Patent ID: 9259282
Filing Date: 2016-02-16
CPC Classification: A61B,B25J,Y10S

Claim Text:
1. A movement control system comprising: a controller comprising: one or more processors; and memory coupled to the one or more processors; wherein: the controller is coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end; the controller is further coupled to a second movable arm coupled to an image capturing device separate from the computer-assisted surgical device; the controller is configured to: receive one or more first configurations for the first movable arm; receive one or more second configurations for the second movable arm; receive a first plurality of images of the working end from the image capturing device; determine, based on at least one of the first plurality of images, a position and an orientation of the working end in a common reference frame; determine, based on the first configurations, a first movable arm position and a first movable arm trajectory for the first movable arm in the common reference frame; determine, based on the second configurations, a second movable arm position and a second movable arm trajectory for the second movable arm in the common reference frame; based on the first movable arm position, the first movable arm trajectory, the second movable arm position, and the second movable arm trajectory, determine whether motion of the first movable arm, motion of the second movable arm, or motions of the first and second movable arms together will result in an undesirable relationship between the first and second movable arms; and send a first movement command to the first movable arm or the second movable arm to avoid the undesirable relationship.