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    Systems and methods for saturated robotic movement
    1.
    发明授权
    Systems and methods for saturated robotic movement 有权

    公开(公告)号：US11357586B2

    公开(公告)日：2022-06-14

    申请号：US17317791

    申请日：2021-05-11

    申请人： Auris Health, Inc.

    发明人： Yanan Huang ,  Nima Sarli ,  Ying Mao ,  David Stephen Mintz

    IPC分类号： A61B34/37 ,  B25J9/16 ,  A61B34/00

    摘要： Systems and methods for saturated robotic movement are provided. In one aspect, there is provided a robotic system, including a robotic arm configured to control movement of a medical instrument, and a processor configured to: receive a first user input from a user for moving the medical instrument with the robotic arm, determine that moving the robotic arm according to the first user input would cause a contact point of the robotic arm to contact or cross a collision boundary surrounding an object, and guide the movement of the robotic arm such that the contact point of the robotic arm continuously moves along the collision boundary based in part on the first user input, in response to the determination that moving the robotic arm according to the first user input would cause the contact point to contact or cross the collision boundary.

    SYSTEMS AND METHODS FOR COLLISION DETECTION AND AVOIDANCE
    5.
    发明申请
    SYSTEMS AND METHODS FOR COLLISION DETECTION AND AVOIDANCE 有权

    公开(公告)号：US20210145529A1

    公开(公告)日：2021-05-20

    申请号：US17162498

    申请日：2021-01-29

    申请人： Auris Health, Inc.

    发明人： Yanan Huang ,  Benjamin Robert Fredrickson ,  Ryan J. Murphy ,  Ying Mao

    IPC分类号： A61B34/30 ,  A61B34/00 ,  B25J9/04 ,  B25J9/10 ,  B25J9/16

    摘要： Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.