System and method for rapid halt and recovery of motion deviations in repositionable arms
US12390290B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 28, 2023 |
| Grant date | Aug 19, 2025 |
| Priority date | — |
| Expiry date | Dec 8, 2043 |
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 between the actual motion and a desired motion of the at least one structure; and in response to determining that the deviation is greater than a deviation threshold, select whether to halt motion of the first repositionable arm and the first end effector or the second repositionable arm and the second end effector based on a mode of operation of the first repositionable arm the first end effector, the second repositionable arm, or a mode of operation of the second end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.