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公开(公告)号：US08861805B2
公开(公告)日：2014-10-14
申请号：US13666168
申请日：2012-11-01
Applicant: Samsung Electronics Co., Ltd.
Inventor： Won Jun Hwang , Kyung Shik Roh , Young Bo Shim , Suk June Yoon
CPC classification number: G06K9/00268 , G06K9/00288 , G06K9/4619 , G06K9/6297
Abstract: A face recognition apparatus and face recognition method perform face recognition of a face by comparing an image of the face to be identified with target images for identification. The face recognition apparatus includes an image input unit to receive an image of a face to be identified, a sub-image production unit to produce a plurality of sub-images of the input face image using a plurality of different face models, a storage unit to store a plurality of target images, and a face recognition unit to set the sub-images to observed nodes of a Markov network, to set the target images to hidden nodes of the Markov network, and to recognize the presence of a target image corresponding to the face images to be identified using a first relationship between the observed nodes and the hidden nodes and a second relationship between the hidden nodes.
Abstract translation: 面部识别装置和面部识别方法通过将要识别的脸部的图像与用于识别的目标图像进行比较来执行脸部的脸部识别。 面部识别装置包括用于接收要识别的脸部的图像的图像输入单元，使用多个不同脸部模型产生输入面部图像的多个子图像的子图像生成单元;存储单元 存储多个目标图像，以及面部识别单元，将子图像设置为马尔科夫网络的观察节点，将目标图像设置为马尔可夫网络的隐藏节点，并识别对应的目标图像的存在 使用观察到的节点和隐藏节点之间的第一关系来识别要被识别的面部图像，以及隐藏节点之间的第二关系。
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42.发明申请AUGMENTED REALITY IMAGE DISPLAY SYSTEM AND SURGICAL ROBOT SYSTEM COMPRISING THE SAME 有权已实现的现实图像显示系统和包括其的手术机器人系统公开(公告)号：US20140275760A1
公开(公告)日：2014-09-18
申请号：US14132782
申请日：2013-12-18
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Hee Kuk LEE , Won Jun Hwang , Kyung Shik Roh , Jung Yun Choi
CPC classification number: G06T19/006 , A61B1/00045 , A61B1/00149 , A61B1/04 , A61B5/055 , A61B5/7445 , A61B6/032 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/92 , A61B90/94 , A61B2034/2065 , A61B2090/365 , A61B2090/3937 , G06F19/00 , G06T2210/41
Abstract: An augmented reality image display system may be implemented together with a surgical robot system. The surgical robot system may include a slave system performing a surgical operation, a master system controlling the surgical operation of the slave system, an imaging system generating a virtual image of the inside of a patient's body, and an augmented reality image display system including a camera capturing a real image having a plurality of markers attached to the patient's body or a human body model. The augmented reality image system may include an augmented reality image generator which detects the plurality of markers in the real image, estimates the position and gaze direction of the camera using the detected markers, and generates an augmented reality image by overlaying a region of the virtual image over the real image, and a display which displays the augmented reality image.
Abstract translation: 增强现实图像显示系统可以与外科手术机器人系统一起实现。 手术机器人系统可以包括执行外科手术的从属系统，控制从属系统的外科手术的主系统，生成患者身体内部的虚拟图像的成像系统，以及增强现实图像显示系统，包括 相机拍摄具有附接到患者身体或人体模型的多个标记的真实图像。 增强现实图像系统可以包括增强现实图像生成器，其检测真实图像中的多个标记，使用检测到的标记来估计相机的位置和注视方向，并且通过覆盖虚拟的区域来生成增强现实图像 真实图像上的图像，以及显示增强现实图像的显示器。
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公开(公告)号：US20140257330A1
公开(公告)日：2014-09-11
申请号：US14050874
申请日：2013-10-10
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Byung Kwon CHOI , Kyung Shik Roh , Tae Sin Ha
IPC: A61B19/00
CPC classification number: A61B19/2203 , A61B34/30 , A61B34/37 , A61B90/361 , B25J9/1689 , G05B2219/45117
Abstract: A surgical robot system capable of storing all data transmitted and received in the surgical robot system and a method of controlling the same includes a slave device performing surgery on a patient, a master device controlling a surgical operation of the slave device, an imaging device transmitting a medical image regarding the patient to the slave device and the master device, and a monitoring device comprising a storage module receiving all data transmitted and received among the slave device, the master device, and the imaging device, serializing the received data on a per transmission-time-information basis to generate serial packets, and storing the generated serial packets, and a reproduction module dividing the stored serial packets into a plurality of unit packets and transmitting the unit packets to a device for display.
