公开(公告)号：US20240216088A1

公开(公告)日：2024-07-04

申请号：US18408332

申请日：2024-01-09

申请人： Verb Surgical Inc.

发明人： Hasan Tutkun Sen ,  Sina Nia Kosari

IPC分类号： A61B34/32 ,  A61B34/00 ,  A61B34/30 ,  B25J3/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/00 ,  G06F3/0346 ,  G06F3/038

CPC分类号： A61B34/32 ,  A61B34/30 ,  A61B34/74 ,  B25J3/00 ,  B25J9/161 ,  B25J13/088 ,  B25J15/0019 ,  G06F3/0346 ,  G06F3/038 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/46

摘要： A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.

公开(公告)号：US11998294B2

公开(公告)日：2024-06-04

申请号：US17963173

申请日：2022-10-10

申请人： SHENZHEN INSTITUTE OF ADVANCED BIOMEDICAL ROBOT CO., LTD.

发明人： Yonghong Ou ,  Wenyong Ren

IPC分类号： A61B34/37 ,  B25J3/00 ,  A61B34/30 ,  A61M25/01

CPC分类号： A61B34/37 ,  B25J3/00 ,  A61B2034/301 ,  A61M25/0113

摘要： A slave-end apparatus for an interventional robot includes: a body, and a front clamper, a first drive mechanism, a second drive mechanism and a third drive mechanism that are mounted on the body; wherein in a case that the first guide wire runs into the second catheter, the second catheter runs into the first catheter, and the first guide wire, the second catheter and the first catheter are moved along on the body to a desired position, the front clamper and the second drive mechanism take over to clamp the first catheter and the second catheter, the third catheter is caused to run into the second catheter and the second guide wire is caused to run into the third catheter, and the third catheter and the second guide wire are respectively clamped by the second drive mechanism and the third drive mechanism and move on the body.

公开(公告)号：US20240075578A1

公开(公告)日：2024-03-07

申请号：US18505266

申请日：2023-11-09

申请人： 3M INNOVATIVE PROPERTIES COMPANY

发明人： Aaron K. Nienaber ,  Mark W. Orlando ,  Nathan J. Herbst ,  Christie L. Vitale ,  Marc Eberwein ,  Brett R. Hemes ,  Jonathan B. Arthur ,  Thomas J. Strey

IPC分类号： B24B27/00 ,  B05D3/12 ,  B05D5/00 ,  B24B19/26 ,  B24B41/00 ,  B24B51/00 ,  B24B57/04 ,  B24D3/00 ,  B24D9/08 ,  B24D11/02 ,  B25J3/00 ,  B25J9/16 ,  B25J11/00 ,  B25J13/08

CPC分类号： B24B27/0038 ,  B05D3/12 ,  B05D5/005 ,  B24B19/26 ,  B24B41/005 ,  B24B51/00 ,  B24B57/04 ,  B24D3/002 ,  B24D9/085 ,  B24D11/02 ,  B25J3/00 ,  B25J9/16 ,  B25J11/0065 ,  B25J13/08

摘要： A disc changing system for a robotic defect repair system is presented. The system has a first abrasive disc and a second abrasive disc. The first and second abrasive discs are coupled to a liner. The system includes an abrasive disc placement device configured to automatically: remove the first abrasive disc from the liner, transport the first abrasive disc to a robotic tool of the robotic defect repair system, and place the first abrasive disc on a backup pad coupled to the robotic tool. The system also includes an abrasive disc remover configured to automatically remove the first abrasive disc after receiving a removal signal. The system also includes a controller configured to send an instruction to the disc placement device to remove, transport and place the first abrasive disc, instruct the robotic tool to conduct an abrasive operation. The controller is also configured to send the removal signal. The controller is a processor and the instructions are stored on a non-transitory computer-readable medium and executed by the processor

公开(公告)号：US11911905B2

公开(公告)日：2024-02-27

申请号：US17196245

申请日：2021-03-09

申请人： Telexistence Inc.

发明人： Charith Lasantha Fernando ,  Jan Rod ,  Takashi Iwasa

IPC分类号： B25J9/16 ,  B25J3/00 ,  B25J9/00

CPC分类号： B25J9/1661 ,  B25J3/00 ,  B25J9/0084 ,  B25J9/1602

摘要： A robot control apparatus includes a selection part that selects a scenario to be used which an operator who operates a robot uses while operating the robot from among a plurality of scenario candidates in which an elapsed time since the robot has started an action and action contents of the robot are associated with each other, and a robot control part that controls the robot on the basis of the scenario to be used.

