and a second arm portion, the second arm portion moveable relative to the second base portion to maneuver a second surgical instrument, wherein the first base portion and the second base portion are discrete bases independently moveable across a floor of an operating room;
while maintaining the first base portion in a fixed position in an operating room, moving the first arm portion relative to the first base portion to maneuver the first surgical instrument;
while maintaining the second base portion in a fixed position in the operating room, moving the second arm portion relative to the second base portion to maneuver the second surgical instrument;
while moving at least one of the first and second arm portions to maneuver at least one of the first and second surgical instruments, capturing images of emitters on the first arm portion of the first robotic manipulator using at least one camera positioned on the second arm portion of the second robotic manipulator;
analyzing the images to determine a relative distance between the emitters on the first robotic manipulator and the camera on the second robotic manipulator;
if the relative distance is below a predetermined threshold, initiating a collision avoidance measure; and
based on the relative distance between the emitters and the camera, determining a relative distance between the first base portion and the second base portion.