公开(公告)号：US11878421B2

公开(公告)日：2024-01-23

申请号：US17050309

申请日：2019-04-23

申请人： Purdue Research Foundation

发明人： Yuanzhi Cao ,  Karthik Ramani ,  Zhuangying Xu

IPC分类号： B25J9/16 ,  G05D1/00 ,  B25J13/08 ,  B25J19/02 ,  G05D1/02 ,  G06F3/04847 ,  G06F3/0486

CPC分类号： B25J9/1661 ,  B25J9/1664 ,  B25J9/1689 ,  B25J13/089 ,  B25J19/023 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0251 ,  G05D1/0274 ,  G06F3/0486 ,  G06F3/04847

摘要： Disclosed is a visual and spatial programming system for robot navigation and robot-IoT task authoring. Programmable mobile robots serve as binding agents to link stationary IoT devices and perform collaborative tasks. Three key elements of robot task planning (human-robot-IoT) are coherently connected with one single smartphone device. Users can perform visual task authoring in an analogous manner to the real tasks that they would like the robot to perform with using an augmented reality interface. The mobile device mediates interactions between the user, robot(s), and IoT device-oriented tasks, guiding the path planning execution with Simultaneous Localization and Mapping (SLAM) to enable robust room-scale navigation and interactive task authoring.

公开(公告)号：US20240016556A1

公开(公告)日：2024-01-18

申请号：US18373695

申请日：2023-09-27

申请人： Intuitive Surgical Operations, Inc.

发明人： Tao Zhao ,  Giuseppe Maria Prisco ,  John Ryan Steger ,  David Q. Larkin

IPC分类号： A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37

CPC分类号： A61B34/30 ,  B25J9/1689 ,  B25J9/1697 ,  A61B90/361 ,  A61B34/37 ,  A61B2034/2065

摘要： A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.

公开(公告)号：US20230415346A1

公开(公告)日：2023-12-28

申请号：US18134728

申请日：2023-04-14

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Takemitsu MORI

IPC分类号： B25J9/16 ,  G06F3/04817

CPC分类号： B25J9/1689 ,  B25J9/1682 ,  G06F3/04817

摘要： The operation system controls a moving object selected from a plurality of moving objects. The operation system includes a display unit that displays display information including an image of the surroundings of the moving body, and a switching unit that switches the control target from the first moving body to the second moving body by using the operation information indicating the operation of the moving body. The switching unit switches the control target from the first moving body to the second moving body in at least one of a case where the second moving body starts the operation based on the operation information of the first moving body, a case where the first moving body starts the operation based on the operation information of the second moving body, and a case where the display unit displays an image adjusted in accordance with the operation information of the first moving body.

公开(公告)号：US20230405826A1

公开(公告)日：2023-12-21

申请号：US18242299

申请日：2023-09-05

申请人： VERB SURGICAL INC.

发明人： Jignesh Desai

IPC分类号： B25J9/16 ,  A61B34/30 ,  A61B34/00 ,  G16H40/63

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/25 ,  G16H40/63 ,  B25J9/161 ,  A61B2034/254 ,  A61B2034/301

摘要： A robotic surgical system and method are disclosed for handling real-time and non-real-time traffic. In one embodiment, a surgical robotic system is provided comprising at least one robotic arm coupled to an operating table; and a control computer comprising a processor and a hardware interface, wherein the processor is configured to: receive a notification about real-time data from the operating table at the hardware interface; process the real-time data immediately upon receiving the notification; and poll the hardware interface for non-real time data from the operating table only when not processing the real-time data. Other embodiments are provided.

公开(公告)号：US20230405824A1

公开(公告)日：2023-12-21

申请号：US18242333

申请日：2023-09-05

申请人： Dexterity, Inc.

发明人： Kevin Jose Chavez ,  Robert Hegdahl ,  Yuan Gao ,  Andrew Lovett ,  Roger Lam Hau ,  Samir Menon

IPC分类号： B25J9/16 ,  B25J15/06 ,  B25J11/00

CPC分类号： B25J9/1687 ,  B25J15/0616 ,  B25J15/0683 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/0045 ,  B25J9/1612 ,  B25J9/1694

摘要： Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.

公开(公告)号：US11820013B2

公开(公告)日：2023-11-21

申请号：US17112539

申请日：2020-12-04

申请人： Hello Robot, Inc.

