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公开(公告)号：US10300599B2
公开(公告)日：2019-05-28
申请号：US15399902
申请日：2017-01-06
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/00 , A61B17/00
摘要： Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.
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2.发明申请公开(公告)号：US20170182659A1
公开(公告)日：2017-06-29
申请号：US15399902
申请日：2017-01-06
CPC分类号： B25J9/1625 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/06 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/306 , A61B2090/064 , B25J9/1602 , B25J9/1633 , G05B2219/40184 , G05B2219/40299 , Y10S901/01 , Y10S901/30 , Y10S901/50
摘要： Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.
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3.发明申请SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS 有权安全合规插入和混合力/运动连续运动电机的系统和方法公开(公告)号：US20160354924A9
公开(公告)日：2016-12-08
申请号：US14271418
申请日：2014-05-06
IPC分类号： B25J9/16
CPC分类号： B25J9/1625 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/06 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/306 , A61B2090/064 , B25J9/1602 , B25J9/1633 , G05B2219/40184 , G05B2219/40299 , Y10S901/01 , Y10S901/30 , Y10S901/50
摘要： Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
摘要翻译： 描述了用于控制连续机器人的运动的方法和系统，其包括沿连续机器人的长度的多个独立控制的段。 将连续体机器人插入未知尺寸或形状的空腔中。 估计由周围空腔作用在连续机器人上的多个力。 从机械手控制器接收指示连续机器人的远端的期望运动的定位指令。 所期望的运动至少部分地基于作用在连续体机器人上的估计的多个力进行增强，使得运动被限制在周围空腔的安全边界内。 然后基于增加的期望运动来调整连续体机器人的定位。
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4.发明授权Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots 有权连续机器人安全兼容插入和混合力/运动遥控操作的系统和方法公开(公告)号：US09539726B2
公开(公告)日：2017-01-10
申请号：US14271418
申请日：2014-05-06
CPC分类号： B25J9/1625 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/06 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/306 , A61B2090/064 , B25J9/1602 , B25J9/1633 , G05B2219/40184 , G05B2219/40299 , Y10S901/01 , Y10S901/30 , Y10S901/50
摘要： Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
摘要翻译： 描述了用于控制连续机器人的运动的方法和系统，其包括沿连续机器人的长度的多个独立控制的段。 将连续体机器人插入未知尺寸或形状的空腔中。 估计由周围空腔作用在连续机器人上的多个力。 从机械手控制器接收指示连续机器人的远端的期望运动的定位指令。 所期望的运动至少部分地基于作用在连续体机器人上的估计的多个力进行增强，使得运动被限制在周围空腔的安全边界内。 然后基于增加的期望运动来调整连续体机器人的定位。
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5.发明申请SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS 有权安全合规插入和混合力/运动连续运动电机的系统和方法公开(公告)号：US20140330432A1
公开(公告)日：2014-11-06
申请号：US14271418
申请日：2014-05-06
IPC分类号： B25J9/16
CPC分类号： B25J9/1625 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/06 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/306 , A61B2090/064 , B25J9/1602 , B25J9/1633 , G05B2219/40184 , G05B2219/40299 , Y10S901/01 , Y10S901/30 , Y10S901/50
摘要： Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
摘要翻译： 描述了用于控制连续机器人的运动的方法和系统，其包括沿连续机器人的长度的多个独立控制的段。 将连续体机器人插入未知尺寸或形状的空腔中。 估计由周围空腔作用在连续机器人上的多个力。 从机械手控制器接收指示连续机器人的远端的期望运动的定位指令。 所期望的运动至少部分地基于作用在连续体机器人上的估计的多个力进行增强，使得运动被限制在周围空腔的安全边界内。 然后基于增加的期望运动来调整连续体机器人的定位。
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