Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms

US9259282B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Mahdi Azizian · Santa Clara, US
• Jonathan M. Sorger · Belmont, US
• Lutz Blohm · Möhrendorf, DE
• Christine Niebler · Crimmitschau, DE
• Holger Kunze · Bubenreuth, DE

Key dates

• Filing date: Dec 10, 2013
• Grant date: Feb 16, 2016
• Expiry date: Dec 10, 2033

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/47
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.