Abstract translation: 能够存储外科手术机器人系统中发送和接收的所有数据的外科手术机器人系统及其控制方法包括：对患者执行手术的从属装置，控制从属装置的外科手术的主装置， 关于患者到从属设备和主设备的医学图像，以及监视设备，包括接收从设备，主设备和成像设备之间发送和接收的所有数据的存储模块，将接收到的数据按照 传输时间信息的基础上生成串行数据包，并存储生成的串行数据包;以及再现模块，将存储的串行数据包分为多个单位数据包，并将单元数据包发送到显示设备。
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公开(公告)号：US20140156074A1
公开(公告)日：2014-06-05
申请号：US14089727
申请日：2013-11-25
Applicant: Samsung Electronics Co., Ltd.
Inventor： Kee Hong Seo , Young Do Kwon , Kyung Shik Roh
IPC: B25J3/00
CPC classification number: B25J9/1689 , B25J3/04 , G05B2219/39181
Abstract: A robot includes a master device including an input unit, the input unit including a first end effector and a first joint, a slave device configured to be controlled by the master device and including a robot arm, the robot arm including a second end effector, a second joint, and a motor configured to drive the second joint, and a controller configured to calculate a friction compensation value to compensate for friction of the second joint based on a speed of the input unit in response to the input unit being in motion, generate a control signal based on the friction compensation value, and transmit the control signal to the motor configured to drive the second joint.
Abstract translation: 机器人包括主装置，其包括输入单元，所述输入单元包括第一末端执行器和第一关节，被配置为由主装置控制并包括机器人手臂的从装置，所述机器人手臂包括第二末端执行器， 第二关节和被配置为驱动第二关节的马达，以及控制器，被配置为响应于输入单元运动而基于输入单元的速度来计算摩擦补偿值以补偿第二关节的摩擦， 基于摩擦补偿值生成控制信号，并将控制信号发送到被配置为驱动第二关节的马达。
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公开(公告)号：US20130184867A1
公开(公告)日：2013-07-18
申请号：US13738485
申请日：2013-01-10
Applicant: Samsung Electronics Co., Ltd.
Inventor： Jun Won Jang , Kyung Shik Roh
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1674 , G05B2219/33002 , G05B2219/33056 , G05B2219/45108
Abstract: A robot and method to recognize and handle abnormal situations includes a sensing unit to sense internal and external information of the robot, a storage unit to store the information sensed by the sensing unit, an inference model, a learning model, services providable by the robot, subtasks to provide the services, and handling tasks to handle abnormal situations, and a controller to determine whether an abnormal situation has occurred while the subtasks to provide the selected service are being performed through the learning model in the storage unit and to select a handling task to handle the abnormal situation through the inference model in the storage unit if it is determined that the abnormal situation occur. The robot may recognize and handle abnormal situations even though data other than that defined by a designer of the robot is input thereto due to noises or operational environment.
Abstract translation: 用于识别和处理异常情况的机器人和方法包括用于感测机器人的内部和外部信息的感测单元，用于存储由感测单元感测的信息的存储单元，推理模型，学习模型，机器人可提供的服务 提供服务的子任务，以及处理异常情况的处理任务，以及控制器，用于在通过存储单元中的学习模型执行提供所选服务的子任务时，确定是否发生异常情况，并选择处理 如果确定异常情况发生，则通过存储单元中的推理模型处理异常情况的任务。 即使由于机器人的设计者定义的数据，由于噪声或操作环境，机器人也可以识别和处理异常情况。
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Patent Agency Ranking
公开(公告)号：US20130172908A1
公开(公告)日：2013-07-04
申请号：US13728223
申请日：2012-12-27
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Tae Jun SANG , Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh
CPC classification number: G01B11/14 , A61B17/3403 , A61B17/3494 , A61B34/20 , A61B34/30 , A61B34/77 , A61B90/03 , A61B90/13 , A61B2017/3445 , A61B2017/348 , A61B2034/2055 , A61B2034/2057 , A61B2034/2072 , A61B2034/301 , A61B2090/0811 , A61B2090/373
Abstract: A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.