公开(公告)号：US20240025034A1

公开(公告)日：2024-01-25

申请号：US18023054

申请日：2021-08-19

申请人： Siemens Aktiengesellschaft

发明人： Markus Lachenmayr ,  Tudor Ionescu ,  Joachim Fröhlich

IPC分类号： B25J9/16 ,  B25J3/00

CPC分类号： B25J9/1602 ,  B25J9/1656 ,  B25J3/00

摘要： A method for providing an enhanced human-machine interface to control a robot, and a device supporting the method is provided. According to one embodiment of the present invention, a method includes: monitoring a manipulation input by a user for an operation of the robot on the enhanced HMI, which is enhanced from a proprietary HMI proprietary to the robot; generating a first program in a first program environment for the enhanced HMI in response to the monitored manipulation; retrieving action information relating to actions to be performed as part of the operation of the robot, wherein the actions are defined in a second program environment for the proprietary HMI; generating a second program in the second program environment corresponding to the first program by using the retrieved action information; and controlling the robot to perform the operation using the second program.

公开(公告)号：US11878423B2

公开(公告)日：2024-01-23

申请号：US17265073

申请日：2019-07-30

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko Hashimoto ,  Shigetsugu Tanaka ,  Masayuki Kamon ,  Yoshihiko Maruyama

IPC分类号： B25J9/16 ,  B25J3/00

CPC分类号： B25J9/1664 ,  B25J3/00 ,  B25J9/1653 ,  B25J9/1682 ,  B25J9/1651 ,  B25J9/1697

摘要： A robot system includes a robot body, a memory, an operation controlling module, a manipulator, and a limit range setting module configured to set a limit range of the corrective manipulation by the manipulator. The operation controlling module executes a given limiting processing when a corrective manipulation is performed beyond the limit range from an operational position based on automatic operation information. The limit range setting module calculates a positional deviation between the operational position based on the automatic operation information before the correction and an operational position based on the corrected operation information, and when the positional deviation is at or below a first threshold, narrows the limit range in the next corrective manipulation by the manipulator.

公开(公告)号：US20230373078A1

公开(公告)日：2023-11-23

申请号：US18248067

申请日：2021-10-05

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Kentaro AZUMA ,  Jun TAKEBAYASHI ,  Tomoki SAKUMA ,  Masahiko AKAMATSU ,  Takanori KOZUKI ,  Jun FUJIMORI ,  Hiroki KINOSHITA ,  Kai SHIMIZU ,  Hiroki TAKAHASHI

IPC分类号： B25J3/00 ,  B25J13/08 ,  B25J9/16

CPC分类号： B25J3/00 ,  B25J13/082 ,  B25J9/1664 ,  B25J9/1633

摘要： A controller of a robot system performs first control of controlling a robot arm in accordance with an operation with an operator to thereby cause an end effector to apply a treatment to an object and of recording trajectory data and second control of controlling the robot arm based on the trajectory data recorded in the first control to thereby move the end effector such that the end effector reproduces a moving trajectory and applies a treatment to the object. In the second control, in controlling the robot arm based on the trajectory data, the controller controls a pressing force of the end effector against the object.

公开(公告)号：US11672619B2

公开(公告)日：2023-06-13

申请号：US17107862

申请日：2020-11-30

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC分类号： B25J9/16 ,  A61B34/37 ,  A61B34/30 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00

CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  A61B2017/00725 ,  A61B2034/305 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

摘要： A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

公开(公告)号：US20190209253A1

公开(公告)日：2019-07-11

申请号：US16353932

申请日：2019-03-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC分类号： A61B34/37 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B90/10 ,  B25J9/16 ,  A61B34/30

CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

摘要： A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.

公开(公告)号：US20180250830A1

公开(公告)日：2018-09-06

申请号：US15755218

申请日：2016-06-24

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko HASHIMOTO ,  Masayuki KAMON

IPC分类号： B25J13/08 ,  B25J9/16 ,  B25J19/02

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a tactile information generator configured to generate tactile information defined by a pressure distribution based on pressures detected by a plurality of pressure sensors and spatial positions of the plurality of pressure sensors, and output the tactile information, a manipulator configured to make an operator sense the pressure distribution according to the tactile information outputted from the tactile information generator, and when the operator manipulates the manipulator, output manipulating information according to the manipulation, and a robot controller configured to control operation of the hand of the robot according to the manipulating information outputted from the manipulator.