发明人： Aaron Edsinger ,  Charles Kemp ,  Blaine Matulevich

IPC分类号： B25J18/02 ,  B25J9/16 ,  B25J9/02 ,  B25J9/10 ,  B25J5/00 ,  B25J9/00 ,  B25J13/08 ,  B25J15/00

CPC分类号： B25J9/162 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/023 ,  B25J9/104 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/08 ,  B25J15/0028 ,  B25J18/025

摘要： A mobile manipulation system configured to perform objective tasks within human environments is provided. The mobile manipulation system can include a mobile base assembly including a computing device, at least two drive wheels, and a sensor. The mobile manipulation system can include an actuation assembly including a chain cartridge and a drive chain including a plurality of inter-connected links conveying at least one cable within an interior space of each inter-connected link. The actuation assembly system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically and conveying the drive chain therein. The mobile manipulation system can include a mast attached to the mobile base assembly along which the actuation assembly translates vertically and a head assembly atop the mast including a first collection of sensors. The mobile manipulation system can also include a manipulation payload coupled to the telescopic structure.

公开(公告)号：US11806104B2

公开(公告)日：2023-11-07

申请号：US17725351

申请日：2022-04-20

申请人： Verb Surgical Inc.

发明人： Joan Savall ,  Denise Ann Miller ,  Anette Lia Freiin von Kapri ,  Paolo Invernizzi ,  John Magnasco

IPC分类号： A61B34/35 ,  G06F3/01 ,  A61B34/00 ,  B25J9/00 ,  B25J9/16 ,  A61B34/30

CPC分类号： A61B34/35 ,  A61B34/25 ,  B25J9/0009 ,  B25J9/1689 ,  G06F3/012 ,  G06F3/013 ,  G06F3/017 ,  A61B2034/305

摘要： A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

公开(公告)号：US20230339121A1

公开(公告)日：2023-10-26

申请号：US18025889

申请日：2021-11-20

申请人： The Board of Trustees of the Leland Stanford Junior University

发明人： Jorda Mikael ,  Margot R. Vulliez ,  Oussama Khatib

IPC分类号： B25J13/02 ,  G06F3/01 ,  B25J9/16

CPC分类号： B25J13/025 ,  G06F3/016 ,  B25J9/1689

摘要： Haptic-robot control based on local autonomy and a dual-proxy model is provided. The dual proxy guarantees generation of safe and consistent commands for two local controllers, which ensure the compliance and stability of the systems on both sides. A Force-Space Particle Filter enables an autonomous modeling and rendering of the task contact geometry from the robot state and sensory data. The method suppresses the instability issues caused by the transfer of power variables through a network with communication delays in conventional haptic-robot controllers. The results demonstrated the transparency and high fidelity of the method, and robustness to communication delays. While the conventional method failed for communication delays higher that 150 milliseconds, the dual proxy method maintained high performance for delays up to one and a half seconds. The local autonomy-based haptic control of robots with the dual-proxy model enables applications in areas such as medical, underwater and space robotics.

公开(公告)号：US20230339115A1

公开(公告)日：2023-10-26

申请号：US17995591

申请日：2021-04-08

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko HASHIMOTO ,  Atsushi KAMEYAMA ,  Masayuki KAMON

IPC分类号： B25J9/16 ,  B25J13/08

CPC分类号： B25J9/1689 ,  B25J9/1697 ,  B25J13/08 ,  A61B2034/105

摘要： In a robot system, a controller is configured to cause a robot to be self-propelled to approach a patient, and then operate an arm and/or a hand based on operation command information of the arm and/or the hand, which has been input from an operator.

公开(公告)号：US11787060B2

公开(公告)日：2023-10-17

申请号：US17134751

申请日：2020-12-28

申请人： TELADOC HEALTH, INC.

发明人： Yulun Wang ,  Charles S. Jordan ,  Marco Pinter ,  Daniel Steven Sanchez ,  Kevin Hanrahan

IPC分类号： B25J9/16 ,  B25J19/02 ,  G16H80/00 ,  G16H20/40 ,  G16H40/67

CPC分类号： B25J9/1689 ,  B25J19/023 ,  G16H20/40 ,  G16H40/67 ,  G16H80/00

摘要： A robot system that includes a remote station and a robot face. The robot face includes a camera that is coupled to a monitor of the remote station and a monitor that is coupled to a camera of the remote station. The robot face and remote station also have speakers and microphones that are coupled together. The robot face may be coupled to a boom. The boom can extend from the ceiling of a medical facility. Alternatively, the robot face may be attached to a medical table with an attachment mechanism. The robot face and remote station allows medical personnel to provide medical consultation through the system.