Abstract translation: 使用医疗机器人系统和控制医疗机器人系统的方法来检测切割区域中的外科器械的位置信息，从而提高机器人手术的安全性。 手术器械可以插入插入患者切口区域的套管针的通孔中。 医疗机器人系统包括手术器械位置检测装置，用于当手术器械插入到通孔中时，检测套管针的通孔中的外科器械的位置信息。 医疗机器人系统还包括控制台，用于基于检测到的外科器械的位置信息来控制具有手术器械的手术机器人的操作。
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公开(公告)号：US20130162015A1
公开(公告)日：2013-06-27
申请号：US13723534
申请日：2012-12-21
Applicant: Samsung Electronics Co., Ltd
Inventor： Joo Hyung KIM , Kyung Shik Roh , Kee Hong Seo
IPC: B62D57/02
CPC classification number: B62D57/02 , B25J9/0009 , B25J15/0023 , B62D57/032 , Y10S901/01
Abstract: A support module includes a first rigid body, a space formation body connected to the first rigid body and forming an enclosed space, and a plurality of hard particles located within the enclosed space. When at least a predetermined pressure is applied to the support module such that a volume of the enclosed space is decreased to a predetermined value, the plurality of hard particles and space formation body form a second rigid body. Such a support module may improve the stability of a walking robot, the grip of a gripping structure, or the stability of a load-bearing structure.
Abstract translation: 支撑模块包括第一刚体，连接到第一刚体并形成封闭空间的空间形成体以及位于封闭空间内的多个硬质颗粒。 当至少一个预定的压力被施加到支撑模块上使得封闭空间的体积减小到预定值时，多个硬质颗粒和空间形成体形成第二刚体。 这种支撑模块可以提高步行机器人的稳定性，夹持结构的抓地力或承载结构的稳定性。
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公开(公告)号：US20130116820A1
公开(公告)日：2013-05-09
申请号：US13664941
申请日：2012-10-31
Applicant: Samsung Electronics Co., LTD.
Inventor： Min Hyung Lee , Kyung Shik Roh
IPC: G05B19/04
CPC classification number: G05D1/0891 , B62D57/024 , B62D57/032 , G05D2201/0217
Abstract: A walking robot generates a target trajectory for walking on stairs using a target trajectory used for walking on level ground. A control method controls the robot by generating a target trajectory for walking on stairs using a target trajectory used for walking on level ground. The stairs-walking target-trajectory is generated via simplified calculation using the level-walking target-trajectory.
Abstract translation: 步行机器人使用用于在平坦地面上行走的目标轨迹产生用于在楼梯上行走的目标轨迹。 控制方法通过使用用于在地面上行走的目标轨迹产生用于在楼梯上行走的目标轨迹来控制机器人。 楼梯行走目标轨迹是通过使用水平步行目标轨迹的简化计算产生的。
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公开(公告)号：US11446829B2
公开(公告)日：2022-09-20
申请号：US16754973
申请日：2018-11-02
Applicant: Samsung Electronics Co., Ltd.
Inventor： Jae Chun Yoo , Seung Hoon Shin , Igor Ivanov , Suk Hyun , Kyung Shik Roh , Si Ho Jang
Abstract: The objective of the present invention is to provide: a robot arm extension device capable of adjusting an operating radius according to the operation environment and requirements of a robot in industrial sites; and a robot including the robot arm extension device. The robot arm extension device according to the present invention comprises: a housing; an adapter formed on one side of the housing and connected to the robot; a length extending part embedded in the housing and withdrawn from or inserted into the housing; and a driving part for providing the driving power of the length extending part.
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公开(公告)号：US11097416B2
公开(公告)日：2021-08-24
申请号：US15786894
申请日：2017-10-18
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： No San Kwak , Mi Jeong Song , Kyung Shik Roh , Soon Yong Park , Bo Kyung Kim , Ji Ho Seo , Si Ho Jang
IPC: G06F19/00 , B25J9/16 , G06N20/00 , H04W4/029 , H04W4/33 , G05D1/02 , G05D1/00 , G06N3/00 , G06N3/08
Abstract: Disclosed are a mobile robot system including a server of creating and storing traveling information about moving space and a mobile robot of travelling on the moving space, wherein the mobile robot comprises a driving portion configured to move the mobile robot, a communication device configured to receive the traveling information from the server and a controller configured to control the driving portion based on the traveling information received from the communication device and wherein the server receives information about the moving space from at least one external robot, and creates the traveling information based on the information about the moving space.
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