Systems and methods for saturated robotic movement
US11357586B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 11, 2021 |
| Grant date | Jun 14, 2022 |
| Priority date | — |
| Expiry date | May 11, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/49157
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.