System and method for rapid halt and recovery of motion deviations in repositionable arms
US11779415B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 5, 2022 |
| Grant date | Oct 10, 2023 |
| Priority date | — |
| Expiry date | Jan 5, 2042 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/508
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit 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 parameter 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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.