User Control Collision Sensing for Unintended Manipulator Activation

Solution Overview

Problem

Existing user control systems are vulnerable to accidental collisions with objects, which can cause unintended movement and interference, and design preferences for smaller, ergonomic systems compromise collision protection.

Innovation Solution

Implement a sensing system to detect unidentified objects in a user control system's workspace and surrounding environment, determining characteristics such as location, velocity, and trajectory, and exit the controlling mode or apply resistance to prevent collisions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If physical barriers are added to protect the user control system from collisions, then collision protection is improved, but the system size and weight increase

Engineering Contradiction:

Improvecollision protectionVSAvoidsystem weight

Core Design Contradiction:

ReliabilityVSWeight of stationary object

Solution Approach 1:

The patent replaces physical mechanical barriers with an optical sensing system that detects objects using light-based sensors (e.g., cameras, LIDAR) and processes visual data to identify potential collisions. This substitution eliminates the need for heavy physical protective structures while maintaining collision protection through electronic detection and response mechanisms.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces an intermediary sensing system between the manipulator and the user control system. This intermediary layer detects objects in the workspace and provides warning signals or automatic responses without requiring direct physical contact or heavy protective barriers, thus protecting the system while maintaining a compact design.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If physical barriers are added to protect the user control system from collisions, then collision protection is improved, but the system footprint and occupied space increase

Engineering Contradiction:

Improvecollision protectionVSAvoidsystem footprint

Core Design Contradiction:

ReliabilityVSArea of stationary object

Solution Approach 1:

The patent replaces physical mechanical barriers with an optical sensing system that detects objects using light-based sensors (e.g., cameras, LIDAR) and processes visual data to identify potential collisions. This substitution eliminates the need for heavy physical protective structures while maintaining collision protection through electronic detection and response mechanisms.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent extends the protective capability into the visual sensing dimension rather than adding physical barriers in three-dimensional space. By using cameras and image processing to create virtual protective zones, the system achieves collision protection without occupying additional physical space, allowing for a smaller footprint.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Ease of operation

If the user control system is made smaller to improve ergonomics and reduce footprint, then ease of operation and space efficiency are improved, but collision protection is reduced

Engineering Contradiction:

ImproveergonomicsVSAvoidcollision protection

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent replaces physical mechanical barriers with an optical sensing system that detects objects using light-based sensors (e.g., cameras, LIDAR) and processes visual data to identify potential collisions. This substitution eliminates the need for heavy physical protective structures while maintaining collision protection through electronic detection and response mechanisms.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent implements preliminary detection of objects in the workspace before collisions can occur. The sensing system continuously monitors the environment and provides advance warning or automatic responses to potential collisions, allowing the system to remain compact while maintaining protection through proactive detection rather than reactive physical barriers.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12539613B2Detection and mitigation of predicted collisions of objects with user control system

Publication Date: 2026.02.03 INTUITIVE SURGICAL OPERATIONS INC

AI summary

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.