公开(公告)号：US20090088773A1

公开(公告)日：2009-04-02

申请号：US11865015

申请日：2007-09-30

申请人： Wenyi Zhao ,  Christopher J. Hasser ,  William C. Nowlin ,  Brian D. Hoffman

发明人： Wenyi Zhao ,  Christopher J. Hasser ,  William C. Nowlin ,  Brian D. Hoffman

IPC分类号： A61B17/00

CPC分类号： G06K9/3241 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2065 ,  A61B2090/371 ,  G06K2209/057

摘要： In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.

摘要翻译： 在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。 该方法包括在摄像机的视野中捕获顺序图像。 顺序图像在连续视图之间相关。 该方法还包括接收运动学基准以提供机器人仪器的大致位置，然后响应于机器人仪器的大致位置来分析顺序图像。 公开了一种用于机器人系统的附加方法。 还公开了一种用于指示工具进入相机视场的方法。

公开(公告)号：US06564168B1

公开(公告)日：2003-05-13

申请号：US09661580

申请日：2000-09-14

申请人： Christopher J. Hasser

发明人： Christopher J. Hasser

IPC分类号： G01D534

CPC分类号： G01D5/34715 ,  G01D5/34 ,  G01D5/3473 ,  G01D5/366

摘要： Embodiments of high-resolution optical encoders having phased-array photodetectors and integrated on semiconductor chips. Emitters, detectors, and encoders disks are described which can be easily produced with semiconductor processes, such as a detector array provided with lens to collimate light and enhance detection. Integrated sensor chips include an array of photodetectors that receive energy from a beam emitted from an emitter and modulated by an encoder disk, analog-to-digital converters, state machines, counters, a communication module, a sensor processing unit, and a force computation unit. One embodiment includes low resolution and high resolution modes and an emitter controlled by sensor circuitry. A detector for an optical encoder can be provided on a single chip that includes a first array of photodetectors used for absolute sensing of a moving object, and a second array of photodetectors used for incremental sensing of the moving object.

摘要翻译： 具有相控阵光电检测器并且集成在半导体芯片上的高分辨率光学编码器的实施例。 描述了发射器，检测器和编码器盘，其可以容易地用半导体工艺制造，例如设置有用于准直光的透镜并增强检测的检测器阵列。 集成传感器芯片包括一组光电检测器，其从发射器发射的光束接收能量，并由编码器盘，模数转换器，状态机，计数器，通信模块，传感器处理单元和力计算 单元。 一个实施例包括低分辨率和高分辨率模式以及由传感器电路控制的发射器。 用于光学编码器的检测器可以设置在单个芯片上，该芯片包括用于绝对感测移动物体的第一阵列的光电检测器，以及用于移动物体的增量感测的第二阵列的光电检测器。

公开(公告)号：US5736978A

公开(公告)日：1998-04-07

申请号：US451593

申请日：1995-05-26

申请人： Christopher J. Hasser ,  Marvin R. Roark

发明人： Christopher J. Hasser ,  Marvin R. Roark

IPC分类号： G06F3/00 ,  G06F3/01 ,  G06F3/033 ,  G09B21/00 ,  G09G5/00

CPC分类号： G06F3/016 ,  G06F3/03543 ,  G09B21/001 ,  G09B21/003

摘要： A method for communicating graphic data such as plotted two-dimensional curves to a user such as a sight impaired person is disclosed. The disclosed arrangement uses haptic or tactile stimulation of a user's extremity such as is relied--upon in the Braille code fingertip communication already known to many sight impaired persons. Computerized control over a Braille character-like display and use of the computer mouse as a data selection input device; are included in the invention. The invention also includes provision of data enhancement and data interpretation aids including axis names, multiple curve identifications, grid line identifications and the addition of audio information such as tick sounds and spoken utterances to supplement the tactile communication. A computer-based embodiment of the invention is disclosed, this in the form of hardware block diagrams, software flow diagrams and computer code listing, the latter being primarily in microfiche appendix form.

摘要翻译： 公开了一种用于将诸如绘制的二维曲线的图形数据传送给诸如视障者的用户的方法。 所公开的安排使用诸如在许多视力受损的人已知的盲文代码指尖通信中所依赖的用户肢体的触觉或触觉刺激。 电脑控制盲文字符显示和使用电脑鼠标作为数据选择输入设备; 包括在本发明中。 本发明还包括提供数据增强和数据解释辅助，包括轴名称，多曲线标识，网格线标识以及添加音频信息，例如嘀声和说话话语以补充触觉通信。 公开了本发明的基于计算机的实施例，其以硬件框图，软件流程图和计算机代码列表的形式被公开，后者主要以缩略图附录形式。