Detection and mitigation of predicted collisions of objects with user control system

Patent metadata

Field	Value
Publication number	US-12539613-B2
Application number	US-202118042047-A
Country	US
Kind code	B2
Filing date	Oct 14, 2021
Priority date	Oct 15, 2020
Publication date	Feb 3, 2026
Grant date	Feb 3, 2026

Abstract

Implementations relate to detection and mitigation of potential collisions with a user control system. In some implementations, a method includes detecting an object in a sensing field of a sensor of a user control system, and the user control system includes a control input device. The control input device is in a controlling mode in which manipulation of the control input device activates a function of a manipulator device. The method includes determining that the object is an unidentified object and determining a characteristic of the object including a location with respect to the user control system, a velocity, or a trajectory. The method determines whether the characteristic of the object satisfies a condition corresponding to the characteristic, and exits the controlling mode in response to determining that the object is an unidentified object and that the characteristic satisfies the corresponding condition.

First claim

What is claimed is:

1 . A user control system configured to communicate with a manipulator system, the user control system comprising:
a control input device configured to be manipulated by an operator, the control input device being physically decoupled from the manipulator system; and a processor coupled to the control input device, the processor configured to perform a method comprising:
detecting an object in a sensing field of a sensor while the control input device is in a controlling mode, wherein manipulation of the control input device in the controlling mode activates a function of the manipulator system, the function of the manipulator system selected from the group consisting of: movement of the manipulator system, electricity output, and heat output,
determining that the object is unidentified,
determining a first characteristic of the object, the first characteristic comprising at least one characteristic selected from the group consisting of: a location of the object relative to the user control system, a distance of the object to the user control system, a velocity of the object, a speed of the object, and a trajectory of the object,
determining whether the first characteristic satisfies a first condition, and
causing the control input device to exit the controlling mode in response to determining both that the object is unidentified and the first characteristic satisfies the first condition, so that manipulation of the control input device does not activate the function of the manipulator system.

2 . The user control system of claim 1 , wherein:
the first characteristic comprises the location of the object relative to the user control system or the distance of the object to the user control system, wherein the location of the object indicates the distance of the object to the user control system; and the first condition comprises the distance of the object to the user control system being within a threshold distance.

3 . The user control system of claim 2 , wherein:
the distance of the object to the user control system is determined as a distance of the object to the control input device.

4 . The user control system of claim 2 , wherein:
the threshold distance is zero distance; and determining that the first characteristic satisfies the first condition comprises: determining that the object has collided with the user control system.

5 . The user control system of claim 1 , wherein:
the sensing field covers a region of space external to a physical boundary of the user control system; or the sensing field covers a workspace of the control input device.

6 . The user control system of claim 1 , further comprising:
a mechanical member coupled to the control input device; and a device sensor coupled to the mechanical member, wherein sensor data from the device sensor comprises kinematic information.

7 . The user control system of claim 1 , wherein the method further comprises:
determining a spatial boundary relative to the object; and causing the user control system to resist movement of the control input device into the spatial boundary toward the object.

8 . The user control system of claim 7 , wherein the method further comprises:
causing the control input device to exit the controlling mode in response to determining that the control input device has intersected the spatial boundary.

9 . The user control system of claim 7 , wherein determining the spatial boundary relative to the object comprises:
determining a location of the spatial boundary based on the velocity or speed of the object.

10 . The user control system of claim 7 , wherein:
determining the spatial boundary comprises determining a thickness of the spatial boundary based on the velocity of the object; and causing the user control system to resist the movement of the control input device into the spatial boundary comprises causing the user control system to vary a magnitude of a resisting force based on the movement of the control input device across the thickness of the spatial boundary.

11 . The user control system of claim 1 , wherein:
the first characteristic comprises the velocity of the object or the speed of the object; the first condition comprises the velocity of the object not exceeding a velocity condition or the speed being below a threshold speed; and the method further comprises, in response to the first characteristic satisfying the first condition, determining a spatial boundary relative to the object and resisting movement of the control input device into the spatial boundary toward the object.

12 . The user control system of claim 1 , wherein:
the first characteristic comprises the trajectory of the object; the first condition comprises the trajectory of the object being outside a threshold range of trajectories; and the method further comprises, in response to the first characteristic satisfying the first condition, determining a spatial boundary relative to the object and resisting movement of the control input device into the spatial boundary toward the object.

13 . The user control system of claim 1 , wherein:
the control input device includes a handle manipulable by a hand of a user and moveable in one or more degrees of freedom; or the control input device includes a foot control manipulable via contact with a user's foot.

14 . A method of operating a user control system, the method comprising:
detecting an object in a sensing field of a sensor while a control input device of the user control system is in a controlling mode, wherein manipulation of the control input device in the controlling mode activates a function of a manipulator system communicatively coupled to the user control system, the control input device configured to be manipulated by an operator, the control input device being physically decoupled from the manipulator system, the function of the manipulator system selected from the group consisting of: movement of the manipulator system, electricity output, and heat output; determining that the object is unidentified; determining a first characteristic of the object, the first characteristic comprising at least one characteristic selected from the group consisting of: a location of the object relative to the user control system, a distance of the object to the user control system, a velocity of the object, a speed of the object, and a trajectory of the object; determining whether the first characteristic satisfies a first condition; and causing the control input device to exit the controlling mode in response to determining both that the object is unidentified and the first characteristic satisfies the first condition, so that manipulation of the control input device does not activate the function of the manipulator system.

15 . The method of claim 14 , wherein:
the first characteristic comprises the location of the object relative to the user control system or the distance of the object to the user control system, wherein the location of the object indicates the distance of the object to the user control system; and the first condition comprises the distance of the object to the user control system being within a threshold distance.

16 . The method of claim 14 , further comprising:
determining a spatial boundary relative to the object; and causing the user control system to resist movement of the control input device into the spatial boundary toward the object.

17 . The method of claim 16 , wherein determining the spatial boundary relative to the object comprises:

Assignees

• Intuitive Surgical Operations

Inventors

• Goldberg Randal P
• Cavalier Matthew
• Schwab Cedric
• Hingwe Pushkar
• Verner Lawton N

Classifications

• B25J13/06

  Control stands, e.g. consoles, switchboards · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• A61B34/35

  for telesurgery · CPC title

• B25J9/1689 Primary

  Teleoperation · CPC title

• A61B2090/061

  for measuring dimensions, e.g. length · CPC title